Planner bugfix

launch/car_simulation.launch

@@ -3,44 +3,35 @@
 <launch>
 
 	<arg name="rolename" default="stanford_ego" />
-	<arg name="steps" default="20" />
+	<arg name="track_steps" default="300" />
 	<arg name="distance" default="4.0" />
 	<arg name="color" default="255, 200, 200" />
 	<arg name="spawn_point" default="-6.0, -40.0, 2.0, 0.0, 0.0, 270.0" />
-	<arg name="max_speed" default="5.0" />
+	<arg name="max_speed" default="2.0" />
 	<arg name="opp_speed" default="5.0" />
-	<arg name="plan_horizon" default="5.0" />
+	<arg name="plan_horizon" default="3.0" />
 	<arg name="plan_steps" default="10" />
 	<arg name="time_step" value="$(eval arg('plan_horizon')/arg('plan_steps'))" />
 
 	<group ns="$(arg rolename)">
 
-		<!-- start service call for game node  -->
-		<node name="restart_call" pkg="carla_circle" type="game_start_client.py" output="screen" />
 
-		<!-- "Perception" node - currently filters out vehicles outside ROI-->
-		<node name="game_ado_car_filter" pkg="carla_circle" type="game_ado_vehicle_filter.py" output="screen">
-			<param name="rolename" value="$(arg rolename)" />
-		</node>
-
-		<!-- Planner node - works for game planner to publish current track
+		<!-- Mapper node - publish local track
 			center and track width for two cars -->
 		<node name="map_updater" pkg="carla_circle" type="map_updater.py" output="screen">
-			<param name="steps" value="$(arg steps)" />
-			<param name="distance" value="$(arg distance)" />
+			<param name="steps" value="$(arg track_steps)" />
 			<param name="update_frequency" value="10.0" />
-			<param name="exit_time" value="600" />
-			<param name="max_speed" value="$(arg max_speed)" />
-			<param name="opp_speed" value="$(arg opp_speed)" />
-			<param name="plan_horizon" value="$(arg plan_horizon)" />
 		</node>
 
-		<!-- path server updates path according to carla world map -->
-		<node name="path_server" pkg="carla_circle" type="path_server.py" output="screen">
-			<param name="steps" value="$(arg steps)" />
-			<param name="distance" value="$(arg distance)" />
+		<!-- Planner node -->
+		<node name="traj_planner" pkg="carla_circle" type="trivial_planner.py" output="screen" >
+			<param name="rolename" value="$(arg rolename)" />
+			<param name="time_step" value="$(arg time_step)" />
+			<param name="horizon" value="$(arg plan_horizon)" />
+			<param name="max_speed" value="$(arg max_speed)" />
 		</node>
 
+
 		<!-- Controller node -->
 		<node name="controller" pkg="carla_circle" type="controller.py" output="screen">
 			<param name="rolename" value="$(arg rolename)" />
@@ -71,4 +62,4 @@
 		<arg name="role_name" value="$(arg rolename)" />
 	</include>
 
-</launch>
+</launch>

launch/mcity_event1.launch

@@ -18,7 +18,7 @@
 	</include>
 
 	<!-- shared by all the cars  -->
-	<node name="car_filter" pkg="carla_circle" type="car_filter.py" output="screen" />
+	<!-- <node name="car_filter" pkg="carla_circle" type="car_filter.py" output="screen" /> -->
 
 	<include file="$(find carla_circle)/launch/car_simulation.launch">
 		<arg name="rolename" value="$(arg rolename)" />
@@ -31,15 +31,6 @@
 	</include>
 
 	<!-- visualization -->
-	<node pkg="rviz" type="rviz" name="rviz" args="-d $(find carla_ros_bridge)/config/carla_default_rviz.cfg.rviz" />
-
-	<!-- game planner -->
-	<include file="$(find uavgame)/launch/main_mpc_gurobi.launch">
-		<arg name="role_name" value="$(arg rolename)" />
-		<arg name="high_vel" value="$(arg max_speed)" />
-		<arg name="low_vel" value="$(arg opp_speed)" />
-		<arg name="plan_horizon" value="$(arg plan_horizon)" />
-		<arg name="plan_steps" value="$(arg plan_steps)" />
-	</include>
+	<node pkg="rviz" type="rviz" name="rviz" args="-d $(find carla_circle)/resource/carla_default_rviz.cfg.rviz" />
 
