diff --git a/.env.prod b/.env.prod deleted file mode 100755 index ab907a32..00000000 --- a/.env.prod +++ /dev/null @@ -1,6 +0,0 @@ -GPS_PORT=/dev/serial/by-id/usb-Lord_Microstrain_Lord_Inertial_Sensor_0000_6284.114124-if00 -GPS_PORT_AUX=/dev/null -WEBCAM_PORT=/dev/null -RLSENSE_PORT=/dev/bus/usb -TEENSY_PORT=/dev/serial/by-id/usb-FTDI_FT232R_USB_UART_AD01TF04-if00-port0 -FEATHER_PORT=/dev/serial/by-id/usb-Adafruit_Adafruit_Feather_M0_77D70E005154384153202020FF18250B-if00 diff --git a/.github/workflows/pylint.yml b/.github/workflows/pylint.yml index 8ccf8a98..fa0d8be0 100644 --- a/.github/workflows/pylint.yml +++ b/.github/workflows/pylint.yml @@ -31,5 +31,5 @@ jobs: echo "No files to lint" else echo "Running Linter!" - pylint --rc-file=/home/runner/work/RoboBuggy2/RoboBuggy2/.github/workflows/.pylintrc $tmp_pfiles + pylint --rc-file=/home/runner/work/robobuggy-software/robobuggy-software/.github/workflows/.pylintrc $tmp_pfiles fi diff --git a/.gitignore b/.gitignore index 78839b8e..60a64061 100644 --- a/.gitignore +++ b/.gitignore @@ -3,16 +3,6 @@ rb_ws/bags .docker-compose.yml.un~ .python-requirements.txt.un~ docker-compose.yml~ -python-requirements.txt~ *TEMP_DO_NOT_EDIT.txt -rb_ws/src/buggy/bags/2023-02-11-11-38-44.bag -rb_ws/src/buggy/bags/2023-02-11-12-00-49.bag -rb_ws/src/buggy/bags/2023-02-11-12-01-12.bag -rb_ws/src/buggy/bags/2023-02-12-11-39-27.bag -rb_ws/src/buggy/bags/2023-02-18-02-23-26.bag -rb_ws/src/buggy/bags/2023-02-19-11-21-56.bag -rb_ws/src/buggy/bags/2023-02-19-11-27-49.bag -rb_ws/src/buggy/bags/2023-02-19-11-38-48.bag -rb_ws/src/buggy/bags/* -rb_ws/src/buggy/launch/.main.launch.swp +rb_ws/src/buggy/bags/* *.bag \ No newline at end of file diff --git a/Dockerfile b/Dockerfile new file mode 100644 index 00000000..6725e778 --- /dev/null +++ b/Dockerfile @@ -0,0 +1,38 @@ +# FROM nvidia/cuda:11.6.2-base-ubuntu20.04 as CUDA + +FROM ros:humble + +# COPY --from=CUDA /usr/local/cuda /usr/local/ + + +RUN apt update +RUN apt-get install -y -qq \ + python3-pip \ + python3-tk \ + vim git tmux tree sl htop x11-apps + +RUN apt-get install -y -qq \ + ros-${ROS_DISTRO}-foxglove-bridge \ + ros-${ROS_DISTRO}-microstrain-inertial-driver \ + ros-${ROS_DISTRO}-mavros ros-${ROS_DISTRO}-mavros-extras ros-${ROS_DISTRO}-mavros-msgs + +COPY python-requirements.txt python-requirements.txt +RUN pip3 install -r python-requirements.txt + + +RUN echo 'source "/opt/ros/humble/setup.bash" --' >> ~/.bashrc && \ + echo 'cd rb_ws' >> ~/.bashrc && \ + echo 'colcon build --symlink-install' >> ~/.bashrc && \ + echo 'source install/local_setup.bash' >> ~/.bashrc +# RUN echo 'source "/opt/ros/humble/setup.bash" --' >> ~/.bashrc && \ +# echo 'cd rb_ws' >> ~/.bashrc && \ +# echo 'catkin_make >/dev/null' >> ~/.bashrc && \ +# echo 'source devel/setup.bash' >> ~/.bashrc + + + +# RUN echo "exec firefox" > ~/.xinitrc && chmod +x ~/.xinitrc +# CMD ["x11vnc", "-create", "-forever"] + +# add mouse to tmux +RUN echo 'set -g mouse on' >> ~/.tmux.conf diff --git a/README.md b/README.md old mode 100755 new mode 100644 index d92d1421..90d86830 --- a/README.md +++ b/README.md @@ -1,13 +1,10 @@ -# RoboBuggy2 -A complete re-write of the old RoboBuggy. This code was run for RD23, RD24 and RD25, on both NAND and Short Circuit. +# robobuggy-software +A complete re-write of the old RoboBuggy2. This code was run for RD25, on both NAND and Short Circuit. ## Table of Contents - Installation and Initial Setup - Launching Code - - Infrastructure Documentation - - Code Structure and Documentation - --- ## Installation and Initial Setup @@ -31,34 +28,24 @@ A complete re-write of the old RoboBuggy. This code was run for RD23, RD24 and R - https://git-scm.com/downloads ### Install Softwares: WSL, Ubuntu (Windows only) -- Go to Microsoft Store to install "Ubuntu 20.04.6 LTS". - -### Set up repo in WSL -- To set up ssh key, follow this link: [Connecting to GitHub with SSH](https://docs.github.com/en/authentication/connecting-to-github-with-ssh). -- Note: Ensure that the SSH keys are generated while in the WSL terminal -- In the website above, see these two pages: [Generating a new SSH key and adding it to the ssh-agent](https://docs.github.com/en/authentication/connecting-to-github-with-ssh/generating-a-new-ssh-key-and-adding-it-to-the-ssh-agent) and ["Adding a new SSH key to your GitHub account"](https://docs.github.com/en/authentication/connecting-to-github-with-ssh/adding-a-new-ssh-key-to-your-github-account). +- Go to Microsoft Store to install "Ubuntu 22.04 LTS". ### Apple Silicon Mac Only: - In Docker Desktop App: go to settings -> general and turn on "Use Rosetta for x86/amd64 emulation on Apple Silicon" -### Set up repository -- To set up ssh key, follow this link: [Connecting to GitHub with SSH](https://docs.github.com/en/authentication/connecting-to-github-with-ssh). -- Note: Ensure that the SSH keys are generated while in the terminal -- In the website above, see these two pages: [Generating a new SSH key and adding it to the ssh-agent](https://docs.github.com/en/authentication/connecting-to-github-with-ssh/generating-a-new-ssh-key-and-adding-it-to-the-ssh-agent) and ["Adding a new SSH key to your GitHub account"](https://docs.github.com/en/authentication/connecting-to-github-with-ssh/adding-a-new-ssh-key-to-your-github-account). - ### Clone the Repository This is so you can edit our codebase locally, and sync your changes with the rest of the team through Git. -- In your terminal type: `$ git clone https://github.com/CMU-Robotics-Club/RoboBuggy2.git`. +- In your terminal type: `$ git clone https://github.com/CMU-Robotics-Club/robobuggy-software.git`. - The clone link above is the URL or can be found above: code -> local -> Clone HTTPS. -### Foxglove Visualization +### Foxglove Visualization (WIP) - Foxglove is used to visualize both the simulator and the actual buggy's movements. - First, you need to import the layout definition into Foxglove. On the top bar, click Layout, then "Import from file". - ![image](https://github.com/CMU-Robotics-Club/RoboBuggy2/assets/116482510/2aa04083-46b3-42a5-bcc1-99cf7ccdb3d2) -- Go to RoboBuggy2 and choose the file [telematics layout](telematics_layout.json) +- Go to repository and choose the file [telematics layout](telematics_layout.json) - To visualize the simulator, launch the simulator and then launch Foxglove and select "Open Connection" on startup. - Use this address `ws://localhost:8765` for Foxglove Websocket - Open Foxglove, choose the third option "start link". @@ -77,9 +64,9 @@ This is so you can edit our codebase locally, and sync your changes with the res ## Launching Code ### Open Docker -- Use `cd` to change the working directory to be `RoboBuggy2` +- Use `cd` to change the working directory to be `robobuggy-software` - Then do `./setup_dev.sh` in the main directory (RoboBuggy2) to launch the docker container. Utilize the `--no-gpu`, `--force-gpu`, and `--run-testing` flags as necessary. -- Then you can go in the docker container using the `docker exec -it robobuggy2-main-1 bash`. +- Then you can go in the docker container using the `docker exec -it robobuggy-software-main-1 bash`. - When you are done, type Ctrl+C and use `$exit` to exit. ### ROS @@ -89,7 +76,7 @@ This is so you can edit our codebase locally, and sync your changes with the res source /rb_ws/devel/setup.bash # sets variables so that our package is visible to ROS commands - To learn ROS on your own, follow the guide on https://wiki.ros.org/ROS/Tutorials. -### 2D Simulation +### 2D Simulation (WIP - Doesn't Exist) - Boot up the docker container - Run `roslaunch buggy sim_2d_single.launch` to simulate 1 buggy - See `rb_ws/src/buggy/launch/sim_2d_single.launch` to view all available launch options @@ -127,18 +114,3 @@ When shutting down the buggy: `$ exit` - Shutdown the ShortCircuit computer `$ sudo shutdown now` - -## Documentation -### Infrastructure Documentation -Ask Software Lead (WIP) - -### Simulator notes -- Longitude + Latitude for Foxglove visualization on map: `/state/pose_navsat` (sensor_msgs/NavSatFix) -- UTM coordinates (assume we're in Zone 17N): `/sim_2d/utm` (geometry_msgs/Pose - position.x = Easting meters , position.y = Northing meters, position.z = heading in degrees from East axis + is CCW) -- INS Simulation: `/nav/odom` (nsg_msgs/Odometry) (**Noise** is implemented to vary ~1cm) -Commands: -- Steering angle: `/buggy/steering` in degrees (std_msgs/Float64) -- Velocity: `/buggy/velocity` in m/s (std_msgs/Float64) - -### Auton Logic -Ask someone with experience (WIP) diff --git a/README_ROBOBUGGY2.md b/README_ROBOBUGGY2.md new file mode 100755 index 00000000..d92d1421 --- /dev/null +++ b/README_ROBOBUGGY2.md @@ -0,0 +1,144 @@ +# RoboBuggy2 +A complete re-write of the old RoboBuggy. This code was run for RD23, RD24 and RD25, on both NAND and Short Circuit. + + +## Table of Contents + - Installation and Initial Setup + - Launching Code + - Infrastructure Documentation + - Code Structure and Documentation + + +--- +## Installation and Initial Setup +### Necessary + Recommended Software +- Docker +- Foxglove +- VSCode (recommended) +- Git (recommended) + + +### Docker +- Installation instructions here: https://docs.docker.com/get-docker/ + +### Foxglove +- Installation instructions here: https://foxglove.dev/ + +### VSCode +- https://code.visualstudio.com/download + +### Git +- https://git-scm.com/downloads + +### Install Softwares: WSL, Ubuntu (Windows only) +- Go to Microsoft Store to install "Ubuntu 20.04.6 LTS". + +### Set up repo in WSL +- To set up ssh key, follow this link: [Connecting to GitHub with SSH](https://docs.github.com/en/authentication/connecting-to-github-with-ssh). +- Note: Ensure that the SSH keys are generated while in the WSL terminal +- In the website above, see these two pages: [Generating a new SSH key and adding it to the ssh-agent](https://docs.github.com/en/authentication/connecting-to-github-with-ssh/generating-a-new-ssh-key-and-adding-it-to-the-ssh-agent) and ["Adding a new SSH key to your GitHub account"](https://docs.github.com/en/authentication/connecting-to-github-with-ssh/adding-a-new-ssh-key-to-your-github-account). + + +### Apple Silicon Mac Only: +- In Docker Desktop App: go to settings -> general and turn on "Use Rosetta for x86/amd64 emulation on Apple Silicon" + +### Set up repository +- To set up ssh key, follow this link: [Connecting to GitHub with SSH](https://docs.github.com/en/authentication/connecting-to-github-with-ssh). +- Note: Ensure that the SSH keys are generated while in the terminal +- In the website above, see these two pages: [Generating a new SSH key and adding it to the ssh-agent](https://docs.github.com/en/authentication/connecting-to-github-with-ssh/generating-a-new-ssh-key-and-adding-it-to-the-ssh-agent) and ["Adding a new SSH key to your GitHub account"](https://docs.github.com/en/authentication/connecting-to-github-with-ssh/adding-a-new-ssh-key-to-your-github-account). + + +### Clone the Repository +This is so you can edit our codebase locally, and sync your changes with the rest of the team through Git. +- In your terminal type: `$ git clone https://github.com/CMU-Robotics-Club/RoboBuggy2.git`. +- The clone link above is the URL or can be found above: code -> local -> Clone HTTPS. + + +### Foxglove Visualization +- Foxglove is used to visualize both the simulator and the actual buggy's movements. +- First, you need to import the layout definition into Foxglove. On the top bar, click Layout, then "Import from file". +- ![image](https://github.com/CMU-Robotics-Club/RoboBuggy2/assets/116482510/2aa04083-46b3-42a5-bcc1-99cf7ccdb3d2) +- Go to RoboBuggy2 and choose the file [telematics layout](telematics_layout.json) +- To visualize the simulator, launch the simulator and then launch Foxglove and select "Open Connection" on startup. +- Use this address `ws://localhost:8765` for Foxglove Websocket +- Open Foxglove, choose the third option "start link". +- ![image](https://github.com/CMU-Robotics-Club/RoboBuggy2/assets/116482510/66965d34-502b-4130-976e-1419c0ac5f69) + + + +### X11 Setup (recommended) +- Install the appropriate X11 server on your computer for your respective operating systems (Xming for Windows, XQuartz for Mac, etc.). +- Mac: In XQuartz settings, ensure that the "Allow connections from network clients" under "Security" is checked. +- Windows: Make sure that you're using WSL 2 Ubuntu and NOT command prompt. +- While in a bash shell with the X11 server running, run `xhost +local:docker`. +- Boot up the docker container using the "Alternate Shortcut" above. +- Run `xeyes` while INSIDE the Docker container to test X11 forwarding. If this works, we're good. + + +## Launching Code +### Open Docker +- Use `cd` to change the working directory to be `RoboBuggy2` +- Then do `./setup_dev.sh` in the main directory (RoboBuggy2) to launch the docker container. Utilize the `--no-gpu`, `--force-gpu`, and `--run-testing` flags as necessary. +- Then you can go in the docker container using the `docker exec -it robobuggy2-main-1 bash`. +- When you are done, type Ctrl+C and use `$exit` to exit. + +### ROS +- Navigate to `/rb_ws`. This is the catkin workspace where we will be doing all our ROS stuff. +- (This should only need to be run the first time you set up the repository) - to build the ROS workspace and source it, run: + catkin_make + source /rb_ws/devel/setup.bash # sets variables so that our package is visible to ROS commands +- To learn ROS on your own, follow the guide on https://wiki.ros.org/ROS/Tutorials. + +### 2D Simulation +- Boot up the docker container +- Run `roslaunch buggy sim_2d_single.launch` to simulate 1 buggy +- See `rb_ws/src/buggy/launch/sim_2d_single.launch` to view all available launch options +- Run `roslaunch buggy sim_2d_2buggies.launch` to simulate 2 buggies + +Screenshot 2023-11-13 at 3 18 30 PM + +- See `rb_ws/src/buggy/launch/sim_2d_2buggies.launch` to view all available launch options + - The buggy starting positions can be changed using the `sc_start_pos` and `nand_start_pos` arguments (can pass as a key to a dictionary of preset start positions in engine.py, a single float for starting distance along planned trajectory, or 3 comma-separated floats (utm east, utm north, and heading)) +- To prevent topic name collision, a topic named `t` associated with buggy named `x` have format `x/t`. The names are `SC` and `Nand` in the 2 buggy simulator. In the one buggy simulator, the name can be defined as a launch arg. +- See [**Foxglove Visualization**](#foxglove-visualization) for visualizing the simulation. Beware that since topic names are user-defined, you will need to adjust the topic names in each panel. + +### Connecting to and Launching the RoboBuggies +When launching Short Circuit: +- Connect to the Wi-Fi named ShortCircuit. +- In the command line window: +SSH to the computer on ShortCircuit and go to folder +`$ ssh nuc@192.168.1.217` +Then `$ cd RoboBuggy2` +- Setup the docker +`$ ./setup_prod.sh` (Utilize the `--no-gpu`, `--force-gpu`, and `--run-testing` flags as necessary.) +- Go to docker container +`$ docker_exec` +- Open foxglove and do local connection to “ws://192.168.1.217/8765” +- Roslauch in docker container by `$ roslaunch buggy sc-main.launch` +(wait until no longer prints “waiting for covariance to be better”) + +When launching NAND: +- Ask software lead (WIP) + +When shutting down the buggy: +- Stop roslauch +`$ ^C (Ctrl+C)` +- Leave the docker container +`$ exit` +- Shutdown the ShortCircuit computer +`$ sudo shutdown now` + +## Documentation +### Infrastructure Documentation +Ask Software Lead (WIP) + +### Simulator notes +- Longitude + Latitude for Foxglove visualization on map: `/state/pose_navsat` (sensor_msgs/NavSatFix) +- UTM coordinates (assume we're in Zone 17N): `/sim_2d/utm` (geometry_msgs/Pose - position.x = Easting meters , position.y = Northing meters, position.z = heading in degrees from East axis + is CCW) +- INS Simulation: `/nav/odom` (nsg_msgs/Odometry) (**Noise** is implemented to vary ~1cm) +Commands: +- Steering angle: `/buggy/steering` in degrees (std_msgs/Float64) +- Velocity: `/buggy/velocity` in m/s (std_msgs/Float64) + +### Auton Logic +Ask someone with experience (WIP) diff --git a/camera.py b/camera.py deleted file mode 100644 index 62810807..00000000 --- a/camera.py +++ /dev/null @@ -1,70 +0,0 @@ -######################################################################## -# -# Copyright (c) 2022, STEREOLABS. -# -# All rights reserved. -# -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR -# A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT -# OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, -# SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT -# LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, -# DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY -# THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT -# (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE -# OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. -# -######################################################################## - -import sys -from signal import signal, SIGINT -import argparse - - -import pyzed.sl as sl - -cam = sl.Camera() - -#Handler to deal with CTRL+C properly -def handler(signal_received, frame): - cam.disable_recording() - cam.close() - sys.exit(0) - -signal(SIGINT, handler) - -def main(): - - init = sl.InitParameters() - init.depth_mode = sl.DEPTH_MODE.NONE # Set configuration parameters for the ZED - - status = cam.open(init) - if status != sl.ERROR_CODE.SUCCESS: - print("Camera Open", status, "Exit program.") - exit(1) - - recording_param = sl.RecordingParameters(opt.output_svo_file, sl.SVO_COMPRESSION_MODE.H264) # Enable recording with the filename specified in argument - err = cam.enable_recording(recording_param) - if err != sl.ERROR_CODE.SUCCESS: - print("Recording ZED : ", err) - exit(1) - - runtime = sl.RuntimeParameters() - print("SVO is Recording, use Ctrl-C to stop.") # Start recording SVO, stop with Ctrl-C command - frames_recorded = 0 - - while True: - if cam.grab(runtime) == sl.ERROR_CODE.SUCCESS : # Check that a new image is successfully acquired - frames_recorded += 1 - print("Frame count: " + str(frames_recorded), end="\r") - -if __name__ == "__main__": - parser = argparse.ArgumentParser() - parser.add_argument('--output_svo_file', type=str, help='Path to the SVO file that will be written', required= True) - opt = parser.parse_args() - if not opt.output_svo_file.endswith(".svo") and not opt.output_svo_file.endswith(".svo2"): - print("--output_svo_file parameter should be a .svo file but is not : ",opt.output_svo_file,"Exit program.") - exit() - main() \ No newline at end of file diff --git a/cuda-requirements.txt b/cuda-requirements.txt deleted file mode 100644 index 680738ca..00000000 --- a/cuda-requirements.txt +++ /dev/null @@ -1,7 +0,0 @@ -torch~=2.1.0 -torchvision~=0.16.0 -torchaudio~=2.1.0 - -# Note: using tensorflow requires AVX instructions -# which would mean we couldn't do simulations -# in almost any virtualized container. diff --git a/docker-compose-gpu-automated-testing.yml b/docker-compose-gpu-automated-testing.yml deleted file mode 100755 index 28d4a3ac..00000000 --- a/docker-compose-gpu-automated-testing.yml +++ /dev/null @@ -1,52 +0,0 @@ -services: - main: - build: . - volumes: - - ./rb_ws:/rb_ws - - "${RLSENSE_PORT:-/dev/null}:/dev/bus/usb" - - /tmp/.X11-unix:/tmp/.X11-unix - devices: - - "${TEENSY_PORT:-/dev/null}:/dev/ttyUSB0" - - "${WEBCAM_PORT:-/dev/null}:/dev/ttyUSB1" - - "${GPS_PORT:-/dev/null}:/dev/ttyACM0" - - "${FEATHER_PORT:-/dev/null}:/dev/ttyACM1" - stdin_open: true # docker run -i - tty: true # docker run -t - environment: - - DISPLAY=host.docker.internal:0 - hostname: main - ports: - - "0.0.0.0:8765:8765" # foxglove bridge - - "0.0.0.0:8760:8760" # Asset server for loading stuff into foxglove - platform: "linux/amd64" - device_cgroup_rules: - - "c *:* rmw" - deploy: - resources: - reservations: - devices: - - driver: nvidia - count: 'all' - capabilities: [gpu] - tileserver: - image: maptiler/tileserver-gl - volumes: - - "./maps:/data" - stdin_open: true # docker run -i - tty: true # docker run -t - command: ["-p", "80", "-c", "/data/conf.json"] - ports: - - "8080:80" - tester: - build: . - volumes: - - ./rb_ws:/rb_ws - - /tmp/.X11-unix:/tmp/.X11-unix - stdin_open: true # docker run -i - tty: true # docker run -t - environment: - - DISPLAY=host.docker.internal:0 - hostname: tester - platform: "linux/amd64" - device_cgroup_rules: - - "c *:* rmw" diff --git a/docker-compose-gpu.yml b/docker-compose-gpu.yml deleted file mode 100755 index ac946677..00000000 --- a/docker-compose-gpu.yml +++ /dev/null @@ -1,39 +0,0 @@ -services: - main: - build: . - volumes: - - ./rb_ws:/rb_ws - - "${RLSENSE_PORT:-/dev/null}:/dev/bus/usb" - - /tmp/.X11-unix:/tmp/.X11-unix - devices: - - "${TEENSY_PORT:-/dev/null}:/dev/ttyUSB0" - - "${WEBCAM_PORT:-/dev/null}:/dev/ttyUSB1" - - "${GPS_PORT:-/dev/null}:/dev/ttyACM0" - - "${FEATHER_PORT:-/dev/null}:/dev/ttyACM1" - stdin_open: true # docker run -i - tty: true # docker run -t - environment: - - DISPLAY=host.docker.internal:0 - hostname: main - ports: - - "0.0.0.0:8765:8765" # foxglove bridge - - "0.0.0.0:8760:8760" # Asset server for loading stuff into foxglove - platform: "linux/amd64" - device_cgroup_rules: - - "c *:* rmw" - deploy: - resources: - reservations: - devices: - - driver: nvidia - count: 'all' - capabilities: [gpu] - tileserver: - image: maptiler/tileserver-gl - volumes: - - "./maps:/data" - stdin_open: true # docker run -i - tty: true # docker run -t - command: ["-p", "80", "-c", "/data/conf.json"] - ports: - - "8080:80" diff --git a/docker-compose-no-gpu-automated-testing.yml b/docker-compose-no-gpu-automated-testing.yml deleted file mode 100755 index 003afd77..00000000 --- a/docker-compose-no-gpu-automated-testing.yml +++ /dev/null @@ -1,45 +0,0 @@ -services: - main: - build: ./docker_auton - volumes: - - ./rb_ws:/rb_ws - - "${RLSENSE_PORT:-/dev/null}:/dev/bus/usb" - - /tmp/.X11-unix:/tmp/.X11-unix - devices: - - "${TEENSY_PORT:-/dev/null}:/dev/ttyUSB0" - - "${WEBCAM_PORT:-/dev/null}:/dev/ttyUSB1" - - "${GPS_PORT:-/dev/null}:/dev/ttyACM0" - - "${FEATHER_PORT:-/dev/null}:/dev/ttyACM1" - stdin_open: true # docker run -i - tty: true # docker run -t - environment: - - DISPLAY=host.docker.internal:0 - hostname: main - ports: - - "0.0.0.0:8765:8765" # foxglove bridge - - "0.0.0.0:8760:8760" # Asset server for loading stuff into foxglove - platform: "linux/amd64" - device_cgroup_rules: - - "c *:* rmw" - tileserver: - image: maptiler/tileserver-gl - volumes: - - "./maps:/data" - stdin_open: true # docker run -i - tty: true # docker run -t - command: ["-p", "80", "-c", "/data/conf.json"] - ports: - - "8080:80" - tester: - build: ./docker_tester - volumes: - - ./rb_ws:/rb_ws - - /tmp/.X11-unix:/tmp/.X11-unix - stdin_open: true # docker run -i - tty: true # docker run -t - environment: - - DISPLAY=host.docker.internal:0 - hostname: tester - platform: "linux/amd64" - device_cgroup_rules: - - "c *:* rmw" diff --git a/docker-compose-no-gpu.yml b/docker-dev.yml similarity index 68% rename from docker-compose-no-gpu.yml rename to docker-dev.yml index b9e6079e..65470a1f 100755 --- a/docker-compose-no-gpu.yml +++ b/docker-dev.yml @@ -1,6 +1,6 @@ services: main: - build: ./docker_auton + build: ./ volumes: - ./rb_ws:/rb_ws - "${RLSENSE_PORT:-/dev/null}:/dev/bus/usb" @@ -11,22 +11,22 @@ services: - "${GPS_PORT:-/dev/null}:/dev/ttyACM0" - "${FEATHER_PORT:-/dev/null}:/dev/ttyACM1" stdin_open: true # docker run -i - tty: true # docker run -t + tty: true # docker run -t environment: - DISPLAY=host.docker.internal:0 hostname: main ports: - - "0.0.0.0:8765:8765" # foxglove bridge - - "0.0.0.0:8760:8760" # Asset server for loading stuff into foxglove + - "0.0.0.0:8765:8765" # foxglove bridge + - "0.0.0.0:8760:8760" # Asset server for loading stuff into foxglove platform: "linux/amd64" device_cgroup_rules: - - "c *:* rmw" + - "c *:* rmw" tileserver: image: maptiler/tileserver-gl volumes: - "./maps:/data" stdin_open: true # docker run -i - tty: true # docker run -t - command: ["-p", "80", "-c", "/data/conf.json"] + tty: true # docker run -t + command: [ "-p", "80", "-c", "/data/conf.json" ] ports: - "8080:80" diff --git a/docker_auton/Dockerfile b/docker_auton/Dockerfile deleted file mode 100755 index a05558e6..00000000 --- a/docker_auton/Dockerfile +++ /dev/null @@ -1,43 +0,0 @@ -# FROM nvidia/cuda:11.6.2-base-ubuntu20.04 as CUDA - -FROM osrf/ros:noetic-desktop-full-focal - -# COPY --from=CUDA /usr/local/cuda /usr/local/ - - -RUN apt update -RUN apt-get install -y -qq \ - python3-pip \ - python3-tk \ - vim git tmux tree sl htop x11-apps - -RUN apt-get install -y -qq \ - ros-noetic-rosserial \ - ros-noetic-foxglove-bridge \ - ros-noetic-microstrain-inertial-driver \ - ros-noetic-realsense2-camera \ - ros-noetic-realsense2-description \ - ros-${ROS_DISTRO}-mavros ros-${ROS_DISTRO}-mavros-extras ros-${ROS_DISTRO}-mavros-msgs - -# Run this now to cache it separately from other requirements -# COPY cuda-requirements_TEMP_DO_NOT_EDIT.txt cuda-requirements.txt -# RUN pip3 install -r cuda-requirements.txt - - -COPY python-requirements_TEMP_DO_NOT_EDIT.txt python-requirements.txt -RUN pip3 install -r python-requirements.txt - -RUN echo 'source "/opt/ros/$ROS_DISTRO/setup.bash" --' >> ~/.bashrc -RUN echo 'cd rb_ws' >> ~/.bashrc -RUN echo 'catkin_make >/dev/null' >> ~/.bashrc -RUN echo 'source devel/setup.bash' >> ~/.bashrc - -# shoestring fix since installing numba from pythonrequirements -# smh breaks -RUN pip3 install numba - -# RUN echo "exec firefox" > ~/.xinitrc && chmod +x ~/.xinitrc -# CMD ["x11vnc", "-create", "-forever"] - -# add mouse to tmux -RUN echo 'set -g mouse on' >> ~/.tmux.conf diff --git a/docker_tester_outofdate/Dockerfile b/docker_tester_outofdate/Dockerfile deleted file mode 100755 index 5e5f512e..00000000 --- a/docker_tester_outofdate/Dockerfile +++ /dev/null @@ -1,36 +0,0 @@ -FROM nvidia/cuda:11.6.2-base-ubuntu20.04 as CUDA - -FROM osrf/ros:noetic-desktop-full-focal - -COPY --from=CUDA /usr/local/cuda /usr/local/ - - -RUN apt update -RUN apt-get install -y -qq \ - python3-pip \ - python3-tk \ - vim git tmux tree sl htop x11-apps - -RUN apt-get install -y -qq \ - ros-noetic-rosserial \ - ros-noetic-foxglove-bridge \ - ros-noetic-microstrain-inertial-driver \ - ros-noetic-realsense2-camera \ - ros-noetic-realsense2-description \ - iputils-ping - -COPY python-requirements_TEMP_DO_NOT_EDIT.txt python-requirements.txt -RUN pip3 install -r python-requirements.txt - -RUN echo 'source "/opt/ros/$ROS_DISTRO/setup.bash" --' >> ~/.bashrc -RUN echo 'cd rb_ws' >> ~/.bashrc -RUN echo 'catkin_make >/dev/null' >> ~/.bashrc -RUN echo 'source devel/setup.bash' >> ~/.bashrc -RUN echo 'export ROS_MASTER_URI=http://main:11311' >> ~/.bashrc - -# shoestring fix since installing numba from pythonrequirements -# smh breaks -RUN pip3 install numba - -# add mouse to tmux -RUN echo 'set -g mouse on' >> ~/.tmux.conf diff --git a/pcbs/.gitignore b/pcbs/.gitignore deleted file mode 100644 index aed31961..00000000 --- a/pcbs/.gitignore +++ /dev/null @@ -1,33 +0,0 @@ -# Various Altium files -*.PrjPCBStructure -*.SchDocPreview -*.PcbDocPreview -__Previews -*.PrjPcbStructure -*.Dat -*.REP -*.TLT -*.LOG -*.log -*.htm -*.$$$ - -#useless dirs -Project\ Outputs -Project\ Logs -Project Outputs for* - -#History -History - -#Exports, but not manual ones -exports/* -!exports/manual - -#Python stuff -scripts/__pycache__/ -*.bak -*.dwl -*.dwl2 - -.DS_Store \ No newline at end of file diff --git a/pcbs/TeensyBreakoutTemplate/CAN.SchDoc b/pcbs/TeensyBreakoutTemplate/CAN.SchDoc deleted file mode 100755 index d0a3fe72..00000000 Binary files a/pcbs/TeensyBreakoutTemplate/CAN.SchDoc and /dev/null differ diff --git a/pcbs/TeensyBreakoutTemplate/Dynamixel.SchDoc b/pcbs/TeensyBreakoutTemplate/Dynamixel.SchDoc deleted file mode 100755 index 63425318..00000000 Binary files a/pcbs/TeensyBreakoutTemplate/Dynamixel.SchDoc and /dev/null differ diff --git a/pcbs/TeensyBreakoutTemplate/GenerateCAMFiles.OutJob b/pcbs/TeensyBreakoutTemplate/GenerateCAMFiles.OutJob deleted file mode 100755 index 0a341239..00000000 --- a/pcbs/TeensyBreakoutTemplate/GenerateCAMFiles.OutJob +++ /dev/null @@ -1,81 +0,0 @@ -[OutputJobFile] -Version=1.0 -Caption= -Description= -VaultGUID= -ItemGUID= -ItemHRID= -RevisionGUID= -RevisionId= -VaultHRID= -AutoItemHRID= -NextRevId= -FolderGUID= -LifeCycleDefinitionGUID= -RevisionNamingSchemeGUID= - -[OutputGroup1] -Name=Job1.OutJob -Description= -TargetOutputMedium=Folder Structure -VariantName=[No Variations] -VariantScope=1 -CurrentConfigurationName= -TargetPrinter=Microsoft Print to PDF -PrinterOptions=Record=PrinterOptions|Copies=1|Duplex=1|TrueTypeOptions=3|Collate=1|PrintJobKind=1|PrintWhat=1 -OutputMedium1=Print Job -OutputMedium1_Type=Printer -OutputMedium1_Printer= -OutputMedium1_PrinterOptions=Record=PrinterOptions|Copies=1|Duplex=1|TrueTypeOptions=3|Collate=1|PrintJobKind=1|PrintWhat=1 -OutputMedium2=Folder Structure -OutputMedium2_Type=GeneratedFiles -OutputType1=Gerber -OutputName1=Gerber Files -OutputCategory1=Fabrication -OutputDocumentPath1=PCB.PcbDoc -OutputVariantName1= -OutputEnabled1=1 -OutputEnabled1_OutputMedium1=0 -OutputEnabled1_OutputMedium2=1 -OutputDefault1=0 -Configuration1_Name1=OutputConfigurationParameter1 -Configuration1_Item1=AddToAllLayerClasses.Set= |AddToAllPlots.Set=SerializeLayerHash.Version~2,ClassName~TPlotLayerStateArray|BoardID=JUHGREWA|CentrePlots=False|DrillDrawingSymbol=GraphicsSymbol|DrillDrawingSymbolSize=500000|EmbeddedApertures=True|FilmBorderSize=10000000|FilmXSize=200000000|FilmYSize=160000000|FlashAllFills=False|FlashPadShapes=True|G54OnApertureChange=False|GenerateDRCRulesFile=False|GenerateDRCRulesFile=False|GenerateReliefShapes=True|GenerateReports=True|GerberUnit=Imperial|GerberUnit=Imperial|IncludeUnconnectedMidLayerPads=True|LayerClassesMirror.Set= |LayerClassesPlot.Set= |LeadingAndTrailingZeroesMode=SuppressLeadingZeroes|MaxApertureSize=2500000|MergePadAndRegion=False|MinusApertureTolerance=50|MinusApertureTolerance=50|Mirror.Set=SerializeLayerHash.Version~2,ClassName~TPlotLayerStateArray|MirrorDrillDrawingPlots=False|MirrorDrillGuidePlots=False|NoRegularPolygons=False|NumberOfDecimals=5|NumberOfDecimals=5|OptimizeChangeLocationCommands=True|OptimizeChangeLocationCommands=True|OriginPosition=Relative|Panelize=False|Plot.Set=SerializeLayerHash.Version~2,ClassName~TPlotLayerStateArray,16777217~1,16842753~1,16842754~1,16842751~1,16973830~1,16973831~1,16973834~1,16973835~1,16973832~1,16973833~1|PlotBoardProfile=True|PlotBoardProfileFileName=PCB.GM|PlotPositivePlaneLayers=False|PlotUsedDrillDrawingLayerPairs=False|PlotUsedDrillGuideLayerPairs=False|PlusApertureTolerance=50|PlusApertureTolerance=50|Record=GerberView|SoftwareArcs=False|Sorted=False|Sorted=False|UncheckPlotDrillDrawingLayerPair0_Backdrill=False|UncheckPlotDrillDrawingLayerPair0_Checked=False|UncheckPlotDrillDrawingLayerPair0_DrillType=Regular|UncheckPlotDrillDrawingLayerPair0_FileName=PCB.GD1|UncheckPlotDrillDrawingLayerPair0_HighLayer=Bottom Layer|UncheckPlotDrillDrawingLayerPair0_LowLayer=Top Layer|UncheckPlotDrillGuideLayerPair0_Backdrill=False|UncheckPlotDrillGuideLayerPair0_Checked=False|UncheckPlotDrillGuideLayerPair0_DrillType=Regular|UncheckPlotDrillGuideLayerPair0_FileName=PCB.GG1|UncheckPlotDrillGuideLayerPair0_HighLayer=Bottom Layer|UncheckPlotDrillGuideLayerPair0_LowLayer=Top Layer|UserLayerName.Caption0=PCB.GBO|UserLayerName.Caption1=PCB.GTP|UserLayerName.Caption10=PCB.GP2|UserLayerName.Caption11=PCB.GM1|UserLayerName.Caption12=PCB.GBL|UserLayerName.Caption13=PCB.GM15|UserLayerName.Caption14=PCB.GTL|UserLayerName.Caption15=PCB.GBP|UserLayerName.Caption2=PCB.GTO|UserLayerName.Caption3=PCB.GTS|UserLayerName.Caption4=PCB.GM13|UserLayerName.Caption5=PCB.GKO|UserLayerName.Caption6=PCB.GPT|UserLayerName.Caption7=PCB.GPB|UserLayerName.Caption8=PCB.GP1|UserLayerName.Caption9=PCB.GBS|UserLayerName.Count=16|UserLayerName.Layer0=16973831|UserLayerName.Layer1=16973832|UserLayerName.Layer10=16842754|UserLayerName.Layer11=16908289|UserLayerName.Layer12=16842751|UserLayerName.Layer13=16908303|UserLayerName.Layer14=16777217|UserLayerName.Layer15=16973833|UserLayerName.Layer2=16973830|UserLayerName.Layer3=16973834|UserLayerName.Layer4=16908301|UserLayerName.Layer5=16973837|UserLayerName.Layer6=16973848|UserLayerName.Layer7=16973849|UserLayerName.Layer8=16842753|UserLayerName.Layer9=16973835|DocumentPath=\\vmware-host\Shared Folders\Documents\CMU\Roboclub\RoboBuggy2\pcbs\TeensyBreakoutTemplate\PCB.PcbDoc -OutputType2=NC Drill -OutputName2=NC Drill Files -OutputCategory2=Fabrication -OutputDocumentPath2=PCB.PcbDoc -OutputVariantName2= -OutputEnabled2=1 -OutputEnabled2_OutputMedium1=0 -OutputEnabled2_OutputMedium2=2 -OutputDefault2=0 -Configuration2_Name1=OutputConfigurationParameter1 -Configuration2_Item1=BoardEdgeRoutToolDia=2000000|GenerateBoardEdgeRout=False|GenerateDrilledSlotsG85=False|GenerateEIADrillFile=False|GenerateSeparatePlatedNonPlatedFiles=False|GenerateSeparateViaTypeFiles=False|GenerateToolsByDrillSymbols=False|NumberOfDecimals=4|NumberOfUnits=2|OptimizeChangeLocationCommands=True|OriginPosition=Relative|Record=DrillView|Units=Imperial|ZeroesMode=SuppressTrailingZeroes|DocumentPath=\\vmware-host\Shared Folders\Documents\CMU\Roboclub\RoboBuggy2\pcbs\TeensyBreakoutTemplate\PCB.PcbDoc - -[PublishSettings] -OutputFilePath2=\\vmware-host\Shared Folders\Documents\CMU\Roboclub\RoboBuggy2\pcbs\TeensyBreakoutTemplate\Project Outputs for TeensyBreakoutTemplate\ -ReleaseManaged2=1 -OutputBasePath2=Project Outputs for TeensyBreakoutTemplate -OutputPathMedia2= -OutputPathMediaValue2= -OutputPathOutputer2=[Output Custom] -OutputPathOutputerPrefix2= -OutputPathOutputerValue2=CAMOutputs -OutputFileName2= -OutputFileNameMulti2= -UseOutputNameForMulti2=1 -OutputFileNameSpecial2= -OpenOutput2=1 - -[GeneratedFilesSettings] -RelativeOutputPath2=\\vmware-host\Shared Folders\Documents\CMU\Roboclub\RoboBuggy2\pcbs\TeensyBreakoutTemplate\Project Outputs for TeensyBreakoutTemplate\ -OpenOutputs2=1 -AddToProject2=1 -TimestampFolder2=0 -UseOutputName2=1 -OpenODBOutput2=0 -OpenGerberOutput2=0 -OpenNCDrillOutput2=0 -OpenIPCOutput2=0 -EnableReload2=0 - diff --git a/pcbs/TeensyBreakoutTemplate/Main.SchDoc b/pcbs/TeensyBreakoutTemplate/Main.SchDoc deleted file mode 100755 index 2eb07578..00000000 Binary files a/pcbs/TeensyBreakoutTemplate/Main.SchDoc and /dev/null differ diff --git a/pcbs/TeensyBreakoutTemplate/PCB 12-4-2022 10-20-31 PM.WAS b/pcbs/TeensyBreakoutTemplate/PCB 12-4-2022 10-20-31 PM.WAS deleted file mode 100755 index 729db3ad..00000000 --- a/pcbs/TeensyBreakoutTemplate/PCB 12-4-2022 10-20-31 PM.WAS +++ /dev/null @@ -1,14 +0,0 @@ -C2 C1 -C1 C2 -R10 R1 -R9 R2 -R11 R3 -R8 R4 -R1 R5 -R2 R6 -R6 R7 -C7 C5 -C5 C6 -C6 C7 -R7 R8 -R5 R9 diff --git a/pcbs/TeensyBreakoutTemplate/PCB.PcbDoc b/pcbs/TeensyBreakoutTemplate/PCB.PcbDoc deleted file mode 100755 index 281e8964..00000000 Binary files a/pcbs/TeensyBreakoutTemplate/PCB.PcbDoc and /dev/null differ diff --git a/pcbs/TeensyBreakoutTemplate/PCB.step b/pcbs/TeensyBreakoutTemplate/PCB.step deleted file mode 100755 index b333cfbf..00000000 --- a/pcbs/TeensyBreakoutTemplate/PCB.step +++ /dev/null @@ -1,276941 +0,0 @@ -ISO-10303-21; -HEADER; -FILE_DESCRIPTION(('Open CASCADE Model'),'2;1'); -FILE_NAME('Open CASCADE Shape Model','2022-12-14T15:32:56',('Author'),( - 'Open CASCADE'),'Open CASCADE STEP processor 7.5','Open CASCADE 7.5' - ,'Unknown'); -FILE_SCHEMA(('AUTOMOTIVE_DESIGN { 1 0 10303 214 1 1 1 1 }')); -ENDSEC; -DATA; -#1 = APPLICATION_PROTOCOL_DEFINITION('international standard', - 'automotive_design',2000,#2); -#2 = APPLICATION_CONTEXT( - 'core data for automotive mechanical design processes'); -#3 = SHAPE_DEFINITION_REPRESENTATION(#4,#10); -#4 = PRODUCT_DEFINITION_SHAPE('','',#5); -#5 = PRODUCT_DEFINITION('design','',#6,#9); -#6 = PRODUCT_DEFINITION_FORMATION('','',#7); -#7 = PRODUCT('PCB','PCB','',(#8)); -#8 = PRODUCT_CONTEXT('',#2,'mechanical'); -#9 = PRODUCT_DEFINITION_CONTEXT('part definition',#2,'design'); -#10 = SHAPE_REPRESENTATION('',(#11,#15,#19,#23,#27,#31,#35,#39,#43,#47, - #51,#55,#59,#63,#67,#71,#75,#79,#83,#87,#91,#95,#99,#103,#107,#111, - #115,#119,#123,#127),#131); -#11 = AXIS2_PLACEMENT_3D('',#12,#13,#14); -#12 = CARTESIAN_POINT('',(0.,0.,0.)); -#13 = DIRECTION('',(0.,0.,1.)); -#14 = DIRECTION('',(1.,0.,-0.)); -#15 = 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The software is free for students. - -The PCB was manufactured using JLCPCB and assembled by-hand using solder paste + a reflow oven in Roboclub. diff --git a/pcbs/TeensyBreakoutTemplate/Serial.SchDoc b/pcbs/TeensyBreakoutTemplate/Serial.SchDoc deleted file mode 100755 index 03b66917..00000000 Binary files a/pcbs/TeensyBreakoutTemplate/Serial.SchDoc and /dev/null differ diff --git a/pcbs/TeensyBreakoutTemplate/SnapDocs/08055G104ZAT1A.PcbLib b/pcbs/TeensyBreakoutTemplate/SnapDocs/08055G104ZAT1A.PcbLib deleted file mode 100755 index cfb7a487..00000000 Binary files a/pcbs/TeensyBreakoutTemplate/SnapDocs/08055G104ZAT1A.PcbLib and /dev/null differ diff --git a/pcbs/TeensyBreakoutTemplate/SnapDocs/08055G104ZAT1A.SchLib b/pcbs/TeensyBreakoutTemplate/SnapDocs/08055G104ZAT1A.SchLib deleted file mode 100755 index 9aab79a3..00000000 Binary files a/pcbs/TeensyBreakoutTemplate/SnapDocs/08055G104ZAT1A.SchLib and /dev/null differ diff --git a/pcbs/TeensyBreakoutTemplate/SnapDocs/1-1546215-2.PcbLib 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-Configuration1_Item3=OpenExported=False|AddToProject=False|ReportBOMViolationsInMessages=False|ForceFit=False|NotFitted=False|Database=False|DatabasePriority=False|IncludePcbData=False|IncludeVaultData=False|IncludeCloudData=False|IncludeDocumentData=False|IncludeAlternatives=True|ShowExportOptions=True|TemplateFilename=|TemplateVaultGuid=|TemplateItemGuid=|TemplateRevisionGuid=|BatchMode=2|FormWidth=1200|FormHeight=710|SupplierProdQty=5|SupplierAutoQty=True|SupplierUseCachedPricing=False|SupplierCurrency=USD|SolutionsPerItem=1|SuppliersPerSolution=1|ViewType=0|UseDirectApi=True|BomSetName= -Configuration1_Name4=GroupOrder -Configuration1_Item4= -Configuration1_Name5=VisibleOrder -Configuration1_Item5=Line #=52|Comment=177|Description=449|Designator=111|Quantity=64|Manufacturer 1=88|Manufacturer Part Number 1=162|Manufacturer Lifecycle 1=141|Supplier 1=72|Supplier Part Number 1=137|Supplier Unit Price 1=121|Supplier Subtotal 1=115 -Configuration1_Name6=VisibleOrder_Base 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-PageOptions2=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-3|MediaType=1|DitherType=10|PrintScaleMode=1|PaperKind=Letter|PaperIndex=1 -OutputType3=ComponentCrossReference -OutputName3=Component Cross Reference Report -OutputDocumentPath3= -OutputVariantName3=[No Variations] -OutputDefault3=0 -OutputType4=Export Comments -OutputName4=Export Comments -OutputDocumentPath4= -OutputVariantName4=[No Variations] -OutputDefault4=0 -PageOptions4=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-3|MediaType=1|DitherType=10|PrintScaleMode=1|PaperKind=Letter|PaperIndex=1 -OutputType5=ReportHierarchy -OutputName5=Report Project Hierarchy -OutputDocumentPath5= -OutputVariantName5=[No Variations] -OutputDefault5=0 -OutputType6=Script -OutputName6=Script Output -OutputDocumentPath6= -OutputVariantName6=[No Variations] -OutputDefault6=0 -OutputType7=SimpleBOM -OutputName7=Simple BOM -OutputDocumentPath7= -OutputVariantName7=[No Variations] -OutputDefault7=0 -OutputType8=SinglePinNetReporter -OutputName8=Report Single Pin Nets -OutputDocumentPath8= -OutputVariantName8=[No Variations] -OutputDefault8=0 -OutputType9=Export Project History -OutputName9=Export Project History -OutputDocumentPath9= -OutputVariantName9=[No Variations] -OutputDefault9=0 -PageOptions9=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-3|MediaType=1|DitherType=10|PrintScaleMode=1|PaperKind=Letter|PaperIndex=1 - -[OutputGroup7] -Name=Other Outputs -Description= -TargetPrinter=Microsoft Print to PDF -PrinterOptions=Record=PrinterOptions|Copies=1|Duplex=1|TrueTypeOptions=3|Collate=1|PrintJobKind=1|PrintWhat=1 -OutputType1=Text Print -OutputName1=Text Print -OutputDocumentPath1= -OutputVariantName1= -OutputDefault1=0 -PageOptions1=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-3|MediaType=1|DitherType=10|PrintScaleMode=1|PaperKind=Letter|PaperIndex=1 -OutputType2=Text Print -OutputName2=Text Print -OutputDocumentPath2= -OutputVariantName2= -OutputDefault2=0 -PageOptions2=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-3|MediaType=1|DitherType=10|PrintScaleMode=1|PaperKind=Letter|PaperIndex=1 -OutputType3=Text Print -OutputName3=Text Print -OutputDocumentPath3= -OutputVariantName3= -OutputDefault3=0 -PageOptions3=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-3|MediaType=1|DitherType=10|PrintScaleMode=1|PaperKind=Letter|PaperIndex=1 -OutputType4=Text Print -OutputName4=Text Print -OutputDocumentPath4= -OutputVariantName4= -OutputDefault4=0 -PageOptions4=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-3|MediaType=1|DitherType=10|PrintScaleMode=1|PaperKind=Letter|PaperIndex=1 -OutputType5=Text Print -OutputName5=Text Print -OutputDocumentPath5= -OutputVariantName5= -OutputDefault5=0 -PageOptions5=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-3|MediaType=1|DitherType=10|PrintScaleMode=1|PaperKind=Letter|PaperIndex=1 -OutputType6=Text Print -OutputName6=Text Print -OutputDocumentPath6= -OutputVariantName6= -OutputDefault6=0 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-PageOptions8=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-3|MediaType=1|DitherType=10|PrintScaleMode=1|PaperKind=Letter|PaperIndex=1 -OutputType9=Text Print -OutputName9=Text Print -OutputDocumentPath9= -OutputVariantName9= -OutputDefault9=0 -PageOptions9=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-3|MediaType=1|DitherType=10|PrintScaleMode=1|PaperKind=Letter|PaperIndex=1 -OutputType10=Text Print -OutputName10=Text Print -OutputDocumentPath10= -OutputVariantName10= -OutputDefault10=0 -PageOptions10=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-3|MediaType=1|DitherType=10|PrintScaleMode=1|PaperKind=Letter|PaperIndex=1 -OutputType11=Text Print -OutputName11=Text Print -OutputDocumentPath11= -OutputVariantName11= -OutputDefault11=0 -PageOptions11=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-3|MediaType=1|DitherType=10|PrintScaleMode=1|PaperKind=Letter|PaperIndex=1 -OutputType12=Text Print -OutputName12=Text Print -OutputDocumentPath12= -OutputVariantName12= -OutputDefault12=0 -PageOptions12=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-3|MediaType=1|DitherType=10|PrintScaleMode=1|PaperKind=Letter|PaperIndex=1 -OutputType13=Text Print -OutputName13=Text Print -OutputDocumentPath13= -OutputVariantName13= -OutputDefault13=0 -PageOptions13=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-3|MediaType=1|DitherType=10|PrintScaleMode=1|PaperKind=Letter|PaperIndex=1 -OutputType14=Text Print -OutputName14=Text Print -OutputDocumentPath14= -OutputVariantName14= -OutputDefault14=0 -PageOptions14=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-3|MediaType=1|DitherType=10|PrintScaleMode=1|PaperKind=Letter|PaperIndex=1 -OutputType15=Text Print -OutputName15=Text Print -OutputDocumentPath15= -OutputVariantName15= -OutputDefault15=0 -PageOptions15=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-3|MediaType=1|DitherType=10|PrintScaleMode=1|PaperKind=Letter|PaperIndex=1 -OutputType16=Text Print -OutputName16=Text Print -OutputDocumentPath16= -OutputVariantName16= -OutputDefault16=0 -PageOptions16=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-3|MediaType=1|DitherType=10|PrintScaleMode=1|PaperKind=Letter|PaperIndex=1 -OutputType17=Text Print -OutputName17=Text Print -OutputDocumentPath17= -OutputVariantName17= -OutputDefault17=0 -PageOptions17=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-3|MediaType=1|DitherType=10|PrintScaleMode=1|PaperKind=Letter|PaperIndex=1 - -[OutputGroup8] -Name=Validation Outputs -Description= -TargetPrinter=Microsoft Print to PDF -PrinterOptions=Record=PrinterOptions|Copies=1|Duplex=1|TrueTypeOptions=3|Collate=1|PrintJobKind=1|PrintWhat=1 -OutputType1=BOM_Violations -OutputName1=BOM Checks Report -OutputDocumentPath1= -OutputVariantName1= -OutputDefault1=0 -OutputType2=Component states check -OutputName2=Server's components states check -OutputDocumentPath2= -OutputVariantName2= -OutputDefault2=0 -OutputType3=Configuration compliance -OutputName3=Environment configuration compliance check -OutputDocumentPath3= -OutputVariantName3= -OutputDefault3=0 -OutputType4=Design Rules Check -OutputName4=Design Rules Check -OutputDocumentPath4= -OutputVariantName4= -OutputDefault4=0 -PageOptions4=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-3|MediaType=1|DitherType=10|PrintScaleMode=1|PaperKind=Letter|PaperIndex=1 -OutputType5=Differences Report -OutputName5=Differences Report -OutputDocumentPath5= -OutputVariantName5= -OutputDefault5=0 -PageOptions5=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-3|MediaType=1|DitherType=10|PrintScaleMode=1|PaperKind=Letter|PaperIndex=1 -OutputType6=Electrical Rules Check -OutputName6=Electrical Rules Check -OutputDocumentPath6= -OutputVariantName6= -OutputDefault6=0 -PageOptions6=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-3|MediaType=1|DitherType=10|PrintScaleMode=1|PaperKind=Letter|PaperIndex=1 -OutputType7=Footprint Comparison Report -OutputName7=Footprint Comparison Report -OutputDocumentPath7= -OutputVariantName7= -OutputDefault7=0 - -[OutputGroup9] -Name=Export Outputs -Description= -TargetPrinter=Microsoft Print to PDF -PrinterOptions=Record=PrinterOptions|Copies=1|Duplex=1|TrueTypeOptions=3|Collate=1|PrintJobKind=1|PrintWhat=1 -OutputType1=AutoCAD dwg/dxf PCB -OutputName1=AutoCAD dwg/dxf File PCB -OutputDocumentPath1= -OutputVariantName1= -OutputDefault1=0 -OutputType2=AutoCAD dwg/dxf Schematic -OutputName2=AutoCAD dwg/dxf File Schematic -OutputDocumentPath2= -OutputVariantName2= -OutputDefault2=0 -OutputType3=ExportIDF -OutputName3=Export IDF -OutputDocumentPath3= -OutputVariantName3= -OutputDefault3=0 -OutputType4=ExportPARASOLID -OutputName4=Export PARASOLID -OutputDocumentPath4= -OutputVariantName4=[No Variations] -OutputDefault4=0 -OutputType5=ExportSTEP -OutputName5=Export STEP -OutputDocumentPath5= -OutputVariantName5=[No Variations] -OutputDefault5=0 -OutputType6=ExportVRML -OutputName6=Export VRML -OutputDocumentPath6= -OutputVariantName6=[No Variations] -OutputDefault6=0 -OutputType7=MBAExportPARASOLID -OutputName7=Export PARASOLID -OutputDocumentPath7= -OutputVariantName7= -OutputDefault7=0 -OutputType8=MBAExportSTEP -OutputName8=Export STEP -OutputDocumentPath8= -OutputVariantName8= -OutputDefault8=0 -OutputType9=Save As/Export PCB -OutputName9=Save As/Export PCB -OutputDocumentPath9= -OutputVariantName9= -OutputDefault9=0 -OutputType10=Save As/Export Schematic -OutputName10=Save As/Export Schematic -OutputDocumentPath10= -OutputVariantName10= -OutputDefault10=0 -OutputType11=Specctra Design PCB -OutputName11=Specctra Design PCB -OutputDocumentPath11= -OutputVariantName11= -OutputDefault11=0 -OutputType12=Web ReviewOutputName -OutputName12=Web Review Data -OutputDocumentPath12= -OutputVariantName12= -OutputDefault12=0 - -[OutputGroup10] -Name=PostProcess Outputs -Description= -TargetPrinter=Microsoft Print to PDF -PrinterOptions=Record=PrinterOptions|Copies=1|Duplex=1|TrueTypeOptions=3|Collate=1|PrintJobKind=1|PrintWhat=1 -OutputType1=Copy Files -OutputName1=Copy Files -OutputDocumentPath1= -OutputVariantName1= -OutputDefault1=0 - -[Modification Levels] -Type1=1 -Type2=1 -Type3=1 -Type4=1 -Type5=1 -Type6=1 -Type7=1 -Type8=1 -Type9=1 -Type10=1 -Type11=1 -Type12=1 -Type13=1 -Type14=1 -Type15=1 -Type16=1 -Type17=1 -Type18=1 -Type19=1 -Type20=1 -Type21=1 -Type22=1 -Type23=1 -Type24=1 -Type25=1 -Type26=1 -Type27=1 -Type28=1 -Type29=1 -Type30=1 -Type31=1 -Type32=1 -Type33=1 -Type34=1 -Type35=1 -Type36=1 -Type37=1 -Type38=1 -Type39=1 -Type40=1 -Type41=1 -Type42=1 -Type43=1 -Type44=1 -Type45=1 -Type46=1 -Type47=1 -Type48=1 -Type49=1 -Type50=1 -Type51=1 -Type52=1 -Type53=1 -Type54=1 -Type55=1 -Type56=1 -Type57=1 -Type58=1 -Type59=1 -Type60=1 -Type61=1 -Type62=1 -Type63=1 -Type64=1 -Type65=1 -Type66=1 -Type67=1 -Type68=1 -Type69=1 -Type70=1 -Type71=1 -Type72=1 -Type73=1 -Type74=1 -Type75=1 -Type76=1 -Type77=1 -Type78=1 -Type79=1 -Type80=1 -Type81=1 -Type82=1 -Type83=1 -Type84=1 -Type85=1 -Type86=1 -Type87=1 -Type88=1 -Type89=1 -Type90=1 -Type91=1 -Type92=1 -Type93=1 -Type94=1 -Type95=1 -Type96=1 -Type97=1 -Type98=1 -Type99=1 -Type100=1 -Type101=1 -Type102=1 -Type103=1 -Type104=1 -Type105=1 -Type106=1 -Type107=1 -Type108=1 -Type109=1 -Type110=1 -Type111=1 -Type112=1 -Type113=1 -Type114=1 -Type115=1 -Type116=1 -Type117=1 -Type118=1 -Type119=1 -Type120=1 - -[Difference Levels] -Type1=1 -Type2=1 -Type3=1 -Type4=1 -Type5=1 -Type6=1 -Type7=1 -Type8=1 -Type9=1 -Type10=1 -Type11=1 -Type12=1 -Type13=1 -Type14=1 -Type15=1 -Type16=1 -Type17=1 -Type18=1 -Type19=1 -Type20=1 -Type21=1 -Type22=1 -Type23=1 -Type24=1 -Type25=1 -Type26=1 -Type27=1 -Type28=1 -Type29=1 -Type30=1 -Type31=1 -Type32=1 -Type33=1 -Type34=1 -Type35=1 -Type36=1 -Type37=1 -Type38=1 -Type39=1 -Type40=1 -Type41=1 -Type42=1 -Type43=1 -Type44=1 -Type45=1 -Type46=1 -Type47=1 -Type48=1 -Type49=1 -Type50=1 -Type51=1 -Type52=1 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-matplotlib==3.1.2 -NavPy==1.0 -numba==0.58.0 -numpy<1.21.0 -osqp==0.6.3 -pandas==2.0.3 -pyembree==0.2.11 -pymap3d==3.0.1 -scipy==1.10.1 -trimesh==3.23.5 -utm==0.7.0 -keyboard==0.13.5 -tk==0.1.0 \ No newline at end of file +matplotlib +NavPy +numba +numpy +osqp +pandas +pymap3d +scipy +setuptools==58.2.0 +trimesh +utm +keyboard +tk \ No newline at end of file diff --git a/rb_ws/.catkin_workspace b/rb_ws/.catkin_workspace deleted file mode 100755 index 52fd97e7..00000000 --- a/rb_ws/.catkin_workspace +++ /dev/null @@ -1 +0,0 @@ -# This file currently only serves to mark the location of a catkin workspace for tool integration diff --git a/rb_ws/.gitignore b/rb_ws/.gitignore index ac6e85f0..1df86d79 100755 --- a/rb_ws/.gitignore +++ b/rb_ws/.gitignore @@ -16,6 +16,8 @@ msg/*Result.msg msg/_*.py build_isolated/ devel_isolated/ +install/ +log/ # Generated by dynamic reconfigure *.cfgc diff --git a/rb_ws/2D Sim Controls Test.bag b/rb_ws/2D Sim Controls Test.bag deleted file mode 100644 index f27bfcb2..00000000 Binary files a/rb_ws/2D Sim Controls Test.bag and /dev/null differ diff --git a/rb_ws/run_roll.sh b/rb_ws/run_roll.sh deleted file mode 100644 index 17c3a99b..00000000 --- a/rb_ws/run_roll.sh +++ /dev/null @@ -1,3 +0,0 @@ -killall -9 roscore -killall -9 rosmaster -roslaunch buggy main.launch \ No newline at end of file diff --git a/rb_ws/src/CMakeLists.txt b/rb_ws/src/CMakeLists.txt deleted file mode 100755 index cd581217..00000000 --- a/rb_ws/src/CMakeLists.txt +++ /dev/null @@ -1,69 +0,0 @@ -# toplevel CMakeLists.txt for a catkin workspace -# catkin/cmake/toplevel.cmake - -cmake_minimum_required(VERSION 3.0.2) - -project(Project) - -set(CATKIN_TOPLEVEL TRUE) - -# search for catkin within the workspace -set(_cmd "catkin_find_pkg" "catkin" "${CMAKE_SOURCE_DIR}") -execute_process(COMMAND ${_cmd} - RESULT_VARIABLE _res - OUTPUT_VARIABLE _out - ERROR_VARIABLE _err - OUTPUT_STRIP_TRAILING_WHITESPACE - ERROR_STRIP_TRAILING_WHITESPACE -) -if(NOT _res EQUAL 0 AND NOT _res EQUAL 2) - # searching fot catkin resulted in an error - string(REPLACE ";" " " _cmd_str "${_cmd}") - message(FATAL_ERROR "Search for 'catkin' in workspace failed (${_cmd_str}): ${_err}") -endif() - -# include catkin from workspace or via find_package() -if(_res EQUAL 0) - set(catkin_EXTRAS_DIR "${CMAKE_SOURCE_DIR}/${_out}/cmake") - # include all.cmake without add_subdirectory to let it operate in same scope - include(${catkin_EXTRAS_DIR}/all.cmake NO_POLICY_SCOPE) - add_subdirectory("${_out}") - -else() - # use either CMAKE_PREFIX_PATH explicitly passed to CMake as a command line argument - # or CMAKE_PREFIX_PATH from the environment - if(NOT DEFINED CMAKE_PREFIX_PATH) - if(NOT "$ENV{CMAKE_PREFIX_PATH}" STREQUAL "") - if(NOT WIN32) - string(REPLACE ":" ";" CMAKE_PREFIX_PATH $ENV{CMAKE_PREFIX_PATH}) - else() - set(CMAKE_PREFIX_PATH $ENV{CMAKE_PREFIX_PATH}) - endif() - endif() - endif() - - # list of catkin workspaces - set(catkin_search_path "") - foreach(path ${CMAKE_PREFIX_PATH}) - if(EXISTS "${path}/.catkin") - list(FIND catkin_search_path ${path} _index) - if(_index EQUAL -1) - list(APPEND catkin_search_path ${path}) - endif() - endif() - endforeach() - - # search for catkin in all workspaces - set(CATKIN_TOPLEVEL_FIND_PACKAGE TRUE) - find_package(catkin QUIET - NO_POLICY_SCOPE - PATHS ${catkin_search_path} - NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH) - unset(CATKIN_TOPLEVEL_FIND_PACKAGE) - - if(NOT catkin_FOUND) - message(FATAL_ERROR "find_package(catkin) failed. catkin was neither found in the workspace nor in the CMAKE_PREFIX_PATH. One reason may be that no ROS setup.sh was sourced before.") - endif() -endif() - -catkin_workspace() diff --git a/rb_ws/src/buggy/CMakeLists.txt b/rb_ws/src/buggy/CMakeLists.txt deleted file mode 100755 index f752b8cf..00000000 --- a/rb_ws/src/buggy/CMakeLists.txt +++ /dev/null @@ -1,211 +0,0 @@ -cmake_minimum_required(VERSION 3.0.2) -project(buggy) - -## Compile as C++11, supported in ROS Kinetic and newer -# add_compile_options(-std=c++11) - -## Find catkin macros and libraries -## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) -## is used, also find other catkin packages -find_package(catkin REQUIRED COMPONENTS - geometry_msgs - roscpp - rospy - std_msgs - message_generation - microstrain_inertial_msgs -) - -## System dependencies are found with CMake's conventions -# find_package(Boost REQUIRED COMPONENTS system) - - -## Uncomment this if the package has a setup.py. This macro ensures -## modules and global scripts declared therein get installed -## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html -# catkin_python_setup() - -################################################ -## Declare ROS messages, services and actions ## -################################################ - -## To declare and build messages, services or actions from within this -## package, follow these steps: -## * Let MSG_DEP_SET be the set of packages whose message types you use in -## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). -## * In the file package.xml: -## * add a build_depend tag for "message_generation" -## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET -## * If MSG_DEP_SET isn't empty the following dependency has been pulled in -## but can be declared for certainty nonetheless: -## * add a exec_depend tag for "message_runtime" -## * In this file (CMakeLists.txt): -## * add "message_generation" and every package in MSG_DEP_SET to -## find_package(catkin REQUIRED COMPONENTS ...) -## * add "message_runtime" and every package in MSG_DEP_SET to -## catkin_package(CATKIN_DEPENDS ...) -## * uncomment the add_*_files sections below as needed -## and list every .msg/.srv/.action file to be processed -## * uncomment the generate_messages entry below -## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) - -## Generate messages in the 'msg' folder -add_message_files( - FILES - EncoderStatus.msg - LoRaEvent.msg - TrajectoryMsg.msg -) - -## Generate services in the 'srv' folder -# add_service_files( -# FILES -# Service1.srv -# Service2.srv -# ) - -## Generate actions in the 'action' folder -# add_action_files( -# FILES -# Action1.action -# Action2.action -# ) - -## Generate added messages and services with any dependencies listed here -generate_messages( - DEPENDENCIES - std_msgs -) - -################################################ -## Declare ROS dynamic reconfigure parameters ## -################################################ - -## To declare and build dynamic reconfigure parameters within this -## package, follow these steps: -## * In the file package.xml: -## * add a build_depend and a exec_depend tag for "dynamic_reconfigure" -## * In this file (CMakeLists.txt): -## * add "dynamic_reconfigure" to -## find_package(catkin REQUIRED COMPONENTS ...) -## * uncomment the "generate_dynamic_reconfigure_options" section below -## and list every .cfg file to be processed - -## Generate dynamic reconfigure parameters in the 'cfg' folder -# generate_dynamic_reconfigure_options( -# cfg/DynReconf1.cfg -# cfg/DynReconf2.cfg -# ) - -################################### -## catkin specific configuration ## -################################### -## The catkin_package macro generates cmake config files for your package -## Declare things to be passed to dependent projects -## INCLUDE_DIRS: uncomment this if your package contains header files -## LIBRARIES: libraries you create in this project that dependent projects also need -## CATKIN_DEPENDS: catkin_packages dependent projects also need -## DEPENDS: system dependencies of this project that dependent projects also need -catkin_package( -# INCLUDE_DIRS include -# LIBRARIES buggy - CATKIN_DEPENDS rospy std_msgs message_runtime -# CATKIN_DEPENDS geometry_msgs roscpp rospy std_msgs -# DEPENDS system_lib -) - -########### -## Build ## -########### - -## Specify additional locations of header files -## Your package locations should be listed before other locations -include_directories( -# include - ${catkin_INCLUDE_DIRS} -) - -## Declare a C++ library -# add_library(${PROJECT_NAME} -# src/${PROJECT_NAME}/buggy.cpp -# ) - -## Add cmake target dependencies of the library -## as an example, code may need to be generated before libraries -## either from message generation or dynamic reconfigure -# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) - -## Declare a C++ executable -## With catkin_make all packages are built within a single CMake context -## The recommended prefix ensures that target names across packages don't collide -# add_executable(${PROJECT_NAME}_node src/buggy_node.cpp) - -## Rename C++ executable without prefix -## The above recommended prefix causes long target names, the following renames the -## target back to the shorter version for ease of user use -## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" -# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") - -## Add cmake target dependencies of the executable -## same as for the library above -# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) - -## Specify libraries to link a library or executable target against -# target_link_libraries(${PROJECT_NAME}_node -# ${catkin_LIBRARIES} -# ) - -############# -## Install ## -############# - -# all install targets should use catkin DESTINATION variables -# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html - -## Mark executable scripts (Python etc.) for installation -## in contrast to setup.py, you can choose the destination -# catkin_install_python(PROGRAMS -# scripts/my_python_script -# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} -# ) - -## Mark executables for installation -## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html -# install(TARGETS ${PROJECT_NAME}_node -# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} -# ) - -## Mark libraries for installation -## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html -# install(TARGETS ${PROJECT_NAME} -# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} -# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} -# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} -# ) - -## Mark cpp header files for installation -# install(DIRECTORY include/${PROJECT_NAME}/ -# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} -# FILES_MATCHING PATTERN "*.h" -# PATTERN ".svn" EXCLUDE -# ) - -## Mark other files for installation (e.g. launch and bag files, etc.) -# install(FILES -# # myfile1 -# # myfile2 -# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} -# ) - -############# -## Testing ## -############# - -## Add gtest based cpp test target and link libraries -# catkin_add_gtest(${PROJECT_NAME}-test test/test_buggy.cpp) -# if(TARGET ${PROJECT_NAME}-test) -# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) -# endif() - -## Add folders to be run by python nosetests -# catkin_add_nosetests(test) diff --git a/rb_ws/src/buggy/INS_params.yml b/rb_ws/src/buggy/INS_params.yml deleted file mode 100644 index 95a482be..00000000 --- a/rb_ws/src/buggy/INS_params.yml +++ /dev/null @@ -1,492 +0,0 @@ - -# Standalone example params file for GX3, GX4, GX/CX5, RQ1 and GQ7 series devices -# Note: Feature support is device-dependent and some of the following settings may have no affect on your device. -# Please consult your device's documentation for supported features - -# ****************************************************************** -# NOTE: This file is formatted to work with ROS and will not work if specified as the params_file argument in ROS2. -# If you want to override parameters for ROS2, start with https://github.com/LORD-MicroStrain/microstrain_inertial/blob/ros2/microstrain_inertial_driver/config/empty.yml -# ****************************************************************** - -# ****************************************************************** -# General Settings -# ****************************************************************** - -# port is the main port that the device will communicate over. For all devices except the GQ7, this is the only available port. -# aux_port is only available for the GQ7 and is only needed when streaming RTCM corrections to the device from ROS, or if you want to publish NMEA sentences from this node -port : "/dev/ttyACM0" -aux_port : "/dev/null" -baudrate : 115200 -debug : True -diagnostics : True - -# If set to true, this will configure the requested baudrate on the device. -# Note that this will be set on both USB and serial, but will only actually affect the baudrate of a serial connection. -set_baud : False - -# Frame IDs used in the different messages. By default these are set to arbitrary strings as not to interfere with other ROS services. -# For more information on common frame IDs, check out: https://www.ros.org/reps/rep-0105.html -# -# filter_frame_id and filter_child_frame_id are specifically useful as the node will also publish a transform to the /tf topic -# that contains the transform between these two frames. Many ROS tools such as RViz will use the /tf topic to display things like robot position. -imu_frame_id : "sensor" -gnss1_frame_id : "gnss1_antenna_wgs84" -gnss2_frame_id : "gnss2_antenna_wgs84" -filter_frame_id : "sensor_wgs84" -filter_child_frame_id : "sensor" -nmea_frame_id : "nmea" - -# Waits for a configurable amount of time until the device exists -# If poll_max_tries is set to -1 we will poll forever until the device exists -poll_port : False -poll_rate_hz : 1.0 -poll_max_tries : 60 - -# Controls if the driver outputs data with-respect-to ENU frame -# false - position, velocity, and orientation are WRT the NED frame (native device frame) -# true - position, velocity, and orientation are WRT the ENU frame -use_enu_frame : True - -# Controls if the driver-defined setup is sent to the device -# false - The driver will ignore the settings below and use the device's current settings -# true - Overwrite the current device settings with those listed below -device_setup : True - -# Controls if the driver-defined settings are saved -# false - Do not save the settings -# true - Save the settings in the device's non-volatile memory -save_settings : False - -# Controls if the driver uses the device generated timestamp (if available) for timestamping messages -# false - Use PC received time for timestamping -# true - Use device generated timestamp -use_device_timestamp : False - -# Controls if the driver uses ROS time for timestamping messages. Can be useful when running under simulation. -# NOTE: This can be used in conjunction with use_device_timestamp in which case, the device timestmap will be used for sensor_msgs/TimeReference messages, and ROS time will be used for all other messages -# false - Use PC received time for timestamping -# true - Use ROS time for timestamping all non sensor_msgs/TimeReference messages -use_ros_time : False - -# Controls if the driver creates a raw binary file -# false - Do not create the file -# true - Create the file -# -# Notes: 1) The filename will have the following format - -# model_number "_" serial_number "_" datetime (year_month_day_hour_minute_sec) ".bin" -# example: "3DM-GX5-45_6251.00001_20_12_01_01_01_01.bin" -# 2) This file is useful for getting support from the manufacturer -raw_file_enable : False - -# (GQ7/CV7 only) Controls if the driver requests additional factory support data to be included in the raw data file -# false - Do not request the additional data -# true - Request the additional channels (please see notes below!) -# -# Notes: **We recommend only enabling this feature when specifically requested by Microstrain.** -# -# Including this feature increases communication bandwidth requirements significantly... for serial data connections -# please ensure the baudrate is sufficient for the added data channels. -raw_file_include_support_data : False - -# The directory to store the raw data file (no trailing '/') -raw_file_directory : "/home/your_name" - - -# ****************************************************************** -# IMU Settings -# ****************************************************************** -imu_data_rate : 100 - -# The speed at which the individual IMU publishers will publish at. -# If set to -1, will use imu_data_rate to determine the rate at which to stream and publish -# If set to 0, the stream will be turned off and the publisher will not be created -imu_raw_data_rate : -1 # Rate of imu/data topic -imu_mag_data_rate : -1 # Rate of mag topic -imu_gps_corr_data_rate : -1 # Rate of gps_corr topic - # Note that for philo devices (GX5, CV5, CX5), this will be published at the highest IMU data rate if "use_device_timestamp" is set to true -imu_overrange_status_data_rate : -1 # Rate of imu/overrange_status topic - -# Static IMU message covariance values (the device does not generate these) -# Since internally these are std::vector we need to use the rosparam tags -imu_orientation_cov : [0.01, 0.0, 0.0, 0.0, 0.01, 0.0, 0.0, 0.0, 0.01] -imu_linear_cov : [0.01, 0.0, 0.0, 0.0, 0.01, 0.0, 0.0, 0.0, 0.01] -imu_angular_cov : [0.01, 0.0, 0.0, 0.0, 0.01, 0.0, 0.0, 0.0, 0.01] - -# ****************************************************************** -# GNSS Settings (only applicable for devices with GNSS) -# ****************************************************************** -gnss1_data_rate : 100 - -# The speed at which the individual GNSS1 publishers will publish at. -# If set to -1, will use gnss1_data_rate to determine the rate at which to stream and publish -# If set to 0, the stream will be turned off and the publisher will not be created -# -# Note: The parameters' "gnss1_nav_sat_fix_data_rate", "gnss1_odom_data_rate" associated ROS messages share several MIP fields, -# so if more than one is set to stream, and they are set to stream at different rates, messages will be published on both topics, at the higher rate -gnss1_nav_sat_fix_data_rate : -1 # Rate of gnss1/fix topic -gnss1_odom_data_rate : -1 # Rate of gnss1/odom topic -gnss1_time_reference_data_rate : -1 # Rate of gnss1/time_ref topic - # Note that on philo devices, if use_device_timestamp is set to true, this will be streamed at the highest GNSS rate -gnss1_fix_info_data_rate : -1 # Rate of gnss1/fix_info topic -gnss1_sbas_info_data_rate : -1 # Rate of gnss1/sbas_info topic -gnss1_rf_error_detection_data_rate : -1 # Rate of gnss1/rf_error_detection topic - -# Antenna #1 lever arm offset vector -# For GQ7 - in the vehicle frame wrt IMU origin (meters) -# For all other models - in the IMU frame wrt IMU origin (meters) -# Note: Make this as accurate as possible for good performance -gnss1_antenna_offset : [-0.6007, 0.0, -0.2225] - -# GNSS2 settings are only applicable for multi-GNSS systems (e.g. GQ7) -gnss2_data_rate : 100 - -# The speed at which the individual GNSS2 publishers will publish at. -# If set to -1, will use gnss2_data_rate to determine the rate at which to stream and publish -# If set to 0, the stream will be turned off and the publisher will not be created -# -# Note: The parameters' "gnss2_nav_sat_fix_data_rate", "gnss2_odom_data_rate" associated ROS messages share several MIP fields, -# so if more than one is set to stream, and they are set to stream at different rates, messages will be published on both topics, at the higher rate -gnss2_nav_sat_fix_data_rate : -1 # Rate of gnss2/fix topic -gnss2_odom_data_rate : -1 # Rate of gnss2/odom topic -gnss2_time_reference_data_rate : -1 # Rate of gnss2/time_ref topic -gnss2_fix_info_data_rate : -1 # Rate of gnss2/fix_info topic -gnss2_sbas_info_data_rate : -1 # Rate of gnss2/sbas_info topic -gnss2_rf_error_detection_data_rate : -1 # Rate of gnss1/rf_error_detection topic - -# Antenna #2 lever arm offset vector (In the vehicle frame wrt IMU origin (meters) ) -# Note: Make this as accurate as possible for good performance -gnss2_antenna_offset : [0.4968, 0.0, -0.3268] - -# (GQ7 Only) Enable RTK dongle interface -# Note: Enabling this will cause the node to publish on one of two topics depending -# on the version of the RTK dongle connected to the GQ7 -# Note: This is also reiquired to be True in order to publish NMEA from the aux port -rtk_dongle_enable : False - -# Speed at which RTK data will be published if an individual topic data rate is not specified -rtk_data_rate: 100 - -# The speed at which the individual RTK publishers will publish at. -# If set to 0, the stream will be turned off and the publisher will not be created -rtk_status_data_rate : 1 # Rate of rtk/status or rtk/status_v1 topics - -# (GQ7 Only) Allow the user to send RTCM messages to this node, and stream those messages to the GQ7 -subscribe_rtcm : False -rtcm_topic : "/rtcm" - -# (GQ7 Only) Send NMEA sentences out on a ROS topic -# Note: Prior to version 3.0.0, this would only publish NMEA sentences from the aux port. -# This option may now be used to publish NMEA sentences from the main port as well. -# Note: If the main port is configured to stream NMEA sentences, and the aux port is also connected, -# this will publish NMEA sentences from both the main and aux port on the same topic. -publish_nmea : False - -# ****************************************************************** -# Kalman Filter Settings (only applicable for devices with a Kalman Filter) -# ****************************************************************** -filter_data_rate : 50 - -# The speed at which the individual Filter publishers will publish at. -# If set to -1, will use filter_data_rate to determine the rate at which to stream and publish -# If set to 0, the stream will be turned off and the publisher will not be created -# -# Note: The parameters' "filter_odom_data_rate", "filter_imu_data_rate", "filter_relative_odom_data_rate" associated ROS messages share several MIP fields, -# so if more than one is set to stream, and they are set to stream at different rates, messages will be published on both topics, at the higher rate -filter_status_data_rate : -1 # Rate of nav/status topic -filter_heading_data_rate : -1 # Rate of nav/heading topic -filter_heading_state_data_rate : -1 # Rate of nav/heading_state topic -filter_odom_data_rate : -1 # Rate of nav/odom topic -filter_imu_data_rate : -1 # Rate of nav/filtered_imu/data -filter_relative_odom_data_rate : -1 # Rate of nav/relative_pos topic and the transform between filter_frame_id and filter_child_frame_id - # Note that this data rate will also control the rate at which the transform between "filter_frame_id" and "filter_child_frame_id" will be published at -filter_aiding_status_data_rate : -1 # Rate of gnss1/aiding_status and gnss2/aiding_status topics -filter_gnss_dual_antenna_data_rate : -1 # Rate of nav/dual_antenna_status topic -filter_aiding_measurement_summary_data_rate : -1 # Rate of nav/aiding_summary topic - -# Sensor2vehicle frame transformation selector -# 0 = None, 1 = Euler Angles, 2 - matrix, 3 - quaternion -# Notes: These are different ways of setting the same parameter in the device. -# The different options are provided as a convenience. -# Support for matrix and quaternion options is firmware version dependent (GQ7 supports Quaternion as of firmware 1.0.07) -# Quaternion order is [i, j, k, w] -filter_sensor2vehicle_frame_selector : 1 - -filter_sensor2vehicle_frame_transformation_euler : [0.0, 0.0, 0.0] -filter_sensor2vehicle_frame_transformation_matrix : [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0] -filter_sensor2vehicle_frame_transformation_quaternion : [0.0, 0.0, 0.0, 1.0] - -# Controls if the Kalman filter is reset after the settings are configured -filter_reset_after_config : True - -# Controls if the Kalman filter will auto-init or requires manual initialization -filter_auto_init : True - -# (All, except -10, and -15 products) Declination Source 1 = None, 2 = magnetic model, 3 = manual -# Note: When using a CV7, this MUST be changed to either 1, or 3 or the node will not start -filter_declination_source : 2 -filter_declination : 0.23 - -# (All, except GQ7, CV7, -10, and -15 products) Heading Source 0 = None, 1 = magnetic, 2 = GNSS velocity (note: see manual for limitations) -# Note: When using a -10/-AR product. This MUST be set to 0 or the node will not start -filter_heading_source : 1 - -# (GX5 and previous,-45 models only) Dynamics Mode 1 = Portable (default), 2 = Automotive, 3 = Airborne (<2Gs), 4 = Airborne High G (<4Gs) -filter_dynamics_mode : 1 - -# Controls what kind of linear acceleration data is used in the Filter IMU message. -# If this is set to true, the acceleration will not factor out gravity, if set to false gravity will be filtered out of the linear acceleration. -filter_use_compensated_accel : True - -# ZUPT control -filter_velocity_zupt_topic : "/moving_vel" -filter_angular_zupt_topic : "/moving_ang" -filter_velocity_zupt : True -filter_angular_zupt : True - -# (GQ7/CV7 full support, GX5-45 limited support) Adaptive filter settings -# Adaptive level: 0 - off, 1 - Conservative, 2 = Moderate (default), 3 = agressive -# Time limit: Max duration of measurement rejection prior to recovery, in milliseconds - default = 15000 -filter_adaptive_level : 2 -filter_adaptive_time_limit_ms : 15000 - -# (GQ7/CV7 only) Aiding measurement control -filter_enable_gnss_pos_vel_aiding : True -filter_enable_gnss_heading_aiding : True -filter_enable_altimeter_aiding : False -filter_enable_odometer_aiding : False -filter_enable_magnetometer_aiding : False -filter_enable_external_heading_aiding : False - -# External GPS Time Update Control -# Notes: filter_external_gps_time_topic should publish at no more than 1 Hz. -# gps_leap_seconds should be updated to reflect the current number -# of leap seconds. -filter_enable_external_gps_time_update : False -filter_external_gps_time_topic : "/external_gps_time" -gps_leap_seconds : 18.0 - -# External Speed Control. This node will subscribe on this topic only if filter_enable_odometer_aiding is set to true -# Notes: This subscription will be disabled if enable_hardware_odometer is set to true -filter_external_speed_topic : "/external_speed" - -# Velocity frame control. -# If set to false, the velocity will be reported in the NED/ENU frame -# If set to true, the velocity will be reported in the vehicle frame -filter_vel_in_vehicle_frame : True - -# (GQ7 Only) Reference point lever arm offset control. -# Note: This offset will affect the position and velocity measurements in the following topics: nav/odom, nav/relative_pos/odom -# Note: This offset is in the vehicle reference frame. -filter_lever_arm_offset: [-0.3835, 0.0, -0.0671] - -# (GQ7 Only) Hardware Odometer Control -enable_hardware_odometer : False -odometer_scaling : 0.0 -odometer_uncertainty : 0.0 - - -# (GQ7/CV7 only) GPIO Configuration -# Notes: For information on possible configurations and specific pin options -# refer to the MSCL MipNodeFeatures command, supportedGpioConfigurations. -# -# GQ7 GPIO Pins = -# 1 - GPIO1 (primary port pin 7) - Features = 0 - Unused, 1 - GPIO, 2 - PPS, 3 - Encoder -# 2 - GPIO2 (primary port pin 9) - Features = 0 - Unused, 1 - GPIO, 2 - PPS, 3 - Encoder -# 3 - GPIO3 (aux port pin 7) - Features = 0 - Unused, 1 - GPIO, 2 - PPS, 3 - Encoder -# 4 - GPIO4 (aux port pin 9) - Features = 0 - Unused, 1 - GPIO, 2 - PPS, 3 - Encoder -# -# CV7 GPIO Pins = -# 1 - GPIO1 (pin 7) - Features = 0 - Unused, 1 - GPIO, 2 - PPS -# 2 - GPIO2 (pin 9) - Features = 0 - Unused, 1 - GPIO, 2 - PPS -# 3 - GPIO3 (pin 6) - Features = 0 - Unused, 1 - GPIO, 2 - PPS -# 4 - GPIO4 (pin 10) - Features = 0 - Unused, 1 - GPIO, 2 - PPS -# -# Feature: -# 0 - Unused - Behaviors = 0 - unused -# 1 - GPIO - Behaviors = 0 - unused, 1 - input, 2 - output low, 3 - output high -# 2 - PPS - Behaviors = 0 - unused, 1 - input, 2 - output -# 3 - Encoder - Behaviors = 0 - unused, 1 - enc A, 2 - enc B -# -# GPIO Behavior: -# 0 - Unused -# 1 - Input -# 2 - Output Low -# 3 - Output High -# -# PPS Behavior: -# 0 - Unused -# 1 - Input -# 2 - Output -# -# Encoder Behavior: -# 0 - Unused -# 1 - Encoder A -# 2 - Encoder B -# -# Pin Mode Bitfield: -# 1 - open drain -# 2 - pulldown -# 4 - pullup -gpio_config : False - -gpio1_feature : 0 -gpio1_behavior : 0 -gpio1_pin_mode : 0 - -gpio2_feature : 0 -gpio2_behavior : 0 -gpio2_pin_mode : 0 - -gpio3_feature : 0 -gpio3_behavior : 0 -gpio3_pin_mode : 0 - -gpio4_feature : 0 -gpio4_behavior : 0 -gpio4_pin_mode : 0 - -# (GQ7 only) Filter Initialization control - -# Init Condition source = -# 0 - auto pos, vel, attitude (default) -# 1 - auto pos, vel, roll, pitch, manual heading -# 2 - auto pos, vel, manual attitude -# 3 - manual pos, vel, attitude -# -# Auto-Heading alignment selector (note this is a bitfield, you can use more than 1 source) = -# Bit 0 - Dual-antenna GNSS -# Bit 1 - GNSS kinematic (requires motion, e.g. a GNSS velocity) -# Bit 2 - Magnetometer -# -# Reference frame = -# 1 - WGS84 Earth-fixed, earth centered (ECEF) position, velocity, attitude -# 2 - WGS84 Latitude, Longitude, height above ellipsoid position, NED velocity and attitude -filter_init_condition_src : 0 -filter_auto_heading_alignment_selector : 3 -filter_init_reference_frame : 2 -filter_init_position : [0.0, 0.0, 0.0] -filter_init_velocity : [0.0, 0.0, 0.0] -filter_init_attitude : [0.0, 0.0, 0.0] - -# (GQ7 only) Relative Position Configuration -# Reference frame = -# 1 - Relative ECEF position -# 2 - Relative LLH position -# -# Reference position - Units provided by reference frame (ECEF - meters, LLH - deg, deg, meters) -# Note: prior to firmware version 1.0.06 this command will fail for non-positive heights. 1.0.06 fixes this) -filter_relative_position_config : False -filter_relative_position_frame : 2 -filter_relative_position_ref : [0.0, 0.0, 0.01] - -# (GQ7 only) Speed Lever Arm Configuration -# Lever Arm - In vehicle reference frame (meters) -filter_speed_lever_arm : [0.0, 0.0, 0.0] - -# (GQ7 only) Wheeled Vehicle Constraint Control -# Note: When enabled, the filter uses the assumption that velocity is constrained to the primary vehicle axis. -# By convention, the primary vehicle axis is the vehicle X-axis -filter_enable_wheeled_vehicle_constraint : True - -# (GQ7 only) Vertical Gyro Constraint Control -# Note: When enabled and no valid GNSS measurements are available, the filter uses the accelerometers to track -# pitch and roll under the assumption that the sensor platform is not undergoing linear acceleration. -# This constraint is useful to maintain accurate pitch and roll during GNSS signal outages. -filter_enable_vertical_gyro_constraint : False - -# (GQ7 only) GNSS Antenna Calibration Control -# Note: When enabled, the filter will enable lever arm error tracking, up to the maximum offset specified in meters. -filter_enable_gnss_antenna_cal : False -filter_gnss_antenna_cal_max_offset : 0.1 - -# (GQ7/CV7 only) PPS Source -# PPS Source = -# 0 - Disabled -# 1 - Reciever 1 (default) -# 2 - Reciever 2 -# 3 - GPIO (provided by external source if supported). Use the GPIO config above to further configure -# 4 - Generated from system oscillator -filter_pps_source : 1 - -# (GQ7 only) SBAS options -sbas_enable: True -sbas_enable_ranging: False -sbas_enable_corrections: True -sbas_apply_integrity: False - -# (GQ7 only) SBAS included PRNs -# Note: ROS2 can't handle empty arrays in a yml file, so uncomment this line and fill it in if you want to specify PRNs -#sbas_included_prns: [] - -# (GQ7 only) NMEA message format. If set to false, all NMEA message configuration will not have any affect -nmea_message_config: False - -# Allow NMEA messages with the same talker IDs on different data sources (descriptor sets) -# In most cases, this should be set to False, as multiple messages of the same type with the same talker ID from a different descriptor set could cause confusion when parsing. -nmea_message_allow_duplicate_talker_ids: False - -# NMEA messages in the sensor (IMU) descriptor set -# In order to enable a message, set nmea_message_config to true, and then change the 'data_rate' of the sentences you want to the desired rate in hertz -# Note: In order to publish, 'publish_nmea' must also be set to True -imu_nmea_prkr_data_rate: 0 - -# NMEA messages in the GNSS1 descriptor set -# In order to enable a message, set nmea_message_config to true, and then change the 'data_rate' of the sentences you want to the desired rate in hertz -# -# Note: In order to publish, 'publish_nmea' must also be set to True -# -# Note: gnss1_nmea_talker_id can be any of the follwing numeric values: -# 1 - Sentences will start with GN -# 2 - Sentences will start with GP -# 3 - Sentences will start with GA -# 4 - Sentences will start with GL -# The purpose of the talker ID is to differentiate when the same message_id comes from different data sources (descriptor sets) -# The gnss1_nmea_talker_id will be applied to all NMEA messages from the GNSS1 descriptor set -gnss1_nmea_talker_id: 1 -gnss1_nmea_gga_data_rate: 0 -gnss1_nmea_gll_data_rate: 0 -gnss1_nmea_gsv_data_rate: 0 # Note that this message_id will not use the gnss1_talker_id since the talker ID will come from the actual constellation the message originates from -gnss1_nmea_rmc_data_rate: 0 -gnss1_nmea_vtg_data_rate: 0 -gnss1_nmea_hdt_data_rate: 0 -gnss1_nmea_zda_data_rate: 0 - -# NMEA messages in the GNSS2 descriptor set -# In order to enable a message, set nmea_message_config to true, and then change the 'data_rate' of the sentences you want to the desired rate in hertz -# -# Note: In order to publish, 'publish_nmea' must also be set to True -# -# Note: gnss2_nmea_talker_id can be any of the follwing numeric values: -# 1 - Sentences will start with GN -# 2 - Sentences will start with GP -# 3 - Sentences will start with GA -# 4 - Sentences will start with GL -# The purpose of the talker ID is to differentiate when the same message_id comes from different data sources (descriptor sets) -# The gnss2_nmea_talker_id will be applied to all NMEA messages from the GNSS2 descriptor set -gnss2_nmea_talker_id: 2 -gnss2_nmea_gga_data_rate: 0 -gnss2_nmea_gll_data_rate: 0 -gnss2_nmea_gsv_data_rate: 0 # Note that this message_id will not use the gnss1_talker_id since the talker ID will come from the actual constellation the message originates from -gnss2_nmea_rmc_data_rate: 0 -gnss2_nmea_vtg_data_rate: 0 -gnss2_nmea_hdt_data_rate: 0 -gnss2_nmea_zda_data_rate: 0 - -# NMEA messages in the filter descriptor set -# In order to enable a message, set nmea_message_config to true, and then change the 'data_rate' of the sentences you want to the desired rate in hertz -# -# Note: In order to publish, 'publish_nmea' must also be set to True -# -# Note: filter_nmea_talker_id can be any of the follwing numeric values: -# 1 - Sentences will start with GN -# 2 - Sentences will start with GP -# 3 - Sentences will start with GA -# 4 - Sentences will start with GL -# The purpose of the talker ID is to differentiate when the same message_id comes from different data sources (descriptor sets) -# The filter_nmea_talker_id will be applied to all NMEA messages from the filter descriptor set -filter_nmea_talker_id: 3 -filter_nmea_gga_data_rate: 0 -filter_nmea_gll_data_rate: 0 -filter_nmea_rmc_data_rate: 0 -filter_nmea_hdt_data_rate: 0 -filter_nmea_prka_data_rate: 0 # Note that this message_id will not have any talker ID on it since it is proprietary and can only come from the filter descriptor set diff --git a/rb_ws/src/buggy/INS_params_v2.yml b/rb_ws/src/buggy/INS_params_v2.yml deleted file mode 100644 index d0f0fe92..00000000 --- a/rb_ws/src/buggy/INS_params_v2.yml +++ /dev/null @@ -1,587 +0,0 @@ -# Standalone example params file for GX3, GX4, GX/CX5, RQ1 and GQ7 series devices -# Note: Feature support is device-dependent and some of the following settings may have no affect on your device. -# Please consult your device's documentation for supported features - -# ****************************************************************** -# NOTE: This file is formatted to work with ROS and will not work if specified as the params_file argument in ROS2. -# If you want to override parameters for ROS2, start with https://github.com/LORD-MicroStrain/microstrain_inertial/blob/ros2/microstrain_inertial_driver/config/empty.yml -# ****************************************************************** - -# ****************************************************************** -# General Settings -# ****************************************************************** - -# port is the main port that the device will communicate over. For all devices except the GQ7, this is the only available port. -# aux_port is only available for the GQ7 and is only needed when streaming RTCM corrections to the device from ROS, or if you want to publish NMEA sentences from this node -port : "/dev/ttyACM0" -baudrate : 115200 -aux_port : "/dev/null" -aux_baudrate : 115200 -debug : True - -# If set to true, this will configure the requested baudrate on the device for the main port and aux port if possible. -# Note that this will be set on both USB and serial, but will only actually affect the baudrate of a serial connection. -set_baud : False - -# Waits for a configurable amount of time until the device exists -# If poll_max_tries is set to -1 we will poll forever until the device exists -poll_port : False -poll_rate_hz : 1.0 -poll_max_tries : 60 - -# Number of times to attempt to reconnect to the device if it disconnects while running -# If configure_after_reconnect is true, we will also reconfigure the device after we reconnect -# -# Note: It is strongly recommended to configure after reconnect unless device_setup is set to false -# as the device will likely initialize in a different state otherwise -reconnect_attempts : 127 -configure_after_reconnect : True - -# Controls if the driver-defined setup is sent to the device -# false - The driver will ignore the settings below and use the device's current settings -# true - Overwrite the current device settings with those listed below -device_setup : True - -# Controls if the driver-defined settings are saved -# false - Do not save the settings -# true - Save the settings in the device's non-volatile memory -save_settings : False - -# Controls if the driver creates a raw binary file -# false - Do not create the file -# true - Create the file -# -# Note: The filename will have the following format - -# model_number "_" serial_number "_" datetime (year_month_day_hour_minute_sec) ".bin" -# example: "3DM-GX5-45_6251.00001_20_12_01_01_01_01.bin" -# Note: This file is useful for getting support from the manufacturer -raw_file_enable : False - -# (GQ7/CV7 only) Controls if the driver requests additional factory support data to be included in the raw data file -# false - Do not request the additional data -# true - Request the additional channels (please see notes below!) -# -# Note: We recommend only enabling this feature when specifically requested by Microstrain. -# Including this feature increases communication bandwidth requirements significantly... -# for serial data connections please ensure the baudrate is sufficient for the added data channels. -raw_file_include_support_data : True - -# The directory to store the raw data file -raw_file_directory : "/home/your_name" - - -# ****************************************************************** -# Frame ID Settings -# ****************************************************************** - -# The mode in which we will publish transforms to the below frame IDs -# 0 - No transforms will be published between any of the non static frame ids. (if publish_mount_to_frame_id_transform is true, it will still be published, and so will the antenna and odometer transforms) -# 1 - Global mode: -# Transform will be published from earth_frame_id to target_frame_id containing global position -# 2 - Relative mode: -# Note: In order to use relative mode, you must configure filter_relative_position -# Transform will be published from earth_frame_id to map_frame_id using relative position configuration -# Transform between map_frame_id and target_frame_id will be published using position information reported by the device -# for more information, see: https://wiki.ros.org/microstrain_inertial_driver/transforms -tf_mode : 0 - -# Frame ID that most header.frame_id fields will be populated with. -frame_id: "imu_link" - -# Frame IDs determining the transforms published by this node to aid in navigation. See https://www.ros.org/reps/rep-0105.html -# Note: If use_enu_frame is false, these frames (with the exception of earth_frame_id) will automatically have "_ned" appended to them. -mount_frame_id : "base_link" # Frame ID that the device is mounted on. -map_frame_id : "map" -earth_frame_id : "earth" -gnss1_frame_id : "gnss_1_antenna_link" -gnss2_frame_id : "gnss_2_antenna_link" -odometer_frame_id : "odometer_link" - -# Target frame ID to publish transform to. Note that there needs to be some path of transforms between this and frame_id -# If tf_mode is set to 1, a transform between earth_frame_id and target_frame_id will be published -# If tf_mode is set to 2, a transform between map_frame_id and target_frame_id will be published -target_frame_id : "base_link" - -# Static transform between mount_frame_id and frame_id. -# Note: It is recommended to define this in a urdf file if you are building a robot, or are able to modify the robot's description. -publish_mount_to_frame_id_transform : True -mount_to_frame_id_transform : [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0] # [ x, y, z, qi, qj, qk, qw ] - -# Controls if the driver outputs data with-respect-to ENU frame -# false - position, velocity, and orientation are WRT the NED frame (native device frame) -# true - position, velocity, and orientation are WRT the ENU frame -# -# Note: It is strongly recommended to leave this as True if you plan to integrate with other ROS tools -# Note: If this is set to false, all "*_frame_id" variables will have "_ned" appended to them by the driver. -# For more information, see: https://wiki.ros.org/microstrain_inertial_driver/use_enu_frame -use_enu_frame : True - - -# ****************************************************************** -# GNSS Settings (only applicable for devices with GNSS) -# ****************************************************************** - -# Antenna #1 lever arm offset source -# 0 - Disabled: We will not configure the antenna offset, or publish it as a transform -# 1 - Manual: We will use the provided vector to configure the device, and publish it as the transform between frame_id and gnss1_frame_id -# 2 - Transform: We will lookup the transform between frame_id and gnss1_frame_id and use it to configure the device. We will ignore gns1_antenna_offset -# Antenna #1 lever arm offset vector -# For GQ7 - in the vehicle frame wrt IMU origin (meters) -# For all other models - in the IMU frame wrt IMU origin (meters) -# Note: Make this as accurate as possible for good performance -gnss1_antenna_offset_source : 1 -gnss1_antenna_offset : [-0.6007, 0.0, -0.2225] - - -# ****************************************************************** -# GNSS2 Settings (only applicable for multi-GNSS systems (e.g. GQ7) ) -# ****************************************************************** - -# Antenna #2 lever arm offset source -# 0 - Disabled: We will not configure the antenna offset, or publish it as a transform -# 1 - Manual: We will use the provided vector to configure the device, and publish it as the transform between frame_id and gnss2_frame_id -# 2 - Transform: We will lookup the transform between frame_id and gnss2_frame_id and use it to configure the device. We will ignore gns2_antenna_offset -# Antenna #2 lever arm offset vector -# For GQ7 - in the vehicle frame wrt IMU origin (meters) -# For all other models - in the IMU frame wrt IMU origin (meters) -# Note: Make this as accurate as possible for good performance -gnss2_antenna_offset_source : 1 -gnss2_antenna_offset : [0.4968, 0.0, -0.3268] - -# GNSS signal configuration -gnss_glonass_enable : False -gnss_galileo_enable : True -gnss_beidou_enable : False - - -# ****************************************************************** -# RTK Settings (only applicable for devices with RTK support (e.g. GQ7) ) -# ****************************************************************** - -# (GQ7 Only) Enable RTK dongle interface. This is required when using a 3DM-RTK -# Note: Enabling this will cause the node to publish mip/gnss_corrections/rtk_corrections_status -rtk_dongle_enable : False - -# (GQ7 Only) Allow the node to receive RTCM messages on the /rtcm topic and publish NMEA sentences from the aux port on /nmea. -# It is suggested to use https://github.com/LORD-MicroStrain/ntrip_client with this interface -# Note: This will require the aux_port configuration to be valid and pointing to a valid aux port -ntrip_interface_enable : False - -# ****************************************************************** -# Kalman Filter Settings (only applicable for devices with a Kalman Filter) -# ****************************************************************** - -# (GQ7/CV7 only) Aiding measurement control -filter_enable_gnss_pos_vel_aiding : True -filter_enable_gnss_heading_aiding : True -filter_enable_altimeter_aiding : False -filter_enable_odometer_aiding : False -filter_enable_magnetometer_aiding : False -filter_enable_external_heading_aiding : False - -# (GQ7 only) Filter Initialization control -# Init Condition source = -# 0 - auto pos, vel, attitude (default) -# 1 - auto pos, vel, roll, pitch, manual heading -# 2 - auto pos, vel, manual attitude -# 3 - manual pos, vel, attitude -# -# Auto-Heading alignment selector (note this is a bitfield, you can use more than 1 source) = -# Bit 0 - Dual-antenna GNSS -# Bit 1 - GNSS kinematic (requires motion, e.g. a GNSS velocity) -# Bit 2 - Magnetometer -# Bit 3 - External Heading (first valid external heading will be used to initialize the filter) -# -# Reference frame = -# 1 - WGS84 Earth-fixed, earth centered (ECEF) position, velocity, attitude -# 2 - WGS84 Latitude, Longitude, height above ellipsoid position, NED velocity and attitude -filter_init_condition_src : 0 -filter_auto_heading_alignment_selector : 3 -filter_init_reference_frame : 2 -filter_init_position : [0.0, 0.0, 0.0] -filter_init_velocity : [0.0, 0.0, 0.0] -filter_init_attitude : [0.0, 0.0, 0.0] - -# (GQ7 only) Relative Position Configuration -# Reference frame = -# 1 - Relative ECEF position -# 2 - Relative LLH position -# -# Source = -# 0 - Position will be reported relative to the base station. filter_relative_position_ref will be ignored -# 1 - Position will be reported relative to filter_relative_position_ref -# 2 - Position will be reported relative to the first position reported by the device after it enters full nav. filter_relative_position_ref will be ignored -# 3 - We will wait for a transform to be made available between earth_frame_id and map_frame_id and use that as the relative position reference. filter_relative_position_ref will be ignored -# -# Reference position - Units provided by reference frame (ECEF - meters, LLH - deg, deg, meters) -# Note: The source selected here will determine the transform published between earth_frame_id and map_frame_id when running in relative transform mode -# For more information, see: https://wiki.ros.org/microstrain_inertial_driver/relative_position_configuration -filter_relative_position_config : False -filter_relative_position_frame : 2 -filter_relative_position_source : 2 -filter_relative_position_ref : [0.0, 0.0, 0.01] - -# (GQ7 Only) Reference point lever arm offset control. -# Note: This offset will affect the position and velocity measurements in the following topics: nav/odometry, nav/relative_pos/odometry -# Note: This offset is in the vehicle reference frame. -# Note: This can cause strange behavior when also using the ROS transform tree. -# It is recommended to not use this if you want to use the ROS transform tree unless you really know what you are doing -filter_lever_arm_offset: [-0.3835, 0.0, -0.0671] - -# (GQ7 only) Wheeled Vehicle Constraint Control -# Note: When enabled, the filter uses the assumption that velocity is constrained to the primary vehicle axis. -# By convention, the primary vehicle axis is the vehicle X-axis -filter_enable_wheeled_vehicle_constraint : True - -# (GQ7 only) Vertical Gyro Constraint Control -# Note: When enabled and no valid GNSS measurements are available, the filter uses the accelerometers to track -# pitch and roll under the assumption that the sensor platform is not undergoing linear acceleration. -# This constraint is useful to maintain accurate pitch and roll during GNSS signal outages. -filter_enable_vertical_gyro_constraint : False - -# (GQ7 only) GNSS Antenna Calibration Control -# When enabled, the filter will enable lever arm error tracking, up to the maximum offset specified in meters. -# This allows the filter to compensate for antenna offsets when they are incorrect. -filter_enable_gnss_antenna_cal : True -filter_gnss_antenna_cal_max_offset : 0.1 - -# (GQ7/CV7 only) PPS Source -# PPS Source = -# 0 - Disabled -# 1 - Reciever 1 (default) -# 2 - Reciever 2 -# 3 - GPIO (provided by external source if supported). Use the GPIO config above to further configure -# 4 - Generated from system oscillator -filter_pps_source : 1 - -# Sensor2vehicle frame transformation selector -# 0 = None -# 1 = Euler Angles -# 2 = matrix -# 3 = quaternion -# Note: These are different ways of setting the same parameter in the device. -# The different options are provided as a convenience. -# Support for matrix and quaternion options is firmware version dependent (GQ7 supports Quaternion as of firmware 1.0.07) -# Quaternion order is [i, j, k, w] -# Note: This can cause strange behavior when also using the ROS transform tree. -# It is recommended to not use this if you want to use the ROS transform tree unless you really know what you are doing -filter_sensor2vehicle_frame_selector : 1 -filter_sensor2vehicle_frame_transformation_euler : [0.0, 0.0, 0.0] -filter_sensor2vehicle_frame_transformation_matrix : [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0] -filter_sensor2vehicle_frame_transformation_quaternion : [0.0, 0.0, 0.0, 1.0] - -# Controls if the Kalman filter will auto-init or requires manual initialization -filter_auto_init : True - -# Controls if the Kalman filter is reset after the settings are configured -filter_reset_after_config : True - -# (All, except -10, and -15 products) Declination Source 1 = None, 2 = magnetic model, 3 = manual -# Note: When using a CV7, this MUST be changed to either 1, or 3 or the node will not start -filter_declination_source : 2 -filter_declination : 0.23 - -# Controls what kind of linear acceleration data is used in the Filter IMU message. -# If this is set to true, the acceleration will not factor out gravity, if set to false gravity will be filtered out of the linear acceleration. -filter_use_compensated_accel : True - -# (GQ7/CV7 full support, GX5-45 limited support) Adaptive filter settings -# Adaptive level: 0 - off, 1 - Conservative, 2 = Moderate (default), 3 = agressive -# Time limit: Max duration of measurement rejection prior to recovery, in milliseconds - default = 15000 -filter_adaptive_level : 2 -filter_adaptive_time_limit_ms : 15000 - -# External GPS Time Update Control -# Note: filter_external_gps_time_topic should publish at no more than 1 Hz. -# Note: gps_leap_seconds should be updated to reflect the current number of leap seconds. -filter_enable_external_gps_time_update : False -filter_external_gps_time_topic : "/external_gps_time" -gps_leap_seconds : 18.0 - -# (GQ7 only) Speed Lever Arm Configuration -# Lever Arm - In vehicle reference frame (meters) -filter_speed_lever_arm : [0.0, 0.5, -1.0] - -# (All, except GQ7, CV7, -10, and -15 products) Heading Source 0 = None, 1 = magnetic, 2 = GNSS velocity (note: see manual for limitations) -# Note: For the GQ7, this setting has no effect. See filter_auto_heading_alignment_selector -# Note: When using a -10/-AR product. This MUST be set to 0 or the node will not start -filter_heading_source : 1 - -# (GX5 and previous,-45 models only) Dynamics Mode 1 = Portable (default), 2 = Automotive, 3 = Airborne (<2Gs), 4 = Airborne High G (<4Gs) -filter_dynamics_mode : 1 - -# (GQ7 only) GNSS Aiding Source Control -# 1 = All internal receivers -# 2 = External GNSS messages provided by user -# 3 = Internal GNSS Receiver 1 only -# 4 = Internal GNSS Receiver 2 only -filter_gnss_aiding_source_control: 1 - -# ****************************************************************** -# IMU Settings -# ****************************************************************** - -# Static IMU message covariance values (the device does not generate these) -imu_orientation_cov : [0.01, 0, 0, 0, 0.01, 0, 0, 0, 0.01] -imu_linear_cov : [0.01, 0, 0, 0, 0.01, 0, 0, 0, 0.01] -imu_angular_cov : [0.01, 0, 0, 0, 0.01, 0, 0, 0, 0.01] -imu_mag_cov : [0.01, 0, 0, 0, 0.01, 0, 0, 0, 0.01] -imu_pressure_variance : 0.01 - -# ****************************************************************** -# Other Device Settings -# ****************************************************************** - -# (GQ7 Only) Hardware Odometer Control -enable_hardware_odometer : False -odometer_scaling : 0.0 -odometer_uncertainty : 0.0 - -# (GQ7/CV7 only) GPIO Configuration -# -# For information on possible configurations and specific pin options refer to the MSCL MipNodeFeatures command, supportedGpioConfigurations. -# -# GQ7 GPIO Pins = -# 1 - GPIO1 (primary port pin 7) - Features = 0 - Unused, 1 - GPIO, 2 - PPS, 3 - Encoder -# 2 - GPIO2 (primary port pin 9) - Features = 0 - Unused, 1 - GPIO, 2 - PPS, 3 - Encoder -# 3 - GPIO3 (aux port pin 7) - Features = 0 - Unused, 1 - GPIO, 2 - PPS, 3 - Encoder -# 4 - GPIO4 (aux port pin 9) - Features = 0 - Unused, 1 - GPIO, 2 - PPS, 3 - Encoder -# -# CV7 GPIO Pins = -# 1 - GPIO1 (pin 7) - Features = 0 - Unused, 1 - GPIO, 2 - PPS, 5 - UART -# 2 - GPIO2 (pin 9) - Features = 0 - Unused, 1 - GPIO, 2 - PPS, 5 - UART -# 3 - GPIO3 (pin 6) - Features = 0 - Unused, 1 - GPIO, 2 - PPS, 5 - UART -# 4 - GPIO4 (pin 10) - Features = 0 - Unused, 1 - GPIO, 2 - PPS, 5 - UART -# -# GPIO Behavior = -# 0 - Unused -# 1 - Input -# 2 - Output Low -# 3 - Output High -# -# PPS Behavior = -# 0 - Unused -# 1 - Input -# 2 - Output -# -# Encoder Behavior = -# 0 - Unused -# 1 - Encoder A -# 2 - Encoder B -# -# UART Behavior = -# 0x21 - UART port 2 transmit (only valid for GPIO 1 and 2) -# 0x22 - UART port 2 receive (only valid for GPIO 1 and 2) -# 0x31 - UART port 3 transmit (only valid for GPIO 3 and 4) -# 0x32 - UART port 3 receive (only valid for GPIO 3 and 4) -# -# Pin Mode Bitfield = -# 1 - open drain -# 2 - pulldown -# 4 - pullup -gpio_config : False - -gpio1_feature : 0 -gpio1_behavior : 0 -gpio1_pin_mode : 0 - -gpio2_feature : 0 -gpio2_behavior : 0 -gpio2_pin_mode : 0 - -gpio3_feature : 0 -gpio3_behavior : 0 -gpio3_pin_mode : 0 - -gpio4_feature : 0 -gpio4_behavior : 0 -gpio4_pin_mode : 0 - -# (GQ7 only) SBAS options -sbas_enable: True -sbas_enable_ranging: False -sbas_enable_corrections: True -sbas_apply_integrity: False - -# (GQ7 only) SBAS included PRNs -# Note: ROS2 can't handle empty arrays in a yml file, so uncomment this line and fill it in if you want to specify PRNs -#sbas_included_prns: [] - -# Low pass filter configuration. -# Note: The device may fail if one of these is enabled, and the device does not support the relevant measurement -# accel_* will affect data in /imu/data_raw if enabled -# gyro_* will affect data in /imu/data_raw if enabled -# mag_* will affect data in /imu/mag if enabled -# pressure_* will affect data in /imu/pressure if enabled -low_pass_filter_config : True - -accel_low_pass_filter_enable : False -accel_low_pass_filter_auto : False -accel_low_pass_filter_frequency : 0 - -gyro_low_pass_filter_enable : False -gyro_low_pass_filter_auto : False -gyro_low_pass_filter_frequency : 0 - -mag_low_pass_filter_enable : False -mag_low_pass_filter_auto : False -mag_low_pass_filter_frequency : 0 - -pressure_low_pass_filter_enable : False -pressure_low_pass_filter_auto : False -pressure_low_pass_filter_frequency : 0 - -# ****************************************************************** -# Publisher Settings -# ****************************************************************** -# -# Note: If set to 0, the data will not be stremaed from the device, and the publisher will not be created - -# The speed at which the individual IMU publishers will publish at. -imu_data_raw_rate : 1 # Rate of imu/data_raw topic -imu_data_rate : 100 # Rate of imu/data topic -imu_mag_data_rate : 0 # Rate of imu/mag topic -imu_pressure_data_rate : 0 # Rate of imu/pressure topic -imu_wheel_speed_data_rate : 0 # Rate of imu/wheel_Speed topic - -# The speed at which the individual GNSS1 publishers will publish at. -gnss1_llh_position_data_rate : 10 # Rate of gnss_1/llh_position topic -gnss1_velocity_data_rate : 10 # Rate of gnss_1/velocity topic -gnss1_velocity_ecef_data_rate : 10 # Rate of gnss_1/velocity_ecef topic - # Note: gnss1_odometry_earth_data_rate depends on the contents of this message. - # If it is set to a higher value, this message will be published at that rate. -gnss1_odometry_earth_data_rate : 10 # Rate of gnss_1/odometry_earth topic -gnss1_time_data_rate : 0 # Rate of gnss_1/time topic - -# The speed at which the individual GNSS2 publishers will publish at. -gnss2_llh_position_data_rate : 10 # Rate of gnss_2/llh_position topic -gnss2_velocity_data_rate : 2 # Rate of gnss_2/velocity topic -gnss2_velocity_ecef_data_rate : 0 # Rate of gnss_2/velocity_ecef topic - # Note: gnss2_odometry_earth_data_rate depends on the contents of this message. - # If it is set to a higher value, this message will be published at that rate. -gnss2_odometry_earth_data_rate : 10 # Rate of gnss_2/odometry_earth topic -gnss2_time_data_rate : 0 # Rate of gnss_2/time topic - -# The speed at which the individual Filter publishers will publish at. -filter_human_readable_status_data_rate : 100 # Rate of ekf/status -filter_imu_data_rate : 0 # Rate of ekf/imu/data topic - # Note: Both filter_odometry_earth_data_rate and filter_odometry_map_data_rate depend on the contents of this message. - # If either are set to a higher value, this message will be published at that rate. -filter_llh_position_data_rate : 100 # Rate of ekf/llh_position topic -filter_velocity_data_rate : 0 # Rate of ekf/velocity topic - # Note: filter_odometry_map_data_rate