Gazebo GEMstack Integration by harishkumarbalaji · Pull Request #164 · krishauser/GEMstack

harishkumarbalaji · 2025-04-23T04:39:06Z

Dockerize the GEMStack
Add Gem Gazebo interface to connect to the Gazebo simulator
Add passenger comfort metrics analysis script
Add a parameter to launch the main.py with the vehicle model to run the corresponding vehicle

…ected

Fix setup issues and add support for CUDA 12 users

…ncies Update missing dependencies for GEMstack

Infra b - Fix setup machine script

krishauser

Please clean up contributions

krishauser · 2025-04-23T14:55:30Z

.gitignore

Should not include homework files

We are using few of the homework files to test the simulation metrics and performance.
We will review and make the necessary changes.

krishauser · 2025-04-23T14:57:20Z

GEMstack/knowledge/calibration/gem_e2_gazebo.yaml

Move calibration transforms to separate files and !include them. Is it necessary to have separate calibration files for the simulation vehicles? Wouldn’t it be better for those to match the actual vehicles?

We are working on closing the Sim to Real Gap.
Could you let us know if these needs to be fixed before the merge or keep it separate for now and then merge in next request?

The other teams can ignore the gazebo yaml files and make changes to the hardware related e2 and e4 vehicle yaml files, the simulation team will review the changes make integrate accordingly.

By using the same calibration files there should be zero gap.

This request has been completed and yaml files have been reverted.

krishauser · 2025-04-23T14:59:46Z

GEMstack/knowledge/defaults/__init__.py

This is quite a kludge. It would be better to change main.py to accept a config file name.

Just to be clear on this change.
You want us to get the file path of the yaml file from system arguments and pass it to
init.py from main.py ?

Moving forward with the above may involve tinkering with GEMstack/utils/settings.py and config.py.
Would changes made to those files acceptable or do you recommend just changing main.py and current.yaml ?

You shouldn’t need to mess with config.py. Just letting settings.py override the defaults would be sufficient.

This request is completed.

krishauser · 2025-04-23T15:00:29Z

GEMstack/knowledge/defaults/current.yaml

Is this part of the simulation contribution? Suggest removing it

This change will be reverted.

This request has been completed and yaml files have been reverted.

krishauser · 2025-04-23T15:01:32Z

GEMstack/knowledge/defaults/e2_gazebo.yaml

Again, is there any reason to have separate simulation vehicle configurations rather than just using the overall one?

We are working on closing the Sim to Real Gap.
The controller performance in simulation is quite close to real now, after a bit more testing we will be converting it to a single yaml file.
We are still working on closing the gap on transformation matrix.

This request has been completed and yaml files have been reverted.

krishauser · 2025-04-23T15:05:00Z

GEMstack/onboard/perception/object_detection.py

Is this file necessary? Is it wahat the perception team wants?

This file will be used to showcase object detection using simulation with the base yolo model.
Could we rename the file to represent test code?

Yes, please rename to be more specific.

This request is completed.

krishauser · 2025-04-23T15:06:31Z

GEMstack/onboard/visualization/mpl_visualization.py

Is this compatible with what the SW infra team wants?

This is also part of homework done by SW infra team. We have included this to test performance of agent state in simulation.
Please let us know if we could rename this to test code and merge to s2025 or remove it.

It’s ok, let’s keep it

This request is completed.

krishauser · 2025-04-23T15:10:44Z

docs/Safety and Comfort Metrics Documentation.md

Is this file necessary?

This file is done as part of SW Infra Team Homework to plot more info on controller cross track error and vehicle's acceleration and the trajectory that the vehicle has taken. We can remove it if you think it is related to HW and dont need in S2025 branch.

This request is completed.

krishauser · 2025-04-23T15:11:35Z

launch/perception.yaml

Is this file necessary?

This file will be removed

This request is completed.

krishauser · 2025-04-23T15:12:25Z

testing/test_comfort_metrics.py

Is this file necessary?

This file is done as part of SW Infra Team Homework to plot more info on controller cross track error and vehicle's acceleration and the trajectory that the vehicle has taken. We can remove it if you think it is related to HW and dont need in S2025 branch.

Suggest to remove it for now, let’s ask the control team to commit any comfort test scripts they are using

This request is completed.