 </launch>

resource/carla_default_rviz.cfg.rviz

@@ -0,0 +1,260 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 75
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Status1
+        - /Ego trajectory1
+      Splitter Ratio: 0.6000000238418579
+    Tree Height: 366
+  - Class: rviz/Selection
+    Name: Selection
+  - Class: rviz/Tool Properties
+    Expanded:
+      - /2D Pose Estimate1
+      - /2D Nav Goal1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+      - /ThirdPersonFollower1
+      - /ThirdPersonFollower2
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: ""
+  - Class: rviz/Displays
+    Help Height: 75
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /EgoOdometry1/Shape1
+        - /Origin1
+      Splitter Ratio: 0.44411763548851013
+    Tree Height: 481
+Preferences:
+  PromptSaveOnExit: true
+Toolbars:
+  toolButtonStyle: 2
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Angle Tolerance: 0.10000000149011612
+      Class: rviz/Odometry
+      Covariance:
+        Orientation:
+          Alpha: 0.5
+          Color: 255; 255; 127
+          Color Style: Unique
+          Frame: Local
+          Offset: 1
+          Scale: 1
+          Value: true
+        Position:
+          Alpha: 0.30000001192092896
+          Color: 204; 51; 204
+          Scale: 1
+          Value: true
+        Value: true
+      Enabled: true
+      Keep: 1
+      Name: EgoOdometry
+      Position Tolerance: 0.10000000149011612
+      Shape:
+        Alpha: 1
+        Axes Length: 1
+        Axes Radius: 0.10000000149011612
+        Color: 255; 25; 0
+        Head Length: 1
+        Head Radius: 1
+        Shaft Length: 3
+        Shaft Radius: 1
+        Value: Arrow
+      Topic: /carla/hero/odometry
+      Unreliable: false
+      Value: true
+    - Class: rviz/Marker
+      Enabled: true
+      Marker Topic: /hero/carla/viz/des_waypoints
+      Name: Ego trajectory
+      Namespaces:
+        "": true
+      Queue Size: 100
+      Value: true
+    - Class: rviz/MarkerArray
+      Enabled: true
+      Marker Topic: /hero/carla/viz/ego_track
+      Name: Ego Track
+      Namespaces:
+        "": true
+      Queue Size: 100
+      Value: true
+    - Alpha: 0.5
+      Buffer Length: 1
+      Class: rviz/Path
+      Color: 25; 255; 0
+      Enabled: true
+      Head Diameter: 0.30000001192092896
+      Head Length: 0.20000000298023224
+      Length: 0.30000001192092896
+      Line Style: Lines
+      Line Width: 0.029999999329447746
+      Name: Global Path
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Pose Color: 255; 85; 255
+      Pose Style: None
+      Radius: 0.029999999329447746
+      Shaft Diameter: 0.10000000149011612
+      Shaft Length: 0.10000000149011612
+      Topic: /hero/global_plan
+      Unreliable: false
+      Value: true
+    - Class: rviz/Axes
+      Enabled: true
+      Length: 10
+      Name: Origin
+      Radius: 0.5
+      Reference Frame: map
+      Value: true
+    - Class: rviz/Marker
+      Enabled: true
+      Marker Topic: /hero/carla/viz/road_topo
+      Name: Road Topology
+      Namespaces:
+        "": true
+      Queue Size: 100
+      Value: true
+    - Alpha: 0.5
+      Cell Size: 10
+      Class: rviz/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: map
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 80; 80; 80
+    Default Light: true
+    Fixed Frame: map
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz/Interact
+      Hide Inactive Objects: true
+    - Class: rviz/MoveCamera
+    - Class: rviz/Select
+    - Class: rviz/FocusCamera
+    - Class: rviz/Measure
+    - Class: rviz/SetInitialPose
+      Theta std deviation: 0.2617993950843811
+      Topic: /initialpose
+      X std deviation: 0.5
