diff --git a/.gitignore b/.gitignore index 0c36d682f..df6985be8 100644 --- a/.gitignore +++ b/.gitignore @@ -32,6 +32,7 @@ share/python-wheels/ .installed.cfg *.egg MANIFEST +.idea/ # PyInstaller # Usually these files are written by a python script from a template @@ -134,6 +135,7 @@ venv/ ENV/ env.bak/ venv.bak/ +*.DS_Store # Spyder project settings .spyderproject @@ -165,3 +167,11 @@ cython_debug/ # 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/ + +.vscode/ +setup/zed_sdk.run + +cuda/ +#Ignore ROS bags +*.bag + diff --git a/GEMstack/.DS_Store b/GEMstack/.DS_Store new file mode 100644 index 000000000..16bcfc4e7 Binary files /dev/null and b/GEMstack/.DS_Store differ diff --git a/GEMstack/knowledge/calibration/gem_e4.yaml b/GEMstack/knowledge/calibration/gem_e4.yaml index d0954dc06..b43a0f698 100644 --- a/GEMstack/knowledge/calibration/gem_e4.yaml +++ b/GEMstack/knowledge/calibration/gem_e4.yaml @@ -1,6 +1,6 @@ -calibration_date: "2024-03-05" # Date of calibration YYYY-MM-DD +calibration_date: "2025-02-25" # Date of calibration YYYY-MM-DD reference: rear_axle_center # rear axle center -rear_axle_height: 0.33 # height of rear axle center above flat ground +rear_axle_height: 0.2794 # height of rear axle center above flat ground 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? gnss_yaw: 0.0 # radians top_lidar: !include "gem_e4_ouster.yaml" diff --git a/GEMstack/knowledge/calibration/gem_e4_lidar_cam.yaml b/GEMstack/knowledge/calibration/gem_e4_lidar_cam.yaml new file mode 100644 index 000000000..5abb40423 --- /dev/null +++ b/GEMstack/knowledge/calibration/gem_e4_lidar_cam.yaml @@ -0,0 +1,9 @@ +# Calibration for top lidar->front rgb camera on GEM e4 +# Calibration Date: 02/25/2025 05:09 + +lidar_to_camera: [ + [ 2.89748006e-02, -9.99580136e-01, 3.68439439e-05, -3.07300513e-02], + [-9.49930618e-03, -3.12215512e-04, -9.99954834e-01, -3.86689354e-01], + [ 9.99534999e-01, 2.89731321e-02, -9.50437214e-03, -6.71425124e-01], + [ 0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 1.00000000e+00] + ] \ No newline at end of file diff --git a/GEMstack/knowledge/calibration/gem_e4_oak.yaml b/GEMstack/knowledge/calibration/gem_e4_oak.yaml index cb9a6c0d0..b9ba2d7fd 100644 --- a/GEMstack/knowledge/calibration/gem_e4_oak.yaml +++ b/GEMstack/knowledge/calibration/gem_e4_oak.yaml @@ -1,3 +1,8 @@ +# Calibration for front rgb camera->vehicle on GEM e4 +# Calibration Date: 02/25/2025 05:09 + reference: rear_axle_center # rear axle center -rotation: [[0,0,1],[-1,0,0],[0,-1,0]] # rotation matrix mapping z to forward, x to left, y to down, guesstimated -center_position: [1.78,0,1.58] # meters, center camera, guesstimated +rotation: [[ 0.00349517, -0.03239524, 0.99946903], # rotation component of camera -> vehicle matrix + [-0.99996547, 0.00742285, 0.0037375], + [-0.00753999, -0.99944757, -0.03236817]] # rotation matrix mapping z to forward, x to left, y to down, guesstimated +center_position: [ 1.75864913, 0.01238124, 1.54408419] # translation component of camera -> vehicle matrix (in meters) diff --git a/GEMstack/knowledge/calibration/gem_e4_ouster.yaml b/GEMstack/knowledge/calibration/gem_e4_ouster.yaml index 5987373a6..4e919502f 100644 --- a/GEMstack/knowledge/calibration/gem_e4_ouster.yaml +++ b/GEMstack/knowledge/calibration/gem_e4_ouster.yaml @@ -1,3 +1,8 @@ +# Calibration for top lidar->vehicle on GEM e4 +# Calibration Date: 02/25/2025 05:09 + reference: rear_axle_center # rear axle center -position: [1.10,0,2.03] # meters, calibrated by Hang's watchful eye -rotation: [[1,0,0],[0,1,0],[0,0,1]] #rotation matrix mapping lidar frame to vehicle frame \ No newline at end of file +position: [1.1, 0.03773044170906172, 1.9525244316515322] # top lidar