Added cones for simulation. Will need to be changed because cones are becoming obstacles.

Author: SimonKato

GEMstack/onboard/interface/gem_simulator.py

@@ -19,31 +19,35 @@
     'bicyclist' : (1.8,0.5,1.6),
     'car' : (4.0,2.5,1.4),
     'medium_truck': (6.0,2.5,3.0),
-    'large_truck': (10.0,2.5,3.5)
+    'large_truck': (10.0,2.5,3.5),
+    'cone' : (0.5,0.5,1.0)
 }
 
 AGENT_TYPE_TO_ENUM = {
     'pedestrian' : AgentEnum.PEDESTRIAN,
     'bicyclist' : AgentEnum.BICYCLIST,
     'car' : AgentEnum.CAR,
     'medium_truck': AgentEnum.MEDIUM_TRUCK,
-    'large_truck': AgentEnum.LARGE_TRUCK
+    'large_truck': AgentEnum.LARGE_TRUCK,
+    'cone' : AgentEnum.CONE
 }
 
 AGENT_NOMINAL_VELOCITY = {
     'pedestrian' : 1.5,
     'bicyclist' : 5.0,
     'car' : 20.0,
     'medium_truck': 15.0,
-    'large_truck': 10.0
+    'large_truck': 10.0,
+    'cone' : 0.0
 }
 
 AGENT_NOMINAL_ACCELERATION = {
     'pedestrian' : 2.0,
     'bicyclist' : 2.0,
     'car' : 5.0,
     'medium_truck': 3.0,
-    'large_truck': 2.0
+    'large_truck': 2.0,
+    'cone' : 0.0
 }
 
 class AgentSimulation:

launch/parking_detection.yaml

@@ -92,7 +92,7 @@ variants:
                 type: gem_simulator.GEMDoubleIntegratorSimulationInterface
                 args:
                     scene: !relative_path '../scenes/parking_demo.yaml'
-            # visualization: !include "klampt_visualization.yaml"
+            visualization: !include "klampt_visualization.yaml"
 
             drive: 
                 perception:
@@ -114,6 +114,31 @@ variants:
                     parking_detection: parking_detection.ParkingSpotsDetector3D
                     perception_normalization : StandardPerceptionNormalizer
 
+                planning:
+                    parking_component:
+                        type: ParkingSim
+                    route_planning_component:
+                        type: RoutePlanningComponent
+                        
+                trajectory_tracking:
+                    type: pure_pursuit.PurePursuitTrajectoryTracker
+                    print: True
+
+    fake_sim: # full pipeline w/ fake perception
+        run:
+            mode: simulation
+            vehicle_interface:
+                type: gem_simulator.GEMDoubleIntegratorSimulationInterface
+                args:
+                    scene: !relative_path '../scenes/parking_demo.yaml'
+            visualization: !include "klampt_visualization.yaml"
+
+            drive: 
+                perception:
+                    state_estimation : OmniscientStateEstimator
+                    agent_detection : OmniscientAgentDetector
+                        
+                    
                 planning:
                     parking_component:
                         type: ParkingSim