Skip to content

Commit ad8900a

Browse files
Patrick8894Patrick8894
committed
Change by jugal from Control_Stanley on mpc.py for more logs
1 parent 11085c5 commit ad8900a

28 files changed

Lines changed: 2579 additions & 2559 deletions

‎.gitignore‎

Lines changed: 167 additions & 167 deletions
Original file line numberDiff line numberDiff line change
@@ -1,167 +1,167 @@
1-
# Byte-compiled / optimized / DLL files
2-
__pycache__/
3-
*.py[cod]
4-
*$py.class
5-
6-
#movie output
7-
*.mp4
8-
*.gif
9-
10-
# ROS Catkin build
11-
catkin_ws/
12-
13-
# C extensions
14-
*.so
15-
16-
# Distribution / packaging
17-
.Python
18-
build/
19-
develop-eggs/
20-
dist/
21-
downloads/
22-
eggs/
23-
.eggs/
24-
lib/
25-
lib64/
26-
parts/
27-
sdist/
28-
var/
29-
wheels/
30-
share/python-wheels/
31-
*.egg-info/
32-
.installed.cfg
33-
*.egg
34-
MANIFEST
35-
36-
# PyInstaller
37-
# Usually these files are written by a python script from a template
38-
# before PyInstaller builds the exe, so as to inject date/other infos into it.
39-
*.manifest
40-
*.spec
41-
42-
# Installer logs
43-
pip-log.txt
44-
pip-delete-this-directory.txt
45-
46-
# Unit test / coverage reports
47-
htmlcov/
48-
.tox/
49-
.nox/
50-
.coverage
51-
.coverage.*
52-
.cache
53-
nosetests.xml
54-
coverage.xml
55-
*.cover
56-
*.py,cover
57-
.hypothesis/
58-
.pytest_cache/
59-
cover/
60-
61-
# Translations
62-
*.mo
63-
*.pot
64-
65-
# Django stuff:
66-
*.log
67-
local_settings.py
68-
db.sqlite3
69-
db.sqlite3-journal
70-
71-
# Flask stuff:
72-
instance/
73-
.webassets-cache
74-
75-
# Scrapy stuff:
76-
.scrapy
77-
78-
# Sphinx documentation
79-
docs/_build/
80-
81-
# PyBuilder
82-
.pybuilder/
83-
target/
84-
85-
# Jupyter Notebook
86-
.ipynb_checkpoints
87-
88-
# IPython
89-
profile_default/
90-
ipython_config.py
91-
92-
# pyenv
93-
# For a library or package, you might want to ignore these files since the code is
94-
# intended to run in multiple environments; otherwise, check them in:
95-
# .python-version
96-
97-
# pipenv
98-
# According to pypa/pipenv#598, it is recommended to include Pipfile.lock in version control.
99-
# However, in case of collaboration, if having platform-specific dependencies or dependencies
100-
# having no cross-platform support, pipenv may install dependencies that don't work, or not
101-
# install all needed dependencies.
102-
#Pipfile.lock
103-
104-
# poetry
105-
# Similar to Pipfile.lock, it is generally recommended to include poetry.lock in version control.
106-
# This is especially recommended for binary packages to ensure reproducibility, and is more
107-
# commonly ignored for libraries.
108-
# https://python-poetry.org/docs/basic-usage/#commit-your-poetrylock-file-to-version-control
109-
#poetry.lock
110-
111-
# pdm
112-
# Similar to Pipfile.lock, it is generally recommended to include pdm.lock in version control.
113-
#pdm.lock
114-
# pdm stores project-wide configurations in .pdm.toml, but it is recommended to not include it
115-
# in version control.
116-
# https://pdm.fming.dev/#use-with-ide
117-
.pdm.toml
118-
119-
# PEP 582; used by e.g. github.com/David-OConnor/pyflow and github.com/pdm-project/pdm
120-
__pypackages__/
121-
122-
# Celery stuff
123-
celerybeat-schedule
124-
celerybeat.pid
125-
126-
# SageMath parsed files
127-
*.sage.py
128-
129-
# Environments
130-
.env
131-
.venv
132-
env/
133-
venv/
134-
ENV/
135-
env.bak/
136-
venv.bak/
137-
138-
# Spyder project settings
139-
.spyderproject
140-
.spyproject
141-
142-
# Rope project settings
143-
.ropeproject
144-
145-
# mkdocs documentation
146-
/site
147-
148-
# mypy
149-
.mypy_cache/
150-
.dmypy.json
151-
dmypy.json
152-
153-
# Pyre type checker
154-
.pyre/
155-
156-
# pytype static type analyzer
157-
.pytype/
158-
159-
# Cython debug symbols
160-
cython_debug/
161-
162-
# PyCharm
163-
# JetBrains specific template is maintained in a separate JetBrains.gitignore that can
164-
# be found at https://github.com/github/gitignore/blob/main/Global/JetBrains.gitignore
165-
