feat(#215): more cleanup, change to leaderboard and small fixes

build/Taskfile

@@ -32,7 +32,7 @@ task:shell() {
 ##########################################
 task:install() {
  task:install:git_hooks
- task:gitconfig:copy
+ #task:gitconfig:copy
  install:gpu-support
  docker:install
 }

build/docker-compose.yml

@@ -54,8 +54,8 @@ services:
  tty: true
  shm_size: 2gb
  #command: bash -c "sleep 10 && python3 /opt/leaderboard/leaderboard/leaderboard_evaluator.py --debug=0 --routes=/opt/leaderboard/data/routes_devtest.xml --agent=/opt/leaderboard/leaderboard/autoagents/npc_agent.py --host=carla-simulator --track=SENSORS"
- command: bash -c "sleep 10 && roslaunch agent/launch/dev.launch"
- #command: bash -c "sleep 10 && python3 /opt/leaderboard/leaderboard/leaderboard_evaluator.py --debug=0 --routes=/opt/leaderboard/data/routes_devtest.xml --agent=/workspace/code/agent/src/agent/agent.py --host=carla-simulator --track=MAP"
+ #command: bash -c "sleep 10 && roslaunch agent/launch/dev.launch"
+ command: bash -c "sleep 10 && python3 /opt/leaderboard/leaderboard/leaderboard_evaluator.py --debug=0 --routes=/opt/leaderboard/data/routes_devtest.xml --agent=/workspace/code/agent/src/agent/agent.py --host=carla-simulator --track=MAP"
  logging:
  driver: "local"
  environment:

code/acting/src/acting/pure_pursuit_controller.py

@@ -8,7 +8,7 @@
 from nav_msgs.msg import Path
 from ros_compatibility.node import CompatibleNode
 from rospy import Publisher, Subscriber
-from std_msgs.msg import Float32, Float32MultiArray
+from std_msgs.msg import Float32
 from acting.msg import Debug
 
 from helper_functions import vector_angle
@@ -65,18 +65,12 @@ def __init__(self):
  f"/paf/{self.role_name}/debug",
  qos_profile=1)
 
- self.max_speed_pub: Publisher = self.new_publisher(
- Float32,
- f"/paf/{self.role_name}/speed_limit",
- qos_profile=1)
-
  self.__position: (float, float) = None # x, y
  self.__last_pos: (float, float) = None
  self.__path: Path = None
  self.__heading: float = None
  self.__velocity: float = None
  self.__tp_idx: int = 0 # target waypoint index
- self.__od_speed: Float32MultiArray = None
  # error when there are no targets
 
  def run(self):

code/acting/src/acting/stanley_controller.py

@@ -11,7 +11,7 @@
 # from ros_compatibility.qos import QoSProfile, DurabilityPolicy
 from rospy import Publisher, Subscriber
 # from sensor_msgs.msg import NavSatFix, Imu
-from std_msgs.msg import Float32, Float32MultiArray # Bool
+from std_msgs.msg import Float32 # Bool
 from acting.msg import StanleyDebug
 
 from helper_functions import vector_angle
@@ -62,18 +62,12 @@ def __init__(self):
  f"/paf/{self.role_name}/stanley_debug",
  qos_profile=1)
 
- self.max_speed_pub: Publisher = self.new_publisher(
- Float32,
- f"/paf/{self.role_name}/speed_limit",
- qos_profile=1)
-
  self.__position: (float, float) = None # x, y
  self.__last_pos: (float, float) = None
  self.__path: Path = None
  self.__heading: float = None
  self.__velocity: float = None
  self.__tp_idx: int = 0 # target waypoint index
- self.__od_speed: Float32MultiArray = None
  # error when there are no targets
 
  def run(self):

code/acting/src/acting/vehicle_controller.py

@@ -98,7 +98,7 @@ def __init__(self):
  self.__velocity: float = 0.0
  self.__pure_pursuit_steer: float = 0.0
  self.__stanley_steer: float = 0.0
- self.__current_steer: float = 0.0 # check emergency behaviour
+ self.__current_steer: float = 0.0 # todo: check emergency behaviour
 
