From 910c4aa6965ba4adcb09494a161e3cc65526b643 Mon Sep 17 00:00:00 2001
From: Mehul Goel <mehulgoel873@gmail.com>
Date: Sat, 14 Sep 2024 13:13:28 -0400
Subject: [PATCH 1/3] added raceline + added better ghost_nand

---
 .../buggy/paths/truckweekend_raceline.json    | 1766 +++++++++++++++++
 rb_ws/src/buggy/scripts/2d_sim/engine.py      |    1 +
 2 files changed, 1767 insertions(+)
 create mode 100644 rb_ws/src/buggy/paths/truckweekend_raceline.json

diff --git a/rb_ws/src/buggy/paths/truckweekend_raceline.json b/rb_ws/src/buggy/paths/truckweekend_raceline.json
new file mode 100644
index 00000000..06ccafdb
--- /dev/null
+++ b/rb_ws/src/buggy/paths/truckweekend_raceline.json
@@ -0,0 +1,1766 @@
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+        "key": "4747fe7b-c1e2-45d9-96f2-3980ad4ff319",
+        "lat": 40.44056119847559,
+        "lon": -79.94260920437344,
+        "active": false
+    },
+    {
+        "key": "0e3c4416-c020-4bf2-87b4-c354b7095c16",
+        "lat": 40.440548862689255,
+        "lon": -79.94255093480372,
+        "active": false
+    },
+    {
+        "key": "41ad75af-71b0-46f7-a9ec-be5d4de8f36a",
+        "lat": 40.44053836168875,
+        "lon": -79.94249749446008,
+        "active": false
+    },
+    {
+        "key": "d7efed0e-9729-4913-93e4-a3560ff9ef80",
+        "lat": 40.44052795874271,
+        "lon": -79.94245215022174,
+        "active": false
+    },
+    {
+        "key": "bea593cb-bdeb-4c97-857f-dbf39bd978e4",
+        "lat": 40.44051867416263,
+        "lon": -79.94241321933349,
+        "active": false
+    },
+    {
+        "key": "e8feb874-e9c1-4085-a8d6-e26a52fffb88",
+        "lat": 40.4405129191283,
+        "lon": -79.94238207926358,
+        "active": false
+    },
+    {
+        "key": "b8d7b947-dc95-4880-9fc0-2b0d64324c19",
+        "lat": 40.440508357797725,
+        "lon": -79.94235958627605,
+        "active": false
+    },
+    {
+        "key": "b8e78d1d-a963-4fd1-8202-9f2f97fa61ec",
+        "lat": 40.44050503870836,
+        "lon": -79.94234382382729,
+        "active": false
+    },
+    {
+        "key": "6fab7fcd-23e1-40ec-8778-0448a4607082",
+        "lat": 40.44050288553176,
+        "lon": -79.94233798308369,
+        "active": false
+    }
+]
\ No newline at end of file
diff --git a/rb_ws/src/buggy/scripts/2d_sim/engine.py b/rb_ws/src/buggy/scripts/2d_sim/engine.py
index cf3f518a..945fa01a 100755
--- a/rb_ws/src/buggy/scripts/2d_sim/engine.py
+++ b/rb_ws/src/buggy/scripts/2d_sim/engine.py
@@ -68,6 +68,7 @@ def __init__(self, start_pos: str, velocity: float, buggy_name: str):
             "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

From 7c0185905a548c159adcef8bb53606891a79ebab Mon Sep 17 00:00:00 2001
From: Buggy <buggy@buggy.com>
Date: Sat, 14 Sep 2024 17:26:15 -0400
Subject: [PATCH 2/3] fixed config

---
 rb_ws/src/buggy/launch/ghost_auton.launch | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/rb_ws/src/buggy/launch/ghost_auton.launch b/rb_ws/src/buggy/launch/ghost_auton.launch
index ac261cd7..f0416b37 100644
--- a/rb_ws/src/buggy/launch/ghost_auton.launch
+++ b/rb_ws/src/buggy/launch/ghost_auton.launch
@@ -1,12 +1,12 @@
 <!-- roslaunch buggy main.launch -->
 
 <launch>
-    <arg name="controller"      default="mpc" />
+    <arg name="controller"      default="stanley" />
     <arg name="start_dist"      default="0.0" />
-    <arg name="path"      default="buggycourse_raceline.json" />
+    <arg name="path"      default="truckweekend_raceline.json" />
 