depends on the contents of this message. - # If either are set to a higher value, this message will be published at that rate. -filter_velocity_ecef_data_rate : 0 # Rate of ekf/velocity_ecef topic - # Note: filter_odometry_earth_data_rate depends on the contents of this message. - # If either are set to a higher value, this message will be published at that rate. -filter_odometry_earth_data_rate : 100 # Rate of ekf/odometry_earth topic -filter_odometry_map_data_rate : 100 # Rate of ekf/odometry_map topic -filter_dual_antenna_heading_data_rate : 10 # Rate of ekf/dual_antenna_heading topic - # Note: mip_filter_gnss_position_aiding_status_data_rate depends on the contents of this message. - # If either are set to a higher value, this message will be published at that rate. - -# The speed at which the individual MIP publishers will publish at. -mip_sensor_overrange_status_data_rate : 0 # Rate of mip/sensor/overrange_status topic -mip_sensor_temperature_statistics_data_rate : 0 # Rate of mip/sensor/temperature_statistics topic - -mip_gnss1_fix_info_data_rate : 10 # Rate of mip/gnss_1/fix_info topic -mip_gnss1_sbas_info_data_rate : 0 # Rate of mip/gnss_1/sbas_info topic -mip_gnss1_rf_error_detection_data_rate : 0 # Rate of mip/gnss_1/rf_error_detection - -mip_gnss2_fix_info_data_rate : 10 # Rate of mip/gnss_1/fix_info topic -mip_gnss2_sbas_info_data_rate : 0 # Rate of mip/gnss_2/sbas_info topic -mip_gnss2_rf_error_detection_data_rate : 0 # Rate of mip/gnss_2/rf_error_detection - -mip_filter_status_data_rate : 10 # Rate of mip/filter/status topic -mip_filter_gnss_position_aiding_status_data_rate : 10 # Rate of mip/filter/gnss_aiding_status - # Note: filter_llh_position_data_rate depends on the contents of this message. - # If it is set to a higher value, this message will be published at that rate. -mip_filter_multi_antenna_offset_correction_data_rate : 0 # Rate of mip/filter/multi_antenna_offset_correction - # Note: This message will also affect the frequency that the transform between frame_id and gnss_1/2_frame_id are published -mip_filter_gnss_dual_antenna_status_data_rate : 0 # Rate of mip/filter/gnss_dual_antenna_status - # Note: filter_dual_antenna_heading_data_rate depends on the contents of this message. - # If either are set to a higher value, this message will be published at that rate. -mip_filter_aiding_measurement_summary_data_rate : 0 # Rate of mip/filter/aiding_measurement_summary topic - - -# ****************************************************************** -# NMEA streaming settings -# ****************************************************************** - -# (GQ7 only) NMEA message format. If set to false, all NMEA message configuration will not have any affect -nmea_message_config: False - -# Allow NMEA messages with the same talker IDs on different data sources (descriptor sets) -# In most cases, this should be set to False, as multiple messages of the same type with the same talker ID from a different descriptor set could cause confusion when parsing. -nmea_message_allow_duplicate_talker_ids: False - -# NMEA messages in the sensor (IMU) descriptor set -# In order to enable a message, set nmea_message_config to true, and then change the 'data_rate' of the sentences you want to the desired rate in hertz -imu_nmea_prkr_data_rate: 0 - -# NMEA messages in the GNSS1 descriptor set -# In order to enable a message, set nmea_message_config to true, and then change the 'data_rate' of the sentences you want to the desired rate in hertz -# -# Note: gnss1_nmea_talker_id can be any of the follwing numeric values: -# 1 - Sentences will start with GN -# 2 - Sentences will start with GP -# 3 - Sentences will start with GA -# 4 - Sentences will start with GL -# The purpose of the talker ID is to differentiate when the same message_id comes from different data sources (descriptor sets) -# The gnss1_nmea_talker_id will be applied to all NMEA messages from the GNSS1 descriptor set -gnss1_nmea_talker_id: 1 -gnss1_nmea_gga_data_rate: 0 -gnss1_nmea_gll_data_rate: 0 -gnss1_nmea_gsv_data_rate: 0 # Note that this message_id will not use the gnss1_talker_id since the talker ID will come from the actual constellation the message originates from -gnss1_nmea_rmc_data_rate: 0 -gnss1_nmea_vtg_data_rate: 0 -gnss1_nmea_hdt_data_rate: 0 -gnss1_nmea_zda_data_rate: 0 - -# NMEA messages in the GNSS2 descriptor set -# In order to enable a message, set nmea_message_config to true, and then change the 'data_rate' of the sentences you want to the desired rate in hertz -# -# Note: gnss2_nmea_talker_id can be any of the follwing numeric values: -# 1 - Sentences will start with GN -# 2 - Sentences will start with GP -# 3 - Sentences will start with GA -# 4 - Sentences will start with GL -# The purpose of the talker ID is to differentiate when the same message_id comes from different data sources (descriptor sets) -# The gnss2_nmea_talker_id will be applied to all NMEA messages from the GNSS2 descriptor set -gnss2_nmea_talker_id: 2 -gnss2_nmea_gga_data_rate: 0 -gnss2_nmea_gll_data_rate: 0 -gnss2_nmea_gsv_data_rate: 0 # Note that this message_id will not use the gnss1_talker_id since the talker ID will come from the actual constellation the message originates from -gnss2_nmea_rmc_data_rate: 0 -gnss2_nmea_vtg_data_rate: 0 -gnss2_nmea_hdt_data_rate: 0 -gnss2_nmea_zda_data_rate: 0 - -# NMEA messages in the filter descriptor set -# In order to enable a message, set nmea_message_config to true, and then change the 'data_rate' of the sentences you want to the desired rate in hertz -# -# Note: filter_nmea_talker_id can be any of the follwing numeric values: -# 1 - Sentences will start with GN -# 2 - Sentences will start with GP -# 3 - Sentences will start with GA -# 4 - Sentences will start with GL -# The purpose of the talker ID is to differentiate when the same message_id comes from different data sources (descriptor sets) -# The filter_nmea_talker_id will be applied to all NMEA messages from the filter descriptor set -filter_nmea_talker_id: 3 -filter_nmea_gga_data_rate: 0 -filter_nmea_gll_data_rate: 0 -filter_nmea_rmc_data_rate: 0 -filter_nmea_hdt_data_rate: 0 -filter_nmea_prka_data_rate: 0 # Note that this message_id will not have any talker ID on it since it is proprietary and can only come from the filter descriptor set - -# (CV7-INS only) External aiding measurement configuration -subscribe_ext_time : False -subscribe_ext_fix : False -subscribe_ext_vel_ned : False -subscribe_ext_vel_enu : False -subscribe_ext_vel_ecef : False -subscribe_ext_vel_body : False -subscribe_ext_heading_ned : False -subscribe_ext_heading_enu : False -subscribe_ext_mag : False -subscribe_ext_pressure : False \ No newline at end of file diff --git a/rb_ws/src/buggy/bags/feb_11_run.bag b/rb_ws/src/buggy/bags/feb_11_run.bag deleted file mode 100644 index 8ef4a477..00000000 Binary files a/rb_ws/src/buggy/bags/feb_11_run.bag and /dev/null differ diff --git a/rb_ws/src/buggy/buggy/__init__.py b/rb_ws/src/buggy/buggy/__init__.py new file mode 100644 index 00000000..e69de29b diff --git a/rb_ws/src/buggy/buggy/hello_world.py b/rb_ws/src/buggy/buggy/hello_world.py new file mode 100644 index 00000000..0a119aa0 --- /dev/null +++ b/rb_ws/src/buggy/buggy/hello_world.py @@ -0,0 +1,6 @@ +def main(): + print('Hi from buggy. Hello again') + + +if __name__ == '__main__': + main() diff --git a/rb_ws/src/buggy/launch/debug_filter.launch b/rb_ws/src/buggy/launch/debug_filter.launch deleted file mode 100644 index 98a36b28..00000000 --- a/rb_ws/src/buggy/launch/debug_filter.launch +++ /dev/null @@ -1,33 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - \ No newline at end of file diff --git a/rb_ws/src/buggy/launch/debug_steer.launch b/rb_ws/src/buggy/launch/debug_steer.launch deleted file mode 100644 index a200e728..00000000 --- a/rb_ws/src/buggy/launch/debug_steer.launch +++ /dev/null @@ -1,5 +0,0 @@ - - - - - \ No newline at end of file diff --git a/rb_ws/src/buggy/launch/ghost_auton.launch b/rb_ws/src/buggy/launch/ghost_auton.launch deleted file mode 100644 index 4810f022..00000000 --- a/rb_ws/src/buggy/launch/ghost_auton.launch +++ /dev/null @@ -1,22 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - \ No newline at end of file diff --git a/rb_ws/src/buggy/launch/nand-main.launch b/rb_ws/src/buggy/launch/nand-main.launch deleted file mode 100755 index 5978aa1a..00000000 --- a/rb_ws/src/buggy/launch/nand-main.launch +++ /dev/null @@ -1,12 +0,0 @@ - - - - - - - - - - - - diff --git a/rb_ws/src/buggy/launch/nand-system.launch b/rb_ws/src/buggy/launch/nand-system.launch deleted file mode 100644 index 21416a5e..00000000 --- a/rb_ws/src/buggy/launch/nand-system.launch +++ /dev/null @@ -1,9 +0,0 @@ - - - - - - - - - \ No newline at end of file diff --git a/rb_ws/src/buggy/launch/play_bag.launch b/rb_ws/src/buggy/launch/play_bag.launch deleted file mode 100644 index a4833a49..00000000 --- a/rb_ws/src/buggy/launch/play_bag.launch +++ /dev/null @@ -1,8 +0,0 @@ - - - - - - - - \ No newline at end of file diff --git a/rb_ws/src/buggy/launch/pure_pursuit.launch b/rb_ws/src/buggy/launch/pure_pursuit.launch deleted file mode 100644 index 041af270..00000000 --- a/rb_ws/src/buggy/launch/pure_pursuit.launch +++ /dev/null @@ -1,20 +0,0 @@ - - - - - - - - - - - - - - - - - - - - \ No newline at end of file diff --git a/rb_ws/src/buggy/launch/record_path.launch b/rb_ws/src/buggy/launch/record_path.launch deleted file mode 100644 index a30bec54..00000000 --- a/rb_ws/src/buggy/launch/record_path.launch +++ /dev/null @@ -1,4 +0,0 @@ - - - - \ No newline at end of file diff --git a/rb_ws/src/buggy/launch/sc-main.launch b/rb_ws/src/buggy/launch/sc-main.launch deleted file mode 100755 index 5b3316a9..00000000 --- a/rb_ws/src/buggy/launch/sc-main.launch +++ /dev/null @@ -1,24 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - \ No newline at end of file diff --git a/rb_ws/src/buggy/launch/sc-system.launch b/rb_ws/src/buggy/launch/sc-system.launch deleted file mode 100644 index 219c44b4..00000000 --- a/rb_ws/src/buggy/launch/sc-system.launch +++ /dev/null @@ -1,17 +0,0 @@ - - - - - - - - - - - - - - - - - \ No newline at end of file diff --git a/rb_ws/src/buggy/launch/sim_2d_2buggies.launch b/rb_ws/src/buggy/launch/sim_2d_2buggies.launch deleted file mode 100755 index f94fb307..00000000 --- a/rb_ws/src/buggy/launch/sim_2d_2buggies.launch +++ /dev/null @@ -1,52 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - \ No newline at end of file diff --git a/rb_ws/src/buggy/launch/sim_2d_single.launch b/rb_ws/src/buggy/launch/sim_2d_single.launch deleted file mode 100755 index 5cef4eef..00000000 --- a/rb_ws/src/buggy/launch/sim_2d_single.launch +++ /dev/null @@ -1,32 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - \ No newline at end of file diff --git a/rb_ws/src/buggy/launch/sim_2d_single.xml b/rb_ws/src/buggy/launch/sim_2d_single.xml new file mode 100755 index 00000000..e0b58465 --- /dev/null +++ b/rb_ws/src/buggy/launch/sim_2d_single.xml @@ -0,0 +1,6 @@ + + + + + + \ No newline at end of file diff --git a/rb_ws/src/buggy/msg/EncoderStatus.msg b/rb_ws/src/buggy/msg/EncoderStatus.msg deleted file mode 100644 index 25d78eb4..00000000 --- a/rb_ws/src/buggy/msg/EncoderStatus.msg +++ /dev/null @@ -1,3 +0,0 @@ -float64 left_wheel_encoder -float64 right_wheel_encoder -float64 front_wheel_encoder diff --git a/rb_ws/src/buggy/msg/LoRaEvent.msg b/rb_ws/src/buggy/msg/LoRaEvent.msg deleted file mode 100644 index 3f5d7152..00000000 --- a/rb_ws/src/buggy/msg/LoRaEvent.msg +++ /dev/null @@ -1,5 +0,0 @@ -float32 rssi -float32 snr -uint16 hops -int16 code -bool crc diff --git a/rb_ws/src/buggy/package.xml b/rb_ws/src/buggy/package.xml old mode 100755 new mode 100644 index 940a5316..e1471e2c --- a/rb_ws/src/buggy/package.xml +++ b/rb_ws/src/buggy/package.xml @@ -1,74 +1,19 @@ - + + buggy - 0.0.1 - The Robobuggy package + 0.0.0 + TODO: Package description + root + TODO: License declaration - - - - Roboclub + ament_copyright + ament_flake8 + ament_pep257 + python3-pytest + ros2launch - - - - - TODO - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - catkin - geometry_msgs - roscpp - rospy - std_msgs - message_generation - microstrain_inertial_msgs - geometry_msgs - roscpp - rospy - std_msgs - geometry_msgs - roscpp - rospy - std_msgs - message_runtime - microstrain_inertial_msgs - - - - + ament_python diff --git a/rb_ws/src/buggy/resource/buggy b/rb_ws/src/buggy/resource/buggy new file mode 100644 index 00000000..e69de29b diff --git a/rb_ws/src/buggy/scripts/2d_sim/controller_2d.py b/rb_ws/src/buggy/scripts/2d_sim/controller_2d.py deleted file mode 100755 index 2caa89dd..00000000 --- a/rb_ws/src/buggy/scripts/2d_sim/controller_2d.py +++ /dev/null @@ -1,50 +0,0 @@ -#! /usr/bin/env python3 -import sys -import threading -import rospy -from std_msgs.msg import Float64 - -class Controller: - def __init__(self, buggy_name): - self.steering_publisher = rospy.Publisher(buggy_name + "/input/steering", Float64, queue_size=10) - self.velocity_publisher = rospy.Publisher(buggy_name + "/velocity", Float64, queue_size=10) - self.steering_angle = 0 - self.velocity = 0 - - self.lock = threading.Lock() - self.set_steering(0) - self.set_velocity(0) - def set_steering(self, angle: float): - """Set the steering angle and publish to simulator engine - - Args: - angle (float): degrees, + is CCW - """ - msg = Float64() - msg.data = angle - - with self.lock: - self.steering_angle = angle - self.steering_publisher.publish(msg) - def set_velocity(self, vel: float): - """Set the velocity and publish to simulator engine - - Args: - vel (float): velocity (m/s) - """ - msg = Float64() - msg.data = vel - - with self.lock: - self.velocity = vel - self.velocity_publisher.publish(msg) - -if __name__ == "__main__": - rospy.init_node("sim_2d_controller") - buggy_name = sys.argv[1] - controller = Controller(buggy_name) - rate = rospy.Rate(5) - i = 0 - while not rospy.is_shutdown(): - rate.sleep() - diff --git a/rb_ws/src/buggy/scripts/2d_sim/engine.py b/rb_ws/src/buggy/scripts/2d_sim/engine.py deleted file mode 100755 index 945fa01a..00000000 --- a/rb_ws/src/buggy/scripts/2d_sim/engine.py +++ /dev/null @@ -1,353 +0,0 @@ -#! /usr/bin/env python3 - -import re -import sys -import threading -import rospy -from geometry_msgs.msg import Pose, Twist, PoseWithCovariance, TwistWithCovariance -from std_msgs.msg import Float64 -from sensor_msgs.msg import NavSatFix -from nav_msgs.msg import Odometry -import numpy as np -import utm -sys.path.append("/rb_ws/src/buggy/scripts/auton") -from trajectory import Trajectory -from world import World - - -class Simulator: - UTM_EAST_ZERO = 589702.87 - UTM_NORTH_ZERO = 4477172.947 - UTM_ZONE_NUM = 17 - UTM_ZONE_LETTER = "T" - WHEELBASE = 1.17 - # Start positions for Outdoor track - START_LAT = 40.443024364623916 - START_LONG = -79.9409643423245 - NOISE = True # Noisy outputs for nav/odom? - - def __init__(self, start_pos: str, velocity: float, buggy_name: str): - """ - Args: - heading (float): degrees start heading of buggy - """ - # for X11 matplotlib (direction included) - self.plot_publisher = rospy.Publisher(buggy_name + "/sim_2d/utm", Pose, queue_size=1) - - # simulate the INS's outputs (noise included) - self.pose_publisher = rospy.Publisher(buggy_name + "/nav/odom", Odometry, queue_size=1) - - self.steering_subscriber = rospy.Subscriber( - buggy_name + "/buggy/input/steering", Float64, self.update_steering_angle - ) - # To read from velocity - self.velocity_subscriber = rospy.Subscriber( - buggy_name + "/velocity", Float64, self.update_velocity - ) - # to plot on Foxglove (no noise) - self.navsatfix_publisher = rospy.Publisher( - buggy_name + "/state/pose_navsat", NavSatFix, queue_size=1 - ) - - if Simulator.NOISE: - # to plot on Foxglove (with noise) - self.navsatfix_noisy_publisher = rospy.Publisher( - buggy_name + "/state/pose_navsat_noisy", NavSatFix, queue_size=1 - ) - - # (UTM east, UTM north, HEADING(degs)) - self.starting_poses = { - "Hill1_NAND": (Simulator.UTM_EAST_ZERO + 0, Simulator.UTM_NORTH_ZERO + 0, -110), - "Hill1_SC": (Simulator.UTM_EAST_ZERO + 20, Simulator.UTM_NORTH_ZERO + 30, -110), - "WESTINGHOUSE": (589647, 4477143, -150), - "UC_TO_PURNELL": (589635, 4477468, 160), - "UC": (589681, 4477457, 160), - "TRACK_EAST_END": (589953, 4477465, 90), - "TRACK_RESNICK": (589906, 4477437, -20), - "GARAGE": (589846, 4477580, 180), - "PASS_PT": (589491, 4477003, -160), - "FREW_ST": (589646, 4477359, -20), - "FREW_ST_PASS": (589644, 4477368, -20), - "RACELINE_PASS": (589468.02, 4476993.07, -160), - } - - # Start position for End of Hill 2 - # self.e_utm = Simulator.UTM_EAST_ZERO - 3 - # self.n_utm = Simulator.UTM_NORTH_ZERO - 10 - - # Start position for Outdoor track - # self.e_utm = Simulator.UTM_EAST_ZERO + 110 - # self.n_utm = Simulator.UTM_NORTH_ZERO + 296 - - # Start positions for Outdoor track - # utm_coords = utm.from_latlon(Simulator.START_LAT, Simulator.START_LONG) - # self.e_utm = utm_coords[0] - # self.n_utm = utm_coords[1] - - # Use start_pos as key in starting_poses dictionary - if start_pos in self.starting_poses: - init_pose = self.starting_poses[start_pos] - else: - # Use start_pos as float representing distance down track to start from - try: - start_pos = float(start_pos) - trajectory = Trajectory("/rb_ws/src/buggy/paths/buggycourse_safe_1.json") - - init_world_coords = trajectory.get_position_by_distance(start_pos) - init_heading = np.rad2deg(trajectory.get_heading_by_distance(start_pos)[0]) - init_x, init_y = tuple(World.world_to_utm_numpy(init_world_coords)[0]) - - # Use start_pos as (e_utm, n_utm, heading) coordinates - except ValueError: - # Extract the three coordinates from start_pos - matches = re.match( - r"^\(?(?P-?[\d\.]+), *(?P-?[\d\.]+), *(?P-?[\d\.]+)\)?$", - start_pos - ) - if matches == None: raise ValueError("invalid start_pos for " + buggy_name) - matches = matches.groupdict() - - init_x = float(matches["utm_e"]) - init_y = float(matches["utm_n"]) - init_heading = float(matches["heading"]) - - init_pose = init_x, init_y, init_heading - - self.e_utm, self.n_utm, self.heading = init_pose - self.velocity = velocity # m/s - - self.steering_angle = 0 # degrees - self.rate = 200 # Hz - self.pub_skip = 2 # publish every pub_skip ticks - - self.lock = threading.Lock() - - def update_steering_angle(self, data: Float64): - """Updates the steering angle as callback function for subscriber - - Args: - data (Float64): angle in degrees - """ - with self.lock: - self.steering_angle = data.data - - def update_velocity(self, data: Float64): - """Updates the velocity as callback function for subscriber - - Args: - data (Float64): velocity in m/s - source (string): whether incoming data is manual or simulated - """ - with self.lock: - self.velocity = data.data - - def get_steering_arc(self): - # Adapted from simulator.py (Joseph Li) - # calculate the radius of the steering arc - # 1) If steering angle is 0, return infinity - # 2) Otherwise, return radius of arc - # If turning right, steering radius is positive - # If turning left, steering radius is negative - with self.lock: - steering_angle = self.steering_angle - if steering_angle == 0.0: - return np.inf - - return Simulator.WHEELBASE / np.tan(np.deg2rad(steering_angle)) - - def dynamics(self, state, v): - """ Calculates continuous time bicycle dynamics as a function of state and velocity - - Args: - state (np.Array): State vector [x, y, heading, steering] in m, m, rad, rad respectively - v (Float 64): velocity in m/s - - Returns: - dstate (np.Array): time derivative of state from dynamics - """ - l = Simulator.WHEELBASE - _, _, theta, delta = state - - return np.array([v * np.cos(theta), - v * np.sin(theta), - v / l * np.tan(delta), - 0]) - - def step(self): - """Complete the step at a certain Hz here. Do physics""" - with self.lock: - heading = self.heading - e_utm = self.e_utm - n_utm = self.n_utm - velocity = self.velocity - steering_angle = self.steering_angle - - # RK4 to calculate next position - h = 1/self.rate - state = np.array([e_utm, n_utm, np.deg2rad(heading), np.deg2rad(steering_angle)]) - k1 = self.dynamics(state, velocity) - k2 = self.dynamics(state + h/2 * k1, velocity) - k3 = self.dynamics(state + h/2 * k2, velocity) - k4 = self.dynamics(state + h/2 * k3, velocity) - - final_state = state + h/6 * (k1 + 2 * k2 + 2 * k3 + k4) - - e_utm_new, n_utm_new, heading_new, _ = final_state - heading_new = np.rad2deg(heading_new) - - with self.lock: - self.e_utm = e_utm_new - self.n_utm = n_utm_new - self.heading = heading_new - - def publish(self): - """Publishes the pose the arrow in visualizer should be at""" - p = Pose() - time_stamp = rospy.Time.now() - with self.lock: - p.position.x = self.e_utm - p.position.y = self.n_utm - p.position.z = self.heading - velocity = self.velocity - - self.plot_publisher.publish(p) # publish to X11 matplotlib window - - # NavSatFix for usage with X11 matplotlib AND Foxglove plotting - (lat, long) = utm.to_latlon( - p.position.x, - p.position.y, - Simulator.UTM_ZONE_NUM, - Simulator.UTM_ZONE_LETTER, - ) - - nsf = NavSatFix() - nsf.latitude = lat - nsf.longitude = long - nsf.altitude = 260 # constant - nsf.header.stamp = time_stamp - self.navsatfix_publisher.publish(nsf) - - # Possibly Noisy Data - lat_noisy = lat - long_noisy = long - velocity_noisy = velocity - heading = np.deg2rad(p.position.z) - heading_noisy = heading - - if (Simulator.NOISE): - lat_noisy = lat + np.random.normal(0, 1e-6) # ~10cm error - long_noisy = long + np.random.normal(0, 1e-6) # ~10cm error - velocity_noisy = velocity + np.random.normal(0, 0.01) - heading_noisy = heading + np.random.normal(0, 0.01) - - # Publish a new point on Foxglove to indicate the noisy location - nsf_noisy = NavSatFix() - nsf_noisy.latitude = lat_noisy - nsf_noisy.longitude = long_noisy - nsf_noisy.header.stamp = time_stamp - self.navsatfix_noisy_publisher.publish(nsf_noisy) - - # Odometry for using with autonomous code - odom = Odometry() - odom.header.stamp = time_stamp - - odom_pose = Pose() - odom_pose.position.x = long_noisy # may not be noisy depending on Simulator.NOISE flag - odom_pose.position.y = lat_noisy - odom_pose.position.z = 260 - - odom_pose.orientation.x = 0 - odom_pose.orientation.y = 0 - - odom_pose.orientation.z = np.sin(heading_noisy / 2) # radians - odom_pose.orientation.w = np.cos(heading_noisy / 2) - - odom_twist = Twist() - odom_twist.linear.x = velocity_noisy # may not be noisy depending on Simulator.NOISE flag - - odom.pose = PoseWithCovariance(pose=odom_pose) - odom.twist = TwistWithCovariance(twist=odom_twist) - - # This is just dummy data - odom.pose.covariance = [ - 0.01, - 0, - 0, - 0, - 0, - 0, - 0, - 0.01, - 0, - 0, - 0, - 0, - 0, - 0, - 0.01, - 0, - 0, - 0, - 0, - 0, - 0, - 0.01, - 0, - 0, - 0, - 0, - 0, - 0, - 0.01, - 0, - 0, - 0, - 0, - 0, - 0, - 0.01, - ] - - self.pose_publisher.publish(odom) - - def loop(self): - """Loop for the main simulator engine""" - rate = rospy.Rate(self.rate) - pub_tick_count = 0 - - while not rospy.is_shutdown(): - self.step() - - # Publish every self.pub_skip ticks - if pub_tick_count == self.pub_skip: - self.publish() - pub_tick_count = 0 - else: - pub_tick_count += 1 - - rate.sleep() - - -if __name__ == "__main__": - rospy.init_node("sim_2d_engine") - print("sim 2d eng args:") - print(sys.argv) - - start_pos = sys.argv[1] - velocity = float(sys.argv[2]) - buggy_name = sys.argv[3] - - sim = Simulator(start_pos, velocity, buggy_name) - for i in range(100): - sim.publish() - rospy.sleep(0.01) - - # publish initial position, then sleep - # so that auton stack has time to initialize - # before buggy moves - print("SIM PUBLISHED", rospy.get_time()) - if buggy_name == "SC": - rospy.sleep(15.0) - print("SIM STARTED STEPPING", rospy.get_time()) - sim.loop() - diff --git a/rb_ws/src/buggy/scripts/2d_sim/grapher.py b/rb_ws/src/buggy/scripts/2d_sim/grapher.py deleted file mode 100755 index 5ab3a686..00000000 --- a/rb_ws/src/buggy/scripts/2d_sim/grapher.py +++ /dev/null @@ -1,107 +0,0 @@ -#! /usr/bin/env python3 -import matplotlib.pyplot as plt -import numpy as np -import threading -import rospy -from geometry_msgs.msg import Pose - -class Visualizer: - - RATIO = 1279.305/517.136 # PNG:GMAPS - IMAGE_SIZE = 3000 # size of X and Y (should be square aspect ratio) - UTM_EAST_ZERO = 589702.87 - UTM_NORTH_ZERO = 4477172.947 - ZERO_LOC_UTM = (UTM_EAST_ZERO, UTM_NORTH_ZERO) # East North in meters UTM - PNG_EAST_ZERO = 1866.1 - PNG_NORTH_ZERO = 1139.04 - UTM_ZONE_NUM = 17 - UTM_ZONE_LETTER = "T" - - def __init__(self): - self.fig = plt.figure() - self.ax1 = self.fig.add_subplot(1,1,1) - - image_path = "/rb_ws/src/buggy/assets/satellite_unflip.png" - im = plt.imread(image_path) - self.image_arr = np.array(im) - self.image_arr = np.rot90(np.rot90(self.image_arr)) - - self.ax1.imshow(self.image_arr) - - self.e_utm = Visualizer.UTM_EAST_ZERO - self.n_utm = Visualizer.UTM_NORTH_ZERO - self.heading = 0 - - self.lock = threading.Lock() - - self.plot_subscriber = rospy.Subscriber("sim_2d/utm", Pose, self.update_plot_var) - - def calculate_plot_from_utm(self, e_utm: float, n_utm: float, ratio: float) -> tuple: - """Calculates the plot for matplotlib given a utm_coordinate - - Args: - e_utm (float): utm input east - n_utm (float): utm input north - ratio (float): ratio PNG:GMAPS - - Returns: - tuple: (x, y) for matplotlib - """ - x = ((e_utm - Visualizer.UTM_EAST_ZERO) * ratio) + Visualizer.PNG_EAST_ZERO - y = Visualizer.IMAGE_SIZE - (((n_utm - Visualizer.UTM_NORTH_ZERO) * ratio) + Visualizer.PNG_NORTH_ZERO) - return (x, y) - - def get_arrow_vector(self, heading: float, size: float) -> tuple: - """Get the dx and dy for input into plt.arrow() - - Args: - heading (float): Heading, aligned with East to the right (degrees) - size (float): size of arrow vector - - Returns: - tuple: (dx, dy) - """ - dx = size*np.cos(np.deg2rad(heading)) - dy = -size*np.sin(np.deg2rad(heading)) - return (dx, dy) - - def plot(self): - """This function plots whatever is currently in self.e_utm, self.n_utm, and self.heading - """ - with self.lock: - e_utm = self.e_utm - n_utm = self.n_utm - heading = self.heading - - (x, y) = self.calculate_plot_from_utm(e_utm, n_utm, Visualizer.RATIO) - (dx, dy) = self.get_arrow_vector(heading, 60) - self.ax1.imshow(self.image_arr) - self.ax1.arrow(x, y, dx, dy, width = 10) - plt.pause(0.001) - self.ax1.cla() - - - - def update_plot_var(self, utm: Pose): - """Update the plotting variables so self.plot() can plot with the newest data - - Args: - utm (Pose): Use the rospy Pose message to store UTM east + north and heading info - """ - p = Pose() - # x is East - # y is North - # z is heading (east aligned, + is CCW) - with self.lock: - self.e_utm = utm.position.x - self.n_utm = utm.position.y - self.heading = utm.position.z - - (x, y) = self.calculate_plot_from_utm(utm.position.x, utm.position.y, Visualizer.RATIO) - - -if __name__ == "__main__": - vis = Visualizer() - rospy.init_node("sim_2d_visualizer") - while not rospy.is_shutdown(): - vis.plot() diff --git a/rb_ws/src/buggy/scripts/2d_sim/velocity_ui.py b/rb_ws/src/buggy/scripts/2d_sim/velocity_ui.py deleted file mode 100755 index 09840e3a..00000000 --- a/rb_ws/src/buggy/scripts/2d_sim/velocity_ui.py +++ /dev/null @@ -1,44 +0,0 @@ -#! /usr/bin/env python3 -import sys -import threading -import tkinter as tk -from controller_2d import Controller -import rospy - -class VelocityUI: - def __init__(self, init_vel: float, buggy_name: str): - self.buggy_vel = 0 # So the buggy doesn't start moving without user input - self.controller = Controller(buggy_name) - self.lock = threading.Lock() - - self.root = tk.Tk() - - self.root.title(buggy_name + ' Manual Velocity: scale = 0.1m/s') - self.root.geometry('600x100') - self.root.configure(background = '#342d66') - - self.scale = tk.Scale(self.root, from_=0, to=300, orient=tk.HORIZONTAL, length=500, width=30) - self.scale.pack() - - self.root.bind("", lambda i: self.scale.set(self.scale.get() + 2)) - self.root.bind("", lambda d: self.scale.set(self.scale.get() - 2)) - - def step(self): - """sets velocity of buggy to the current scale value - called once every tick - """ - self.root.update_idletasks() - self.root.update() - '''Update velocity of buggy''' - self.buggy_vel = self.scale.get()/10 # so we can set velocity with 0.1 precision - self.controller.set_velocity(self.buggy_vel) - -if __name__ == "__main__": - rospy.init_node("velocity_ui") - init_vel = float(sys.argv[1]) - buggy_name = sys.argv[2] - vel = VelocityUI(init_vel, buggy_name) - rate = rospy.Rate(100) - while not rospy.is_shutdown(): - vel.step() - rate.sleep() \ No newline at end of file diff --git a/rb_ws/src/buggy/scripts/2d_sim/velocity_updater.py b/rb_ws/src/buggy/scripts/2d_sim/velocity_updater.py deleted file mode 100755 index a6bebe18..00000000 --- a/rb_ws/src/buggy/scripts/2d_sim/velocity_updater.py +++ /dev/null @@ -1,74 +0,0 @@ -#! /usr/bin/env python3 -import rospy -import sys -from controller_2d import Controller -from geometry_msgs.msg import Pose -from geometry_msgs.msg import Point -import threading -import math - -class VelocityUpdater: - RATE = 100 - # Bubbles for updating acceleration based on position - # represented as 4-tuples: (x-pos, y-pos, radius, acceleration) - CHECKPOINTS: 'list[tuple[float,float,float,float]]' = [ - (589701, 4477160, 20, 0.5) - ] - - def __init__(self, init_vel: float, buggy_name: str): - self.pose_subscriber = rospy.Subscriber( - buggy_name + "/sim_2d/utm", Pose, self.update_position - ) - - self.buggy_vel = init_vel - self.accel = 0.0 - - self.position = Point() - self.position.x = 0 - self.position.y = 0 - self.position.z = 0 - - self.controller = Controller(buggy_name) - - self.lock = threading.Lock() - - def update_position(self, new_pose: Pose): - '''Callback function to update internal position variable when new - buggy position is published - - Args: - new_pose (Pose): Pose object from topic - ''' - with self.lock: - self.position = new_pose.position - - def calculate_accel(self): - '''Check if the position of the buggy is in any of the checkpoints set - in self.CHECKPOINTS, and update acceleration of buggy accordingly - ''' - for (x,y,r,a) in self.CHECKPOINTS: - dist = math.sqrt((x - self.position.x)**2 + (y - self.position.y)**2) - if dist < r: - self.accel = a - break - - def step(self): - '''Update acceleration and velocity of buggy for one timestep''' - self.calculate_accel() - - new_velocity = self.buggy_vel + self.accel / self.RATE - self.buggy_vel = new_velocity - self.controller.set_velocity(new_velocity) - - -if __name__ == "__main__": - rospy.init_node("vel_updater") - - init_vel = float(sys.argv[1]) - buggy_name = sys.argv[2] - vel = VelocityUpdater(init_vel, buggy_name) - rate = rospy.Rate(vel.RATE) - - while not rospy.is_shutdown(): - vel.step() - rate.sleep() diff --git a/rb_ws/src/buggy/scripts/auton/autonsystem.py b/rb_ws/src/buggy/scripts/auton/autonsystem.py deleted file mode 100755 index e4fd0e3d..00000000 --- a/rb_ws/src/buggy/scripts/auton/autonsystem.py +++ /dev/null @@ -1,372 +0,0 @@ -#!