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harishkumarbalajiharishkumarbalaji
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Merge pull request #157 from krishauser/s2025_Simulation_vikram
Gazebo - GEMStack Integration
2 parents 3f183be + 3d7bdb1 commit 893eed2

34 files changed

Lines changed: 1581 additions & 638 deletions

‎.gitignore‎

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@@ -165,3 +165,15 @@ cython_debug/
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# and can be added to the global gitignore or merged into this file. For a more nuclear
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# option (not recommended) you can uncomment the following to ignore the entire idea folder.
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#.idea/
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# ZED run files
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**/*.run
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.vscode/
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setup/zed_sdk.run
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cuda/
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homework/yolov8n.pt
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homework/yolo11n.pt
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GEMstack/knowledge/detection/yolov8n.pt
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GEMstack/knowledge/detection/yolo11n.pt
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yolov8n.pt
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yolo11n.pt

‎GEMstack/knowledge/calibration/gem_e2_gazebo.yaml‎

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calibration_date: "2023-08-31" # Date of calibration YYYY-MM-DD
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reference: rear_axle_center # rear axle center
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rear_axle_height: 0.273 # height of rear axle center above flat ground
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gnss_location: [1.1,0.0,0.3] # meters, taken from https://github.com/hangcui1201/POLARIS_GEM_e2_Real/blob/main/vehicle_drivers/gem_gnss_control/scripts/gem_gnss_tracker_stanley_rtk.py. Note conflict with pure pursuit location?
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gnss_yaw: 0.0 # radians
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front_radar_location: [1.45,0,0.07] # meters, taken from https://github.com/hangcui1201/POLARIS_GEM_e2_Real/blob/main/platform_launch/launch/white_e2/platform.launch
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top_lidar: !include "gem_e2_velodyne.yaml"
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front_camera: !include "gem_e2_zed.yaml"
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T_frontcamera_vehicle:
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- - 0.04979815921110274
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- -0.02889308605338095
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- 0.998341277156963
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- 0.6874899022540225
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- - -0.9986898492450907
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- 0.010343220052680617
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- 0.05011489006575621
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- -0.006750728511462573
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- - -0.011774038000135968
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- -0.9995289850272167
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- -0.02834016107658961
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- -0.07694233627246522
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- - 0.0
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- 0.0
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- 0.0
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- 1.0
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T_toplidar_frontcamera:
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- - 0.029096143490519977
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- -0.9995463314295703
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- -0.007781115579835407
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- -0.045768971801312515
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- - -0.005777780139254174
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- 0.007616104089319731
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- -0.999954305063568
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- -0.3868171492765085
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- - 0.9995599190096819
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- 0.02913977151915098
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- -0.005553559684576381
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- -0.6975440651652165
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- - 0.0
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- 0.0
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- 0.0
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- 1.0
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T_toplidar_vehicle:
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- - 0.9995177984237671
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- -0.020904183387756348
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- 0.022959932684898376
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- 0.0
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- - 0.020975051447749138
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- 0.9997758865356445
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- -0.0028501423075795174
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- 0.0
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- - -0.0228952094912529
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- 0.003330353880301118
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- 0.9997323155403137
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- 0.33000001311302185
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- - 0.0
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- 0.0
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- 0.0
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- 1.0

‎GEMstack/knowledge/calibration/gem_e4_gazebo.yaml‎

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date: '2025-02-25 22:31:02.057447'
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calibration_type: absolute_vehicle_calibration
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gnss_location:
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- 1.1
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- 0
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- 1.62
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gnss_yaw: 0.0
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rear_axle_height: 0.33
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reference: rear_axle_center
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vehicle: gem_e4
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top_lidar: !include "gem_e4_ouster.yaml"
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front_camera: !include "gem_e4_oak.yaml"
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gnss_reference_point: [40.114001, -88.228837]
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T_frontcamera_vehicle:
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- - 0.04979815921110274
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- -0.02889308605338095
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- 0.998341277156963
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- 0.6874899022540225
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- - -0.9986898492450907
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- 0.010343220052680617
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- 0.05011489006575621
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- -0.006750728511462573
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- - -0.011774038000135968
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- -0.9995289850272167
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- -0.02834016107658961
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- -0.07694233627246522
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- - 0.0
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- 0.0
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- 0.0
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- 1.0
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T_toplidar_frontcamera:
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- - 0.029096143490519977
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- -0.9995463314295703
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- -0.007781115579835407
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- -0.045768971801312515
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- - -0.005777780139254174
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- 0.007616104089319731
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- -0.999954305063568
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- -0.3868171492765085
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- - 0.9995599190096819
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- 0.02913977151915098
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- -0.005553559684576381
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- -0.6975440651652165
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- - 0.0
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- 0.0
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- 0.0
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- 1.0
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T_toplidar_vehicle:
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- - 0.9995177984237671
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- -0.020904183387756348
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- 0.022959932684898376
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- 0.0
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- - 0.020975051447749138
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- 0.9997758865356445
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- -0.0028501423075795174
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- 0.0
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- - -0.0228952094912529
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- 0.003330353880301118
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- 0.9997323155403137
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- 0.33000001311302185
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- - 0.0
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- 0.0
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- 0.0
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- 1.0

‎GEMstack/knowledge/defaults/__init__.py‎

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@@ -1,7 +1,36 @@
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from ...utils.config import load_config_recursive
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import os
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SETTINGS_FILE = os.path.join(os.path.split(__file__)[0],'current.yaml')
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import os,sys
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# Identify the vehicle used and load settings else default to vehicle config at current.yaml'
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# default currently uses GEM e4
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vehicle = "default"
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for arg in sys.argv:
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if arg.startswith('--'):
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k,v = arg.split('=',1)
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k = k[2:]
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v = v.strip('"')
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if k == "vehicle":
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vehicle = v
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sys.argv.remove(arg)
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break
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if(vehicle == 'e2'):
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vehicle_config = 'e2.yaml'
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elif(vehicle == 'e4'):
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vehicle_config = 'current.yaml'
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elif(vehicle == 'e2_gazebo'):
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vehicle_config = 'e2_gazebo.yaml'
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elif(vehicle == 'e4_gazebo'):
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vehicle_config = 'e4_gazebo.yaml'
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else:
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print("Unknown vehicle argument passed")
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vehicle = "default"
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vehicle_config = 'current.yaml'
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SETTINGS_FILE = os.path.join(os.path.split(__file__)[0],vehicle_config)
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print("**************************************************************")
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print("Loading default settings from",SETTINGS_FILE)
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print(f"Loading {vehicle} settings from",SETTINGS_FILE)
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print("**************************************************************")
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SETTINGS = load_config_recursive(SETTINGS_FILE)

‎GEMstack/knowledge/defaults/current.yaml‎

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# ********* Main settings entry point for behavior stack ***********
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# Configure settings for the vehicle / vehicle model
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# vehicle: !include ../vehicle/gem_e4.yaml
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vehicle: !include ../vehicle/gem_e2_gazebo.yaml
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vehicle: !include ../vehicle/gem_e4.yaml
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#arguments for algorithm components here
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model_predictive_controller:
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brake_amount : 0.5
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brake_speed : 2.0
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pure_pursuit:
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lookahead: 2.0
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lookahead_scale: 3.0
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lookahead: 4.0
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lookahead_scale: 1.0
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crosstrack_gain: 1.0
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desired_speed: trajectory
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longitudinal_control:

