diff --git a/GEMstack/knowledge/calibration/gem_e2_gazebo.yaml b/GEMstack/knowledge/calibration/gem_e2_gazebo.yaml deleted file mode 100644 index 33f78368b..000000000 --- a/GEMstack/knowledge/calibration/gem_e2_gazebo.yaml +++ /dev/null @@ -1,59 +0,0 @@ -calibration_date: "2023-08-31" # Date of calibration YYYY-MM-DD -reference: rear_axle_center # rear axle center -rear_axle_height: 0.273 # height of rear axle center above flat ground -gnss_location: [1.1,0.0,0.3] # 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? -gnss_yaw: 0.0 # radians -front_radar_location: [1.45,0,0.07] # meters, taken from https://github.com/hangcui1201/POLARIS_GEM_e2_Real/blob/main/platform_launch/launch/white_e2/platform.launch -top_lidar: !include "gem_e2_velodyne.yaml" -front_camera: !include "gem_e2_zed.yaml" -T_frontcamera_vehicle: -- - 0.04979815921110274 - - -0.02889308605338095 - - 0.998341277156963 - - 0.6874899022540225 -- - -0.9986898492450907 - - 0.010343220052680617 - - 0.05011489006575621 - - -0.006750728511462573 -- - -0.011774038000135968 - - -0.9995289850272167 - - -0.02834016107658961 - - -0.07694233627246522 -- - 0.0 - - 0.0 - - 0.0 - - 1.0 -T_toplidar_frontcamera: -- - 0.029096143490519977 - - -0.9995463314295703 - - -0.007781115579835407 - - -0.045768971801312515 -- - -0.005777780139254174 - - 0.007616104089319731 - - -0.999954305063568 - - -0.3868171492765085 -- - 0.9995599190096819 - - 0.02913977151915098 - - -0.005553559684576381 - - -0.6975440651652165 -- - 0.0 - - 0.0 - - 0.0 - - 1.0 -T_toplidar_vehicle: -- - 0.9995177984237671 - - -0.020904183387756348 - - 0.022959932684898376 - - 0.0 -- - 0.020975051447749138 - - 0.9997758865356445 - - -0.0028501423075795174 - - 0.0 -- - -0.0228952094912529 - - 0.003330353880301118 - - 0.9997323155403137 - - 0.33000001311302185 -- - 0.0 - - 0.0 - - 0.0 - - 1.0 diff --git a/GEMstack/knowledge/calibration/gem_e4_gazebo.yaml b/GEMstack/knowledge/calibration/gem_e4_gazebo.yaml deleted file mode 100644 index d6dfc3185..000000000 --- a/GEMstack/knowledge/calibration/gem_e4_gazebo.yaml +++ /dev/null @@ -1,64 +0,0 @@ -date: '2025-02-25 22:31:02.057447' -calibration_type: absolute_vehicle_calibration -gnss_location: -- 1.1 -- 0 -- 1.62 -gnss_yaw: 0.0 -rear_axle_height: 0.33 -reference: rear_axle_center -vehicle: gem_e4 -top_lidar: !include "gem_e4_ouster.yaml" -front_camera: !include "gem_e4_oak.yaml" -gnss_reference_point: [40.114001, -88.228837] -T_frontcamera_vehicle: -- - 0.04979815921110274 - - -0.02889308605338095 - - 0.998341277156963 - - 0.6874899022540225 -- - -0.9986898492450907 - - 0.010343220052680617 - - 0.05011489006575621 - - -0.006750728511462573 -- - -0.011774038000135968 - - -0.9995289850272167 - - -0.02834016107658961 - - -0.07694233627246522 -- - 0.0 - - 0.0 - - 0.0 - - 1.0 -T_toplidar_frontcamera: -- - 0.029096143490519977 - - -0.9995463314295703 - - -0.007781115579835407 - - -0.045768971801312515 -- - -0.005777780139254174 - - 0.007616104089319731 - - -0.999954305063568 - - -0.3868171492765085 -- - 0.9995599190096819 - - 0.02913977151915098 - - -0.005553559684576381 - - -0.6975440651652165 -- - 0.0 - - 0.0 - - 0.0 - - 1.0 -T_toplidar_vehicle: -- - 0.9995177984237671 - - -0.020904183387756348 - - 0.022959932684898376 - - 0.0 -- - 0.020975051447749138 - - 0.9997758865356445 - - -0.0028501423075795174 - - 0.0 -- - -0.0228952094912529 - - 0.003330353880301118 - - 0.9997323155403137 - - 0.33000001311302185 -- - 0.0 - - 0.0 - - 0.0 - - 1.0 \ No newline at end of file diff --git a/GEMstack/knowledge/vehicle/gem_e2_gazebo.yaml b/GEMstack/knowledge/vehicle/gem_e2_gazebo.yaml