…mu condition in subscribe_sensor

S2025 -> Simulation

S2025 simulation

PR Fixes

krishauser · 2025-05-05T15:14:35Z

launch/README.md

Shouldn't take this file out

This file has been added back

krishauser · 2025-05-05T15:15:03Z

main.py

Stray debugging was committed

PR changes

Revert yaml files

Subscribe to gnss topic from gazebo simulation

Removed yaml changes

sonarqubecloud · 2025-05-07T14:27:35Z

Quality Gate failed

Failed conditions
18 Security Hotspots

See analysis details on SonarQube Cloud

krishauser · 2025-05-07T14:56:26Z

LGTM

krishauser and others added 30 commits January 27, 2025 14:32

Added homework description and starter code

cffde30

Merged with s2025

efc06c9

Merge branch 'main' into s2025_teamB

97a3de8

Fix setup issues and add user to the docker image

be692a1

Dummy commit to trigger sonarqube

9206116

Fix the requrements.txt to take from the current repo

0fcdff4

Update the docker compose service name

cff1e29

Update missing depedencies and ultralytics python packagein requirements

753e5ba

Add. Instructions to check if the container toolkit is working as exp…

a7a2e8c

…ected

Update. Readme with latest depedencies

1f6fb93

Update. Readme with post install steps

6618e8f

Fixed launch file to work with standard perception pipeline

a871397

Merge branch 's2025' into s2025_teamB

7a66dc1

Merge pull request #98 from krishauser/infra-b/fix_setup_issues

38deb79

Fix setup issues and add support for CUDA 12 users

Update volume mounting to access the files

6f18feb

Merge pull request #101 from krishauser/infra-b/update_missing_depede…

ca430be

…ncies Update missing dependencies for GEMstack

implement perception part 1

9e67bac

merge incoming change from teamB

9a9acff

change prompt

6bcab9f

gather data for rosbag

995409b

Fix setup machine script and add volume mounts for dbus

30be879

Fixed fake_fake simulation calls and rename from YIELD -> YIELDING

dde23bc

Merge pull request #103 from krishauser/infra-b/fix_setup_machine_scrpt

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Infra b - Fix setup machine script

Added rosbag sub, visualization and comments

9c13eca

ignores models

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ignores models

48fe475

add vis publisher and error handling

aca3247

switch back to GEM e4 topic

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remove person_detector

0cd147d

Merge branch 'PerceptionB_main' into perception_b_vikram

e818a1c

harishkumarbalaji assigned RohitMurali18 and MananM1310 Apr 23, 2025

harishkumarbalaji changed the title ~~S2025 simulation~~ Gazebo GEMstack Integration Apr 23, 2025

harishkumarbalaji added 2 commits April 22, 2025 23:44

add install ackermann-msgs in docker

55ba9a8

update documentation

ff6b765

krishauser requested changes Apr 23, 2025

View reviewed changes

danielzhuang11 and others added 9 commits April 24, 2025 11:15

revert current yaml, fix accel/heading states

cfcd03b

flipped lat and long

1e9c506

subscribes to combined gnss data

6dc31d2

updates self.last_reading.speed in gnss_callback and removed unused i…

ac5f11a

…mu condition in subscribe_sensor

Merge pull request #176 from krishauser/s2025

ea7594b

S2025 -> Simulation

Merge pull request #177 from krishauser/s2025_Simulation

c7a0e25

S2025 simulation

PR fixes

c773ff2

Reverted settings override changes

d7f0f52

Merge pull request #178 from krishauser/s2025_Simulation_vikram

86637c4

PR Fixes

krishauser reviewed May 5, 2025

View reviewed changes

nvikramraj and others added 10 commits May 5, 2025 10:23

PR changes

8eeb5bf

Merge pull request #182 from krishauser/s2025_Simulation_vikram

11c2536

PR changes

Update README.md

496b018

Update main.py

35fdbf5

Revert yaml files

2d6c7f0

Merge pull request #185 from krishauser/s2025_Simulation_vikram

3f9a74e

Revert yaml files

Merge branch 's2025_Simulation' into s2025_Simulation_gnss_sub

45105e5

Merge pull request #184 from krishauser/s2025_Simulation_gnss_sub

ec43ea2

Subscribe to gnss topic from gazebo simulation

Removed yaml changes

8c475fa

Merge pull request #186 from krishauser/s2025_Simulation_vikram

4e24ae8

Removed yaml changes

krishauser merged commit 0953a35 into s2025 May 7, 2025
2 of 4 checks passed

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harishkumarbalaji commented Apr 23, 2025

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nvikramraj Apr 30, 2025 •

edited

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nvikramraj Apr 30, 2025 •

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