# and can be added to the global gitignore or merged into this file. For a more nuclear
166-
# option (not recommended) you can uncomment the following to ignore the entire idea folder.
167-
#.idea/
1+
# Byte-compiled / optimized / DLL files
2+
__pycache__/
3+
*.py[cod]
4+
*$py.class
5+
6+
#movie output
7+
*.mp4
8+
*.gif
9+
10+
# ROS Catkin build
11+
catkin_ws/
12+
13+
# C extensions
14+
*.so
15+
16+
# Distribution / packaging
17+
.Python
18+
build/
19+
develop-eggs/
20+
dist/
21+
downloads/
22+
eggs/
23+
.eggs/
24+
lib/
25+
lib64/
26+
parts/
27+
sdist/
28+
var/
29+
wheels/
30+
share/python-wheels/
31+
*.egg-info/
32+
.installed.cfg
33+
*.egg
34+
MANIFEST
35+
36+
# PyInstaller
37+
# Usually these files are written by a python script from a template
38+
# before PyInstaller builds the exe, so as to inject date/other infos into it.
39+
*.manifest
40+
*.spec
41+
42+
# Installer logs
43+
pip-log.txt
44+
pip-delete-this-directory.txt
45+
46+
# Unit test / coverage reports
47+
htmlcov/
48+
.tox/
49+
.nox/
50+
.coverage
51+
.coverage.*
52+
.cache
53+
nosetests.xml
54+
coverage.xml
55+
*.cover
56+
*.py,cover
57+
.hypothesis/
58+
.pytest_cache/
59+
cover/
60+
61+
# Translations
62+
*.mo
63+
*.pot
64+
65+
# Django stuff:
66+
*.log
67+
local_settings.py
68+
db.sqlite3
69+
db.sqlite3-journal
70+
71+
# Flask stuff:
72+
instance/
73+
.webassets-cache
74+
75+
# Scrapy stuff:
76+
.scrapy
77+
78+
# Sphinx documentation
79+
docs/_build/
80+
81+
# PyBuilder
82+
.pybuilder/
83+
target/
84+
85+
# Jupyter Notebook
86+
.ipynb_checkpoints
87+
88+
# IPython
89+
profile_default/
90+
ipython_config.py
91+
92+
# pyenv
93+
# For a library or package, you might want to ignore these files since the code is
94+
# intended to run in multiple environments; otherwise, check them in:
95+
# .python-version
96+
97+
# pipenv
98+
# According to pypa/pipenv#598, it is recommended to include Pipfile.lock in version control.
99+
# However, in case of collaboration, if having platform-specific dependencies or dependencies
100+
# having no cross-platform support, pipenv may install dependencies that don't work, or not
101+
# install all needed dependencies.
102+
#Pipfile.lock
103+
104+
# poetry
105+
# Similar to Pipfile.lock, it is generally recommended to include poetry.lock in version control.
106+
# This is especially recommended for binary packages to ensure reproducibility, and is more
107+
# commonly ignored for libraries.
108+
# https://python-poetry.org/docs/basic-usage/#commit-your-poetrylock-file-to-version-control
109+
#poetry.lock
110+
111+
# pdm
112+
# Similar to Pipfile.lock, it is generally recommended to include pdm.lock in version control.
113+
#pdm.lock
114+
# pdm stores project-wide configurations in .pdm.toml, but it is recommended to not include it
115+
# in version control.
116+
# https://pdm.fming.dev/#use-with-ide
117+
.pdm.toml
118+
119+
# PEP 582; used by e.g. github.com/David-OConnor/pyflow and github.com/pdm-project/pdm
120+
__pypackages__/
121+
122+
# Celery stuff
123+
celerybeat-schedule
124+
celerybeat.pid
125+
126+
# SageMath parsed files
127+
*.sage.py
128+
129+
# Environments
130+
.env
131+
.venv
132+
env/
133+
venv/
134+
ENV/
135+
env.bak/
136+
venv.bak/
137+
138+
# Spyder project settings
139+
.spyderproject
140+
.spyproject
141+
142+
# Rope project settings
143+
.ropeproject
144+
145+
# mkdocs documentation
146+
/site
147+
148+
# mypy
149+
.mypy_cache/
150+
.dmypy.json
151+
dmypy.json
152+
153+
# Pyre type checker
154+
.pyre/
155+
156+
# pytype static type analyzer
157+
.pytype/
158+
159+
# Cython debug symbols
160+
cython_debug/
161+
162+
# PyCharm
163+
# JetBrains specific template is maintained in a separate JetBrains.gitignore that can
164+
# be found at https://github.com/github/gitignore/blob/main/Global/JetBrains.gitignore
165+
# and can be added to the global gitignore or merged into this file. For a more nuclear
166+
# option (not recommended) you can uncomment the following to ignore the entire idea folder.
167+
#.idea/