deleted file mode 100644 index c82a8b0dc..000000000 --- a/GEMstack/knowledge/vehicle/gem_e2_gazebo.yaml +++ /dev/null @@ -1,13 +0,0 @@ -name: GEM -version: e2 -max_gear : 1 -num_wiper_settings : 1 -enable_through_joystick : true #turn this to false to have GEMstack enable control -max_command_rate : 10.0 #for hardware, max rate of commands to send to vehicle over Pacmod -#using !include directives helps maintain reuse of common settings -geometry: !include gem_e2_geometry.yaml -dynamics: !include gem_e2_dynamics.yaml -limits: !include gem_e2_slow_limits.yaml -control_defaults: !include gem_e2_control_defaults.yaml -calibration: !include ../calibration/gem_e2_gazebo.yaml -sensors: !include gem_e2_sensor_environment_gazebo.yaml diff --git a/GEMstack/knowledge/vehicle/gem_e2_sensor_environment_gazebo.yaml b/GEMstack/knowledge/vehicle/gem_e2_sensor_environment_gazebo.yaml deleted file mode 100644 index 94ab558fc..000000000 --- a/GEMstack/knowledge/vehicle/gem_e2_sensor_environment_gazebo.yaml +++ /dev/null @@ -1,7 +0,0 @@ -ros_topics: - top_lidar: /velodyne_points - front_camera: /front_single_camera/image_raw - front_depth: /notopic - gps: /gps/fix - imu: /imu - \ No newline at end of file diff --git a/GEMstack/knowledge/vehicle/gem_e4_gazebo.yaml b/GEMstack/knowledge/vehicle/gem_e4_gazebo.yaml deleted file mode 100644 index 750b41fb1..000000000 --- a/GEMstack/knowledge/vehicle/gem_e4_gazebo.yaml +++ /dev/null @@ -1,13 +0,0 @@ -name: GEM -version: e4 -max_gear : 1 -num_wiper_settings : 1 -enable_through_joystick : true #turn this to false to have GEMstack enable control -max_command_rate : 10.0 #for hardware, max rate of commands to send to vehicle over Pacmod -#using !include directives helps maintain reuse of common settings -geometry: !include gem_e4_geometry.yaml -dynamics: !include gem_e4_dynamics.yaml -limits: !include gem_e2_slow_limits.yaml -control_defaults: !include gem_e2_control_defaults.yaml -calibration: !include ../calibration/gem_e4_gazebo.yaml -sensors: !include gem_e4_sensor_environment_gazebo.yaml diff --git a/GEMstack/knowledge/vehicle/gem_e4_sensor_environment_gazebo.yaml b/GEMstack/knowledge/vehicle/gem_e4_sensor_environment_gazebo.yaml deleted file mode 100644 index 94ab558fc..000000000 --- a/GEMstack/knowledge/vehicle/gem_e4_sensor_environment_gazebo.yaml +++ /dev/null @@ -1,7 +0,0 @@ -ros_topics: - top_lidar: /velodyne_points - front_camera: /front_single_camera/image_raw - front_depth: /notopic - gps: /gps/fix - imu: /imu - \ No newline at end of file diff --git a/docs/Gazebo Simulation Documentation.md b/docs/Gazebo Simulation Documentation.md index aea20d841..a09d9616a 100644 --- a/docs/Gazebo Simulation Documentation.md +++ b/docs/Gazebo Simulation Documentation.md @@ -77,7 +77,9 @@ python3 main.py --variant=gazebo --settings={your_file}.yaml launch/{your_file}. Example command launching the fixed route with e4 vehicle: ```bash -python3 main.py --variant=gazebo --settings=GEMstack/knowledge/defaults/e4_gazebo.yaml launch/fixed_route.yaml +python3 main.py --variant=gazebo --settings=GEMstack/knowledge/defaults/e2.yaml launch/fixed_route.yaml +or +python3 main.py --variant=gazebo --settings=GEMstack/knowledge/defaults/current.yaml launch/fixed_route.yaml ``` **Variants:** - sim @@ -86,8 +88,6 @@ python3 main.py --variant=gazebo --settings=GEMstack/knowledge/defaults/e4_gazeb **Vehicle types:** - e2 - e4 -- e2_gazebo -- e4_gazebo **Setting:** @@ -97,7 +97,5 @@ Other available configuration files: GEMstack/knowledge/defaults/ - e2.yaml -- e2_gazebo.yaml -- e4_gazebo.yaml ---