/usr/bin/env python3 - -import argparse -from threading import Lock - -import threading -import rospy - -# ROS Message Imports -from std_msgs.msg import Float32, Float64, Bool -from nav_msgs.msg import Odometry -from buggy.msg import TrajectoryMsg - -import numpy as np - -from trajectory import Trajectory -from world import World -from controller import Controller -from stanley_controller import StanleyController -from model_predictive_controller import ModelPredictiveController -from path_planner import PathPlanner -from pose import Pose - -import navpy - -class AutonSystem: - """ - Top-level class for the RoboBuggy autonomous system - - On every tick, this class will read the current state of the buggy, - compare it to the reference trajectory, and use a given controller - to compute the desired control output. - - On every 10th tick, this class will generate a new reference trajectory - based on the updated position of the other buggy. - """ - - global_trajectory: Trajectory = None - local_controller: Controller = None - lock = None - steer_publisher = None - ticks = 0 - - def __init__(self, - global_trajectory, - local_controller, - self_name, - other_name, - curb_traj, - profile) -> None: - - - self.global_trajectory = global_trajectory - - # local trajectory is initialized as global trajectory. If there is no other buggy, - # the local trajectory is never updated. - - self.has_other_buggy = not (other_name is None) - self.cur_traj = global_trajectory - self.local_controller = local_controller - - left_curb = curb_traj - self.path_planner = PathPlanner(global_trajectory, left_curb) - self.other_steering = 0 - - self.lock = Lock() - self.ticks = 0 - self.self_odom_msg = None - self.gps_odom_msg = None - self.other_odom_msg = None - self.use_gps_pos = False - - #TODO: DOUBLE CONVERTING HERE, NOT A GOOD IDEA - rospy.Subscriber("/ekf/odometry_earth", Odometry, self.change_utm_latlon) - self.latlonodom = rospy.Publisher(self_name + "/nav/odom", Odometry, queue_size=1) - - rospy.Subscriber(self_name + "/nav/odom", Odometry, self.update_self_odom) - rospy.Subscriber(self_name + "/gnss1/odom", Odometry, self.update_self_odom_backup) - rospy.Subscriber(self_name + "/nav/traj", TrajectoryMsg, self.update_traj) - - # to report if the filter position has separated (so we need to use the antenna position) - rospy.Subscriber(self_name + "/debug/filter_gps_seperation_status", Bool, self.update_use_gps) - - if self.has_other_buggy: - rospy.Subscriber(other_name + "/nav/odom", Odometry, self.update_other_odom) - self.other_steer_subscriber = rospy.Subscriber( - other_name + "/buggy/input/steering", Float64, self.update_other_steering_angle - ) - - self.init_check_publisher = rospy.Publisher( - self_name + "/debug/init_safety_check", Bool, queue_size=1 - ) - self.steer_publisher = rospy.Publisher( - self_name + "/buggy/input/steering", Float64, queue_size=1 - ) - self.heading_publisher = rospy.Publisher( - self_name + "/auton/debug/heading", Float32, queue_size=1 - ) - self.distance_publisher = rospy.Publisher( - self_name + "/auton/debug/distance", Float64, queue_size=1 - ) - - self.controller_rate = 100 - self.rosrate_controller = rospy.Rate(self.controller_rate) - - self.planner_rate = 10 - self.rosrate_planner = rospy.Rate(self.planner_rate) - - self.profile = profile - self.tick_caller() - - def change_utm_latlon(self, msg): - new_msg = msg - lat, lon, _ = navpy.ecef2lla([msg.pose.pose.position.x, msg.pose.pose.position.y, msg.pose.pose.position.z]) - new_msg.pose.pose.position.x, new_msg.pose.pose.position.y = lon, lat - self.latlonodom.publish(new_msg) - - - # functions to read data from ROS nodes - def update_use_gps(self, msg): - with self.lock: - self.use_gps_pos = msg.data - - def update_self_odom_backup(self, msg): - with self.lock: - self.gps_odom_msg = msg - - def update_self_odom(self, msg): - with self.lock: - self.self_odom_msg = msg - - def update_other_odom(self, msg): - with self.lock: - self.other_odom_msg = msg - - def update_other_steering_angle(self, msg): - with self.lock: - self.other_steering = msg.data - - def update_traj(self, msg): - with self.lock: - self.cur_traj, self.local_controller.current_traj_index = Trajectory.unpack(msg) - - - - def init_check(self): - """ - Checks if it's safe to switch the buggy into autonomous driving mode. - Specifically, it checks: - if we can recieve odometry messages from the buggy - if the covariance is acceptable (less than 1 meter) - if the buggy thinks it is facing in the correct direction wrt the local trajectory (not 180 degrees flipped) - - Returns: - A boolean describing the status of the buggy (safe for auton or unsafe for auton) - """ - # TODO: should we check if we're recieving messages from NAND? - if (self.self_odom_msg == None): - rospy.logwarn("WARNING: no available position estimate") - return False - - if (self.self_odom_msg.pose.covariance[0] ** 2 + self.self_odom_msg.pose.covariance[7] ** 2 > 1**2): - rospy.logwarn("checking position estimate certainty") - return False - - # waits until covariance is acceptable to check heading - with self.lock: - self_pose = self.get_world_pose(self.self_odom_msg) - current_heading = self_pose.theta - closest_heading = self.cur_traj.get_heading_by_index(trajectory.get_closest_index_on_path(self_pose.x, self_pose.y)) - rospy.loginfo("current heading: " + str(np.rad2deg(current_heading))) - self.heading_publisher.publish(Float32(np.rad2deg(current_heading))) - - # headings are originally between -pi and pi - # if they are negative, convert them to be between 0 and pi - if current_heading < 0: - current_heading = 2*np.pi + current_heading - - if closest_heading < 0: - closest_heading = 2*np.pi + closest_heading - - if (abs(current_heading - closest_heading) >= np.pi/2): - rospy.logwarn("WARNING: INCORRECT HEADING! restart stack. Current heading [-180, 180]: " + str(np.rad2deg(self_pose.theta))) - return False - - return True - - def tick_caller(self): - """ - The main scheduler - starts threads for the pathplanner and the controller. - """ - rospy.loginfo("start checking initialization status") - while ((not rospy.is_shutdown()) and not self.init_check()): - self.init_check_publisher.publish(False) - rospy.sleep(0.001) - rospy.loginfo("done checking initialization status") - self.init_check_publisher.publish(True) - # initialize global trajectory index - - t_planner = threading.Thread(target=self.planner_thread) - t_controller = threading.Thread(target=self.local_controller_thread) - - # starting processes - # See LOOKAHEAD_TIME in path_planner.py for the horizon of the - # planner. Make sure it is significantly (at least 2x) longer - # than 1 period of the planner when you change the planner frequency. - - - t_controller.start() #Main Cycles runs at 100hz - if self.has_other_buggy: - t_planner.start() #Planner runs every 10 hz - - t_controller.join() - if self.has_other_buggy: - t_planner.join() - - def get_world_pose(self, msg): - #TODO: this should be redundant - converting rospose to pose should automatically handle world conversions - current_rospose = msg.pose.pose - # Get data from message - pose_gps = Pose.rospose_to_pose(current_rospose) - return World.gps_to_world_pose(pose_gps) - - def local_controller_thread(self): - while (not rospy.is_shutdown()): - self.local_controller_tick() - self.rosrate_controller.sleep() - - def local_controller_tick(self): - if not self.use_gps_pos: - with self.lock: - state_msg = self.self_odom_msg - else: - with self.lock: - state_msg = self.gps_odom_msg - - # For viz and debugging - pose = self.get_world_pose(state_msg) - self.heading_publisher.publish(Float32(np.rad2deg(pose.theta))) - - # Compute control output - steering_angle = self.local_controller.compute_control( - state_msg, self.cur_traj) - steering_angle_deg = np.rad2deg(steering_angle) - self.steer_publisher.publish(Float64(steering_angle_deg)) - - - def planner_thread(self): - while (not rospy.is_shutdown()): - self.rosrate_planner.sleep() - if not self.other_odom_msg is None: - with self.lock: - self_pose = self.get_world_pose(self.self_odom_msg) - other_pose = self.get_world_pose(self.other_odom_msg) - - distance = (self_pose.x - other_pose.x) ** 2 + (self_pose.y - other_pose.y) ** 2 - distance = np.sqrt(distance) - self.distance_publisher.publish(Float64(distance)) - - self.planner_tick() - - def planner_tick(self): - if not self.use_gps_pos: - with self.lock: - self_pose = self.get_world_pose(self.self_odom_msg) - else: - with self.lock: - self_pose = self.get_world_pose(self.gps_odom_msg) - - with self.lock: - other_pose = self.get_world_pose(self.other_odom_msg) - - # update local trajectory via path planner - self.path_planner.compute_traj(self_pose, other_pose) - -def init_parser (): - """ - Returns a parser to read launch file arguments to AutonSystem. - """ - parser = argparse.ArgumentParser() - parser.add_argument("--controller", - type=str, - help="set controller type", - required=True) - - parser.add_argument( - "--dist", - type=float, - help="start buggy at meters distance along the path", - required=True) - - parser.add_argument( - "--traj", - type=str, - help="path to the trajectory file, relative to /rb_ws/src/buggy/paths/", - required=True) - - parser.add_argument( - "--self_name", - type=str, - help="name of ego-buggy", - required=True) - - parser.add_argument( - "--left_curb", - type=str, - help="Path of curb data, relative to /rb_ws/src/buggy/paths/", - default="" -, required=False) - - parser.add_argument( - "--other_name", - type=str, - help="name of other buggy, if left unspecified, the autonsystem assumes it is the only buggy on the course", - required=False) - - parser.add_argument( - "--profile", - action='store_true', - help="turn on profiling for the path planner") - return parser - -if __name__ == "__main__": - rospy.init_node("auton_system") - parser = init_parser() - - args, _ = parser.parse_known_args() - ctrl = args.controller - start_dist = args.dist - traj = args.traj - self_name = args.self_name - other_name = args.other_name - profile = args.profile - left_curb_file = args.left_curb - - rospy.loginfo("\n\nStarting Controller: " + str(ctrl) + "\n\n") - rospy.loginfo("\n\nUsing path: /rb_ws/src/buggy/paths/" + str(traj) + "\n\n") - rospy.loginfo("\n\nStarting at distance: " + str(start_dist) + "\n\n") - - trajectory = Trajectory(json_filepath="/rb_ws/src/buggy/paths/" + traj) - left_curb = None - if left_curb_file != "": - left_curb = Trajectory(json_filepath="/rb_ws/src/buggy/paths/" + left_curb_file) - - # calculate starting index - start_index = trajectory.get_index_from_distance(start_dist) - - # Add Controllers Here - local_ctrller = None - if (ctrl == "stanley"): - local_ctrller = StanleyController( - self_name, - start_index=start_index) - elif (ctrl == "mpc"): - local_ctrller = ModelPredictiveController( - self_name, - start_index=start_index) - - if (local_ctrller == None): - raise Exception("Invalid Controller Argument") - - auton_system = AutonSystem( - trajectory, - local_ctrller, - self_name, - other_name, - left_curb, - profile - ) - - while not rospy.is_shutdown(): - rospy.spin() diff --git a/rb_ws/src/buggy/scripts/auton/brake_controller.py b/rb_ws/src/buggy/scripts/auton/brake_controller.py deleted file mode 100644 index 6c1e407c..00000000 --- a/rb_ws/src/buggy/scripts/auton/brake_controller.py +++ /dev/null @@ -1,93 +0,0 @@ -#!/usr/bin/env python3 -import numpy as np -from controller import Controller - -class BrakeController: - MAX_LATERAL_ACCEL = 0.9 # in "g" based on regular vehicle - BRAKING_GAIN = 2.0 - def __init__(self, use_binary_braking = True): - # NOTE: Add more stuff here to keep track of PID stuff once I and D are implemented. - self.binary_braking = use_binary_braking - - @staticmethod - def calculate_lateral_accel(linear_speed: float, steering_angle: float) -> float: - """Calculate the lateral acceleration given speed and steering angle for the CENTER of the - buggy. - - Args: - linear_speed (float): m/s - steering_angle (float): deg - - Returns: - float: lateral accel in "g" - """ - if (steering_angle == 0.0): - return 0.0 - radius_front_wheel = Controller.WHEELBASE / np.sin(np.deg2rad(steering_angle)) - radius_rear_wheel = Controller.WHEELBASE / np.tan(np.deg2rad(steering_angle)) - - lat_accel_front_wheel = np.absolute((linear_speed**2)/radius_front_wheel) / 9.81 - lat_accel_rear_wheel = np.absolute((linear_speed**2)/radius_rear_wheel) / 9.81 - - lat_accel = (lat_accel_front_wheel + lat_accel_rear_wheel) / 2 - - return lat_accel - - def compute_braking(self, speed: float, steering_angle: float) -> float: - """Wrapper for the type of braking controller we're using - - Args: - speed (float): m/s - steering_angle (float): degrees - - Returns: - float: 0-1 (1 = full brake) - """ - if self.binary_braking: - return self._compute_binary_braking(speed, steering_angle) - else: - return self._compute_modulated_braking(speed, steering_angle) - - def _compute_binary_braking(self, speed: float, steering_angle: float) -> float: - """Binary braking - using lateral acceleration - - Args: - speed (float): m/s - steering_angle (float): degrees - - Returns: - float: 1 is brake, 0 is release - """ - lat_accel = BrakeController.calculate_lateral_accel(speed, steering_angle) - if (lat_accel > BrakeController.MAX_LATERAL_ACCEL): - return 1.0 - else: - return 0.0 - - def _compute_modulated_braking(self, speed: float, steering_angle: float) -> float: - """Using P controller for braking based on lateral acceleration of buggy. Modulated values - from 0-1 - - Args: - speed (float): _description_ - steering_angle (float): _description_ - - Returns: - float: _description_ - """ - lat_accel = BrakeController.calculate_lateral_accel(speed, steering_angle) - if (lat_accel < BrakeController.MAX_LATERAL_ACCEL): - return 0.0 - else: - error = lat_accel - BrakeController.MAX_LATERAL_ACCEL - brake_cmd = 1.0 * error * BrakeController.BRAKING_GAIN - brake_cmd = np.clip(brake_cmd, 0, 1) - return brake_cmd - -if __name__ == "__main__": - brake_controller = BrakeController() - speed = 15 - steering_angle = 4 - print("Lateral Accel: ", BrakeController.calculate_lateral_accel(speed, steering_angle)) - brake_cmd = brake_controller.compute_braking(speed, steering_angle) - print("Braking CMD: ", brake_cmd) \ No newline at end of file diff --git a/rb_ws/src/buggy/scripts/auton/buggystate.py b/rb_ws/src/buggy/scripts/auton/buggystate.py deleted file mode 100644 index 5444886c..00000000 --- a/rb_ws/src/buggy/scripts/auton/buggystate.py +++ /dev/null @@ -1,115 +0,0 @@ -import utm -from nav_msgs.msg import Odometry as ROSOdom -from sensor_msgs.msg import NavSatFix - -from tf.transformations import euler_from_quaternion - -from std_msgs.msg import Bool - -from microstrain_inertial_msgs.msg import GNSSFixInfo - - - -import rospy - - -#BROKEN TOPIC PATHS, INCREDIBLY BROKEN - -class BuggyState: - """ - Basically a translator from ROSOdom to ensure everything is in the correct units. - - Other files should ONLY interface with the nav/odom messages through this file! - - (functionally: this should replace telematics, pose and world) - - """ - - def __init__(self, name = "sc"): - self.filter_odom : ROSOdom = None - self.gnss_1 : ROSOdom = None - self.gnss_2 : ROSOdom = None - self.gps_fix : int = 0 - - - # to report if the filter position has separated (so we need to break) - rospy.Subscriber(name + "/debug/filter_gps_seperation_status", Bool, self.update_use_gps) - - rospy.Subscriber(name + "/nav/odom", ROSOdom, self.update_odom) - rospy.Subscriber("/gnss1/odom", ROSOdom, self.update_gnss1) - rospy.Subscriber("/gnss2/odom", ROSOdom, self.update_gnss2) - rospy.Subscriber("/gnss1/fix_info", GNSSFixInfo, self.update_gnss1_fix) - - - def update_use_gps(self, msg): - self.use_gps = msg - def update_odom(self, msg): - self.filter_odom = msg - def update_gnss1(self, msg): - self.gnss_1 = msg - def update_gnss2(self, msg): - self.gnss_2 = msg - def update_gnss1_fix(self, msg): - self.gps_fix = msg.fix_type - - def odom_to_navsatfix(self, odom): - """Convert Odometry-type to NavSatFix-type for plotting on Foxglove - Args: - odom (Odometry): odometry object to convert - """ - lat = odom.pose.pose.position.y - long = odom.pose.pose.position.x - down = odom.pose.pose.position.z - new_odom = NavSatFix() - new_odom.header = odom.header - new_odom.latitude = lat - new_odom.longitude = long - new_odom.altitude = down - return new_odom - - def get_gps_fix(self): - fix_string = "fix type: " - if (self.gps_fix == 0): - fix_string += "FIX_3D" - elif (self.gps_fix == 1): - fix_string += "FIX_2D" - elif (self.gps_fix == 2): - fix_string += "FIX_TIME_ONLY" - elif (self.gps_fix == 3): - fix_string += "FIX_NONE" - elif (self.gps_fix == 4): - fix_string += "FIX_INVALID" - elif (self.gps_fix == 5): - fix_string += "FIX_RTK_FLOAT" - else: - fix_string += "FIX_RTK_FIXED" - return fix_string - - def get_pose(self): - if self.filter_odom == None: - return None - - rospose = self.filter_odom.pose.pose - (_, _, yaw) = euler_from_quaternion( - [ - rospose.orientation.x, - rospose.orientation.y, - rospose.orientation.z, - rospose.orientation.w, - ] - ) - - (easting, northing, _, _) = utm.from_latlon(rospose.position.y, rospose.position.x) - - return (easting, northing, yaw) - - def get_pos_covariance(self): - if self.filter_odom == None: - return None - return self.filter_odom.pose.covariance - - def get_velocity(self): - if self.filter_odom == None: - return None - return self.filter_odom.twist.twist.linear - diff --git a/rb_ws/src/buggy/scripts/auton/controller.py b/rb_ws/src/buggy/scripts/auton/controller.py deleted file mode 100755 index 8411dcc7..00000000 --- a/rb_ws/src/buggy/scripts/auton/controller.py +++ /dev/null @@ -1,87 +0,0 @@ -from abc import ABC, abstractmethod - -from trajectory import Trajectory -from pose import Pose -from sensor_msgs.msg import NavSatFix -from world import World -from nav_msgs.msg import Odometry - - -class Controller(ABC): - """ - Base class for all controllers. - - The controller takes in the current state of the buggy and a reference - trajectory. It must then compute the desired control output. - - The method that it does this by is up to the implementation, of course. - Example schemes include Pure Pursuit, Stanley, and LQR. - """ - - # TODO: move this to a constants class - NAND_WHEELBASE = 1.3 - SC_WHEELBASE = 1.104 - current_traj_index = 0 - - def __init__(self, start_index: int, buggy_name: str) -> None: - self.buggy_name = buggy_name - if buggy_name.upper() == 'NAND': - Controller.WHEELBASE = self.NAND_WHEELBASE - else: - Controller.WHEELBASE = self.SC_WHEELBASE - - self.current_traj_index = start_index - - @abstractmethod - def compute_control( - self, state_msg: Odometry, trajectory: Trajectory, - ) -> float: - """ - Computes the desired control output given the current state and reference trajectory - - Args: - state: (Odometry): state of the buggy, including position, attitude and associated twists - trajectory (Trajectory): reference trajectory - current_speed (float): current speed of the buggy - - Returns: - float (desired steering angle) - """ - raise NotImplementedError - - def plot_trajectory( - self, current_pose: Pose, trajectory: Trajectory, current_speed: float - ): - """ - Plots the next x and previous y points along the trajectory - - Args: - current_pose (Pose): current pose (x, y, theta) (UTM coordinates) - trajectory (Trajectory): reference trajectory - current_speed (float): current speed of the buggy - """ - - # Compute distance along path from current position - traj_dist = trajectory.get_distance_from_index(self.current_traj_index) - - # Plot forward projections - for i in range(1, len(self.forward_publishers)+1): - forward_position = trajectory.get_position_by_distance(traj_dist + i*current_speed) - navsat = NavSatFix() - forward_gps = World.world_to_gps(*forward_position) - navsat.latitude = forward_gps[0] - navsat.longitude = forward_gps[1] - self.forward_publishers[i-1].publish(navsat) - - # Plot backward positions - for i in range(1, len(self.backward_publishers)+1): - backward_position = trajectory.get_position_by_distance(traj_dist - i*current_speed) - navsat = NavSatFix() - backward_gps = World.world_to_gps(*backward_position) - navsat.latitude = backward_gps[0] - navsat.longitude = backward_gps[1] - self.backward_publishers[i-1].publish(navsat) - - # TODO: do we want logging methods to be required (update_speed, update_trajectory) - - diff --git a/rb_ws/src/buggy/scripts/auton/model_predictive_controller.py b/rb_ws/src/buggy/scripts/auton/model_predictive_controller.py deleted file mode 100644 index eb858a0b..00000000 --- a/rb_ws/src/buggy/scripts/auton/model_predictive_controller.py +++ /dev/null @@ -1,773 +0,0 @@ -#!/usr/bin/env python3 - -import time -from threading import Lock - -from numba import njit - -import numpy as np -import osqp -from scipy import sparse - -import rospy -from std_msgs.msg import Float64, Float64MultiArray, MultiArrayDimension, Bool -from sensor_msgs.msg import NavSatFix -from geometry_msgs.msg import Pose as ROSPose -from geometry_msgs.msg import Pose2D -from nav_msgs.msg import Odometry - - -from pose import Pose -from trajectory import Trajectory -from controller import Controller -from world import World - - -import matplotlib.pyplot as plt - - -class ModelPredictiveController(Controller): - """ - Convex Model Predictive Controller (MPC) - """ - - DEBUG = True - PLOT = False - TIME = False - ROS = True - - # TODO: constants class - # MPC Params - WHEELBASE = 1.17 #m - MASS = 62 #kg - MAX_LAT_FORCE = 350 #N - MAX_STEER = np.deg2rad(20) #degrees - MIN_SPEED = 1.0 - MPC_TIMESTEP = 0.02 - MPC_HORIZON = 125 - LOOKAHEAD_TIME = 0.1 # seconds - N_STATES = 4 - N_CONTROLS = 1 - - # MPC Cost Weights - state_cost = np.array([0.0001, 250, 5, 2500]) # x, y, theta, steer - control_cost = np.array([5]) # d_steer - final_state_cost = 2 * np.array([0.0001, 250, 5, 25]) # x, y, theta, steer - - # Control constraints - # control_lb = np.array([-np.pi / 2]) # d_steer - # control_ub = np.array([np.pi / 2]) # d_steer - control_lb = np.array([-np.inf]) # d_steer - control_ub = np.array([np.inf]) # d_steer - - # Solver params - solver_settings: dict = { - "verbose": DEBUG, - "eps_abs": 1e-4, - "eps_rel": 1e-4, - "polish": 1, - "time_limit": 1.5e-2, - "warm_start": True, - # "linsys_solver": "mkl pardiso", - } - - # Precomputed arrays - X = sparse.kron( - np.eye(MPC_HORIZON), - np.hstack((np.zeros((N_STATES, N_CONTROLS)), np.eye(N_STATES))), - format="csc", - ) - U = sparse.kron( - np.eye(MPC_HORIZON), - np.hstack((np.eye(N_CONTROLS), np.zeros((N_CONTROLS, N_STATES)))), - format="csc", - ) - b = np.zeros(MPC_HORIZON * (N_STATES + N_CONTROLS)) - state_cost_diag = np.diag(state_cost) - control_cost_diag = np.diag(control_cost) - - def __init__(self, buggy_name : str, start_index=0, ref_trajectory=None, ROS=False) -> None: - # instantiate parent - super(ModelPredictiveController, self).__init__(start_index, buggy_name) - - # Internal variables - self.current_traj_index = 0 # Where in the trajectory we are currently - self.current_speed = 0 # Speed of the buggy used for the MPC calculation. Assumed to be constant for now - - # Optimizer variables - self.solver: osqp.OSQP = None - - self.debug_reference_pos_publisher = rospy.Publisher( - buggy_name + "/auton/debug/reference_navsat", NavSatFix, queue_size=1 - ) - self.debug_error_publisher = rospy.Publisher( - buggy_name + "/auton/debug/error", ROSPose, queue_size=1 - ) - - self.solver = osqp.OSQP() - - self.C = sparse.kron( - np.eye(self.MPC_HORIZON), - np.hstack((self.control_jacobian(), -np.eye(self.N_STATES))), - format="csc", - ) - - self.ROS = ROS - self.lock = Lock() - self.ref_trajectory = ref_trajectory - - if self.ROS: - rospy.Subscriber('mpc/speed', Float64, self.update_speed) - rospy.Subscriber('mpc/current_pose', Pose2D, self.update_trajectory) - self.trajectory_publisher = rospy.Publisher('mpc/sol_trajectory', - Float64MultiArray, - queue_size=1) - self.status_publisher = rospy.Publisher('mpc/solver_status', - Bool, - queue_size=1) - rospy.init_node('mpc_calculator') - - def update_speed(self, msg): - with self.lock: - self.current_speed = msg.data - - def update_trajectory(self, msg): - self.status_publisher.publish(True) - - pose = Pose(msg.x, msg.y, msg.theta) - cur_time_s = rospy.get_time() - t = np.linspace(cur_time_s + self.MPC_TIMESTEP, - cur_time_s + (self.MPC_HORIZON - 1) * self.MPC_TIMESTEP, - num=self.MPC_HORIZON) - t = t.reshape((self.MPC_HORIZON, 1)) - sol_trajectory = self.compute_trajectory(pose, self.ref_trajectory, self.current_speed) - - timed_traj = np.hstack([t, sol_trajectory], dtype=float) - - n_msg = Float64MultiArray() - # n_msg.data = timed_traj - n_msg.data = np.reshape(timed_traj, (1 + self.N_STATES) * self.MPC_HORIZON) - n_msg.layout.dim = [MultiArrayDimension(), MultiArrayDimension()] - n_msg.layout.dim[0].label = "timestep" - n_msg.layout.dim[0].size = self.MPC_HORIZON - n_msg.layout.dim[0].stride = (1 + self.N_STATES) * self.MPC_HORIZON - n_msg.layout.dim[1].label = "time, states" - n_msg.layout.dim[1].size = (1 + self.N_STATES) - n_msg.layout.dim[1].stride = (1 + self.N_STATES) - - self.trajectory_publisher.publish(n_msg) - - def state(self, x, y, theta, steer): - """Return the state vector. This describes where the buggy currently is (plus some - other information) - - Args: - x (Number): x coordinate of the buggy in meters - y (Number): y coordinate of the buggy in meters - theta (Number): heading in radians of the buggy (zero is along the +x axis) - steer (Number): steering angle in radians of the front wheel (zero is straight, + is left) - - Returns: - np.ndarray: state vector used by the rest of the codebase - """ - return np.array([x, y, theta, steer]) - - def control(self, d_steer): - """Return the control vector. This describes the control input to the buggy - - Args: - d_steer (Number): change in steering angle in radians of the front wheel (zero is no change, + is accelerating left) - - Returns: - np.ndarray: control vector used by the rest of the codebase - """ - return np.array([d_steer]) - - def dynamics(self, state, control): - """Return the dynamics of the system. This is used to model the system such that - the optimizer (QP Solver) can return an optimal trajectory. - - Formula: dynamics = d_state/dt = f(state, control) - - Args: - state (np.ndarray): state vector - control (np.ndarray): control vector - - Notes: - self.current_speed must be set before calling this function - - Returns: - np.ndarray: dynamics vector - """ - _, _, theta, steer = state - d_steer = control - - return np.array( - [ - self.current_speed * np.cos(theta), - self.current_speed * np.sin(theta), - self.current_speed * np.tan(steer) / self.WHEELBASE, - d_steer, - ] - ) - - @staticmethod - @njit - def _state_jacobian_jit(state, speed, wheelbase, mpc_timestep): - theta = state[2] - steer = state[3] - - return np.array( - [ - 1, - 0, - -speed * np.sin(theta) * mpc_timestep, - 0, - 0, - 1, - speed * np.cos(theta) * mpc_timestep, - 0, - 0, - 0, - 1, - speed / wheelbase * (1 / np.cos(steer) ** 2) * mpc_timestep, - 0, - 0, - 0, - 1, - ], - dtype=np.float32, - ).reshape((4, 4)) - - def state_jacobian(self, state): - """Return the jacobian of the dynamics function with respect to the state. - - Formula: df/d_state - = [ - [df_x/dx, df_x/dy, df_x/dtheta, df_x/dsteer], - [df_y/dx, df_y/dy, df_y/dtheta, df_y/dsteer], - [df_theta/dx, df_theta/dy, df_theta/dtheta, df_theta/dsteer], - [df_steer/dx, df_steer/dy, df_steer/dtheta, df_steer/dsteer] - ] - - Args: - state (np.ndarray): state vector - - Returns: - np.ndarray: jacobian of the dynamics function - """ - return self._state_jacobian_jit( - state, self.current_speed, self.WHEELBASE, self.MPC_TIMESTEP - ) - - def control_jacobian(self): - """Return the jacobian of the dynamics function with respect to the control. - - Formula: d_dynamics/d_control - = [ - [df_x/dd_steer], - [df_y/dd_steer], - [df_theta/dd_steer], - [df_steer/dd_steer], - ] - - Returns: - np.ndarray: jacobian of the dynamics function - """ - return np.array([[0], [0], [0], [1]]) * self.MPC_TIMESTEP - - @staticmethod - @njit - def _rotate_state_cost_jit(cost, theta): - return np.abs( - np.array( - [ - np.cos(theta) * cost[0] - np.sin(theta) * cost[1], - np.sin(theta) * cost[0] + np.cos(theta) * cost[1], - cost[2], - cost[3], - ] - ) - ) - - def rotate_state_cost(self, theta): - """Return the state cost, but rotate the x and y costs by an inputted angle. - This will allow the cost to be in the frame of the reference trajectory and not the - global frame. - - Args: - theta (Number): angle to rotate the cost by in radians - """ - return self._rotate_state_cost_jit(self.state_cost, theta) - - def rotate_final_state_cost(self, theta): - """Return the final state cost, but rotate the x and y costs by an inputted angle. - This will allow the cost to be in the frame of the reference trajectory and not the - global frame. - - Args: - theta (Number): angle to rotate the cost by in radians - """ - # return self.final_state_cost - return np.abs( - [ - np.cos(theta) * self.final_state_cost[0] - - np.sin(theta) * self.final_state_cost[1], - np.sin(theta) * self.final_state_cost[0] - + np.cos(theta) * self.final_state_cost[1], - self.final_state_cost[2], - self.final_state_cost[3], - ] - ) - - @staticmethod - @njit - def transform_trajectory(trajectory, transform_matrix): - """Transform a trajectory by a translation and rotation - - Args: - trajectory (np.ndarray(Nx4)): trajectory to transform - transform_matrix (np.ndarray): 3x3 transformation matrix - """ - traj_homogeneous = np.vstack( - (trajectory[:, 0:2].T, np.ones((1, trajectory.shape[0]))) - ) - traj_transformed = transform_matrix @ traj_homogeneous - - new_thetas = trajectory[:, 2] + np.arctan2( - transform_matrix[1, 0], transform_matrix[0, 0] - ) - new_thetas = np.arctan2(np.sin(new_thetas), np.cos(new_thetas)) - - return np.stack( - ( - traj_transformed[0, :].ravel(), - traj_transformed[1, :].ravel(), - new_thetas.ravel(), - trajectory[:, 3].ravel(), - ), - -1, - ) - - first_iteration = True - - def compute_steering_limit(self, speed): - # in radians - max_steer = np.arctan(self.WHEELBASE * self.MAX_LAT_FORCE / (self.MASS * speed ** 2)) - return max_steer - - def compute_trajectory(self, current_pose: Pose, trajectory: Trajectory, current_speed: float): - """ - Computes the desired control output given the current state and reference trajectory - - Args: - current_pose (Pose): current pose (x, y, theta) (UTM coordinates) - trajectory (Trajectory): reference trajectory - current_speed (float): current speed of the buggy - - Returns: - float (desired steering angle) - """ - if self.TIME: - print("--------------------") - totaltime = time.time() - - # Clamp speed to a minimum value - current_speed = max(current_speed, self.MIN_SPEED) - - # Get reference pose - if self.current_traj_index >= trajectory.get_num_points() - 1: - return 0 - - if self.TIME: - t = time.time() - self.current_speed = current_speed - - traj_index = trajectory.get_closest_index_on_path( - current_pose.x, - current_pose.y, - start_index=self.current_traj_index -20, - end_index=self.current_traj_index + 50, - subsample_resolution=1000, - ) - self.current_traj_index = max(traj_index, self.current_traj_index) - traj_distance = trajectory.get_distance_from_index(self.current_traj_index) - traj_distance += self.LOOKAHEAD_TIME * self.current_speed - - if self.DEBUG: - print("Current traj index: ", self.current_traj_index) - - if self.current_traj_index >= trajectory.get_num_points() - 1: - raise Exception("[MPC]: Ran out of path to follow!") - - # Get reference trajectory from the current traj index for the next [MPC_HORIZON] seconds - knot_point_distances = np.linspace( - traj_distance, - traj_distance + self.current_speed * self.MPC_TIMESTEP * self.MPC_HORIZON, - self.MPC_HORIZON, - ) - knot_point_indices = trajectory.get_index_from_distance(knot_point_distances) - reference_trajectory = trajectory.get_dynamics_by_index( - knot_point_indices, self.WHEELBASE - ) - reference_control = np.gradient(reference_trajectory[:, 3]) / self.MPC_TIMESTEP - - if self.TIME: - ref_time = 1000.0 * (time.time() - t) - - if self.TIME: - t = time.time() - - # Rotate reference trajectory to the frame of the current pose - inverted_pose = current_pose.invert() - reference_trajectory = self.transform_trajectory( - reference_trajectory, inverted_pose.to_mat() - ) - - if self.TIME: - ref_transform_time = 1000.0 * (time.time() - t) - - # print("Current pose: ", current_pose) - # print("Reference pose: ", reference_trajectory[0, :]) - - # Build QP matrices - # We define the problem as follows: - # z = [u0 x1 u1 x2 ... uN-1 xN] - # H = [R 0 0 0 ... 0 0 - # 0 Q1 0 0 ... 0 0 - # 0 0 R 0 ... 0 0 - # 0 0 0 Q2 ... 0 0 - # 0 0 0 0 ... R 0 - # 0 0 0 0 ... 0 QN] - # C = [B0 -I 0 0 0 ... 0 0 0 - # 0 A1 B1 -I 0 ... 0 0 0 - # 0 0 0 A2 B2 ... 0 0 0 - # 0 0 0 0 0 ... 0 0 0 - # 0 0 0 0 0 ... AN-1 BN-1 -I] - # - # D = [C; X; U] - # X selects all the states from z - # U selects all the controls from z - - # Minimize 0.5 z^T H z such that lb <= D z <= ub - if self.TIME: - t = time.time() - - # H = sparse.block_diag( - # ( - # self.control_cost_diag, - # *[ - # m - # for k in range(0, self.MPC_HORIZON - 1) - # for m in [ - # np.diag(self.rotate_state_cost(reference_trajectory[k, 2])), - # self.control_cost_diag, - # ] - # ], - # np.diag( - # self.rotate_final_state_cost( - # reference_trajectory[self.MPC_HORIZON - 1, 2] - # ) - # ), - # ), - # format="csc", - # ) - H = sparse.diags( - np.concatenate( - [ - self.control_cost, - *[ - m - for k in range(0, self.MPC_HORIZON - 1) - for m in [ - self.rotate_state_cost(reference_trajectory[k, 2]), - self.control_cost, - ] - ], - self.rotate_final_state_cost( - reference_trajectory[self.MPC_HORIZON - 1, 2] - ), - ] - ), - format="csc", - ) - if self.TIME: - create_mat_time_H = 1000.0 * (time.time() - t) - - if self.TIME: - t = time.time() - - C1 = sparse.hstack( - ( - sparse.block_diag( - ( - np.zeros((self.N_STATES, self.N_CONTROLS)), - *[ - np.hstack( - ( - self.state_jacobian(reference_trajectory[k, :]), - np.zeros((self.N_STATES, self.N_CONTROLS)), - ) - ) - for k in range(1, self.MPC_HORIZON) - ], - ), - format="csc", - ), - np.zeros((self.N_STATES * self.MPC_HORIZON, self.N_STATES)), - ) - ) - - # halfplane constraint - # c = [n 0 0], where n is the normal vector of the halfplane in x-y space - # p is the position of NAND in x-y space - - # n = np.array([100, 100]) - # p = np.array([0, 1]) - # c = np.concatenate((n, np.zeros((2, )))).reshape(1, self.N_STATES) - - # C2 = sparse.kron( - # np.eye(self.MPC_HORIZON), - # np.hstack( - # ( - # np.zeros((1, self.N_CONTROLS)), - # c - # ) - # ), - # format="csc", - # ) - - D = sparse.vstack([self.C + C1, self.X, self.U]) - # D = sparse.vstack([self.C + C1, self.X, self.U, C2]) - - if self.TIME: - create_mat_time_D = 1000.0 * (time.time() - t) - - if self.TIME: - t = time.time() - - steer_limit = min(self.compute_steering_limit(current_speed), self.MAX_STEER) - if self.DEBUG: - print("max steer:", np.rad2deg(steer_limit)) - - # State constraints - state_lb = np.array([-np.inf, -np.inf, -np.inf, -steer_limit]) # x, y, theta, steer - state_ub = np.array([np.inf, np.inf, np.inf, steer_limit]) # x, y, theta, steer - - lb = np.hstack( - ( - -self.state_jacobian(reference_trajectory[0, :]) @ (self.state(0, 0, 0, 0) - reference_trajectory[0, :]), - np.zeros(self.N_STATES * (self.MPC_HORIZON - 1)), - np.tile(state_lb, self.MPC_HORIZON) - reference_trajectory.ravel(), - np.tile(self.control_lb, self.MPC_HORIZON) - reference_control.ravel(), - # np.tile(n.T @ p, self.MPC_HORIZON), - ) - ) - ub = np.hstack( - ( - -self.state_jacobian(reference_trajectory[0, :]) @ (self.state(0, 0, 0, 0) - reference_trajectory[0, :]), - np.zeros(self.N_STATES * (self.MPC_HORIZON - 1)), - np.tile(state_ub, self.MPC_HORIZON) - reference_trajectory.ravel(), - np.tile(self.control_ub, self.MPC_HORIZON) - reference_control.ravel(), - # np.tile(np.inf, self.MPC_HORIZON), - ) - ) - - if self.TIME: - create_mat_time_bounds = 1000.0 * (time.time() - t) - - # Print shapes of matrices - if self.DEBUG: - print("H shape: ", H.shape) - print("C shape: ", self.C.shape) - print("D shape: ", D.shape) - print("lb shape: ", lb.shape) - print("ub shape: ", ub.shape) - print("b shape: ", self.b.shape) - print("reference_trajectory shape: ", reference_trajectory.shape) - print("reference_control shape: ", reference_control.shape) - - # Solve QP - - if self.TIME: - t = time.time() - if self.first_iteration: - self.solver.setup( - **self.solver_settings, - P=H, - q=self.b, - A=D, - l=lb, - u=ub, - ) - self.first_iteration = False - else: - self.solver.update( - Px=sparse.triu(H).data, - Ax=D.data, - l=lb, - u=ub, - ) - if self.TIME: - setup_time = 1000 * (time.time() - t) - - if self.TIME: - t = time.time() - results = self.solver.solve() - - steer_angle = results.x[self.N_CONTROLS + self.N_STATES - 1] - solution_trajectory = np.reshape(results.x, (self.MPC_HORIZON, self.N_STATES + self.N_CONTROLS)) - state_trajectory = solution_trajectory[:, self.N_CONTROLS:(self.N_CONTROLS + self.N_STATES)] - - if not (results.info.status == "solved" or results.info.status == "solved inaccurate"): - print("unable to solve!") - return reference_trajectory - - state_trajectory += reference_trajectory - - if self.TIME: - solve_time = 1000 * (time.time() - t) - - if self.TIME: - t = time.time() - - if steer_angle == None: - print("No solution found") - - if self.DEBUG: - print("Control: ", steer_angle) - - if self.PLOT: - # Plot the results - _, [[ax1, ax2], [ax3, ax4]] = plt.subplots(2, 2) - - # Extract the states - states = np.zeros((self.MPC_HORIZON, self.N_STATES)) - for k in range(0, self.MPC_HORIZON): - states[k, :] = results.x[ - self.N_CONTROLS - + k * (self.N_STATES + self.N_CONTROLS) : self.N_CONTROLS - + k * (self.N_STATES + self.N_CONTROLS) - + self.N_STATES - ] - states += reference_trajectory - controls = np.zeros((self.MPC_HORIZON, self.N_CONTROLS)) - for k in range(0, self.MPC_HORIZON): - controls[k, :] = results.x[ - k - * (self.N_STATES + self.N_CONTROLS) : k - * (self.N_STATES + self.N_CONTROLS) - + self.N_CONTROLS - ] - controls += reference_control.reshape((-1, 1)) - - ax1.set_title("Position (red=mpc, blue=ref)") - ax1.plot(states[:, 0], states[:, 1], "rx-", label="MPC") - ax1.plot( - reference_trajectory[:, 0], - reference_trajectory[:, 1], - "bx-", - label="Reference", - ) - ax1.plot(states[0, 0], states[0, 1], "go", label="Start") - ax1.plot(states[-1, 0], states[-1, 1], "mo", label="End") - - ax2.set_title("Heading") - ax2.plot(states[:, 2], "rx-", label="MPC") - ax2.plot(reference_trajectory[:, 2], "bx-", label="Reference") - - ax3.set_title("Steering angle") - ax3.plot(states[:, 3], "rx-", label="MPC") - ax3.plot(reference_trajectory[:, 3], "bx-", label="Reference") - - ax4.set_title("d_steer (control input)") - ax4.plot(controls, "rx-", label="MPC") - ax4.plot(reference_control, "bx-", label="Reference") - plt.show() - - # Publish error for debugging - try: - reference_position = trajectory.get_position_by_distance( - traj_distance - ) - reference_error = current_pose.convert_point_from_global_to_local_frame( - reference_position - ) - error_pose = ROSPose() - error_pose.position.x = reference_error[0] - error_pose.position.y = reference_error[1] - self.debug_error_publisher.publish(error_pose) - - # Publish reference position for debugging - reference_navsat = NavSatFix() - ref_gps = World.world_to_gps(*reference_position) - # ref_gps = World.world_to_gps(current_pose.x, current_pose.y) - reference_navsat.latitude = ref_gps[0] - reference_navsat.longitude = ref_gps[1] - self.debug_reference_pos_publisher.publish(reference_navsat) - except rospy.ROSException: - pass - # print("ROS Publishing Error") - - if self.TIME: - plot_time = 1000 * (time.time() - t) - - if self.TIME: - print(" Ref Traj: ", ref_time) - print(" Transform: ", ref_transform_time) - print(" Create H: ", create_mat_time_H) - print(" Create D: ", create_mat_time_D) - print(" Create bounds: ", create_mat_time_bounds) - print(" Setup: ", setup_time) - print(" Solve: ", solve_time) - print(" Plot/pub: ", plot_time) - print("Total time: ", 1000 * (time.time() - totaltime)) - - return state_trajectory - # return steer_angle - - def compute_control(self, - state_msg: Odometry, trajectory: Trajectory): - - current_rospose = state_msg.pose.pose - current_pose = World.gps_to_world_pose(Pose.rospose_to_pose(current_rospose)) - current_speed = np.sqrt( - state_msg.twist.twist.linear.x**2 + state_msg.twist.twist.linear.y**2 - ) - - state_trajectory = self.compute_trajectory(current_pose, trajectory, current_speed) - steer_angle = state_trajectory[0, self.N_STATES - 1] - - return steer_angle - - -if __name__ == "__main__": - mpc_controller = ModelPredictiveController( - ref_trajectory=Trajectory("/rb_ws/src/buggy/paths/quartermiletrack.json"), - ROS=True) - - while not rospy.is_shutdown(): - rospy.spin() - # # ModelPredictiveController.DEBUG = True - # ModelPredictiveController.PLOT = True - # mpc_controller = ModelPredictiveController() - # - # trajectory = Trajectory("/rb_ws/src/buggy/paths/quartermiletrack.json") - # - # # Offset initial pose slightly - # # initial_pose = Pose( - # # # *trajectory.get_position_by_distance(10), trajectory.get_heading_by_distance(10) - # # *trajectory.get_position_by_index(20), trajectory.get_heading_by_index(20) - # # ) - # # initial_pose.x -= 3 - # # initial_pose.y += 4 - # # initial_pose.theta += 0.1 - # # print(initial_pose) - # initial_pose = Pose(x=707.5893698488362, y=540, theta=-0.0292735217760258) - # - # mpc_controller.compute_control(initial_pose, trajectory, 5) - # mpc_controller.compute_control(initial_pose, trajectory, 5) - # ModelPredictiveController.PLOT = False - # - # for _ in range(100): - # mpc_controller.compute_control(initial_pose, trajectory, 5) diff --git a/rb_ws/src/buggy/scripts/auton/model_predictive_interpolation.py b/rb_ws/src/buggy/scripts/auton/model_predictive_interpolation.py deleted file mode 100644 index b4e10869..00000000 --- a/rb_ws/src/buggy/scripts/auton/model_predictive_interpolation.py +++ /dev/null @@ -1,72 +0,0 @@ -from controller import Controller - -import rospy -from sensor_msgs.msg import NavSatFix -from geometry_msgs.msg import Pose as ROSPose -from std_msgs.msg import Float64, Float64MultiArray, Bool -from rospy.numpy_msg import numpy_msg -from geometry_msgs.msg import Pose2D - -from threading import Lock - -from pose import Pose -from trajectory import Trajectory -from controller import Controller -from world import World - -import numpy as np - - -class ModelPredictiveController(Controller): - steering_angles = None - times = None - headings = None - solver_running = False - FEEDBACK = True - - def __init__(self): - self.lock = Lock() - self.times = np.zeros(200) + rospy.get_time() - self.steering_angles = np.zeros(200) - self.headings = np.zeros(200) - - self.speed_publisher = rospy.Publisher('mpc/speed', Float64, queue_size=1) - self.pose_publisher = rospy.Publisher('mpc/current_pose', Pose2D, queue_size=1) - rospy.Subscriber('mpc/sol_trajectory', - Float64MultiArray, - self.update_trajectory) - rospy.Subscriber('mpc/solver_status', - Bool, - self.update_solver_status) - - def compute_control(self, current_pose: Pose, trajectory: Trajectory, current_speed: float): - # IF MPC SOLVER ISN'T RUNNING, SUBMIT PROBLEM - # ELSE, DON'T - # EITHER WAY, INTERPOLATE - if not self.solver_running: - self.speed_publisher.publish(current_speed) - self.pose_publisher.publish(Pose2D(current_pose.x, current_pose.y, current_pose.theta)) - - time_s = rospy.get_time() - - delta_bar = np.interp(time_s, self.times, self.steering_angles) - - delta = delta_bar - if self.FEEDBACK: - theta_bar = np.interp(time_s, self.times, self.headings) - delta += 0.05 * (theta_bar - current_pose.theta) - - return delta - - def update_trajectory(self, msg): - with self.lock: - timed_traj = np.array(msg.data) - timed_traj = np.reshape(timed_traj, [d.size for d in msg.layout.dim]) - self.times = timed_traj[:, 0] - self.headings = timed_traj[:, 3] - self.steering_angles = timed_traj[:, 4] - self.solver_running = False - - def update_solver_status(self, msg): - with self.lock: - self.solver_running = True diff --git a/rb_ws/src/buggy/scripts/auton/occupancy_grid/grid_manager.py b/rb_ws/src/buggy/scripts/auton/occupancy_grid/grid_manager.py deleted file mode 100644 index c2bb4164..00000000 --- a/rb_ws/src/buggy/scripts/auton/occupancy_grid/grid_manager.py +++ /dev/null @@ -1,244 +0,0 @@ -#!