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GEM e4 user
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change model to hang_v1, fixed typo
1 parent 7743899 commit d5ef999

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Lines changed: 3414 additions & 1 deletion

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‎2025-02-18_11-01-55/PurePursuitTrajectoryTracker_debug.csv‎

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‎2025-02-18_11-01-55/behavior.json‎

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‎2025-02-18_11-01-55/meta.yaml‎

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events:
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- description: Hardware fault override_active
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time: 1739898141.896652
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vehicle_time: 1739898141.8965485
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- description: Ctrl+C pressed, switching to recovery mode
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time: 1739898143.8960507
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vehicle_time: 1739898143.8812282
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- description: Mission execution ended
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time: 1739898143.916531
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vehicle_time: 1739898143.8812282
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exit_reason: normal exit
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git_branch: Control_teamB
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git_commit_id: 7743899fd6632599b8aa1c4c3c9a73270873950b
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pipelines:
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- name: drive
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time: 1739898116.0726633
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vehicle_time: 1739898115.9723945
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- name: recovery
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time: 1739898143.9031632
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vehicle_time: 1739898143.8812282
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start_time: 1739898115.96277
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start_time_human_readable: '2025-02-18 11:01:55'

‎2025-02-18_11-01-55/settings.yaml‎

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control:
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longitudinal_control:
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pid_d: 0.0
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pid_i: 0.1
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pid_p: 1.0
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pure_pursuit:
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crosstrack_gain: 0.5
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desired_speed: trajectory
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lookahead: 2.0
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lookahead_scale: 3.0
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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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model_predictive_controller:
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dt: 0.1
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lookahead: 20
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run:
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after:
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show_log_folder: true
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computation_graph:
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components:
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- state_estimation:
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inputs: []
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outputs:
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- vehicle
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- roadgraph_update:
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inputs:
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- vehicle
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outputs:
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- roadgraph
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- obstacle_detection:
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inputs:
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- vehicle
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outputs:
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- obstacles
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- agent_detection:
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inputs:
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- vehicle
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outputs:
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- agents
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- lane_detection:
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inputs:
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- vehicle
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- roadgraph
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outputs:
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- vehicle_lane
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- sign_detection:
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inputs:
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- vehicle
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- roadgraph
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outputs:
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- roadgraph.signs
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- environment_detection:
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inputs:
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- vehicle
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outputs:
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- environment
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- intent_estimation:
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inputs:
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- vehicle
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- roadgraph
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- agents
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outputs:
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- agent_intents
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- relations_estimation:
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inputs:
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- vehicle
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- roadgraph
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- agents
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- obstacles
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outputs:
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- relations
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- predicate_evaluation:
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inputs:
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- vehicle
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- roadgraph
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- agents
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- obstacles
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outputs:
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- predicates
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- perception_normalization:
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inputs:
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- all
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outputs: []
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- mission_execution:
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inputs: []
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outputs:
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- mission
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- route_planning:
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inputs:
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- vehicle
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- roadgraph
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- mission
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outputs:
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- route
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- driving_logic:
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inputs: []
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outputs:
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- intent
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- motion_planning:
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inputs:
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- all
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outputs:
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- trajectory
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- trajectory_tracking:
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inputs:
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- vehicle
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- trajectory
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outputs: []
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- signaling:
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inputs:
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- intent
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outputs: []
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description: Drive the GEM vehicle along a fixed route (currently xyhead_highbay_backlot_p.csv)
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drive:
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perception:
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perception_normalization: StandardPerceptionNormalizer
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state_estimation: GNSSStateEstimator
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planning:
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motion_planning:
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args:
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- null
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type: RouteToTrajectoryPlanner
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route_planning:
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args:
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- GEMstack/knowledge/routes/xyhead_highbay_backlot_p.csv
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type: StaticRoutePlanner
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trajectory_tracking:
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args:
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desired_speed: 2.5
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print: false
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type: pure_pursuit.PurePursuitTrajectoryTracker
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log:
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components:
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- state_estimation
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- trajectory_tracking
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ros_topics: []
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vehicle_interface: true
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mission_execution: StandardExecutor
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mode: hardware
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name: launch/fixed_route.yaml
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recovery:
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planning:
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trajectory_tracking:
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print: false
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type: recovery.StopTrajectoryTracker
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replay:
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components: []
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log: null
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ros_topics: []
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require_engaged: false
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variants:
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log_ros:
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log:
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ros_topics:
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- /game_control/joy
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- /front_radar/front_radar/objects
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- /front_radar/front_radar/radar_tracks
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- /lidar1/velodyne_points
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- /novatel/inspva
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- /novatel/imu
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- /novatel/bestpos
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- /zed2/zed_node/depth/camera_info
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- /zed2/zed_node/depth/depth_registered
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- /zed2/zed_node/rgb/camera_info
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- /zed2/zed_node/rgb/image_rect_color
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- /zed2/zed_node/imu/data
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- /zed2/zed_node/imu/data_raw
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- /zed2/zed_node/imu/mag
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- /pacmod/as_rx/enable
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- /pacmod/as_rx/accel_cmd
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- /pacmod/as_rx/brake_cmd
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- /pacmod/as_rx/shift_cmd
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- /pacmod/as_rx/steer_cmd
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- /pacmod/as_rx/turn_cmd
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- /pacmod/as_rx/turn_signal_cmd
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- /pacmod/as_rx/vehicle_speed_cmd
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- /pacmod/as_tx/enable
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- /pacmod/as_tx/global_rpt
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- /pacmod/as_tx/accel_rpt
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- /pacmod/as_tx/brake_rpt
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- /pacmod/as_tx/shift_rpt
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- /pacmod/as_tx/steer_rpt
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- /pacmod/as_tx/turn_rpt
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- /pacmod/as_tx/vehicle_speed_rpt
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sim:
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run:
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drive:
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perception:
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agent_detection: OmniscientAgentDetector
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state_estimation: OmniscientStateEstimator
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mode: simulation
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vehicle_interface:
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args:
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scene: scenes/xyhead_demo.yaml
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type: gem_simulator.GEMDoubleIntegratorSimulationInterface
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visualization:
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args:
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rate: 20
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save_as: null
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type: klampt_visualization.KlamptVisualization
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vehicle_interface: gem_hardware.GEMHardwareInterface
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simulator:
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dt: 0.01
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gnss_emulator:
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dt: 0.1
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real_time_multiplier: 1.0
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vehicle:
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calibration:
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calibration_date: '2024-03-05'
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front_camera:
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center_position:
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- 1.78
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- 0
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- 1.58
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reference: rear_axle_center
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rotation:
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- - 0
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- 0
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- 1
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- - -1
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- 0
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- 0
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- - 0
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- -1
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- 0
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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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top_lidar:
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position:
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- 1.1
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- 0
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- 2.03
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reference: rear_axle_center
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rotation:
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- - 1
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- 0
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- 0
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- - 0
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- 1
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- 0
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- - 0
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- 0
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- 1
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control_defaults:
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accelerator_pedal_speed: 3.0
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brake_pedal_speed: 3.0
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steering_wheel_speed: 4.0
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dynamics:
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acceleration_deadband: 0.1
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acceleration_model: kris_v1
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accelerator_active_range:
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- 0.2
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- 1.0
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aerodynamic_drag_coefficient: 0.01
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brake_active_range:
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- 0
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- 1
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gravity: 9.81
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internal_dry_deceleration: 0.2
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internal_viscous_deceleration: 0.05
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lateral_friction: 1.0
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longitudinal_friction: 1.0
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mass: 300.0
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max_accelerator_acceleration:
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- 0.0
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- 5.0
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max_accelerator_acceleration_reverse: 2.5
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max_accelerator_power:
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- 0.0
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- 10000.0
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max_accelerator_power_reverse: 10000.0
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max_brake_deceleration: 8.0
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enable_through_joystick: true
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geometry:
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bounds:
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- - -0.35
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- 2.85
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- - -0.85
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- 0.85
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- - 0
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- 2.5
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height: 2.5
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length: 3.2
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max_steering_angle: 11.0
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max_wheel_angle: 0.6108
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min_steering_angle: -11.0
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min_wheel_angle: -0.6108
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urdf_model: /home/gem/control_team_b/GEMstack/knowledge/vehicle/model/gem_e4.urdf
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wheel_radius: 0.33
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wheelbase: 2.56
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width: 1.7
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limits:
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max_acceleration: 1.0
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max_accelerator_pedal: 0.5
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max_brake_pedal: 0.5
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max_deceleration: 2.0
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max_reverse_speed: 0.25
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max_speed: 2.5
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max_steering_rate: 2.0
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max_command_rate: 10.0
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max_gear: 1
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name: GEM
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num_wiper_settings: 1
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sensors:
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ros_topics:
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front_camera: /oak/rgb/image_raw
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front_depth: /oak/stereo/image_raw
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gnss: /septentrio_gnss/insnavgeod
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top_lidar: /ouster/points
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version: e4