+      Y std deviation: 0.5
+    - Class: rviz/SetGoal
+      Topic: /move_base_simple/goal
+    - Class: rviz/PublishPoint
+      Single click: true
+      Topic: /clicked_point
+  Value: true
+  Views:
+    Current:
+      Class: rviz/ThirdPersonFollower
+      Distance: 68.55451965332031
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: 0
+        Y: 0
+        Z: 0
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.6602022647857666
+      Target Frame: hero
+      Value: ThirdPersonFollower (rviz)
+      Yaw: 4.739986896514893
+    Saved:
+      - Class: rviz/ThirdPersonFollower
+        Distance: 200
+        Enable Stereo Rendering:
+          Stereo Eye Separation: 0.05999999865889549
+          Stereo Focal Distance: 1
+          Swap Stereo Eyes: false
+          Value: false
+        Focal Point:
+          X: 0
+          Y: 0
+          Z: 0
+        Focal Shape Fixed Size: true
+        Focal Shape Size: 0.05000000074505806
+        Invert Z Axis: false
+        Name: ThirdPersonFollower
+        Near Clip Distance: 0.009999999776482582
+        Pitch: 0.20000000298023224
+        Target Frame: hero
+        Value: ThirdPersonFollower (rviz)
+        Yaw: 3.140000104904175
+      - Class: rviz/ThirdPersonFollower
+        Distance: 50
+        Enable Stereo Rendering:
+          Stereo Eye Separation: 0.05999999865889549
+          Stereo Focal Distance: 1
+          Swap Stereo Eyes: false
+          Value: false
+        Focal Point:
+          X: 0
+          Y: 0
+          Z: 0
+        Focal Shape Fixed Size: true
+        Focal Shape Size: 0.05000000074505806
+        Invert Z Axis: false
+        Name: ThirdPersonFollower
+        Near Clip Distance: 0.009999999776482582
+        Pitch: 0.5
+        Target Frame: hero
+        Value: ThirdPersonFollower (rviz)
+        Yaw: 3.140000104904175
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 808
+  Hide Left Dock: false
+  Hide Right Dock: false
+  QMainWindow State: 000000ff00000000fd0000000400000000000001ab00000259fc020000000cfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730000000028000000d7000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d006100670065010000003d000000e80000000000000000fb0000000a0049006d006100670065010000003d000002590000000000000000fb0000000a0049006d00610067006501000001680000012e0000000000000000fb0000000a0049006d00610067006501000002b800000131000000000000000000000001000001fb00000286fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fc0000003d00000286000000e60100001cfa000000000100000002fb000000100044006900730070006c0061007900730100000000ffffffff0000015600fffffffb0000000a00560069006500770073010000063a0000010f0000010000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000054b00000042fc0100000002fb0000000800540069006d006501000000000000054b000002eb00fffffffb0000000800540069006d006501000000000000045000000000000000000000034a0000028600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1355
+  X: 204
+  Y: 27

script/controller.py

@@ -152,7 +152,7 @@ def __init__(self):
             self.odom_cb
         )
         rospy.Subscriber(
-            "MSLcar0/command/trajectory",
+            "ego/command/trajectory",
             MultiDOFJointTrajectory,
             self.desired_waypoints_cb
         )
@@ -171,9 +171,10 @@ def __init__(self):
 
         topic = "/carla/{}/vehicle_info".format(rolename)
         rospy.loginfo_once(
-            "Vehicle information for %s: %s",
-            rolename,
-            rospy.wait_for_message(topic, CarlaEgoVehicleInfo)
+            "Vehicle information for {}: {}".format(
+                rolename,
+                rospy.wait_for_message(topic, CarlaEgoVehicleInfo)
+            )
         )
 
         # Class timer