/usr/bin/env python3 - -import sys -import json - -import numpy as np -# import scipy -import cv2 -# from matplotlib import pyplot as plt -import utm - -sys.path.append('rb_ws/src/buggy/scripts/auton') -# from pose import Pose - -""" -#################################### -=============== USAGE ============== -#################################### -Initialize: -- Create occupancy grid object - -Normal Op: -- Put NAND in the cost map via set_cost(utm_coords, cost) -- Get the normalized cost via get_utm_cost(utm_coords) by passing in the coordinates of the path -- Call reset_grid() to remove NAND from the grid -- LOOP! -""" - -# Do we want to initialize the grid as zero cost? Or do we want to load the pre-fabricated cost map in? -INIT_WITH_EMPTY_GRID = True -class OccupancyGrid: - def __init__(self): - - # Grid 0, 0 is NW - # 1 pixel = 0.5m - # X = East - # Y = North - - # the original grid, should never change - self.sat_img = np.array(cv2.cvtColor(cv2.imread("/rb_ws/src/buggy/assets/sat_img_resized.png"), cv2.COLOR_BGR2GRAY), np.uint8) - - # For original sat_img.png - # 145.77 pixels = 88.62m - # 0.5m resolution desired - # Need to scale image by (2/(145.77/88.62)) = 1.215888 - - if INIT_WITH_EMPTY_GRID: - self.grid_og = np.zeros(np.shape(self.sat_img)) - self.grid = np.zeros(np.shape(self.sat_img)) - else: - self.grid_og = np.array(cv2.cvtColor(cv2.imread("/rb_ws/src/buggy/assets/sat_img_resized.png"), cv2.COLOR_BGR2GRAY), np.uint8) - # this grid will vary from call to call since NAND will be plotted in here and removed by reverting it back to grid_og - self.grid = np.array(cv2.cvtColor(cv2.imread("/rb_ws/src/buggy/assets/cost_grid.png"), cv2.COLOR_BGR2GRAY), np.uint8) - - - - correspondence_f = open("/rb_ws/src/buggy/assets/landmarks.json") - self.correspondence = json.load(correspondence_f) - correspondence_f.close() - - pts_src = [] - pts_dst = [] - - for i in range(0, len(self.correspondence)): - ref_lat = self.correspondence[i]["lat"] - ref_lon = self.correspondence[i]["lon"] - ref_utm = utm.from_latlon(ref_lat, ref_lon) - ref_utm = [ref_utm[0], ref_utm[1], 1] - pts_src.append(ref_utm) - - sat_img_pixel = self.correspondence[i]["pixel"] - sat_img_pixel.append(1) # homogenous coordinates - pts_dst.append(sat_img_pixel) - - self.pts_src = np.array(pts_src) - self.pts_dst = np.array(pts_dst) - - - # REF_LOC_UTM_1 = utm.from_latlon(40.438834, -79.946334) - # REF_LOC_UTM_1 = [REF_LOC_UTM_1[0], REF_LOC_UTM_1[1], 1] - # REF_LOC_UTM_2 = utm.from_latlon(40.440482, -79.942299) - # REF_LOC_UTM_2 = [REF_LOC_UTM_2[0], REF_LOC_UTM_2[1], 1] - # REF_LOC_UTM_3 = utm.from_latlon(40.443738, -79.941774) - # REF_LOC_UTM_3 = [REF_LOC_UTM_3[0], REF_LOC_UTM_3[1], 1] - # REF_LOC_UTM_4 = utm.from_latlon(40.443451, -79.945972) - # REF_LOC_UTM_4 = [REF_LOC_UTM_4[0], REF_LOC_UTM_4[1], 1] - - # SAT_IMG_LOC_1 = [354, 1397, 1] - # SAT_IMG_LOC_2 = [1043, 1048, 1] - # SAT_IMG_LOC_3 = [1128, 290, 1] - # SAT_IMG_LOC_4 = [406, 366, 1] - - # pts_src = np.array([REF_LOC_UTM_1, REF_LOC_UTM_2, REF_LOC_UTM_3, REF_LOC_UTM_4]) - # pts_dst = np.array([SAT_IMG_LOC_1, SAT_IMG_LOC_2, SAT_IMG_LOC_3, SAT_IMG_LOC_4]) - - self.homography, status = cv2.findHomography(self.pts_src, self.pts_dst, 0) - - if not np.allclose(status, 1, atol=1e-5): - raise Exception("Cannot compute homography") - - def get_pixel_from_utm(self, utm_coord: np.array): - """Calculate the pixel coordinates from the utm coordinates - - Args: - utm_coord (np.array): utm coordinates - [[0,0], - [100, 100], - [125, 400]] as an example - - Returns: - pixel_coordinates: coordinates in pixels (x, y) - """ - ones = np.ones(utm_coord.shape[0]) - utm_coord_homogenous = np.array([utm_coord[:, 0], utm_coord[:, 1], ones]) - loc = self.homography @ utm_coord_homogenous - return np.array([loc[0]/loc[2], loc[1]/loc[2]]).T - - def get_pixel_from_latlon(self, latlon_coord: np.array): - """Calculate pixel coordintes from latlong coordinates - - Args: - latlon_coord (np.array): latlong coordinates - [[0,0], - [100, 100], - [125, 400]] as an example - - Returns: - _type_: _description_ - """ - utm_coord = utm.from_latlon(latlon_coord[:, 0], latlon_coord[:, 1]) - ones = np.ones(latlon_coord.shape[0]) - utm_coord_homogenous = np.array([utm_coord[0], utm_coord[1], ones]) - loc = self.homography @ utm_coord_homogenous - return np.array([loc[0]/loc[2], loc[1]/loc[2]]).T - - def plot_points(self, utm_coords: list): - """Mark the points on the grid completely BLACK - - Args: - utm_coords (list): list of UTM coordinates to mark - [[0,0], - [100, 100], - [125, 400]] as an example - """ - utm_coords = np.array(utm_coords) - utm_coords = utm_coords[:, 0:2] - pixel_coords = self.get_pixel_from_utm(utm_coords).astype(int) - self.grid[pixel_coords[:, 0], pixel_coords[:, 1]] = 255 - - def set_cost(self, utm_coords: list, cost: list): - """Set the grid's cost - - Args: - utm_coords (list): list of utm coordinates to mark (x, y) - [[0,0], - [100, 100], - [125, 400]] as an example - cost (list): list of cost corresponding to coords - """ - utm_coords = np.array(utm_coords) - utm_coords = utm_coords[:, 0:2] - pxl_coords = self.get_pixel_from_utm(utm_coords).astype(int) - - self.grid[pxl_coords[:, 0], pxl_coords[:, 1]] = cost - - def set_cost_persistent(self, utm_coords: list, cost: list): - """Set the grid's cost but further calls to reset_grid() will not remove these points - - Args: - utm_coords (list): list of utm coordinates to mark (x, y) - [[0,0], - [100, 100], - [125, 400]] as an example - cost (list): list of cost corresponding to coords - """ - utm_coords = np.array(utm_coords) - utm_coords = utm_coords[:, 0:2] - pxl_coords = self.get_pixel_from_utm(utm_coords).astype(int) - self.grid[pxl_coords[:, 0], pxl_coords[:, 1]] = cost - self.grid_og[pxl_coords[:, 0], pxl_coords[:, 1]] = cost - - def reset_grid(self): - """Reset the grid back to the original grid (i.e. we remove NAND from the grid) - """ - self.grid = np.copy(self.grid_og) - - def get_utm_cost(self, coords): - """Get the cost of the trajectory passed in as utm_coordinates - - Args: - coords (np array): coordinates in utm - [[0,0], - [100, 100], - [125, 400]] as an example - - Returns: - normalized cost: sum of all the pixels / number of pixels crossed - """ - utm_coords = coords[:, 0:2] - pxl_coords = self.get_pixel_from_utm(utm_coords).astype(int) - filtered_pxl_coords = np.unique(pxl_coords[:, 0:2], axis=0) - num_pixels_passed_thru = len(filtered_pxl_coords) - total = np.sum(self.grid[filtered_pxl_coords[:, 0], filtered_pxl_coords[:, 1]]) - return total/num_pixels_passed_thru - - def get_pxl_cost(self, pxl_coords: list): - """Get the cost of the trajectory passed in as pxl_coordinates - - Args: - pxl_coords (list): coordinates in utm - [[0,0], - [100, 100], - [125, 400]] as an example - - Returns: - normalized cost: sum of all the pixels / number of pixels crossed - """ - pxl_coords = np.array(pxl_coords) - filtered_pxl_coords = np.unique(pxl_coords[:, 0:2], axis=0) - num_pixels_passed_thru = len(filtered_pxl_coords) - total = np.sum(self.grid[filtered_pxl_coords[:, 0], filtered_pxl_coords[:, 1]]) - return total/num_pixels_passed_thru - - -if __name__ == "__main__": - grid = OccupancyGrid() - calculated_pxl = grid.get_pixel_from_utm(grid.pts_src) - error = calculated_pxl - grid.pts_dst[:, 0:2] - # print(f"ERROR: \n {error}") - - # Ensure the duplicate coordinates are removed - test_points_utm = list(grid.pts_src[0:6, 0:2]) - test_points_utm.append([589591.7, 4477381.5]) # append a duplicate point - test_points_utm = np.array(test_points_utm) - print(test_points_utm) - grid.set_cost(test_points_utm, [100, 100, 100, 100, 100, 100, 100]) - cost = grid.get_utm_cost(test_points_utm) - print(cost) - # cv2.imshow("IMG", grid.grid) - # cv2.waitKey(0) - - # print(grid.grid) - # plt.imshow(grid.grid) - # plt.show() \ No newline at end of file diff --git a/rb_ws/src/buggy/scripts/auton/occupancy_grid/test.py b/rb_ws/src/buggy/scripts/auton/occupancy_grid/test.py deleted file mode 100644 index 8037c822..00000000 --- a/rb_ws/src/buggy/scripts/auton/occupancy_grid/test.py +++ /dev/null @@ -1,40 +0,0 @@ -import cv2 -import numpy as np -import sys -sys.path.append('rb_ws/src/buggy/scripts/auton') -from grid_manager import OccupancyGrid -from path_projection import Projector -from pose import Pose -import utm - -if __name__ == '__main__': - # src = np.array([[-47.59, -57.43, 139.59, 149.43, 46.], - # [141.43, 31.03, -1.43, 108.97, 70.], - # [579.23, 412.75, 422.55, 589.03, 500.89]]) - - # dst = np.array([[-100, -100, 100, 100, 0], - # [-100, 100, 100, -100, 0], - # [1, 1, 1, 1, 1]]) # converting to homogeneous coordinates - - # print(dst.T) - - # H, _ = cv2.findHomography(src.T, dst.T) - # dst_est = H @ src - # print(np.allclose(dst_est / (dst_est[2, :]), dst / dst[2, :], atol=1e-2)) # dividing by last component to fix the scaling and adjusting the tolerance - - # test_point = np.array([[-47.59], [141.43], [579.23]]) - # res_test = H @ test_point - # res_test = res_test/res_test[2] - # print(res_test) - WHEELBASE = 1.3 - p = Projector(WHEELBASE) - latlon_start = [40.441798, -79.943976] # on the mall - utm_start = utm.from_latlon(latlon_start[0], latlon_start[1]) - start_pose = Pose(utm_start[0], utm_start[1], 0) - path = p.project(start_pose, 1, 5, 15, 10) - grid = OccupancyGrid() - grid.plot_points(path) - grid.get_cost(path) - - cv2.imshow("IMG", grid.sat_img) - cv2.waitKey(0) \ No newline at end of file diff --git a/rb_ws/src/buggy/scripts/auton/path_planner.py b/rb_ws/src/buggy/scripts/auton/path_planner.py deleted file mode 100755 index 4b3a200d..00000000 --- a/rb_ws/src/buggy/scripts/auton/path_planner.py +++ /dev/null @@ -1,212 +0,0 @@ -import numpy as np - -import rospy -from sensor_msgs.msg import NavSatFix -from std_msgs.msg import Float64 -from buggy.msg import TrajectoryMsg -from pose import Pose - -from trajectory import Trajectory -from world import World - -class PathPlanner(): - """ - Class to generate new trajectory splices for SC autonomous system. - - Takes in a default trajectory and an inner curb trajectory. - - """ - # move the curb towards the center of the course by CURB_MARGIN meters - # for a margin of safety - CURB_MARGIN = 1 #m - - # the offset is calculated as a mirrored sigmoid function of distance - OFFSET_SCALE_CROSS_TRACK = 2 #m - OFFSET_SCALE_ALONG_TRACK = 0.2 - ACTIVATE_OTHER_SCALE_ALONG_TRACK = 0.1 - OFFSET_SHIFT_ALONG_TRACK = 4 #m - - # number of meters ahead of the buggy to generate local trajectory for - LOCAL_TRAJ_LEN = 50#m - - # start generating local trajectory this many meters ahead of current position - LOOKAHEAD = 2#m - - # number of points to sample along the nominal trajectory - RESOLUTION = 150 - - def __init__(self, nominal_traj:Trajectory, left_curb:Trajectory) -> None: - - self.debug_passing_traj_publisher = rospy.Publisher( - "/auton/debug/passing_traj", NavSatFix, queue_size=1000 - ) - - self.other_buggy_xtrack_publisher = rospy.Publisher( - "/auton/debug/other_buggy_xtrack", Float64, queue_size=1 - ) - - self.traj_publisher = rospy.Publisher("SC/nav/traj", TrajectoryMsg, queue_size=1) - - self.nominal_traj = nominal_traj - self.left_curb = left_curb - - # TODO: estimate this value based on the curvature of NAND's recent positions - self.other_steering_angle = 0 - - - - def offset_func(self, dist): - """ - Args: - dist: (N, ) numpy array, distances between ego-buggy and obstacle, - along the trajectory - Returns: - (N, ) numpy array, offsets from nominal trajectory required to overtake, - defined by a sigmoid function - """ - - return self.OFFSET_SCALE_CROSS_TRACK / \ - (1 + np.exp(-(-self.OFFSET_SCALE_ALONG_TRACK * dist + - self.OFFSET_SHIFT_ALONG_TRACK))) - - def activate_other_crosstrack_func(self, dist): - """ - Args: - dist: (N, ) numpy array, distances between ego-buggy and obstacle, - along the trajectory - Returns: - (N, ) numpy array, multiplier used to weigh the cross-track distance of - the obstacle into the passing offset calculation. - """ - return 1 / \ - (1 + np.exp(-(-self.ACTIVATE_OTHER_SCALE_ALONG_TRACK * dist + - self.OFFSET_SHIFT_ALONG_TRACK))) - - - def compute_traj( - self, - self_pose: Pose, - other_pose: Pose, #Currently NAND's location -- To be Changed - ) -> Trajectory: - """ - draw trajectory starting at the current pose and ending at a fixed distance - ahead. For each trajectory point, calculate the required offset perpendicular to the nominal - trajectory. A sigmoid function of the distance along track to the other buggy is used to - weigh the other buggy's cross-track distance. This calculation produces a line that - allows the ego-buggy's trajectory to go through the other buggy. Since we want to pass - the other buggy at some constant distance to the left, another sigmoid function is multiplied - by that constant distance to produce a smooth trajectory that passes the other buggy. - - Finally, the trajectory is bounded to the left by the left curb (if it exists), and to the right - by the nominal trajectory. (we never pass on the right) - - passing offsets = - activate_other_crosstrack_func(distance to other buggy along track) * - other buggy cross track distance + - offset_func(distance to other buggy along track) - - trajectory = nominal trajectory + - left nominal trajectory unit normal vector * - clamp(passing offsets, 0, distance from nominal trajectory to left curb) - - Args: - other_pose (Pose): Pose containing NAND's easting (x), - northing(y), and heading (theta), in "world" cooridnates, - which is UTM, shifted so that the origin is near the course. - - See world.py - - other_speed (float): speed in m/s of NAND - - Returns: - Trajectory: new trajectory object for ego-buggy to follow. - """ - # grab slice of nominal trajectory - nominal_idx = self.nominal_traj.get_closest_index_on_path(self_pose.x, self_pose.y) - nominal_dist_along = self.nominal_traj.get_distance_from_index(nominal_idx) - - nominal_slice = np.empty((self.RESOLUTION, 2)) - - # compute the distance along nominal trajectory between samples and the obstacle - nominal_slice_dists = np.linspace( - nominal_dist_along + self.LOOKAHEAD, - nominal_dist_along + self.LOOKAHEAD + self.LOCAL_TRAJ_LEN, - self.RESOLUTION) - - for i in range(self.RESOLUTION): - nominal_slice[i, :] = np.array(self.nominal_traj.get_position_by_distance( - nominal_slice_dists[i] - )) - - # get index of the other buggy along the trajetory and convert to distance - other_idx = self.nominal_traj.get_closest_index_on_path(other_pose.x, other_pose.y) - other_dist = self.nominal_traj.get_distance_from_index(other_idx) - nominal_slice_to_other_dist = np.abs(nominal_slice_dists - other_dist) - - passing_offsets = self.offset_func(nominal_slice_to_other_dist) - - # compute signed cross-track distance between NAND and nominal - nominal_to_other = np.array((other_pose.x, other_pose.y)) - \ - np.array(self.nominal_traj.get_position_by_index(other_idx)) - - # dot product with the unit normal to produce left-positive signed distance - other_normal = self.nominal_traj.get_unit_normal_by_index(np.array(other_idx.ravel())) - other_cross_track_dist = np.sum( - nominal_to_other * other_normal, axis=1) - - self.other_buggy_xtrack_publisher.publish(Float64(other_cross_track_dist)) - - # here, use passing offsets to weight NAND's cross track signed distance: - # if the sample point is far from SC, the cross track distance doesn't matter - # if the sample point is near, we add cross track distance to the offset, - # such that the resulting offset is adjusted by position of NAND - - passing_offsets = passing_offsets + \ - self.activate_other_crosstrack_func(nominal_slice_to_other_dist) * other_cross_track_dist - - # clamp passing offset distances to distance to the curb - if self.left_curb is not None: - # grab slice of curb correponding to slice of nominal trajectory. - curb_idx = self.left_curb.get_closest_index_on_path(self_pose.x, self_pose.y) - curb_dist_along = self.left_curb.get_distance_from_index(curb_idx) - curb_idx_end = self.left_curb.get_closest_index_on_path(nominal_slice[-1, 0], nominal_slice[-1, 1]) - curb_dist_along_end = self.left_curb.get_distance_from_index(curb_idx_end) - curb_dists = np.linspace(curb_dist_along, curb_dist_along_end, self.RESOLUTION) - - curb_slice = np.empty((self.RESOLUTION, 2)) - for i in range(self.RESOLUTION): - curb_slice[i, :] = np.array(self.left_curb.get_position_by_distance( - curb_dists[i] - )) - - # compute distances from the sample points to the curb - nominal_slice_to_curb_dist = np.linalg.norm(curb_slice - nominal_slice, axis=1) - passing_offsets = np.minimum(passing_offsets, nominal_slice_to_curb_dist - self.CURB_MARGIN) - - # clamp negative passing offsets to zero, since we always pass on the left, - # the passing offsets should never pull SC to the right. - passing_offsets = np.maximum(0, passing_offsets) - - # shift the nominal slice by passing offsets - nominal_normals = self.nominal_traj.get_unit_normal_by_index( - self.nominal_traj.get_index_from_distance(nominal_slice_dists) - ) - positions = nominal_slice + (passing_offsets[:, None] * nominal_normals) - - # prepend current pose - # positions = np.vstack((np.array([self_pose.x, self_pose.y]), positions)) - - # publish passing targets for debugging - for i in range(len(positions)): - reference_navsat = NavSatFix() - ref_gps = World.world_to_gps(positions[i, 0], positions[i, 1]) - reference_navsat.latitude = ref_gps[0] - reference_navsat.longitude = ref_gps[1] - self.debug_passing_traj_publisher.publish(reference_navsat) - - local_traj = Trajectory(json_filepath=None, positions=positions) - self.traj_publisher.publish(local_traj.pack(self_pose.x, self_pose.y)) - return local_traj, \ - local_traj.get_closest_index_on_path( - self_pose.x, - self_pose.y) \ No newline at end of file diff --git a/rb_ws/src/buggy/scripts/auton/pose.py b/rb_ws/src/buggy/scripts/auton/pose.py deleted file mode 100755 index 985755a2..00000000 --- a/rb_ws/src/buggy/scripts/auton/pose.py +++ /dev/null @@ -1,219 +0,0 @@ -import numpy as np - -from geometry_msgs.msg import Pose as ROSPose -from tf.transformations import euler_from_quaternion -from tf.transformations import quaternion_from_euler - - -class Pose: - """ - A data structure for storing 2D poses, as well as a set of - convenience methods for transforming/manipulating poses - - TODO: All Pose objects are with respect to World coordinates. - """ - - __x = None - __y = None - __theta = None - - @staticmethod - def rospose_to_pose(rospose: ROSPose): - """ - Converts a geometry_msgs/Pose to a pose3d/Pose - - Args: - posestamped (geometry_msgs/Pose): pose to convert - - Returns: - Pose: converted pose - """ - (_, _, yaw) = euler_from_quaternion( - [ - rospose.orientation.x, - rospose.orientation.y, - rospose.orientation.z, - rospose.orientation.w, - ] - ) - - p = Pose(rospose.position.x, rospose.position.y, yaw) - return p - - def heading_to_quaternion(heading): - q = quaternion_from_euler(0, 0, heading) - return q - - def __init__(self, x, y, theta): - self.x = x - self.y = y - self.theta = theta - - def __repr__(self) -> str: - return f"Pose(x={self.x}, y={self.y}, theta={self.theta})" - - def copy(self): - return Pose(self.x, self.y, self.theta) - - @property - def x(self): - return self.__x - - @x.setter - def x(self, x): - self.__x = x - - @property - def y(self): - return self.__y - - @y.setter - def y(self, y): - self.__y = y - - @property - def theta(self): - if self.__theta > np.pi or self.__theta < -np.pi: - raise ValueError("Theta is not in [-pi, pi]") - return self.__theta - - @theta.setter - def theta(self, theta): - # normalize theta to [-pi, pi] - self.__theta = np.arctan2(np.sin(theta), np.cos(theta)) - - def to_mat(self): - """ - Returns the pose as a 3x3 homogeneous transformation matrix - """ - return np.array( - [ - [np.cos(self.theta), -np.sin(self.theta), self.x], - [np.sin(self.theta), np.cos(self.theta), self.y], - [0, 0, 1], - ] - ) - - @staticmethod - def from_mat(mat): - """ - Creates a pose from a 3x3 homogeneous transformation matrix - """ - return Pose(mat[0, 2], mat[1, 2], np.arctan2(mat[1, 0], mat[0, 0])) - - def invert(self): - """ - Inverts the pose - """ - return Pose.from_mat(np.linalg.inv(self.to_mat())) - - def convert_pose_from_global_to_local_frame(self, pose): - """ - Converts the inputted pose from the global frame to the local frame - (relative to the current pose) - """ - return pose / self - - def convert_pose_from_local_to_global_frame(self, pose): - """ - Converts the inputted pose from the local frame to the global frame - (relative to the current pose) - """ - return pose * self - - def convert_point_from_global_to_local_frame(self, point): - """ - Converts the inputted point from the global frame to the local frame - (relative to the current pose) - """ - point_hg = np.array([point[0], point[1], 1]) - point_hg_local = np.linalg.inv(self.to_mat()) @ point_hg - return ( - point_hg_local[0] / point_hg_local[2], - point_hg_local[1] / point_hg_local[2], - ) - - def convert_point_from_local_to_global_frame(self, point): - """ - Converts the inputted point from the local frame to the global frame - (relative to the current pose) - """ - point_hg = np.array([point[0], point[1], 1]) - point_hg_global = self.to_mat() @ point_hg - return ( - point_hg_global[0] / point_hg_global[2], - point_hg_global[1] / point_hg_global[2], - ) - - def convert_point_array_from_global_to_local_frame(self, points): - """ - Converts the inputted point array from the global frame to the local frame - (relative to the current pose) - - Args: - points (np.ndarray) [Size: (N,2)]: array of points to convert - """ - points_hg = np.array([points[:, 0], points[:, 1], np.ones(len(points))]) - points_hg_local = np.linalg.inv(self.to_mat()) @ points_hg.T - return (points_hg_local[:2, :] / points_hg_local[2, :]).T - - def convert_point_array_from_local_to_global_frame(self, points): - """ - Converts the inputted point array from the local frame to the global frame - (relative to the current pose) - - Args: - points (np.ndarray) [Size: (N,2)]: array of points to convert - """ - points_hg = np.array([points[:, 0], points[:, 1], np.ones(len(points))]) - points_hg_global = self.to_mat() @ points_hg.T - return (points_hg_global[:2, :] / points_hg_global[2, :]).T - - def rotate(self, angle): - """ - Rotates the pose by the given angle - """ - self.theta += angle - - def translate(self, x, y): - """ - Translates the pose by the given x and y distances - """ - self.x += x - self.y += y - - def __add__(self, other): - return Pose(self.x + other.x, self.y + other.y, self.theta + other.theta) - - def __sub__(self, other): - return Pose(self.x - other.x, self.y - other.y, self.theta - other.theta) - - def __neg__(self): - return Pose(-self.x, -self.y, -self.theta) - - def __mul__(self, other): - p1_mat = self.to_mat() - p2_mat = other.to_mat() - - return Pose.from_mat(p1_mat @ p2_mat) - - def __truediv__(self, other): - p1_mat = self.to_mat() - p2_mat = other.to_mat() - - return Pose.from_mat(np.linalg.inv(p2_mat) @ p1_mat) - - -if __name__ == "__main__": - # TODO: again do we want example code in these classes - rospose = ROSPose() - rospose.position.x = 1 - rospose.position.y = 2 - rospose.position.z = 3 - rospose.orientation.x = 0 - rospose.orientation.y = 0 - rospose.orientation.z = -0.061461 - rospose.orientation.w = 0.9981095 - - pose = Pose.rospose_to_pose(rospose) - print(pose) # Pose(x=1, y=2, theta=-0.123) diff --git a/rb_ws/src/buggy/scripts/auton/publish_rtk_err.py b/rb_ws/src/buggy/scripts/auton/publish_rtk_err.py deleted file mode 100755 index 1e85d7b6..00000000 --- a/rb_ws/src/buggy/scripts/auton/publish_rtk_err.py +++ /dev/null @@ -1,56 +0,0 @@ -#!/usr/bin/env python3 - -from threading import Lock -import numpy as np - -import rospy -from nav_msgs.msg import Odometry -from geometry_msgs.msg import PoseStamped -from std_msgs.msg import Float64 -from pose import Pose -from world import World - - -#BROKEN BROKEN BROKEN BROKEN -class RTKErrPublisher(): - - """ - Publish distance between front antenna and filtered output. Literally just a file to publish data via ROS for other classes to use. - """ - # TODO: pretty sure this isn't used anymore (we publish odom data for each buggy independently in autonsystem anyway, this node is only launched in debug) but wanted a second opinion since basically the entire stack is based on this data getting published correctly - - def __init__(self) -> None: - self.odom_subscriber = rospy.Subscriber("/nav/odom", Odometry, self.update_odom) - self.gnss_subscriber = rospy.Subscriber("/gnss2/fix_Pose", PoseStamped, self.update_gnss2) - - self.distance_publisher = rospy.Publisher( - "/gnss_odom_distance", Float64, queue_size=1 - ) - - self.rate = 100 - self.odom_msg = None - self.gnss2_msg = None - self.lock = Lock() - - - def update_odom(self, msg): - with self.lock: - self.odom_msg = msg - - def update_gnss2(self, msg): - with self.lock: - self.gnss2_msg = msg - - if not (self.odom_msg is None) and not (self.gnss2_msg is None): - odom_pose = World.gps_to_world_pose(Pose.rospose_to_pose(self.odom_msg.pose.pose)) - gnss2_pose = World.gps_to_world_pose(Pose.rospose_to_pose(self.gnss2_msg.pose)) - - distance = (odom_pose.x - gnss2_pose.x) ** 2 + (odom_pose.y - gnss2_pose.y) ** 2 - distance = np.sqrt(distance) - - self.distance_publisher.publish(Float64(distance)) - -if __name__ == "__main__": - rospy.init_node("publish_rtk_err") - d = RTKErrPublisher() - rospy.spin() \ No newline at end of file diff --git a/rb_ws/src/buggy/scripts/auton/pure_pursuit_controller.py b/rb_ws/src/buggy/scripts/auton/pure_pursuit_controller.py deleted file mode 100755 index 29e5922e..00000000 --- a/rb_ws/src/buggy/scripts/auton/pure_pursuit_controller.py +++ /dev/null @@ -1,105 +0,0 @@ -import numpy as np - -import rospy -from sensor_msgs.msg import NavSatFix -from geometry_msgs.msg import Pose as ROSPose - -from pose import Pose -from trajectory import Trajectory -from controller import Controller -from world import World - - -class PurePursuitController(Controller): - """ - Pure Pursuit Controller - """ - - LOOK_AHEAD_DIST_CONST = 0.5 - MIN_LOOK_AHEAD_DIST = 0.5 - MAX_LOOK_AHEAD_DIST = 10 - - def __init__(self, buggy_name, start_index=0) -> None: - super(PurePursuitController, self).__init__(start_index, buggy_name) - self.debug_reference_pos_publisher = rospy.Publisher( - buggy_name + "/auton/debug/reference_navsat", NavSatFix, queue_size=1 - ) - self.debug_track_pos_publisher = rospy.Publisher( - buggy_name + "/auton/debug/track_navsat", NavSatFix, queue_size=1 - ) - self.debug_error_publisher = rospy.Publisher( - buggy_name + "/auton/debug/error", ROSPose, queue_size=1 - ) - - def compute_control( - self, current_pose: Pose, trajectory: Trajectory, current_speed: float - ): - """ - Computes the desired control output given the current state and reference trajectory - - Args: - current_pose (Pose): current pose (x, y, theta) (UTM coordinates) - trajectory (Trajectory): reference trajectory - current_speed (float): current speed of the buggy - - Returns: - float (desired steering angle) - """ - if self.current_traj_index >= trajectory.get_num_points() - 1: - return 0 - - # 10 is a good number to search forward along the index - traj_index = trajectory.get_closest_index_on_path( - current_pose.x, - current_pose.y, - start_index=self.current_traj_index, - end_index=self.current_traj_index + 10, - ) - self.current_traj_index = max(traj_index, self.current_traj_index) - traj_dist = trajectory.get_distance_from_index(traj_index) - - reference_position = trajectory.get_position_by_index(traj_index) - reference_error = current_pose.convert_point_from_global_to_local_frame( - reference_position - ) - - lookahead_dist = np.clip( - self.LOOK_AHEAD_DIST_CONST * current_speed, - self.MIN_LOOK_AHEAD_DIST, - self.MAX_LOOK_AHEAD_DIST, - ) - traj_dist += lookahead_dist - - track_position = trajectory.get_position_by_distance(traj_dist) - track_error = current_pose.convert_point_from_global_to_local_frame( - track_position - ) - - bearing = np.arctan2(track_error[1], track_error[0]) - steering_angle = np.arctan( - 2.0 * self.WHEELBASE * np.sin(bearing) / lookahead_dist - ) - steering_angle = np.clip(steering_angle, -np.pi / 9, np.pi / 9) - - # Publish track position for debugging - track_navsat = NavSatFix() - track_gps = World.world_to_gps(*track_position) - track_navsat.latitude = track_gps[0] - track_navsat.longitude = track_gps[1] - self.debug_track_pos_publisher.publish(track_navsat) - - # Publish reference position for debugging - reference_navsat = NavSatFix() - ref_pos = trajectory.get_position_by_distance(traj_dist - lookahead_dist) - ref_gps = World.world_to_gps(*ref_pos) - reference_navsat.latitude = ref_gps[0] - reference_navsat.longitude = ref_gps[1] - self.debug_reference_pos_publisher.publish(reference_navsat) - - # Publish error for debugging - error_pose = ROSPose() - error_pose.position.x = reference_error[0] - error_pose.position.y = reference_error[1] - self.debug_error_publisher.publish(error_pose) - - return steering_angle diff --git a/rb_ws/src/buggy/scripts/auton/rolling_sanity_check.py b/rb_ws/src/buggy/scripts/auton/rolling_sanity_check.py deleted file mode 100644 index ef540fbc..00000000 --- a/rb_ws/src/buggy/scripts/auton/rolling_sanity_check.py +++ /dev/null @@ -1,210 +0,0 @@ -#! /usr/bin/env python3 - -import sys -import rospy -import numpy as np - -from nav_msgs.msg import Odometry -from std_msgs.msg import Bool, String, Int8MultiArray, Int8 -from microstrain_inertial_msgs.msg import MipFilterStatus, ImuOverrangeStatus -from geometry_msgs.msg import PoseStamped - -from world import World -from pose import Pose - -#BROKEN BROKEN BROKEN - -class SanityCheck: - """ - Wrapper to publish a lot of error and debug data regarding the estimated position of the specified buggy and INS output - """ - - FILTER_WARN_THRES = 1 #m - - def __init__(self, - self_name, - ) -> None: - - self.covariance = 0 - - self.filter_location = None - self.gps_location = None - - self.imu_overrange_status = None - - self.status_flag_val : int = 0 - self.flags = [] - - # string list corresponds to INS warning flags as specified by the microstrain API below - # https://s3.amazonaws.com/files.microstrain.com/GQ7+User+Manual/external_content/dcp/Data/0x82/data/0x10.htm - # the indices correspond to the relevant bits (the last 5 bits all correspond to solution error, hence why there are repeats) - self.error_messages : list = ["filter unstable", "filter converging", "roll/pitch warning", "heading warning", "position warning", "velocity warning", "IMU bias warning", "gnss clock warning", "antenna lever arm warning", "mounting transform warning", "solution error", "solution error", "solution error", "solution error", "solution error"] - - # filter seperation = 2, other error = 1, nothing wrong = 0 - self.warning = 0 - - self.warning_buffer_time = 1000 # warning flags need to be active >1 second before human driver alerted - - self.warning_durations = [0] * 18 # keeps track of how long covariance, overrange warning, any of the filter status flags are active - - - rospy.Subscriber(self_name + "/imu/overrange_status", ImuOverrangeStatus, self.update_overrange_status) - rospy.Subscriber(self_name + "/nav/status.status_flags", MipFilterStatus, self.update_status_flags) - rospy.Subscriber(self_name + "/gnss1/fix_Pose/", PoseStamped, self.update_gps_location) - rospy.Subscriber(self_name + "/nav/odom", Odometry, self.update_filter_location) - - - # these publishers are all bools as quick sanity checks (can display as indicators on foxglove for colors) - - # publishes IMU overrange status (checks if any warnings are tripped) - self.overrange_status_publisher = rospy.Publisher(self_name + "/debug/imu_overrange_status", Bool, queue_size=1) - - # publishes if the filter and gps data have diverged significantly - self.filter_gps_status_publisher = rospy.Publisher(self_name + "/debug/filter_gps_seperation_status", Bool, queue_size=1) - - # publishes if the covariance is too high - self.covariance_status_publisher = rospy.Publisher(self_name + "/debug/covariance_status", Bool, queue_size=1) - - # TODO WHAT DOES THIS MEAN - self.error_message_publisher = rospy.Publisher( - self_name + "/nav/status/error_messages", String, queue_size=1 - ) - - # publishes the IMU filter status messages - self.status_flags_publisher = rospy.Publisher( - self_name + "/nav/status/tripped_status_flags", Int8MultiArray, queue_size=1 - ) - - # a compiled warning flag - outputs if any of the above have tripped - self.overall_warning_publisher = rospy.Publisher( - self_name + "/debug/sanity_warning", Int8, queue_size=1 - ) - - def update_overrange_status(self, msg : ImuOverrangeStatus): - self.imu_overrange_status = msg.status - - def update_status_flags(self, msg : MipFilterStatus): - self.status_flag_val = msg.gq7_status_flags - - def update_gps_location(self, msg : PoseStamped): - self.gps_location = msg.pose - # only updates the filter-gps seperation when we recieve new gps info - self.calc_locations() - - def update_filter_location(self, msg): - self.filter_location = msg.pose - - def update_warning_flags (self, idx): - self.warning_durations[idx] += 10 - if (self.warning_durations[idx] > self.warning_buffer_time): - self.warning = 1 - - def calc_covariance(self): - """ - Checks if the filter has any output, and if so, checks if total covariance is less than 100 cm. - """ - if (self.filter_location == None): - self.covariance_status_publisher.publish(False) - else: - good_covariance = self.filter_location.covariance[0] ** 2 + self.filter_location.covariance[7] ** 2 <= 1**2 - if (not good_covariance): - self.update_warning_flags(16) - else: - self.warning_durations[16] = 0 - self.covariance_status_publisher.publish(good_covariance) - - def calc_locations(self): - """ - Compares distance between GPS location of rear antenna and filtered location output. - Only called upon antenna topic update since otherwise, comparing old data will cause the difference in location to appear larger than it may be. - """ - - if (self.filter_location == None or self.gps_location == None): - self.filter_gps_status_publisher.publish(False) - else: - filter_pose = Pose.rospose_to_pose(self.filter_location.pose) - filter_loc = World.gps_to_world_pose(filter_pose) - rear_antenna_pose = Pose.rospose_to_pose(self.gps_location.pose) - rear_antenna_loc = World.gps_to_world_pose(rear_antenna_pose) - - diff = filter_loc - rear_antenna_loc - dist = np.sqrt(diff.x ** 2 + diff.y ** 2) - filter_diverge = dist >= self.FILTER_WARN_THRES - if filter_diverge: - self.warning = 2 - - # checking less than 1 m - self.filter_gps_status_publisher.publish(Bool(not filter_diverge)) - - def is_overrange (self): - """ - Checks all possible overrange warnings (gryo, magnetometer, accelerometer) reported by the IMU. - """ - s = self.imu_overrange_status - if (s == None): - self.overrange_status_publisher.publish(False) - else: - accel_status = s.status_accel_x or s.status_accel_y or s.status_accel_z - gyro_status = s.status_gyro_x or s.status_gyro_y or s.status_gyro_z - mag_status = s.status_mag_x or s.status_mag_y or s.status_mag_z - is_overrange = accel_status or gyro_status or mag_status or s.status_press - if (is_overrange): - self.update_warning_flags(17) - else: - self.warning_durations[17] = 0 - # publishes true if ALL flags are FALSE (if the imu looks good) - self.imu_overrange_status.publish(not is_overrange) - - def filter_status_warning (self): - """ - Checks if there are any error messages reported by the IMU and displays them in plain english. - """ - b = bin(self.status_flag_val) - self.flags = Int8MultiArray() - self.flags.data = [] - error_message = "" - - # reading filter condition bits - if (b[0] == 1 and b[1] == 1): # filter unstable - self.update_warning_flags(0) - self.flags.append(0) - self.flags.append(1) - error_message += self.error_messages[0] + " " - - if (b[0] == 1 and b[1] == 0): # filter converging - self.update_warning_flags(1) - self.flags.append(0) - error_message += self.error_messages[1] + " " - - for i in range (len(b)): - if (i >= 2): # if not reading filter condiiton bits (already considered) - if (b[i] == '1'): - self.update_warning_flags(i) - self.flags.append(i) - error_message += self.error_messages[i] + " " - else: - self.warning_durations[i] = 0 - # publish bit values - self.status_flags_publisher.publish(self.flags) - - # publish string translations - self.error_message_publisher.publish(error_message) - - def sanity_check(self): - """ - Just calls the other functions which update thier respective publishers, and publishes the overall warning - """ - self.warning = 0 - self.calc_covariance() - self.is_overrange() - self.filter_status_warning() - self.overall_warning_publisher.publish(self.warning) - -if __name__ == "__main__": - rospy.init_node("rolling_sanity_check") - check = SanityCheck(sys.argv[1]) - rate = rospy.Rate(100) - - while not rospy.is_shutdown(): - check.sanity_check() - rate.sleep() diff --git a/rb_ws/src/buggy/scripts/auton/stanley_controller.py b/rb_ws/src/buggy/scripts/auton/stanley_controller.py deleted file mode 100755 index dafe6a49..00000000 --- a/rb_ws/src/buggy/scripts/auton/stanley_controller.py +++ /dev/null @@ -1,141 +0,0 @@ -import numpy as np - -import rospy -from sensor_msgs.msg import NavSatFix -from geometry_msgs.msg import Pose as ROSPose -from nav_msgs.msg import Odometry - - -from pose import Pose -from trajectory import Trajectory -from controller import Controller -from world import World - - -class StanleyController(Controller): - """ - Stanley Controller (front axle used as reference point) - Referenced from this paper: https://ai.stanford.edu/~gabeh/papers/hoffmann_stanley_control07.pdf - """ - - LOOK_AHEAD_DIST_CONST = 0.05 # s - MIN_LOOK_AHEAD_DIST = 0.1 - MAX_LOOK_AHEAD_DIST = 2.0 - - CROSS_TRACK_GAIN = 1.3 - K_SOFT = 1.0 # m/s - K_D_YAW = 0.012 # rad / (rad/s) - - def __init__(self, buggy_name, start_index=0) -> None: - super(StanleyController, self).__init__(start_index, buggy_name) - self.debug_reference_pos_publisher = rospy.Publisher( - buggy_name + "/auton/debug/reference_navsat", NavSatFix, queue_size=1 - ) - self.debug_error_publisher = rospy.Publisher( - buggy_name + "/auton/debug/error", ROSPose, queue_size=1 - ) - - def compute_control( - self, state_msg: Odometry, trajectory: Trajectory - ): - """Computes the steering angle determined by Stanley controller. - Does this by looking at the crosstrack error + heading error - - Args: - state_msg: ros Odometry message - trajectory (Trajectory): reference trajectory - yaw_rate (float): current yaw rate of the buggy (rad/s) - - Returns: - float (desired steering angle) - """ - if self.current_traj_index >= trajectory.get_num_points() - 1: - raise Exception("[Stanley]: Ran out of path to follow!") - - current_rospose = state_msg.pose.pose - current_pose = World.gps_to_world_pose(Pose.rospose_to_pose(current_rospose)) - current_speed = np.sqrt( - state_msg.twist.twist.linear.x**2 + state_msg.twist.twist.linear.y**2 - ) - yaw_rate = state_msg.twist.twist.angular.z - - heading = current_pose.theta # in radians - x = current_pose.x - y = current_pose.y - - # Assume current pose is rear of buggy, project it to center of front axle - front_x = x + StanleyController.WHEELBASE * np.cos(heading) - front_y = y + StanleyController.WHEELBASE * np.sin(heading) - - # setting range of indices to search so we don't have to search the entire path - traj_index = trajectory.get_closest_index_on_path( - front_x, - front_y, - start_index=self.current_traj_index - 20, - end_index=self.current_traj_index + 50, - ) - self.current_traj_index = max(traj_index, self.current_traj_index) - - # Calculate heading error - - lookahead_dist = np.clip( - self.LOOK_AHEAD_DIST_CONST * current_speed, - self.MIN_LOOK_AHEAD_DIST, - self.MAX_LOOK_AHEAD_DIST) - - traj_dist = trajectory.get_distance_from_index(self.current_traj_index) + lookahead_dist - - ref_heading = trajectory.get_heading_by_index( - trajectory.get_index_from_distance(traj_dist)) - - error_heading = ref_heading - current_pose.theta - error_heading = np.arctan2(np.sin(error_heading), np.cos(error_heading)) - - # Calculate cross track error by finding the distance from the buggy to the tangent line of - # the reference trajectory - closest_position = trajectory.get_position_by_index(self.current_traj_index) - next_position = trajectory.get_position_by_index( - self.current_traj_index + 0.0001 - ) - x1 = closest_position[0] - y1 = closest_position[1] - x2 = next_position[0] - y2 = next_position[1] - error_dist = -((x - x1) * (y2 - y1) - (y - y1) * (x2 - x1)) / np.sqrt( - (y2 - y1) ** 2 + (x2 - x1) ** 2 - ) - - speed = current_speed - cross_track_component = -np.arctan2( - StanleyController.CROSS_TRACK_GAIN * error_dist, speed + StanleyController.K_SOFT - ) - - # Calculate yaw rate error - r_meas = yaw_rate - r_traj = speed * (trajectory.get_heading_by_index(trajectory.get_index_from_distance(traj_dist) + 0.05) - - trajectory.get_heading_by_index(trajectory.get_index_from_distance(traj_dist))) / 0.05 - - - steering_cmd = error_heading + cross_track_component + StanleyController.K_D_YAW * (r_traj - r_meas) - steering_cmd = np.clip(steering_cmd, -np.pi / 9, np.pi / 9) - - reference_position = trajectory.get_position_by_index(self.current_traj_index) - reference_error = current_pose.convert_point_from_global_to_local_frame( - reference_position - ) - reference_error -= np.array([StanleyController.WHEELBASE, 0]) - - # Publish error for debugging - error_pose = ROSPose() - error_pose.position.x = reference_error[0] - error_pose.position.y = reference_error[1] - self.debug_error_publisher.publish(error_pose) - - # Publish reference position for debugging - reference_navsat = NavSatFix() - ref_gps = World.world_to_gps(*closest_position) - reference_navsat.latitude = ref_gps[0] - reference_navsat.longitude = ref_gps[1] - self.debug_reference_pos_publisher.publish(reference_navsat) - - return steering_cmd diff --git a/rb_ws/src/buggy/scripts/auton/trajectory.py b/rb_ws/src/buggy/scripts/auton/trajectory.py deleted file mode 100755 index adab5c7f..00000000 --- a/rb_ws/src/buggy/scripts/auton/trajectory.py +++ /dev/null @@ -1,402 +0,0 @@ -import json -import time -import uuid -import matplotlib.pyplot as plt - -from buggy.msg import TrajectoryMsg - -import numpy as np -from scipy.interpolate import Akima1DInterpolator, CubicSpline - -from world import World - - -class Trajectory: - """A wrapper around a trajectory JSON file that does some under-the-hood math. Will - interpolate the data points and calculate other information such as distance along the trajectory - and instantaneous curvature. - - Currently, the trajectory is assumed to be a straight line between each waypoint. This is - not a good assumption, but it's good enough for now. This means that the curvature is zero - anywhere between waypoints. - - This class also has a method that will find the closest point on the trajectory to a given - point in the world. This is useful for finding where the buggy is on the trajectory. - - Use https://rdudhagra.github.io/eracer-portal/ to make trajectories and save the JSON file - """ - - def __init__(self, json_filepath=None, positions = None, interpolator="CubicSpline") -> None: - """ - Args: - json_filepath (String): file path to the path json file (begins at /rb_ws) - positions [[float, float]]: reference trajectory in world coordinates - current_speed (float): current speed of the buggy - - Returns: - float (desired steering angle) - """ - self.distances = np.zeros((0, 1)) # (N/dt x 1) [d, d, ...] - self.positions = np.zeros((0, 2)) # (N x 2) [(x,y), (x,y), ...] - self.indices = None # (N x 1) [0, 1, 2, ...] - self.interpolation = None # scipy.interpolate.PPoly - - # read positions from file - if positions is None: - positions = [] - # Load the json file - with open(json_filepath, "r") as f: - data = json.load(f) - - # Iterate through the waypoints and extract the positions - num_waypoints = len(data) - for i in range(0, num_waypoints): - - waypoint = data[i] - - lat = waypoint["lat"] - lon = waypoint["lon"] - - # Convert to world coordinates - x, y = World.gps_to_world(lat, lon) - positions.append([x, y]) - - positions = np.array(positions) - - num_indices = positions.shape[0] - - if interpolator == "Akima": - self.positions = positions - self.indices = np.arange(num_indices) - self.interpolation = Akima1DInterpolator(self.indices, self.positions) - self.interpolation.extrapolate = True - elif interpolator == "CubicSpline": - temp_traj = Trajectory(positions=positions, interpolator="Akima") - tot_len = temp_traj.distances[-1] - interp_dists = np.linspace(0, tot_len, num_indices) - - self.indices = np.arange(num_indices) - self.positions = [ - temp_traj.get_position_by_distance(interp_dist) - for interp_dist in interp_dists - ] - self.positions = np.array(self.positions) - - self.interpolation = CubicSpline(self.indices, self.positions) - self.interpolation.extrapolate = True - - # TODO: check units - # Calculate the distances along the trajectory - dt = 0.01 #dt is time step (in seconds (?)) - ts = np.arange(len(self.positions) - 1, step=dt) # times corresponding to each position (?) - drdt = self.interpolation( - ts, nu=1 - ) # Calculate derivatives of interpolated path wrt indices - ds = np.sqrt(drdt[:, 0] ** 2 + drdt[:, 1] ** 2) * dt # distances to each interpolated point - s = np.cumsum(np.hstack([[0], ds[:-1]])) - self.distances = s - self.dt = dt - - def get_num_points(self): - """Gets the number of points along the trajectory - - Returns: - int: number of points - """ - return len(self.positions) - - def get_heading_by_index(self, index): - """Gets the heading at given index along trajectory, - interpolating if necessary - - Args: - index (float): index along the trajectory - - Returns: - float: (theta) in rads - """ - # theta = np.interp(index, self.indices, self.positions[:, 2]) - dxdt, dydt = self.interpolation(index, nu=1).reshape((-1, 2)).T - theta = np.arctan2(dydt, dxdt) - - return theta - - def get_heading_by_distance(self, distance): - """Gets the heading at given distance along trajectory, - interpolating if necessary - - Args: - distance (float): distance along the trajectory in meters - - Returns: - float: (theta) in rads - """ - index = self.get_index_from_distance(distance) - return self.get_heading_by_index(index) - - def get_position_by_index(self, index): - """Gets the position at a given index along the trajectory, - interpolating if necessary - - Args: - index (float): index along the trajectory - - Returns: - tuple: (x, y) - """ - # Interpolate the position - - return self.interpolation(index) - - def get_position_by_distance(self, distance): - """Gets the position at a given distance along the trajectory, - interpolating if necessary - - Args: - distance (float): distance along the trajectory in meters - - Returns: - tuple: (x, y) - """ - # Interpolate the position - index = self.get_index_from_distance(distance) - return self.get_position_by_index(index) - - def get_steering_angle_by_index(self, index, wheelbase): - """Gets the bicycle-model steering angle at a given distance along the trajectory, - interpolating if necessary. Assumes that the origin point of the buggy is at the - center of the rear axle. - - Args: - index (float): index along the trajectory - wheelbase (float): wheelbase of the buggy in meters - - Returns: - float: steering angle in rads - """ - curvature = self.get_curvature_by_index(index) - return np.arctan(wheelbase * curvature) - - def get_steering_angle_by_distance(self, distance, wheelbase): - """Gets the bicycle-model steering angle at a given distance along the trajectory, - interpolating if necessary. Assumes that the origin point of the buggy is at the - center of the rear axle. - - Args: - distance (float): distance along the trajectory in meters - wheelbase (float): wheelbase of the buggy in meters - - Returns: - float: steering angle in rads - """ - index = self.get_index_from_distance(distance) - return self.get_steering_angle_by_index(index, wheelbase) - - def get_index_from_distance(self, distance): - """Gets the index at a given distance along the trajectory, - interpolating if necessary - - Args: - distance (float): distance along the trajectory in meters - - Returns: - int: index along the trajectory - """ - # Interpolate the index - index = np.interp( - distance, - self.distances, - np.linspace(0, len(self.distances), len(self.distances)), - ) - - return index * self.dt - - def get_distance_from_index(self, index): - """Gets the distance at a given index along the trajectory, - interpolating if necessary - - Args: - index (float): index along the trajectory - - Returns: - float: distance along the trajectory in meters - """ - # Interpolate the distance - distance = np.interp( - index / self.dt, np.arange(len(self.distances)), self.distances - ) - - return distance - - def get_curvature_by_index(self, index): - """Gets the curvature at a given index along the trajectory, - interpolating if necessary - - Args: - index (float): index along the trajectory - - Returns: - float: curvature - """ - # Interpolate the curvature - dxdt, dydt = self.interpolation(index, nu=1).reshape((-1, 2)).T - ddxdtt, ddydtt = self.interpolation(index, nu=2).reshape((-1, 2)).T - - curvature = (dxdt * ddydtt - dydt * ddxdtt) / ( - (dxdt**2 + dydt**2) ** (3 / 2) - ) - - return curvature - - def get_curvature_by_distance(self, distance): - """Gets the curvature at a given distance along the trajectory, - interpolating if necessary - - Args: - distance (float): distance along the trajectory in meters - - Returns: - float: curvature - """ - # Interpolate the curvature - index = self.get_index_from_distance(distance) - - return self.get_curvature_by_index(index) - - def get_dynamics_by_index(self, index, wheelbase): - """Gets the dynamics at a given index along the trajectory, - interpolating if necessary. Convenience function that returns - all of the dynamics at once rather than requiring multiple - calls to other helper functions. In this way, we can reuse calls - to the interpolator, improving performance. - - Args: - index (float): index along the trajectory - - Returns: - tuple: (x, y, theta, steering_angle) - """ - # Interpolate the dynamics - x, y = self.interpolation(index).reshape((-1, 2)).T - dxdt, dydt = self.interpolation(index, nu=1).reshape((-1, 2)).T - ddxdtt, ddydtt = self.interpolation(index, nu=2).reshape((-1, 2)).T - - curvature = (dxdt * ddydtt - dydt * ddxdtt) / ( - (dxdt**2 + dydt**2) ** (3 / 2) - ) - theta = np.arctan2(dydt, dxdt) - - return np.stack((x, y, theta, np.arctan(wheelbase * curvature)), axis=-1) - - def get_unit_normal_by_index(self, index): - """Gets the index of the closest point on the trajectory to the given point - - Args: - index: Nx1 numpy array: indexes along trajectory - Returns: - Nx2 numpy array: unit normal of the trajectory at index - """ - - derivative = self.interpolation(index, nu=1) - unit_derivative = derivative / np.linalg.norm(derivative, axis=1)[:, None] - - # (x, y), rotated by 90 deg ccw = (-y, x) - unit_normal = np.vstack((-unit_derivative[:, 1], unit_derivative[:, 0])).T - return unit_normal - - def get_closest_index_on_path( - self, x, y, start_index=0, end_index=None, subsample_resolution=1000 - ): - """Gets the index of the closest point on the trajectory to the given point - - Args: - x (float): x coordinate - y (float): y coordinate - start_index (int, optional): index to start searching from. Defaults to 0. - end_index (int, optional): index to end searching at. Defaults to None (disable). - subsample_resolution: resolution of the resulting interpolation - Returns: - float: index along the trajectory - """ - # If end_index is not specified, use the length of the trajectory - if end_index is None: - end_index = len(self.positions) #sketch, 0-indexing where?? - - # Floor/ceil the start/end indices - start_index = max(0, int(np.floor(start_index))) - end_index = int(np.ceil(end_index)) - - # Calculate the distance from the point to each point on the trajectory - distances = (self.positions[start_index : end_index + 1, 0] - x) ** 2 + ( - self.positions[start_index : end_index + 1, 1] - y - ) ** 2 #Don't need to squareroot as it is a relative distance - - min_ind = np.argmin(distances) + start_index - - start_index = max(0, min_ind - 1) #Protection in case min_ind is too low - end_index = min(len(self.positions), min_ind + 1) #Prtoecting in case min_ind too high - #Theoretically start_index and end_index are just two apart - - # Now interpolate at a higher resolution to get a more accurate result - r_interp = self.interpolation( - np.linspace(start_index, end_index, subsample_resolution + 1)) - x_interp, y_interp = r_interp[:, 0], r_interp[:, 1] #x_interp, y_interp are numpy column vectors - - distances = (x_interp - x) ** 2 + (y_interp - y) ** 2 #Again distances are relative - - # Return the rational index of the closest point - return ( - np.argmin(distances) / subsample_resolution * (end_index - start_index) - + start_index - ) - - def pack(self, x, y) -> TrajectoryMsg: - traj = TrajectoryMsg() - traj.easting = self.positions[:, 0] - traj.northing = self.positions[:, 1] - traj.time = time.time() - traj.cur_idx = self.get_closest_index_on_path(x,y) - return traj - - def unpack(trajMsg : TrajectoryMsg): - pos = np.array([trajMsg.easting, trajMsg.northing]).transpose(1, 0) - cur_idx = trajMsg.cur_idx - return Trajectory(positions=pos), cur_idx - - -if __name__ == "__main__": - # Example usage - # TODO: do we want to keep this example usage? where is it even useful for - trajectory = Trajectory("/rb_ws/src/buggy/paths/quartermiletrack.json") - - - interp_dat = [] - for k in np.linspace(0, trajectory.indices[-1], 500): - x, y = trajectory.get_position_by_index(k) - lat, lon = World.world_to_gps(x, y) - - interp_dat.append( - {"lat": lat, "lon": lon, "key": str(uuid.uuid4()), "active": False} - ) - - - ts = np.linspace(0, trajectory.indices[-1], 500) - kurv = [trajectory.get_curvature_by_index(t) for t in ts] - plt.plot(ts, kurv) - plt.show() - - with open("/rb_ws/src/buggy/paths/traj_spline_interp.json", "w") as f: - json.dump(interp_dat, f, indent=4) - - # knot_point_distances = np.arange(0, 20, 1) - # reference_trajectory = np.hstack( - # [ - # ( - # *trajectory.get_position_by_distance(d), - # trajectory.get_heading_by_distance(d), - # trajectory.get_steering_angle_by_distance(d, 1.3), - # ) - # for d in knot_point_distances - # ] - # ) - # print(reference_trajectory) diff --git a/rb_ws/src/buggy/scripts/auton/world.py b/rb_ws/src/buggy/scripts/auton/world.py deleted file mode 100755 index 21e5b2da..00000000 --- a/rb_ws/src/buggy/scripts/auton/world.py +++ /dev/null @@ -1,226 +0,0 @@ -import utm -import numpy as np - -from pose import Pose - - -class World: - """Abstraction for the world coordinate system - - The real world uses GPS coordinates, aka latitude and longitude. However, - using lat/lon is bad for path planning for several reasons. First, the difference - in numbers would be very tiny for small distances, alluding to roundoff errors. - Additionally, lat/lon follows a North-East-Down coordinate system, with headings - in the clockwise direction. We want to use an East-North-Up coordinate system, so - that the heading is in the counter-clockwise direction. - - We do this by converting GPS coordinates to UTM coordinates, which are in meters. - UTM works by dividing the world into a grid, where each grid cell has a unique - identifier. A UTM coordinate consists of the grid cell identifier and the "easting" - and "northing" within that grid cell. The easting (x) and northing (y) are in meters, - and are relative to the southwest corner of the grid cell. - - Last, we offset the UTM coordinates to be relative to some arbitrary zero point. That - way, the final world coordinates are relatively close to zero, which makes debugging - easier. - - This class provides methods to convert between GPS and world coordinates. There is - a version for single coordinates and a version for numpy arrays. - """ - - # Geolocates to around the southwest corner of Phipps - WORLD_EAST_ZERO = 589106 - WORLD_NORTH_ZERO = 4476929 - - @staticmethod - def gps_to_world(lat, lon): - """Converts GPS coordinates to world coordinates - - Args: - lat (float): latitude - lon (float): longitude - - Returns: - tuple: (x, y) in meters from some arbitrary zero point - """ - utm_coords = utm.from_latlon(lat, lon) - x = utm_coords[0] - World.WORLD_EAST_ZERO - y = utm_coords[1] - World.WORLD_NORTH_ZERO - - return x, y - - @staticmethod - def utm_to_world_pose(pose: Pose) -> Pose: - """Converts UTM coordinates to world coordinates - - Args: - pose (Pose): pose with utm coordinates - - Returns: - Pose: pose with world coordinates - """ - - utm_e = pose.x - utm_n = pose.y - x = utm_e - World.WORLD_EAST_ZERO - y = utm_n - World.WORLD_NORTH_ZERO - return Pose(x, y, pose.theta) - - @staticmethod - def world_to_utm_pose(pose: Pose) -> Pose: - """Converts world coordinates to utm coordinates - - Args: - pose (Pose): pose with world coordinates - - Returns: - Pose: pose with world coordinates - """ - - utm_e = pose.x + World.WORLD_EAST_ZERO - utm_n = pose.y + World.WORLD_NORTH_ZERO - return Pose(utm_e, utm_n, pose.theta) - - @staticmethod - def world_to_utm_numpy(coords): - """Converts world coordinates to utm coordinates - - Args: - coords (numpy.ndarray [size: (N,2)]): array of x, y pairs - - Returns: - numpy.ndarray [size: (N,2)]: array of utm_e, utm_n pairs - """ - - N = np.shape(coords)[0] - utm_offset_e = np.ones((N, )) * World.WORLD_EAST_ZERO - utm_offset_n = np.ones((N, )) * World.WORLD_NORTH_ZERO - utm_offset = np.stack((utm_offset_e, utm_offset_n), axis=1) - - return coords + utm_offset - - @staticmethod - def utm_to_world_numpy(coords): - """Converts utm coordinates to world coordinates - - Args: - coords (numpy.ndarray [size: (N,2)]): array of utm_e, utm_n pairs - - Returns: - numpy.ndarray [size: (N,2)]: array of x, y pairs - """ - - N = np.shape(coords)[0] - utm_offset_e = np.ones((N, )) * World.WORLD_EAST_ZERO - utm_offset_n = np.ones((N, )) * World.WORLD_NORTH_ZERO - utm_offset = np.stack((utm_offset_e, utm_offset_n), axis=1) - - return coords - utm_offset - - - @staticmethod - def world_to_gps(x, y): - """Converts world coordinates to GPS coordinates - - Args: - x (float): x in meters from some arbitrary zero point - y (float): y in meters from some arbitrary zero point - - Returns: - tuple: (lat, lon) - """ - utm_coords = utm.to_latlon( - x + World.WORLD_EAST_ZERO, y + World.WORLD_NORTH_ZERO, 17, "T" - ) - lat = utm_coords[0] - lon = utm_coords[1] - - return lat, lon - - @staticmethod - def utm_to_gps(x, y): - """Converts utm coordinates to GPS coordinates - - Args: - x (float): x in meters, in utm frame - y (float): y in meters, in utm frame - - Returns: - tuple: (lat, lon) - """ - utm_coords = utm.to_latlon( - x, y, 17, "T" - ) - lat = utm_coords[0] - lon = utm_coords[1] - - return lat, lon - - @staticmethod - def gps_to_world_numpy(coords): - """Converts GPS coordinates to world coordinates - - Args: - coords (numpy.ndarray [size: (N,2)]): array of lat, lon pairs - - Returns: - numpy.ndarray [size: (N,2)]: array of x, y pairs - """ - utm_coords = utm.from_latlon(coords[:, 0], coords[:, 1]) - x = utm_coords[0] - World.WORLD_EAST_ZERO - y = utm_coords[1] - World.WORLD_NORTH_ZERO - - return np.stack((x, y), axis=1) - - @staticmethod - def world_to_gps_numpy(coords): - """Converts world coordinates to GPS coordinates - - Args: - coords (numpy.ndarray [size: (N,2)]): array of x, y pairs - - Returns: - numpy.ndarray [size: (N,2)]: array of lat, lon pairs - """ - - # Pittsburgh is in UTM zone 17T. - utm_coords = utm.to_latlon( - coords[:, 0] + World.WORLD_EAST_ZERO, - coords[:, 1] + World.WORLD_NORTH_ZERO, - 17, - "T", - ) - lat = utm_coords[0] - lon = utm_coords[1] - - return np.stack((lat, lon), axis=1) - - @staticmethod - def gps_to_world_pose(pose: Pose): - """Converts GPS coordinates to world coordinates - - Args: - pose (Pose): pose with lat, lon coordinates (x=lon, y=lat) - - Returns: - Pose: pose with x, y coordinates - """ - world_coords = World.gps_to_world(pose.y, pose.x) - new_heading = pose.theta # INS uses ENU frame so no heading conversion needed - - return Pose(world_coords[0], world_coords[1], new_heading) - - @staticmethod - def world_to_gps_pose(pose: Pose): - """Converts world coordinates to GPS coordinates - - Args: - pose (Pose): pose with x, y coordinates - - Returns: - Pose: pose with lat, lon coordinates - """ - gps_coords = World.world_to_gps(pose.x, pose.y) - new_heading = pose.theta - - return Pose(gps_coords[1], gps_coords[0], new_heading) diff --git a/rb_ws/src/buggy/scripts/debug/debug_steer.py b/rb_ws/src/buggy/scripts/debug/debug_steer.py deleted file mode 100755 index 142920f2..00000000 --- a/rb_ws/src/buggy/scripts/debug/debug_steer.py +++ /dev/null @@ -1,56 +0,0 @@ -#!/usr/bin/env python3 -import argparse - -import rospy -from std_msgs.msg import Float64 -import numpy as np - - -""" -Debug Controller -Sends oscillating steering command for firmware and system level debug -""" -class DebugController(): - - """ - @input: self_name, for namespace for current buggy - Initializes steer publisher to publish steering angles - Tick = 1ms - """ - def __init__(self, self_name) -> None: - self.steer_publisher = rospy.Publisher( - self_name + "/buggy/input/steering", Float64, queue_size=1) - self.rate = 1000 - - # Outputs a continuous sine wave ranging from -50 to 50, with a period of 500 ticks - def sin_steer(self, tick_count): - return 50 * np.sin((2 * np.pi) * tick_count/500) - - #returns a constant steering angle of 42 degrees - def constant_steer(self, _): - return 42.0 - - #Creates a loop based on tick counter - def loop(self): - rate = rospy.Rate(self.rate) - tick_count = 0 - steer_cmd = 0 - - #Currently uses sin_steer to send tick publishers - while not rospy.is_shutdown(): - self.steer_publisher.publish(Float64(steer_cmd)) - - tick_count += 1 - steer_cmd = self.sin_steer(tick_count) - rate.sleep() - - -#Launch code for Rosnode, initializes node as debug_steer -if __name__ == "__main__": - parser = argparse.ArgumentParser() - parser.add_argument("--self_name", type=str, help="name of ego-buggy", required=True) - args, _ = parser.parse_known_args() - - rospy.init_node("debug_steer") - d = DebugController(args.self_name) - d.loop() diff --git a/rb_ws/src/buggy/scripts/serial/host_comm.py b/rb_ws/src/buggy/scripts/serial/host_comm.py deleted file mode 100644 index e98c23e0..00000000 --- a/rb_ws/src/buggy/scripts/serial/host_comm.py +++ /dev/null @@ -1,218 +0,0 @@ -import struct -import time -from dataclasses import dataclass - -from serial import Serial - -class Crc16: - def __init__(self): - self.accum = 0 - - def update(self, b): - if isinstance(b, int): - assert(0 <= b < 256) - - crc_table = [ - 0x0000, 0x8005, 0x800F, 0x000A, 0x801B, 0x001E, 0x0014, 0x8011, - 0x8033, 0x0036, 0x003C, 0x8039, 0x0028, 0x802D, 0x8027, 0x0022, - 0x8063, 0x0066, 0x006C, 0x8069, 0x0078, 0x807D, 0x8077, 0x0072, - 0x0050, 0x8055, 0x805F, 0x005A, 0x804B, 0x004E, 0x0044, 0x8041, - 0x80C3, 0x00C6, 0x00CC, 0x80C9, 0x00D8, 0x80DD, 0x80D7, 0x00D2, - 0x00F0, 0x80F5, 0x80FF, 0x00FA, 0x80EB, 0x00EE, 0x00E4, 0x80E1, - 0x00A0, 0x80A5, 0x80AF, 0x00AA, 0x80BB, 0x00BE, 0x00B4, 0x80B1, - 0x8093, 0x0096, 0x009C, 0x8099, 0x0088, 0x808D, 0x8087, 0x0082, - 0x8183, 0x0186, 0x018C, 0x8189, 0x0198, 0x819D, 0x8197, 0x0192, - 0x01B0, 0x81B5, 0x81BF, 0x01BA, 0x81AB, 0x01AE, 0x01A4, 0x81A1, - 0x01E0, 0x81E5, 0x81EF, 0x01EA, 0x81FB, 0x01FE, 0x01F4, 0x81F1, - 0x81D3, 0x01D6, 0x01DC, 0x81D9, 0x01C8, 0x81CD, 0x81C7, 0x01C2, - 0x0140, 0x8145, 0x814F, 0x014A, 0x815B, 0x015E, 0x0154, 0x8151, - 0x8173, 0x0176, 0x017C, 0x8179, 0x0168, 0x816D, 0x8167, 0x0162, - 0x8123, 0x0126, 0x012C, 0x8129, 0x0138, 0x813D, 0x8137, 0x0132, - 0x0110, 0x8115, 0x811F, 0x011A, 0x810B, 0x010E, 0x0104, 0x8101, - 0x8303, 0x0306, 0x030C, 0x8309, 0x0318, 0x831D, 0x8317, 0x0312, - 0x0330, 0x8335, 0x833F, 0x033A, 0x832B, 0x032E, 0x0324, 0x8321, - 0x0360, 0x8365, 0x836F, 0x036A, 0x837B, 0x037E, 0x0374, 0x8371, - 0x8353, 0x0356, 0x035C, 0x8359, 0x0348, 0x834D, 0x8347, 0x0342, - 0x03C0, 0x83C5, 0x83CF, 0x03CA, 0x83DB, 0x03DE, 0x03D4, 0x83D1, - 0x83F3, 0x03F6, 0x03FC, 0x83F9, 0x03E8, 0x83ED, 0x83E7, 0x03E2, - 0x83A3, 0x03A6, 0x03AC, 0x83A9, 0x03B8, 0x83BD, 0x83B7, 0x03B2, - 0x0390, 0x8395, 0x839F, 0x039A, 0x838B, 0x038E, 0x0384, 0x8381, - 0x0280, 0x8285, 0x828F, 0x028A, 0x829B, 0x029E, 0x0294, 0x8291, - 0x82B3, 0x02B6, 0x02BC, 0x82B9, 0x02A8, 0x82AD, 0x82A7, 0x02A2, - 0x82E3, 0x02E6, 0x02EC, 0x82E9, 0x02F8, 0x82FD, 0x82F7, 0x02F2, - 0x02D0, 0x82D5, 0x82DF, 0x02DA, 0x82CB, 0x02CE, 0x02C4, 0x82C1, - 0x8243, 0x0246, 0x024C, 0x8249, 0x0258, 0x825D, 0x8257, 0x0252, - 0x0270, 0x8275, 0x827F, 0x027A, 0x826B, 0x026E, 0x0264, 0x8261, - 0x0220, 0x8225, 0x822F, 0x022A, 0x823B, 0x023E, 0x0234, 0x8231, - 0x8213, 0x0216, 0x021C, 0x8219, 0x0208, 0x820D, 0x8207, 0x0202 - ] - - i = ((self.accum >> 8) ^ b) & 0xFF; - i %= 256 - self.accum = ((self.accum << 8) & 0xFF00) ^ crc_table[i]; - else: - for one_byte in b: - self.update(one_byte) - -SYNC_WORD = b'\xAA\xFF\x00\x55' - -MAX_PAYLOAD_LEN = 100 - -MSG_TYPE_DEBUG = b'DB' -MSG_TYPE_ODOMETRY = b'OD' -MSG_TYPE_STEERING = b'ST' -MSG_TYPE_BRAKE = b'BR' -MSG_TYPE_ALARM = b'AL' -MSG_TYPE_BNYATEL = b'BT' - -@dataclass -class Odometry: - x: float - y: float - radio_seqnum: int - gps_seqnum: int - -@dataclass -class BnyaTelemetry: - x: float - y: float - velocity: float # In METERS / SECOND - steering: float # In DEGREES - heading: float # In RADIANS - heading_rate: float # In RADIANS / SECOND - -class IncompletePacket(Exception): - pass - -class ChecksumMismatch(Exception): - pass - -class Comms: - def __init__(self, path_to_port): - self.port = Serial(path_to_port, 1_000_000) - self.rx_buffer = b'' - - def send_packet_raw(self, msg_type: bytes, payload: bytes): - assert(len(msg_type) == 2) - assert(len(payload) < MAX_PAYLOAD_LEN) - - checksum = Crc16() - def write_and_checksum(data: bytes): - nonlocal checksum - - self.port.write(data) - checksum.update(data) - - self.port.write(SYNC_WORD) - write_and_checksum(msg_type) - write_and_checksum(len(payload).to_bytes(2, 'little')) - write_and_checksum(payload) - self.port.write(checksum.accum.to_bytes(2, 'little')) - - def send_steering(self, angle: float): - self.send_packet_raw(MSG_TYPE_STEERING, struct.pack(' len(self.rx_buffer): - raise IncompletePacket() - - data = self.rx_buffer[index:][:count] - index += count - return data - - def read_and_checksum(count: int): - nonlocal checksum - - data = read(count) - checksum.update(data) - return data - - if read(1) != SYNC_WORD[0:1]: - self.rx_buffer = self.rx_buffer[1:] - continue - if read(1) != SYNC_WORD[1:2]: - self.rx_buffer = self.rx_buffer[1:] - continue - if read(1) != SYNC_WORD[2:3]: - self.rx_buffer = self.rx_buffer[1:] - continue - if read(1) != SYNC_WORD[3:4]: - self.rx_buffer = self.rx_buffer[1:] - continue - - msg_type = read_and_checksum(2) - msg_len = int.from_bytes(read_and_checksum(2), 'little') - - if msg_len > MAX_PAYLOAD_LEN: - self.rx_buffer = self.rx_buffer[1:] - continue - - payload = read_and_checksum(msg_len) - - rx_crc = int.from_bytes(read(2), 'little') - - self.rx_buffer = self.rx_buffer[4 + 3 + 2 + msg_len + 2:] - - if rx_crc != checksum.accum: - raise ChecksumMismatch() - - return (msg_type, payload) - - def read_packet(self): - packet = self.read_packet_raw() - if packet is None: - return None - - msg_type, payload = packet - if msg_type == MSG_TYPE_ODOMETRY: - # Odometry message - x, y, radio_seqnum, gps_seqnum = struct.unpack(' 0.01: - print(packet) - last_time = time.time() - comms.send_steering(1234.5) - -if __name__ == '__main__': - main() \ No newline at end of file diff --git a/rb_ws/src/buggy/scripts/serial/ros_to_bnyahaj.py b/rb_ws/src/buggy/scripts/serial/ros_to_bnyahaj.py deleted file mode 100755 index 800809df..00000000 --- a/rb_ws/src/buggy/scripts/serial/ros_to_bnyahaj.py +++ /dev/null @@ -1,248 +0,0 @@ -#!