‎GEMstack/knowledge/defaults/e2.yaml‎

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# ********* Main settings entry point for behavior stack ***********
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# Configure settings for the vehicle / vehicle model
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vehicle: !include ../vehicle/gem_e2.yaml
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#arguments for algorithm components here
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model_predictive_controller:
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dt: 0.1
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lookahead: 20
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control:
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recovery:
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brake_amount : 0.5
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brake_speed : 2.0
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pure_pursuit:
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lookahead: 2.0
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lookahead_scale: 3.0
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crosstrack_gain: 1.0
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desired_speed: trajectory
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longitudinal_control:
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pid_p: 1.0
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pid_i: 0.1
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pid_d: 0.0
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#configure the simulator, if using
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simulator:
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dt: 0.01
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real_time_multiplier: 1.0 # make the simulator run faster than real time by making this > 1
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gnss_emulator:
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dt: 0.1 #10Hz
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#position_noise: 0.1 #10cm noise
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#orientation_noise: 0.04 #2.3 degrees noise
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#velocity_noise:
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# constant: 0.04 #4cm/s noise
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# linear: 0.02 #2% noise

‎GEMstack/knowledge/defaults/e2_gazebo.yaml‎

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# ********* Main settings entry point for behavior stack ***********
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# Configure settings for the vehicle / vehicle model
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vehicle: !include ../vehicle/gem_e2_gazebo.yaml
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#arguments for algorithm components here
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model_predictive_controller:
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dt: 0.1
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lookahead: 20
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control:
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recovery:
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brake_amount : 0.5
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brake_speed : 2.0
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pure_pursuit:
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lookahead: 4.0
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lookahead_scale: 3.0
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crosstrack_gain: 1.0
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desired_speed: trajectory
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longitudinal_control:
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pid_p: 0.1
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pid_i: 0.5
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pid_d: 0.5
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#configure the simulator, if using
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simulator:
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dt: 0.01
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real_time_multiplier: 1.0 # make the simulator run faster than real time by making this > 1
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gnss_emulator:
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dt: 0.1 #10Hz
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#position_noise: 0.1 #10cm noise
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#orientation_noise: 0.04 #2.3 degrees noise
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#velocity_noise:
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# constant: 0.04 #4cm/s noise
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# linear: 0.02 #2% noise

‎GEMstack/knowledge/defaults/e4_gazebo.yaml‎

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# ********* Main settings entry point for behavior stack ***********
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# Configure settings for the vehicle / vehicle model
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vehicle: !include ../vehicle/gem_e4_gazebo.yaml
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#arguments for algorithm components here
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model_predictive_controller:
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dt: 0.1
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lookahead: 20
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control:
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recovery:
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brake_amount : 0.5
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brake_speed : 2.0
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pure_pursuit:
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lookahead: 2.5
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lookahead_scale: 3.0
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crosstrack_gain: 0.5
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desired_speed: trajectory
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longitudinal_control:
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pid_p: 1.5
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pid_i: 0.2
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pid_d: 0.0
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#configure the simulator, if using
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simulator:
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dt: 0.01
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real_time_multiplier: 1.0 # make the simulator run faster than real time by making this > 1
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gnss_emulator:
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dt: 0.1 #10Hz
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#position_noise: 0.1 #10cm noise
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#orientation_noise: 0.04 #2.3 degrees noise
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#velocity_noise:
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# constant: 0.04 #4cm/s noise
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# linear: 0.02 #2% noise

‎GEMstack/knowledge/vehicle/gem_e2_gazebo.yaml‎

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@@ -9,5 +9,5 @@ geometry: !include gem_e2_geometry.yaml
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dynamics: !include gem_e2_dynamics.yaml
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limits: !include gem_e2_slow_limits.yaml
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control_defaults: !include gem_e2_control_defaults.yaml
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calibration: !include ../calibration/gem_e2.yaml
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calibration: !include ../calibration/gem_e2_gazebo.yaml
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sensors: !include gem_e2_sensor_environment_gazebo.yaml

‎GEMstack/knowledge/vehicle/gem_e2_sensor_environment_gazebo.yaml‎

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@@ -1,6 +1,7 @@
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ros_topics:
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top_lidar: /velodyne_points
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front_camera: /front_single_camera/image_raw
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front_depth: /zed2/zed_node/depth/depth_registered
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gnss: /gps/fix
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front_depth: /notopic
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gps: /gps/fix
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imu: /imu
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