‎GEMstack/knowledge/calibration/gem_e4.yaml‎

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@@ -1,7 +1,7 @@
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calibration_date: "2024-03-05" # Date of calibration YYYY-MM-DD
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reference: rear_axle_center # rear axle center
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rear_axle_height: 0.33 # height of rear axle center above flat ground
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gnss_location: [1.10,1.62] # 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?
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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?
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gnss_yaw: 0.0 # radians
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top_lidar: !include "gem_e4_ouster.yaml"
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front_camera: !include "gem_e4_oak.yaml"

‎GEMstack/knowledge/vehicle/dynamics.py‎

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Original file line numberDiff line numberDiff line change
@@ -18,6 +18,12 @@ def acceleration_to_pedal_positions(acceleration : float, velocity : float, pitc
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Returns tuple (accelerator_pedal_position, brake_pedal_position, desired_gear)
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"""
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model = settings.get('vehicle.dynamics.acceleration_model','hang_v1')
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model = 'hang_v1'
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# print("===============")
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# print(model)
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# print("===============")
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if model == 'hang_v1':
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if gear != 1:
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print("WARNING can't handle gears other than 1 yet")
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else:
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brake_percent = brake_active_range[0] + -(acceleration+dry_decel)/max_brake * (brake_active_range[1]-brake_active_range[0])
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throttle_percent = 0
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print("accel : {:.3f}".format(acceleration))
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print("vel : {:.3f}".format(velocity))
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print("gear : {}".format(gear))
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print("gas : {:.2f}".format(throttle_percent))
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print("brake : {:.2f}".format(brake_percent))
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return (max(throttle_percent,0.0),max(brake_percent,0.0),1)
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elif model == 'kris_v1':

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