Reverted settings override changes

Author: nvikramraj

.gitignore

@@ -171,8 +171,6 @@ cython_debug/
 .vscode/
 setup/zed_sdk.run
 cuda/
-homework/yolov8n.pt
-homework/yolo11n.pt
 GEMstack/knowledge/detection/yolov8n.pt
 GEMstack/knowledge/detection/yolo11n.pt
 yolov8n.pt

GEMstack/knowledge/defaults/__init__.py

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

docs/Gazebo Simulation Documentation.md

@@ -68,15 +68,16 @@ In one terminal, run the Gazebo simulator (using the instructions provided in th
 Open a second terminal and launch GEMStack with your configured launch file.
 
 ```bash
-python3 main.py --variant=gazebo --vehicle=e4_gazebo launch/{your_file}.yaml
+python3 main.py --variant=gazebo --settings={your_file}.yaml launch/{your_file}.yaml
+
 ```
 - Make sure to set the variant to `gazebo`.
-- You can specify the vehicle type to be `e2_gazebo` or `e4_gazebo`.
+- You can specify the settings file to  GEMstack/knowledge/defaults/e4_gazebo.yaml or e2_gazebo.yaml till we work on closing the sim to real gap.
 
 Example command launching the fixed route with e4 vehicle:
 
 ```bash
-python3 main.py --variant=gazebo --vehicle=e4_gazebo launch/fixed_route.yaml
+python3 main.py --variant=gazebo --settings=GEMstack/knowledge/defaults/e4_gazebo.yaml launch/fixed_route.yaml
 ```
 **Variants:**
  - sim
@@ -87,4 +88,16 @@ python3 main.py --variant=gazebo --vehicle=e4_gazebo launch/fixed_route.yaml
 - e4
 - e2_gazebo
 - e4_gazebo
+
+**Setting:**
+
+By default it takes GEMstack/knowledge/defaults/current.yaml which is GEM E4 Vehicle configuration settings.
+
+Other available configuration files:
+
+GEMstack/knowledge/defaults/
+- e2.yaml
+- e2_gazebo.yaml
+- e4_gazebo.yaml
+
 ---

launch/gazebo_simulation.yaml

@@ -72,7 +72,7 @@ variants:
             drive: 
                 perception:
                     state_estimation : GNSSStateEstimator
-                    agent_detection : object_detection.ObjectDetection
+                    agent_detection : test_yolo_gazebo_simulation.ObjectDetection
                     perception_normalization : StandardPerceptionNormalizer
 
                 planning: