Merging with s2025

Author: animeshsingh98

.gitignore

@@ -167,7 +167,7 @@ cython_debug/
 #  be found at https://github.com/github/gitignore/blob/main/Global/JetBrains.gitignore
 #  and can be added to the global gitignore or merged into this file.  For a more nuclear
 #  option (not recommended) you can uncomment the following to ignore the entire idea folder.
-#.idea/
+.idea/
 
 # ZED run files
 **/*.run
@@ -178,8 +178,6 @@ setup/zed_sdk.run
 *.bag
 
 cuda/
-homework/yolov8n.pt
-homework/yolo11n.pt
 GEMstack/knowledge/detection/yolov8n.pt
 GEMstack/knowledge/detection/yolo11n.pt
 yolov8n.pt

GEMstack/knowledge/calibration/gem_e2_gazebo.yaml

@@ -0,0 +1,19 @@
+# vehicle info 
+vehicle:
+    vehicle_dim: [1.7, 3.2]  # in meter
+    vehicle_turning_radius: 3.657
+# algorithm parameters
+reeds_shepp_parking:
+    shift_from_center_to_rear_axis: 1.25 # in meter
+    search_step_size: 0.1 # in meter
+    closest: False # If True, the closest parking spot will be selected, otherwise the farthest one will be selected
+    parking_lot_axis_shift_margin: 2.44 # in meter
+    search_bound_threshold: 0.5 
+    clearance_step: 0.5
+    clearance: 0
+    add_static_vertical_curb_as_obstacle: True
+    add_static_horizontal_curb_as_obstacle: True
+    static_horizontal_curb_size: [2.44, 0.5]
+    static_vertical_curb_size: [2.44, 24.9]
+    compact_parking_spot_size: [2.44, 4.88] # US Compact Space for parking (2.44, 4.88)
+

GEMstack/knowledge/calibration/gem_e4_gazebo.yaml

@@ -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)

GEMstack/knowledge/defaults/ReedsShepp_param.yaml

@@ -40,8 +40,11 @@ components:
       inputs: all
   - mission_execution:
       outputs: mission
+  - mission_planning:
+      inputs: all
+      outputs: mission
   - route_planning:
-      inputs: [vehicle, roadgraph, mission]
+      inputs: all
       outputs: route
   - driving_logic:
       inputs: 

GEMstack/knowledge/defaults/__init__.py

@@ -0,0 +1,19 @@
+# arguments for BiRRT* algorithm
+# map parameters
+map:
+    lower_x: -15 
+    upper_x: 40 
+    lower_y: -10
+    upper_y: 30
+    grid_resolution: 10 # grids per meter for occupency grid
+    lane_boundary_radius: 0.2 # radius in meter for determining the size of the lane boundary in occupency grid
+    obstacle_radius: 0.2 # radius in meter for determining the size of the obstacle in occupency grid
+# vehicle info 
+vehicle:
+    heading_limit: 0.5235987756  # vehicle heading difference limit per rrt step_size (pi/6 in radians)
+    half_width: 0.8 # vehicle half width in meter
+# algorithm parameters
+rrt:
+    time_limit: 10 # in sec
+    step_size: 0.5 # length in meter for local planner to explore
+    search_r: 1.4 # radius in meter for rewiring