‎GEMstack/knowledge/calibration/gem_e4.yaml‎

Lines changed: 7 additions & 7 deletions
Original file line numberDiff line numberDiff line change
@@ -1,7 +1,7 @@
1-
calibration_date: "2024-03-05" # Date of calibration YYYY-MM-DD
2-
reference: rear_axle_center # rear axle center
3-
rear_axle_height: 0.33 # height of rear axle center above flat ground
4-
gnss_location: [1.10,0,1.62] # 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?
5-
gnss_yaw: 0.0 # radians
6-
top_lidar: !include "gem_e4_ouster.yaml"
7-
front_camera: !include "gem_e4_oak.yaml"
1+
calibration_date: "2024-03-05" # Date of calibration YYYY-MM-DD
2+
reference: rear_axle_center # rear axle center
3+
rear_axle_height: 0.33 # height of rear axle center above flat ground
4+
gnss_location: [1.10,0,1.62] # 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?
5+
gnss_yaw: 0.0 # radians
6+
top_lidar: !include "gem_e4_ouster.yaml"
7+
front_camera: !include "gem_e4_oak.yaml"

‎GEMstack/knowledge/calibration/gem_e4_oak.yaml‎

Lines changed: 3 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -1,3 +1,3 @@
1-
reference: rear_axle_center # rear axle center
2-
rotation: [[0,0,1],[-1,0,0],[0,-1,0]] # rotation matrix mapping z to forward, x to left, y to down, guesstimated
3-
center_position: [1.78,0,1.58] # meters, center camera, guesstimated
1+
reference: rear_axle_center # rear axle center
2+
rotation: [[0,0,1],[-1,0,0],[0,-1,0]] # rotation matrix mapping z to forward, x to left, y to down, guesstimated
3+
center_position: [1.78,0,1.58] # meters, center camera, guesstimated

‎GEMstack/knowledge/calibration/gem_e4_ouster.yaml‎

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -1,3 +1,3 @@
1-
reference: rear_axle_center # rear axle center
2-
position: [1.10,0,2.03] # meters, calibrated by Hang's watchful eye
1+
reference: rear_axle_center # rear axle center
2+
position: [1.10,0,2.03] # meters, calibrated by Hang's watchful eye
33
rotation: [[1,0,0],[0,1,0],[0,0,1]] #rotation matrix mapping lidar frame to vehicle frame

0 commit comments

Comments
 (0)