  def run(self):
  """
@@ -107,7 +107,7 @@ def run(self):
  """
  self.status_pub.publish(True)
  self.loginfo('VehicleController node running')
- pid = PID(0.85, 0.1, 0.1, setpoint=0) # random values -> tune
+ pid = PID(0.85, 0.1, 0.1, setpoint=0) # random values -> todo: tune
  pid.output_limits = (-MAX_STEER_ANGLE, MAX_STEER_ANGLE)
 
  def loop(timer_event=None) -> None:

code/acting/src/acting/velocity_controller.py

@@ -9,7 +9,7 @@
 from nav_msgs.msg import Path
 
 # TODO put back to 36 when controller can handle it
-SPEED_LIMIT_DEFAULT: float = 8 # 36.0
+SPEED_LIMIT_DEFAULT: float = 6 # 36.0
 
 
 class VelocityController(CompatibleNode):
@@ -142,8 +142,6 @@ def loop(timer_event=None):
  self.logerr("Velocity controller doesn't support backward "
  "driving yet.")
  return
- # print(f"v_soll = min({self.__max_velocity}, {self.__max_tree_v},
- # {self.__speed_limit}) | v_ist = {self.__current_velocity} ")
  v = min(self.__max_velocity, self.__max_tree_v)
  v = min(v, self.__speed_limit)
 

code/agent/config/dev_objects.json

@@ -10,7 +10,7 @@
  "id": "hero",
  "role_name": "hero",
  "spawn_point": {
- "x": 986.0,
+ "x": 984.5,
  "y": -5442.0,
  "z": 371.0,
  "yaw": -90.0,

code/agent/src/agent/agent.py

@@ -27,15 +27,15 @@ def sensors(self):
  'yaw': 0.0, 'width': 300, 'height': 200, 'fov': 100},
  {'type': 'sensor.lidar.ray_cast', 'id': 'LIDAR',
  'x': 0.7, 'y': -0.4, 'z': 1.60, 'roll': 0.0, 'pitch': 0.0,
- 'yaw': -45.0},
+ 'yaw': 0.0},
  {'type': 'sensor.other.radar', 'id': 'RADAR',
  'x': 0.7, 'y': -0.4, 'z': 1.60, 'roll': 0.0, 'pitch': 0.0,
  'yaw': -45.0, 'horizontal_fov': 30, 'vertical_fov': 30},
  {'type': 'sensor.other.gnss', 'id': 'GPS',
  'x': 0.7, 'y': -0.4, 'z': 1.60},
  {'type': 'sensor.other.imu', 'id': 'IMU',
  'x': 0.7, 'y': -0.4, 'z': 1.60, 'roll': 0.0, 'pitch': 0.0,
- 'yaw': -45.0},
+ 'yaw': 0.0},
  {'type': 'sensor.opendrive_map', 'id': 'OpenDRIVE',
  'reading_frequency': 1},
  {'type': 'sensor.speedometer', 'id': 'Speed'},

code/perception/src/global_plan_distance_publisher.py

@@ -105,6 +105,10 @@ def distance(a, b):
  if current_distance < 2.5 or next_distance < current_distance:
  self.road_options.pop(0)
  self.global_route.pop(0)
+ if self.road_options[0] in {5, 6} and \
+ self.road_options[0] == self.road_options[1]:
+ self.road_options.pop(0)
+ self.global_route.pop(0)
  print(f"next road option = {self.road_options[0]}")
 
  def update_global_route(self, route):

code/planning/global_planner/launch/global_planner.launch

@@ -1,11 +1,12 @@
 <launch>
+ <!--
  <node pkg="planning" type="dev_global_route.py" name="DevGlobalRoute" output="screen">
  <param name="from_txt" value="True" />
  <param name="sampling_resolution" value="75.0" />
  <param name="routes" value="/opt/leaderboard/data/routes_devtest.xml" />
  <param name="global_route_txt" value="/code/planning/global_planner/src/global_route.txt" />
  <param name="role_name" value="hero" />
- </node>
+ </node>-->
  <node pkg="planning" type="preplanner.py" name="PrePlanner" output="screen">
  <param name="role_name" value="hero" />
  <param name="control_loop_rate" value="1" />