/usr/bin/env python3 - -import sys - -# Allows import of world and pose from auton directory -sys.path.append("/rb_ws/src/buggy/scripts/auton") - -import argparse -from threading import Lock -import threading -from world import World -from pose import Pose -import rospy - -# Ros Message Imports -from std_msgs.msg import Float64, Bool, Int8, UInt8 -from nav_msgs.msg import Odometry as ROSOdom -from host_comm import * - - -class Translator: - """ - Translates the output from bnyahaj serial (interpreted from host_comm) to ros topics and vice versa. - Performs reading (from Bnya Serial) and writing (from Ros Topics) on different python threads, so - be careful of multithreading synchronizaiton issues. - SC: - (ROS) Self Steering topic --> (Bnyahaj) Stepper Motor - (Bnyahaj) NAND Odom --> (ROS) NAND Odom topic - - NAND: - (ROS) Self Steering --> (Bnyahaj) Stepper Motor - (Bnyahaj) Self Odom from UKF --> (ROS) NAND Odom topic - """ - - def __init__(self, self_name, other_name, teensy_name): - """ - self_name: Buggy namespace - other_name: Only requried by SC for passing buggy namespace - teensy_name: required for communication, different for SC and NAND - - Initializes the subscribers, rates, and ros topics (including debug topics) - """ - self.comms = Comms("/dev/" + teensy_name) - self.steer_angle = 0 - self.alarm = 0 - self.fresh_steer = False - self.lock = Lock() - - rospy.Subscriber( - self_name + "/buggy/input/steering", Float64, self.set_steering - ) - rospy.Subscriber(self_name + "/debug/sanity_warning", Int8, self.set_alarm) - - # ISSUE: https://github.com/CMU-Robotics-Club/RoboBuggy2/issues/83 - if other_name is None and self_name == "NAND": - self.odom_publisher = rospy.Publisher( - self_name + "/nav/odom", ROSOdom, queue_size=1 - ) - else: - self.odom_publisher = rospy.Publisher( - other_name + "/nav/odom", ROSOdom, queue_size=1 - ) - - # upper bound of steering update rate, make sure auton sends slower than 500 Hz or update / 2ms - self.steer_send_rate = rospy.Rate(500) - # upper bound of reading data from Bnyahaj Serial, at 1ms - self.read_rate = rospy.Rate(1000) - - # ISSUE: https://github.com/CMU-Robotics-Club/RoboBuggy2/issues/90 - self.rc_steering_angle_publisher = rospy.Publisher( - self_name + "/buggy/debug/rc_steering_angle", Float64, queue_size=1 - ) - self.steering_angle_publisher = rospy.Publisher( - self_name + "/buggy/debug/steering_angle", Float64, queue_size=1 - ) - self.battery_voltage_publisher = rospy.Publisher( - self_name + "/buggy/debug/battery_voltage", Float64, queue_size=1 - ) - self.operator_ready_publisher = rospy.Publisher( - self_name + "/buggy/debug/operator_ready", Bool, queue_size=1 - ) - self.steering_alarm_publisher = rospy.Publisher( - self_name + "/buggy/debug/steering_alarm", Bool, queue_size=1 - ) - self.brake_status_publisher = rospy.Publisher( - self_name + "/buggy/debug/brake_status", Bool, queue_size=1 - ) - self.use_auton_steer_publisher = rospy.Publisher( - self_name + "/buggy/debug/use_auton_steer", Bool, queue_size=1 - ) - self.rc_uplink_qual_publisher = rospy.Publisher( - self_name + "/buggy/debug/rc_uplink_quality", UInt8, queue_size=1 - ) - self.nand_fix_publisher = rospy.Publisher( - self_name + "/buggy/debug/nand_fix", UInt8, queue_size=1 - ) - - def set_alarm(self, msg): - """ - alarm ros topic reader, locked so that only one of the setters runs at once - """ - with self.lock: - self.alarm = msg.data - - def set_steering(self, msg): - """ - Steering Angle Updater, updates the steering angle locally if updated on ros stopic - """ - rospy.loginfo(f"Read steeering angle of: {msg.data}") - # print("Steering angle: " + str(msg.data)) - # print("SET STEERING: " + str(msg.data)) - with self.lock: - self.steer_angle = msg.data - self.fresh_steer = True - - def writer_thread(self): - """ - Sends ROS Topics to bnayhaj serial, only sends a steering angle when we receive a fresh one - Will send steering and alarm node. - TODO: Does alarm node exist for NAND? - """ - rospy.loginfo("Starting sending alarm and steering to teensy!") - while True: - if self.fresh_steer: - with self.lock: - self.comms.send_steering(self.steer_angle) - self.fresh_steer = False - - with self.lock: - self.comms.send_alarm(self.alarm) - - self.steer_send_rate.sleep() - - def reader_thread(self): - """ - Reads three different types of packets, that should have better ways of differntiating - Odometry -> (SC) NAND Odomotery - BnyaTelemetry -> (NAND) Self Odom - tuple -> (SC, maybe NAND?) Debug Info - """ - rospy.loginfo("Starting reading odom from teensy!") - while True: - packet = self.comms.read_packet() - - if isinstance(packet, Odometry): - rospy.logdebug("packet" + str(packet)) - # Publish to odom topic x and y coord - odom = ROSOdom() - # convert to long lat - try: - lat, long = World.utm_to_gps(packet.y, packet.x) - odom.pose.pose.position.x = long - odom.pose.pose.position.y = lat - self.odom_publisher.publish(odom) - except Exception as e: - rospy.logwarn( - "Unable to convert other buggy position to lon lat" + str(e) - ) - - elif isinstance(packet, BnyaTelemetry): - rospy.logdebug("packet" + str(packet)) - odom = ROSOdom() - - # TODO: Not mock rolled accurately (Needs to be Fact Checked) - try: - lat, long = World.utm_to_gps(packet.y, packet.x) - odom.pose.pose.position.x = long - odom.pose.pose.position.y = lat - odom.twist.twist.angular.z = packet.heading_rate - heading = Pose.heading_to_quaternion(packet.heading) - - odom.pose.pose.orientation.x = heading[0] - odom.pose.pose.orientation.y = heading[1] - odom.pose.pose.orientation.z = heading[2] - odom.pose.pose.orientation.w = heading[3] - - speed = packet.velocity - # TODO: fix this - # why this works: autonsystem only cares about magnitude of velocity - # so setting an arbitrary axis to the speed and leave other at 0 - # works. However, this should be done properly ASAP - odom.twist.twist.linear.x = speed - self.odom_publisher.publish(odom) - except Exception as e: - rospy.logwarn( - "Unable to convert other buggy position to lon lat" + str(e) - ) - - elif isinstance( - packet, tuple - ): # Are there any other packet that is a tuple - self.rc_steering_angle_publisher.publish(Float64(packet[0])) - self.steering_angle_publisher.publish(Float64(packet[1])) - self.battery_voltage_publisher.publish(Float64(packet[2])) - self.operator_ready_publisher.publish(Bool(packet[3])) - self.steering_alarm_publisher.publish(Bool(packet[4])) - self.brake_status_publisher.publish(Bool(packet[5])) - self.use_auton_steer_publisher.publish(Bool(packet[6])) - self.rc_uplink_qual_publisher.publish(UInt8(packet[7])) - self.nand_fix_publisher.publish(UInt8(packet[8])) - - self.read_rate.sleep() - - def loop(self): - """ - Initialies the reader and writer thread, should theoretically never finish as there are while loops - """ - p1 = threading.Thread(target=self.writer_thread) - p2 = threading.Thread(target=self.reader_thread) - - p1.start() - p2.start() - - p1.join() - p2.join() - - -# Initializes ros nodes, using self and other name -# other name is not requires, and if not submitted, use NONE -if __name__ == "__main__": - parser = argparse.ArgumentParser() - parser.add_argument( - "--self_name", type=str, help="name of ego-buggy", required=True - ) - parser.add_argument( - "--other_name", - type=str, - help="name of other buggy", - required=False, - default=None, - ) - parser.add_argument( - "--teensy_name", type=str, help="name of teensy port", required=True - ) - args, _ = parser.parse_known_args() - self_name = args.self_name - other_name = args.other_name - teensy_name = args.teensy_name - - rospy.init_node("ros_bnyahaj") - if self_name == "SC" and other_name is None: - rospy.logwarn( - "Not reading NAND Odometry messages, double check roslaunch files for ros_to_bnyahaj" - ) - elif other_name is None: - rospy.loginfo("No other name passed in, presuming that this is NAND ") - translate = Translator(self_name, other_name, teensy_name) - translate.loop() diff --git a/rb_ws/src/buggy/scripts/util/rosbag_to_pose_csv.py b/rb_ws/src/buggy/scripts/util/rosbag_to_pose_csv.py deleted file mode 100644 index 60d4520a..00000000 --- a/rb_ws/src/buggy/scripts/util/rosbag_to_pose_csv.py +++ /dev/null @@ -1,62 +0,0 @@ -#! /usr/bin/env python3 -import argparse -import csv -import rosbag -from tf.transformations import euler_from_quaternion - -#BROKEN BROKEN BROKEN BROKEN - -def main(): - """ - bag_file is an input that reads the path to the bag file - output_file is an argument that reads the path to the output file - subsample is the number of points to be selected to be converted to waypoints - """ - # Read in bag path from command line - parser = argparse.ArgumentParser() - parser.add_argument("bag_file", help="Path to bag file") - parser.add_argument("output_file", help="Path to output file") - parser.add_argument( - "subsample", help="Subsample rate (1 = don't skip any waypoints)", type=int - ) - args = parser.parse_args() - - # Open bag - bag = rosbag.Bag(args.bag_file) - - # Create data structure - waypoints = [] - - # Track index for skipping waypoints - i = 0 - - # Loop through bag - for _, msg, _ in bag.read_messages(topics="/nav/odom"): - # Skip waypoints - if i % args.subsample != 0: - i += 1 - continue - i += 1 - - # TODO: Check Orientation - lat = msg.pose.pose.position.x - lon = msg.pose.pose.position.y - orientation_q = msg.pose.pose.orientation - - orientation_list = [orientation_q.x, orientation_q.y, orientation_q.z, orientation_q.w] - (_, _, yaw) = euler_from_quaternion (orientation_list) - - - waypoints.append([str(lat), str(lon), str(yaw)]) - - # Write to csv file - with open(args.output_file, "w", newline="") as csvfile: - writer = csv.writer( - csvfile, delimiter=",", quotechar="|", quoting=csv.QUOTE_MINIMAL - ) - for row in waypoints: - writer.writerow(row) - - -if __name__ == "__main__": - main() diff --git a/rb_ws/src/buggy/scripts/util/rosbag_to_waypoints_json.py b/rb_ws/src/buggy/scripts/util/rosbag_to_waypoints_json.py deleted file mode 100755 index 2dc110a3..00000000 --- a/rb_ws/src/buggy/scripts/util/rosbag_to_waypoints_json.py +++ /dev/null @@ -1,57 +0,0 @@ -#! /usr/bin/env python3 -import argparse -import uuid -import json - -import rosbag - -#BROKEN BROKEN BROKEN - -def main(): - # Read in bag path from command line - parser = argparse.ArgumentParser() - parser.add_argument("bag_file", help="Path to bag file") - parser.add_argument("output_file", help="Path to output file") - parser.add_argument( - "subsample", help="Subsample rate (1 = don't skip any waypoints)", type=int - ) - args = parser.parse_args() - - # Open bag - bag = rosbag.Bag(args.bag_file) - - # Create data structure - waypoints = [] - - # Track index for skipping waypoints - i = 0 - - # Loop through bag - for _, msg, _ in bag.read_messages(topics="/nav/odom"): - # Skip waypoints - if i % args.subsample != 0: - i += 1 - continue - i += 1 - - lon = msg.pose.pose.position.x - lat = msg.pose.pose.position.y - - - - waypoints.append( - { - "key": str(uuid.uuid4()), - "lat": lat, - "lon": lon, - "active": False, - } - ) - - # Write to JSON file - with open(args.output_file, "w") as f: - json.dump(waypoints, f, indent=4) - - -if __name__ == "__main__": - main() diff --git a/rb_ws/src/buggy/scripts/validation/battery_data.txt b/rb_ws/src/buggy/scripts/validation/battery_data.txt deleted file mode 100644 index bf0303a2..00000000 --- a/rb_ws/src/buggy/scripts/validation/battery_data.txt +++ /dev/null @@ -1,3 +0,0 @@ -Time,Voltage,Percentage -1674418063343864917,2.6278114318847656,3.415126085281372 -1674418063843880176,9.370295524597168,5.732672691345215 diff --git a/rb_ws/src/buggy/scripts/validation/log_battery.py b/rb_ws/src/buggy/scripts/validation/log_battery.py deleted file mode 100755 index b7b7f69f..00000000 --- a/rb_ws/src/buggy/scripts/validation/log_battery.py +++ /dev/null @@ -1,30 +0,0 @@ -# A script to log battery data to a .txt file - -import csv -import rospy -from sensor_msgs.msg import BatteryState # Callback function to print the subscribed data on the terminal - -# Should be culled or improved to actually log the battery levels, to a file, when ros bags should contain this if properly published?? - -file = open("battery_data.txt", "w", newline="") -writer = csv.writer(file) -writer.writerow(["Time", "Voltage", "Percentage"]) - - -def callback_battery(battery_data): - writer.writerow( - [battery_data.header.stamp, battery_data.voltage, battery_data.percentage] - ) - - -def batteryIn_T_subscriber(): - rospy.init_node("batteryLogger", anonymous=False) - rospy.Subscriber("BatteryIn_T", BatteryState, callback_battery) - rospy.spin() - - -if __name__ == "__main__": - try: - batteryIn_T_subscriber() - except rospy.ROSInterruptException: - pass diff --git a/rb_ws/src/buggy/scripts/validation/log_battery_tester.py b/rb_ws/src/buggy/scripts/validation/log_battery_tester.py deleted file mode 100755 index 2394d1a4..00000000 --- a/rb_ws/src/buggy/scripts/validation/log_battery_tester.py +++ /dev/null @@ -1,32 +0,0 @@ -# Script -import rospy -from sensor_msgs.msg import ( - BatteryState, -) # Callback function to print the subscribed data on the terminal -import numpy as np - - -def batteryIn_T_publisher(): - """ - Work in progress function to publish the battery tester, should be culled. - """ - message_publisher = rospy.Publisher("BatteryIn_T", BatteryState, queue_size=10) - rospy.init_node("batteryLoggerTester", anonymous=False) - rate = rospy.Rate(2) # publish rate (Hz) - while not rospy.is_shutdown(): - message = BatteryState() - message.voltage = np.random.rand() * 10 - message.percentage = np.random.rand() * 10 - - message.header.stamp = rospy.Time.now() - - message_publisher.publish(message) - rate.sleep() - - -if __name__ == "__main__": - try: - batteryIn_T_publisher() - # capture the Interrupt signals - except rospy.ROSInterruptException: - pass diff --git a/rb_ws/src/buggy/scripts/validation/steering_angle_rate_check.py b/rb_ws/src/buggy/scripts/validation/steering_angle_rate_check.py deleted file mode 100644 index 929acdb2..00000000 --- a/rb_ws/src/buggy/scripts/validation/steering_angle_rate_check.py +++ /dev/null @@ -1,75 +0,0 @@ -# A script to log battery data to a .txt file - -import csv -import rospy -from std_msgs.msg import ( - Float64, - Bool, -) # Callback function to print the subscribed data on the terminal - -file = open("steering_data.txt", "w", newline="") -writer = csv.writer(file) -writer.writerow(["Time", "steering_angle", "steering_angle_rate"]) - - -class SteeringAngleRateChecker: - """ - This is a class that checks if the Steering Angle is valid, and if it passes the max value of 100 deg/s, we will raise a flag. - """ - - def __init__(self): - self.last_time_stamp = rospy.Time.now() - self.steering_data_rate = 0 - self.last_steering_data = 0 - # threshold value and steering angle r in degree per second - # TODO: Outsource this constant in a constraints section - # TODO: Where is the steering data rate number coming from? - # TODO: This should be ran for both buggies, so should be based on supposed namespaces, and shoud have better topic names. - self.threshold_steering_data_rate = 100 - self.velocity_publisher = rospy.Publisher( - "SteeringAngleRate", Float64, queue_size=10 - ) - self.flag_publisher = rospy.Publisher( - "SteeringAngleRateFlag", Bool, queue_size=10 - ) - rospy.Subscriber( - "/SC/buggy/input/steering", Float64, self.callback_steering_angle - ) - - def callback_steering_angle(self, steering_data): - """ - When receiving steering angle, will calcuate new velocity, and log the speed at which the steering is changing as a velocity. - """ - current_time = rospy.Time.now() - self.steering_data_rate = ( - steering_data.data - self.last_steering_data - ) / rospy.Time.to_sec(current_time - self.last_time_stamp) - self.steering_data_rate_flag = bool( - (abs(self.steering_data_rate) > self.threshold_steering_data_rate) - ) - self.last_time_stamp = current_time - self.last_steering_data = steering_data.data - self.steering_steering_data_rate_publisher() - writer.writerow([current_time, steering_data.data, self.steering_data_rate]) - - def steering_steering_data_rate_publisher(self): - """ - Publishes into two seperate nodes, SteeringAngleRate, and SteeringAngleRateFlag - """ - velocity_message = Float64() - velocity_message.data = self.steering_data_rate - self.velocity_publisher.publish(velocity_message) - - flag_message = Bool() - flag_message.data = self.steering_data_rate_flag - self.flag_publisher.publish(flag_message) - - -if __name__ == "__main__": - # TODO: Implement this as a validation check within launch files - try: - rospy.init_node("steering_data_rate", anonymous=False) - steering_data_rate_check = SteeringAngleRateChecker() - rospy.spin() - except rospy.ROSInterruptException: - pass diff --git a/rb_ws/src/buggy/scripts/validation/steering_data.txt b/rb_ws/src/buggy/scripts/validation/steering_data.txt deleted file mode 100644 index 4228778a..00000000 --- a/rb_ws/src/buggy/scripts/validation/steering_data.txt +++ /dev/null @@ -1,1558 +0,0 @@ -Time,steering_angle,steering_angle_rate -1711317486222698211,-1.2122724735009969,-9.022388658222578 -1711317486295390367,-1.4306998822535104,-3.004827766458235 -1711317486324219465,-1.4306998822535104,0.0 -1711317486336805820,-0.9416148577403343,38.85835291577078 -1711317486398332595,-0.9416148577403343,0.0 -1711317486422229051,-1.3582094222483814,-17.433320008123676 -1711317486429648637,-0.9538847105007721,54.49424155843862 -1711317486431149005,-0.9395160843160623,9.576734630910416 -1711317486508239507,-0.9395160843160623,0.0 -1711317486542980909,-1.4024250122420507,-13.324417014776447 -1711317486549708366,-1.4024250122420507,0.0 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a/rb_ws/src/buggy/scripts/visualization/asset_publish.py b/rb_ws/src/buggy/scripts/visualization/asset_publish.py deleted file mode 100755 index 71bcea86..00000000 --- a/rb_ws/src/buggy/scripts/visualization/asset_publish.py +++ /dev/null @@ -1,55 +0,0 @@ -#!/usr/bin/env python3 -import rospy - -from visualization_msgs.msg import Marker - -rospy.init_node("asset_publish") - -mesh_pub = rospy.Publisher("foxglove/mesh", Marker, queue_size=10) - -# Publish Mesh infrequently -marker = Marker() - -marker.header.frame_id = "base" -marker.header.stamp = rospy.Time.now() -marker.ns = "" - -# Shape (resource type = 10 (mesh)) -marker.type = 10 -marker.id = 0 -marker.action = 0 - -# Note: Must set mesh_resource to a valid URL for a model to appear -marker.mesh_resource = "http://127.0.0.1:8760/cmutopo.dae" -marker.mesh_use_embedded_materials = True - -# Scale -marker.scale.x = 1.0 -marker.scale.y = 1.0 -marker.scale.z = 1.0 - -# Color -marker.color.r = 0.0 -marker.color.g = 0.0 -marker.color.b = 0.0 -marker.color.a = 1.0 - -# Pose -marker.pose.position.x = 0 -marker.pose.position.y = 0 -marker.pose.position.z = 0 -marker.pose.orientation.x = 0.0 -marker.pose.orientation.y = 0.0 -marker.pose.orientation.z = 0.0 -marker.pose.orientation.w = 0.0 - -RATE = 2 -rate = rospy.Rate(RATE) - -while not rospy.is_shutdown(): - mesh_pub.publish(marker) - rate.sleep() - - - - diff --git a/rb_ws/src/buggy/scripts/visualization/asset_server.py b/rb_ws/src/buggy/scripts/visualization/asset_server.py deleted file mode 100755 index b7d02538..00000000 --- a/rb_ws/src/buggy/scripts/visualization/asset_server.py +++ /dev/null @@ -1,19 +0,0 @@ -#! /usr/bin/env python3 -import http.server -import argparse - -PORT = 8760 - -# python3 asset_server.py --directory="/rb_ws/src/buggy/assets" - -parser = argparse.ArgumentParser(description='Run a simple HTTP server') -parser.add_argument('--directory', type=str, help='Directory to serve') -parsed_args, _ = parser.parse_known_args() - -class DirectoryHandler(http.server.SimpleHTTPRequestHandler): - def __init__(self, *args, **kwargs): - super().__init__(*args, directory=parsed_args.directory, **kwargs) - - -with http.server.HTTPServer(("", PORT), DirectoryHandler) as httpd: - httpd.serve_forever() diff --git a/rb_ws/src/buggy/scripts/visualization/telematics.py b/rb_ws/src/buggy/scripts/visualization/telematics.py deleted file mode 100755 index a3e4893c..00000000 --- a/rb_ws/src/buggy/scripts/visualization/telematics.py +++ /dev/null @@ -1,108 +0,0 @@ -#! /usr/bin/env python3 -# Runs the conversion script for all telematics data -import rospy -from nav_msgs.msg import Odometry -from sensor_msgs.msg import NavSatFix -from geometry_msgs.msg import PoseStamped -from std_msgs.msg import Float64MultiArray -from std_msgs.msg import String -from std_msgs.msg import Int8 - -from microstrain_inertial_msgs.msg import MipGnssFixInfo - -class Telematics: - """ - Converts subscribers and publishers that need to be reformated, so that they are readible. - """ - - def __init__(self): - """Generate all the subscribers and publishers that need to be reformatted. - """ - - self.odom_subscriber = rospy.Subscriber("/NAND/nav/odom", Odometry, self.convert_odometry_to_navsatfix) - self.odom_publisher = rospy.Publisher("/NAND/nav/odom_NavSatFix", NavSatFix, queue_size=10) - - self.gnss1_pose_publisher = rospy.Publisher("/gnss1/fix_Pose", PoseStamped, queue_size=10) - self.gnss1_covariance_publisher = rospy.Publisher("/gnss1/fix_FloatArray_Covariance", Float64MultiArray, queue_size=10) - self.gnss1_subscriber = rospy.Subscriber("/gnss1/llh_position", NavSatFix, self.convert_navsatfix_to_pose_covariance, (self.gnss1_pose_publisher, self.gnss1_covariance_publisher)) - - self.gnss2_pose_publisher = rospy.Publisher("/gnss2/fix_Pose", PoseStamped, queue_size=10) - self.gnss2_covariance_publisher = rospy.Publisher("/gnss2/fix_FloatArray_Covariance", Float64MultiArray, queue_size=10) - self.gnss2_subscriber = rospy.Subscriber("/gnss2/llh_position", NavSatFix, self.convert_navsatfix_to_pose_covariance, (self.gnss2_pose_publisher, self.gnss2_covariance_publisher)) - - self.gnss1_fixinfo_publisher = rospy.Publisher("/gnss1/fix_info_republished", String, queue_size=10) - self.gnss1_fixinfo_int_publisher = rospy.Publisher("/gnss1/fix_info_republished_int", Int8, queue_size=10) - self.gnss1_fixinfo_subscriber = rospy.Subscriber("/mip/gnss1/fix_info", MipGnssFixInfo, self.republish_fixinfo, (self.gnss1_fixinfo_publisher, self.gnss1_fixinfo_int_publisher)) - - self.gnss2_fixinfo_publisher = rospy.Publisher("/gnss2/fix_info_republished", String, queue_size=10) - self.gnss2_fixinfo_int_publisher = rospy.Publisher("/gnss2/fix_info_republished_int", Int8, queue_size=10) - self.gnss2_fixinfo_subscriber = rospy.Subscriber("/mip/gnss2/fix_info", MipGnssFixInfo, self.republish_fixinfo, (self.gnss2_fixinfo_publisher, self.gnss2_fixinfo_int_publisher)) - - def convert_odometry_to_navsatfix(self, msg): - """Convert Odometry-type to NavSatFix-type for plotting on Foxglove - Args: - msg (Odometry): odometry as per INS - """ - lat = msg.pose.pose.position.y - long = msg.pose.pose.position.x - down = msg.pose.pose.position.z - new_msg = NavSatFix() - new_msg.header = msg.header - new_msg.latitude = lat - new_msg.longitude = long - new_msg.altitude = down - self.odom_publisher.publish(new_msg) - - def convert_navsatfix_to_pose_covariance(self, msg, publishers): - """Convert NavSatFix-type and related covariance matrix to Pose-type and array - respectively for easy visualization in Foxglove. - - Args: - msg (NavSatFix): original msg - publishers (tuple): tuple of publishes - """ - pose = PoseStamped() - pose.pose.position.y = msg.latitude - pose.pose.position.x = msg.longitude - pose.pose.position.z = msg.altitude - pose.header = msg.header - publishers[0].publish(pose) - - covariance = Float64MultiArray() - covariance.data = [ - round(msg.position_covariance[0], 4), - round(msg.position_covariance[4], 4), - round(msg.position_covariance[8], 4)] - publishers[1].publish(covariance) - - def republish_fixinfo(self, msg, publishers): - """ - convert gnss/fixinfo to a string for visualization in foxglove - """ - fix_type = msg.fix_type - fix_string = "fix type: " - - if (fix_type == 0): - fix_string += "FIX_3D" - elif (fix_type == 1): - fix_string += "FIX_2D" - elif (fix_type == 2): - fix_string += "FIX_TIME_ONLY" - elif (fix_type == 3): - fix_string += "FIX_NONE" - elif (fix_type == 4): - fix_string += "FIX_INVALID" - elif (fix_type == 5): - fix_string += "FIX_RTK_FLOAT" - else: - fix_string += "FIX_RTK_FIXED" - - fix_string += "\nsbas_used: " + str(msg.sbas_used) - fix_string += "\ndngss_used: " + str(msg.dngss_used) - publishers[0].publish(fix_string) - publishers[1].publish(fix_type) - -if __name__ == "__main__": - rospy.init_node("telematics") - telem = Telematics() - rospy.spin() diff --git a/rb_ws/src/buggy/setup.cfg b/rb_ws/src/buggy/setup.cfg new file mode 100644 index 00000000..c2b78e07 --- /dev/null +++ b/rb_ws/src/buggy/setup.cfg @@ -0,0 +1,4 @@ +[develop] +script_dir=$base/lib/buggy +[install] +install_scripts=$base/lib/buggy diff --git a/rb_ws/src/buggy/setup.py b/rb_ws/src/buggy/setup.py new file mode 100644 index 00000000..4373639f --- /dev/null +++ b/rb_ws/src/buggy/setup.py @@ -0,0 +1,30 @@ +from glob import glob +import os + +from setuptools import find_packages, setup + +package_name = 'buggy' + +setup( + name=package_name, + version='0.0.0', + packages=find_packages(exclude=['test']), + data_files=[ + ('share/ament_index/resource_index/packages', + ['resource/' + package_name]), + ('share/' + package_name, ['package.xml']), + (os.path.join("share", package_name), glob("launch/*.xml")), + ], + install_requires=['setuptools'], + zip_safe=True, + maintainer='root', + maintainer_email='root@todo.todo', + description='TODO: Package description', + license='TODO: License declaration', + tests_require=['pytest'], + entry_points={ + 'console_scripts': [ + 'hello_world = buggy.hello_world:main' + ], + }, +) diff --git a/rb_ws/src/buggy/test/test_copyright.py b/rb_ws/src/buggy/test/test_copyright.py new file mode 100644 index 00000000..97a39196 --- /dev/null +++ b/rb_ws/src/buggy/test/test_copyright.py @@ -0,0 +1,25 @@ +# Copyright 2015 Open Source Robotics Foundation, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +from ament_copyright.main import main +import pytest + + +# Remove the `skip` decorator once the source file(s) have a copyright header +@pytest.mark.skip(reason='No copyright header has been placed in the generated source file.') +@pytest.mark.copyright +@pytest.mark.linter +def test_copyright(): + rc = main(argv=['.', 'test']) + assert rc == 0, 'Found errors' diff --git a/rb_ws/src/buggy/test/test_flake8.py b/rb_ws/src/buggy/test/test_flake8.py new file mode 100644 index 00000000..27ee1078 --- /dev/null +++ b/rb_ws/src/buggy/test/test_flake8.py @@ -0,0 +1,25 @@ +# Copyright 2017 Open Source Robotics Foundation, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +from ament_flake8.main import main_with_errors +import pytest + + +@pytest.mark.flake8 +@pytest.mark.linter +def test_flake8(): + rc, errors = main_with_errors(argv=[]) + assert rc == 0, \ + 'Found %d code style errors / warnings:\n' % len(errors) + \ + '\n'.join(errors) diff --git a/rb_ws/src/buggy/test/test_pep257.py b/rb_ws/src/buggy/test/test_pep257.py new file mode 100644 index 00000000..b234a384 --- /dev/null +++ b/rb_ws/src/buggy/test/test_pep257.py @@ -0,0 +1,23 @@ +# Copyright 2015 Open Source Robotics Foundation, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +from ament_pep257.main import main +import pytest + + +@pytest.mark.linter +@pytest.mark.pep257 +def test_pep257(): + rc = main(argv=['.', 'test']) + assert rc == 0, 'Found code style errors / warnings' diff --git a/setup_dev.sh b/setup_dev.sh index 0b550c4a..81c301b9 100755 --- a/setup_dev.sh +++ b/setup_dev.sh @@ -1,90 +1,9 @@ #!/bin/bash -no_gpu=false -force_gpu=false -run_automated_testing_docker=false - -usage() { - echo "Usage: $0 [options]" - echo "Options:" - echo " --no-gpu Disable CUDA support. Required to run on systems without Nvidia Container Toolkit." - echo " --force-gpu Force a GPU build even if Nvidia Container Toolkit is not detected" - echo " --run-testing Run the testing docker container" -} - -while [ $# -gt 0 ]; do - case $1 in - -h | --help) - usage - exit 0 - ;; - --no-gpu) - no_gpu=true - ;; - --force-gpu) - force_gpu=true - ;; - --run-testing) - run_automated_testing_docker=true - ;; - *) - echo "Invalid option: $1" >&2 - usage - exit 1 - ;; - esac - shift -done - -if $no_gpu && $force_gpu -then - echo -e "\033[0;31mOptions --no-gpu and --force-gpu conflict. Use at most one of them.\033[0m" - exit 1 -fi - -if ! $no_gpu && ! $force_gpu && ! command -v nvidia-ctk &> /dev/null -then - echo -e "\033[0;31mNvidia Container Toolkit was not found.\033[0m" - echo -e "\033[0;31mRun with --force-gpu to build with GPU.\033[0m" - echo -e "\033[0;31mRun with --no-gpu to silence this message.\033[0m" - echo -e "\033[0;31mContinuing with no GPU...\033[0m" - no_gpu=true -fi - -##################### -# Actual logic here # -##################### - -if $no_gpu && ! $run_automated_testing_docker -then - dockerfile="docker-compose-no-gpu.yml" -fi - -if ! $no_gpu && ! $run_automated_testing_docker -then - dockerfile="docker-compose-gpu.yml" -fi - -if $no_gpu && $run_automated_testing_docker -then - dockerfile="docker-compose-no-gpu-automated-testing.yml" -fi - -if ! $no_gpu && $run_automated_testing_docker -then - dockerfile="docker-compose-gpu-automated-testing.yml" -fi +dockerfile="docker-dev.yml" echo "Killing old development containers..." -docker compose -f docker-compose-gpu-automated-testing.yml down # kill old containers, this is most complete - -# copy python-requirements + cuda-requirements into appropriate folders for docker compose -cp python-requirements.txt docker_auton -mv docker_auton/python-requirements.txt docker_auton/python-requirements_TEMP_DO_NOT_EDIT.txt -cp python-requirements.txt docker_tester -mv docker_tester/python-requirements.txt docker_tester/python-requirements_TEMP_DO_NOT_EDIT.txt -cp cuda-requirements.txt docker_auton -mv docker_auton/cuda-requirements.txt docker_auton/cuda-requirements_TEMP_DO_NOT_EDIT.txt +docker stop $(docker ps -a -q) echo "Building containers..." docker compose -f $dockerfile build diff --git a/setup_prod.sh b/setup_prod.sh deleted file mode 100755 index 6afef617..00000000 --- a/setup_prod.sh +++ /dev/null @@ -1,98 +0,0 @@ -#!/bin/bash - -no_gpu=false -force_gpu=false -run_automated_testing_docker=false - -usage() { - echo "Usage: $0 [options]" - echo "Options:" - echo " --no-gpu Disable CUDA support. Required to run on systems without Nvidia Container Toolkit." - echo " --force-gpu Force a GPU build even if Nvidia Container Toolkit is not detected" - echo " --run-testing Run the testing docker container" -} - -while [ $# -gt 0 ]; do - case $1 in - -h | --help) - usage - exit 0 - ;; - --no-gpu) - no_gpu=true - ;; - --force-gpu) - force_gpu=true - ;; - --run-testing) - run_automated_testing_docker=true - ;; - *) - echo "Invalid option: $1" >&2 - usage - exit 1 - ;; - esac - shift -done - -if $no_gpu && $force_gpu -then - echo -e "\033[0;31mOptions --no-gpu and --force-gpu conflict. Use at most one of them.\033[0m" - exit 1 -fi - -if ! $no_gpu && ! $force_gpu && ! command -v nvidia-ctk &> /dev/null -then - # In production, we should require it to be specified when we want no GPU. - echo -e "\033[0;31mNvidia Container Toolkit was not found.\033[0m" - echo -e "\033[0;31mRun with --no-gpu to build without GPU, or --force-gpu to force a GPU build.\033[0m" - exit 1 -fi - -##################### -# Actual logic here # -##################### - -if $no_gpu && ! $run_automated_testing_docker -then - dockerfile="docker-compose-no-gpu.yml" -fi - -if ! $no_gpu && ! $run_automated_testing_docker -then - dockerfile="docker-compose-gpu.yml" -fi - -if $no_gpu && $run_automated_testing_docker -then - dockerfile="docker-compose-no-gpu-automated-testing.yml" -fi - -if ! $no_gpu && $run_automated_testing_docker -then - dockerfile="docker-compose-gpu-automated-testing.yml" -fi - -echo "Killing all containers..." -docker kill $(docker ps -q) - - -# copy python-requirements + cuda-requirements into appropriate folders for docker compose -cp python-requirements.txt docker_auton -mv docker_auton/python-requirements.txt docker_auton/python-requirements_TEMP_DO_NOT_EDIT.txt -cp python-requirements.txt docker_tester -mv docker_tester/python-requirements.txt docker_tester/python-requirements_TEMP_DO_NOT_EDIT.txt -cp cuda-requirements.txt docker_auton -mv docker_auton/cuda-requirements.txt docker_auton/cuda-requirements_TEMP_DO_NOT_EDIT.txt - -echo "Building containers..." -docker compose -f $dockerfile build - -echo "Starting containers..." -docker compose -f $dockerfile --env-file .env.prod up -d - -sleep 0.5 - -echo "DEBUG: Buggy Docker Container Up!" -echo "Run docker_exec in order to go into the Docker container" diff --git a/toplevel.cmake b/toplevel.cmake deleted file mode 100644 index cd581217..00000000 --- a/toplevel.cmake +++ /dev/null @@ -1,69 +0,0 @@ -# toplevel CMakeLists.txt for a catkin workspace -# catkin/cmake/toplevel.cmake - -cmake_minimum_required(VERSION 3.0.2) - -project(Project) - -set(CATKIN_TOPLEVEL TRUE) - -# search for catkin within the workspace -set(_cmd "catkin_find_pkg" "catkin" "${CMAKE_SOURCE_DIR}") -execute_process(COMMAND ${_cmd} - RESULT_VARIABLE _res - OUTPUT_VARIABLE _out - ERROR_VARIABLE _err - OUTPUT_STRIP_TRAILING_WHITESPACE - ERROR_STRIP_TRAILING_WHITESPACE -) -if(NOT _res EQUAL 0 AND NOT _res EQUAL 2) - # searching fot catkin resulted in an error - string(REPLACE ";" " " _cmd_str "${_cmd}") - message(FATAL_ERROR "Search for 'catkin' in workspace failed (${_cmd_str}): ${_err}") -endif() - -# include catkin from workspace or via find_package() -if(_res EQUAL 0) - set(catkin_EXTRAS_DIR "${CMAKE_SOURCE_DIR}/${_out}/cmake") - # include all.cmake without add_subdirectory to let it operate in same scope - include(${catkin_EXTRAS_DIR}/all.cmake NO_POLICY_SCOPE) - add_subdirectory("${_out}") - -else() - # use either CMAKE_PREFIX_PATH explicitly passed to CMake as a command line argument - # or CMAKE_PREFIX_PATH from the environment - if(NOT DEFINED CMAKE_PREFIX_PATH) - if(NOT "$ENV{CMAKE_PREFIX_PATH}" STREQUAL "") - if(NOT WIN32) - string(REPLACE ":" ";" CMAKE_PREFIX_PATH $ENV{CMAKE_PREFIX_PATH}) - else() - set(CMAKE_PREFIX_PATH $ENV{CMAKE_PREFIX_PATH}) - endif() - endif() - endif() - - # list of catkin workspaces - set(catkin_search_path "") - foreach(path ${CMAKE_PREFIX_PATH}) - if(EXISTS "${path}/.catkin") - list(FIND catkin_search_path ${path} _index) - if(_index EQUAL -1) - list(APPEND catkin_search_path ${path}) - endif() - endif() - endforeach() - - # search for catkin in all workspaces - set(CATKIN_TOPLEVEL_FIND_PACKAGE TRUE) - find_package(catkin QUIET - NO_POLICY_SCOPE - PATHS ${catkin_search_path} - NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH) - unset(CATKIN_TOPLEVEL_FIND_PACKAGE) - - if(NOT catkin_FOUND) - message(FATAL_ERROR "find_package(catkin) failed. catkin was neither found in the workspace nor in the CMAKE_PREFIX_PATH. One reason may be that no ROS setup.sh was sourced before.") - endif() -endif() - -catkin_workspace() diff --git a/upload_to_gdrive.sh b/upload_to_gdrive.sh deleted file mode 100755 index 24f5f555..00000000 --- a/upload_to_gdrive.sh +++ /dev/null @@ -1,15 +0,0 @@ -#!/bin/bash - -# Uses https://github.com/glotlabs/gdrive, must install on target system - -FOLDER_ID="1-EfGJie_M0SwkiwtIkeQgErC9Lhv7Cry" -FILES=$(curl -s --get --data-urlencode "includeItemsFromAllDrives=true" --data-urlencode "q='1-EfGJie_M0SwkiwtIkeQgErC9Lhv7Cry' in parents" --data-urlencode "key=$GDRIVE_API_KEY" --data-urlencode "supportsAllDrives=true" --data-urlencode "fields=files(name)" https://www.googleapis.com/drive/v3/files | grep -oh -E '([^\"]*)\.([^\ \"])*') -for file in $(ls /home/nuc/RoboBuggy2/rb_ws/*.{bag,txt,csv}); -do - filebase=$(basename $file) - if ! grep -q "$filebase" <<< "$FILES"; then - gdrive files upload --parent $FOLDER_ID $file - echo $filebase - fi -done -