     <!-- run a sim with name = NAND at velocity ~= 0 -->
-    <arg name="starting_pose"    default="PASS_PT" />
+    <arg name="starting_pose"    default="RACELINE_PASS" />
     <arg name="velocity"         default="0.0001" />
     <arg name="buggy_name"       default="NAND" />
 

From cc50e24187da5092cc3296d383d37d7654cb7310 Mon Sep 17 00:00:00 2001
From: Mehul Goel <mehulgoel873@gmail.com>
Date: Sun, 15 Sep 2024 14:46:48 -0400
Subject: [PATCH 3/3] updated raceline paths

---
 rb_ws/src/buggy/launch/ghost_auton.launch     |    2 +-
 .../src/buggy/paths/buggycourse_raceline.json | 3900 ++++++++---------
 .../buggy/paths/truckweekend_raceline.json    | 1766 --------
 3 files changed, 1765 insertions(+), 3903 deletions(-)
 delete mode 100644 rb_ws/src/buggy/paths/truckweekend_raceline.json

diff --git a/rb_ws/src/buggy/launch/ghost_auton.launch b/rb_ws/src/buggy/launch/ghost_auton.launch
index f0416b37..76ce13cc 100644
--- a/rb_ws/src/buggy/launch/ghost_auton.launch
+++ b/rb_ws/src/buggy/launch/ghost_auton.launch
@@ -3,7 +3,7 @@
 <launch>
     <arg name="controller"      default="stanley" />
     <arg name="start_dist"      default="0.0" />
-    <arg name="path"      default="truckweekend_raceline.json" />
+    <arg name="path"      default="buggycourse_raceline.json" />
 
     <!-- run a sim with name = NAND at velocity ~= 0 -->
     <arg name="starting_pose"    default="RACELINE_PASS" />
diff --git a/rb_ws/src/buggy/paths/buggycourse_raceline.json b/rb_ws/src/buggy/paths/buggycourse_raceline.json
index 27abf202..06ccafdb 100644
--- a/rb_ws/src/buggy/paths/buggycourse_raceline.json
+++ b/rb_ws/src/buggy/paths/buggycourse_raceline.json
@@ -1,2138 +1,1766 @@
 [
-  {
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-    "lat": 40.441800057826605,
-    "lon": -79.94158554867244,
-    "active": false
-  },
-  {
-    "key": "6dec6a0c-26fc-4b73-b2df-be731adfdeda",
-    "lat": 40.44138911912961,
-    "lon": -79.94176508046225,
-    "active": false
-  },
-  {
-    "key": "bf7dc40a-322e-4721-8b73-bbc19e461ae0",
-    "lat": 40.44108078455541,
-    "lon": -79.9418978662388,
-    "active": false
-  },
-  {
-    "key": "854b351f-1fa6-4804-84b8-bad111c28717",
-    "lat": 40.440811635159065,
-    "lon": -79.94201574748945,
-    "active": false
-  },
-  {
-    "key": "c8f35b89-2437-428a-906c-7c070f2c57aa",
-    "lat": 40.44054970329411,
-    "lon": -79.94214040352455,
-    "active": false
-  },
-  {
-    "key": "4ad1c4fd-838d-4c13-8d52-29be23fa2fa4",
-    "lat": 40.44042609562262,
-    "lon": -79.94219878967333,
-    "active": false
-  },
-  {
-    "key": "a3f8b7cd-0bd3-4720-80dc-74412c4722a7",
-    "lat": 40.44035759615232,
-    "lon": -79.94223268314757,
-    "active": false
-  },
-  {
-    "key": "2aaef5ac-34dc-4da1-a9cc-34f50eb2210e",
-    "lat": 40.44030046006532,
-    "lon": -79.94226960037116,
-    "active": false
-  },
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\ No newline at end of file
diff --git a/rb_ws/src/buggy/paths/truckweekend_raceline.json b/rb_ws/src/buggy/paths/truckweekend_raceline.json
deleted file mode 100644
index 06ccafdb..00000000
--- a/rb_ws/src/buggy/paths/truckweekend_raceline.json
+++ /dev/null
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\ No newline at end of file