to vehicle matrix translation component +rotation: [[ 0.99941328, 0.02547416, 0.02289458], # top lidar to vehicle matrix rotation component + [-0.02530855, 0.99965159, -0.00749488], + [-0.02307753, 0.00691106, 0.99970979]] diff --git a/GEMstack/knowledge/defaults/computation_graph.yaml b/GEMstack/knowledge/defaults/computation_graph.yaml index d7a606326..683dc0c7b 100644 --- a/GEMstack/knowledge/defaults/computation_graph.yaml +++ b/GEMstack/knowledge/defaults/computation_graph.yaml @@ -31,7 +31,7 @@ components: inputs: [vehicle, roadgraph, agents] outputs: agent_intents - relations_estimation: - inputs: [vehicle, roadgraph, agents, obstacles] + inputs: all outputs: relations - predicate_evaluation: inputs: [vehicle, roadgraph, agents, obstacles] @@ -52,3 +52,6 @@ components: - trajectory_tracking: inputs: [vehicle, trajectory] outputs: + - signaling: + inputs: [intent] + outputs: diff --git a/GEMstack/knowledge/defaults/current.yaml b/GEMstack/knowledge/defaults/current.yaml index c886288be..87c22c0e4 100644 --- a/GEMstack/knowledge/defaults/current.yaml +++ b/GEMstack/knowledge/defaults/current.yaml @@ -1,34 +1,54 @@ # ********* Main settings entry point for behavior stack *********** - -# Configure settings for the vehicle / vehicle model -vehicle: !include ../vehicle/gem_e4.yaml - -#arguments for algorithm components here -model_predictive_controller: - dt: 0.1 - lookahead: 20 -control: - recovery: - brake_amount : 0.5 - brake_speed : 2.0 - pure_pursuit: - lookahead: 2.0 - lookahead_scale: 3.0 - crosstrack_gain: 1.0 - desired_speed: trajectory - longitudinal_control: - pid_p: 1.0 - pid_i: 0.1 - pid_d: 0.0 - -#configure the simulator, if using -simulator: - dt: 0.01 - real_time_multiplier: 1.0 # make the simulator run faster than real time by making this > 1 - gnss_emulator: - dt: 0.1 #10Hz - #position_noise: 0.1 #10cm noise - #orientation_noise: 0.04 #2.3 degrees noise - #velocity_noise: - # constant: 0.04 #4cm/s noise - # linear: 0.02 #2% noise \ No newline at end of file + + # Configure settings for the vehicle / vehicle model + vehicle: !include ../vehicle/gem_e4.yaml + + #arguments for algorithm components here + model_predictive_controller: + dt: 0.1 + lookahead: 20 + control: + recovery: + brake_amount : 0.5 + brake_speed : 2.0 + pure_pursuit: + lookahead: 2.0 + lookahead_scale: 2.0 + crosstrack_gain: 0.3 + desired_speed: trajectory #racing + launch_control: + enable: 1 + stage_duration: 0.5 + # Stanley controller parameters (fine tune this) + stanley: + control_gain: 0.1 + softening_gain: 0.2 + desired_speed: racing # Speed reference source: can be "trajectory", "path", "racing" or a constant value + + longitudinal_control: + pid_p: 0.8 + pid_i: 0.03 + pid_d: 0.0 + planning: + longitudinal_plan: + mode: 'real' # 'real' or 'sim' + yielder: 'expert' # 'expert', 'analytic', or 'simulation' + planner: 'dt' # 'milestone', 'dt', or 'dx' + desired_speed: 1.0 + acceleration: 0.5 + max_deceleration: 6.0 + deceleration: 2.0 + min_deceleration: 0.5 + yield_deceleration: 0.5 + + #configure the simulator, if using + simulator: + dt: 0.01 + real_time_multiplier: 1.0 # make the simulator run faster than real time by making this > 1 + gnss_emulator: + dt: 0.05 #10Hz + #position_noise: 0.1 #10cm noise + #orientation_noise: 0.04 #2.3 degrees noise + #velocity_noise: + # constant: 0.04 #4cm/s noise + # linear: 0.02 #2% noise diff --git a/GEMstack/knowledge/routes/circle_10m_rad.csv b/GEMstack/knowledge/routes/circle_10m_rad.csv new file mode 100644 index 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a/GEMstack/knowledge/routes/circle_20m_rad.csv b/GEMstack/knowledge/routes/circle_20m_rad.csv new file mode 100644 index 000000000..6b28cb31a --- /dev/null +++ b/GEMstack/knowledge/routes/circle_20m_rad.csv @@ -0,0 +1,100 @@ +20.0,0.0 +19.960534568565432,1.2558103905862674 +19.842294026289558,2.506664671286085 +19.645745014573773,3.7476262917144925 +19.37166322257262,4.973797743297096 +19.02113032590307,6.180339887498948 +18.595529717765025,7.362491053693559 +18.09654104932039,8.515585831301454 +17.526133600877273,9.635073482034306 +16.886558510040302,10.716535899579933 +16.18033988749895,11.755705045849464 +15.410264855515782,12.748479794973795 +14.579372548428232,13.690942118573775 +13.690942118573773,14.579372548428232 +12.748479794973793,15.410264855515784 +11.75570504584946,16.18033988749895 +10.716535899579931,16.886558510040302 +9.635073482034302,17.526133600877273 +8.515585831301454,18.096541049320393 +7.3624910536935575,18.59552971776503 +6.180339887498949,19.02113032590307 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b/GEMstack/knowledge/routes/racing_circle.csv new file mode 100644 index 000000000..caa59e86e --- /dev/null +++ b/GEMstack/knowledge/routes/racing_circle.csv @@ -0,0 +1,71 @@ +0,0,0 +1,0,0 +2,0,0 +3,0,0 +4,0,0 +5,0,0 +6,0,0 +7,0,0 +8,0,0 +9,0,0 +10,0,0 +11,0,0 +12,0,0 +13,0,0 +14,0,0 +15,0,0 +16,0,0 +17,0,0 +18,0,0 +19,0,0 +20,0,0 +21,0,0 +22,0,0 +23,0,0 +24,0,0 +25,0,0 +26,0,0 +27,0,0 +28,0,0 +29,0,0 +30,0,0 +31,0,0 +32,0,0 +33,0,0 +34,0,0 +35,0,0 +36,0,0 +37,0,0 +38,0,0 +39,0,0 +40,0,0 +41,0,0 +42,0,0 +43,0,0 +44,0,0 +45,0,0 +46,0,0 +47,0,0 +48,0,0 +49,0,0 +50,0,0 +51,0,0 +52,0,0 +53,0,0 +54,0,0 +55,0,0 +56,0,0 +57,0,0 +58,0,0 +59,0,0 +60,0,0 +61,0,0 +62,0,0 +63,0,0 +64,0,0 +65,0,0 +66,0,0 +67,0,0 +68,0,0 +69,0,0 +70,0,0 \ No newline at end of file diff --git a/GEMstack/knowledge/routes/slalom.csv b/GEMstack/knowledge/routes/slalom.csv new file mode 100644 index 000000000..caa59e86e --- /dev/null +++ b/GEMstack/knowledge/routes/slalom.csv @@ -0,0 +1,71 @@ +0,0,0 +1,0,0 +2,0,0 +3,0,0 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a/GEMstack/knowledge/routes/turn_right2.csv b/GEMstack/knowledge/routes/turn_right2.csv new file mode 100644 index 000000000..f8ae9b5df --- /dev/null +++ b/GEMstack/knowledge/routes/turn_right2.csv @@ -0,0 +1,28 @@ +0,0,0 +1,0,0 +2,0,0 +3,0,0 +4,0,0 +5,0,0 +6,0,0 +7,0,0 +8,0,0 +9,0,0 +11,-.1,0 +12,-.5,0 +13,-1,0 +14,-2,0 +14.5,-2.8,0 +14.75,-3.5,0 +14.9,-4,0 +15,-5,0 +15,-6,0 +15,-7,0 +15,-8,0 +15,-9,0 +15,-10,0 +15,-11,0 +15,-12,0 +15,-13,0 +15,-14,0 +15,-16,0 diff --git a/GEMstack/knowledge/routes/turn_right_wider.csv b/GEMstack/knowledge/routes/turn_right_wider.csv new file mode 100644 index 000000000..0041e35f7 --- /dev/null +++ b/GEMstack/knowledge/routes/turn_right_wider.csv @@ -0,0 +1,34 @@ +0,0,0 +1,0,0 +2,0,0 +3,0,0 +4,0,0 +5,0,0 +6,0,0 +7,0,0 +8,0,0 +9,0,0 +10,0,0 +11,-.06,0 +12,-.2,0 +13,-.5,0 +14,-.85,0 +15,-1.4,0 +16,-2,0 +17,-2.85,0 +18,-4,0 +19,-5.7,0 +19.5,-6.9,0 +19.75,-7.8,0 +19.95,-9,0 +20,-10,0 +20,-11,0 +20,-12,0 +20,-13,0 +20,-14,0 +20,-15,0 +20,-16,0 +20,-17,0 +20,-18,0 +20,-19,0 +20,-20,0 \ No newline at end of file diff --git a/GEMstack/knowledge/vehicle/dynamics.py b/GEMstack/knowledge/vehicle/dynamics.py index 9bd33a92e..3e097f4fc 100644 --- a/GEMstack/knowledge/vehicle/dynamics.py +++ b/GEMstack/knowledge/vehicle/dynamics.py @@ -31,13 +31,63 @@ def acceleration_to_pedal_positions(acceleration : float, velocity : float, pitc if acceleration < -dry_decel*0.5 or (acceleration <= 0 and velocity < 0.1): # a little deadband to avoid oscillation throttle_percent = 0.0 #drift to stop else: - throttle_percent = accel_active_range[0] + (acceleration+dry_decel)/max_accel * (accel_active_range[1]-accel_active_range[0]) + throttle_percent = accel_active_range[0] + ((acceleration+dry_decel)/max_accel * (accel_active_range[1]-accel_active_range[0])) brake_percent = 0 else: - brake_percent = brake_active_range[0] + -(acceleration+dry_decel)/max_brake * (brake_active_range[1]-brake_active_range[0]) + brake_percent = brake_active_range[0] + (-(acceleration+dry_decel)/max_brake * (brake_active_range[1]-brake_active_range[0])) throttle_percent = 0 + print(acceleration, (max(throttle_percent,0.0),max(brake_percent,0.0),1)) return (max(throttle_percent,0.0),max(brake_percent,0.0),1) + + # Model that's built on top of Hang's model. + # Designed to allow for various scaling based on current vehicle velocity, and use of functions other than linear + # for scaling. + # DANGER: NEEDS TESTED + elif model == 'avery_v1': + model = settings.get('vehicle.dynamics.acceleration_model', 'avery_v1') + if gear != 1: + print("WARNING: Can't handle gears other than 1 yet") + + max_accel = settings.get('vehicle.dynamics.max_accelerator_acceleration')[1] # m/s^2 + max_brake = settings.get('vehicle.dynamics.max_brake_deceleration') # m/s^2 + dry_decel = settings.get('vehicle.dynamics.internal_dry_deceleration') # m/s^2 + accel_active_range = settings.get('vehicle.dynamics.accelerator_active_range') # pedal position fraction + brake_active_range = settings.get('vehicle.dynamics.brake_active_range') # pedal position fraction + mapping_function = settings.get('vehicle.dynamics.pedal_mapping_function', 'linear') + velocity_scalar = settings.get('vehicle.dynamics.velocity_scaling_factor', 0) # Adjust sensitivity based on velocity + + + def apply_function(value, function='linear'): + if function == 'linear': + value = value # already linear mapping + + # no guarantee that these functions will give good results until we get more test data about accel -> pedal mapping. + elif function == 'quadratic': + value = value ** 2 # value squared + elif function == 'exponential': + value = (math.exp(value) - 1) / 2 + elif function == 'log': + value = math.sqrt(math.log(value + 1)) + 0.2 + + value += velocity * velocity_scalar + return value + + if acceleration > -dry_decel: + if acceleration < -dry_decel*0.5 or (acceleration <= 0 and velocity < 0.1): # a little deadband to avoid oscillation + throttle_percent = 0.0 #drift to stop + else: + throttle_percent = accel_active_range[0] + ((acceleration+dry_decel)/max_accel * (accel_active_range[1]-accel_active_range[0])) + throttle_percent = apply_function(throttle_percent, mapping_function) + brake_percent = 0 + else: + brake_percent = brake_active_range[0] + (-(acceleration+dry_decel)/max_brake * (brake_active_range[1]-brake_active_range[0])) + brake_percent = apply_function(brake_percent, mapping_function) + throttle_percent = 0 + print(acceleration, (max(throttle_percent,0.0),max(brake_percent,0.0),1)) + return (max(throttle_percent,0.0),max(brake_percent,0.0),1) + + elif model == 'kris_v1': brake_max = settings.get('vehicle.dynamics.max_brake_deceleration') reverse_accel_max = settings.get('vehicle.dynamics.max_accelerator_acceleration_reverse') diff --git a/GEMstack/knowledge/vehicle/gem_e2_dynamics.yaml b/GEMstack/knowledge/vehicle/gem_e2_dynamics.yaml index 8df21ac71..fc2bfcfa7 100644 --- a/GEMstack/knowledge/vehicle/gem_e2_dynamics.yaml +++ b/GEMstack/knowledge/vehicle/gem_e2_dynamics.yaml @@ -14,7 +14,7 @@ max_accelerator_power_reverse: 10000.0 #Watts. Power (backwards) in reverse gea acceleration_model : kris_v1 accelerator_active_range : [0.32, 1.0] #range of accelerator pedal where output acceleration is not flat -brake_active_range : [0,1] #range of brake pedal where output deceleration is not flat +brake_active_range : [0.25,1] #range of brake pedal where output deceleration is not flat internal_dry_deceleration: 0.2 #m/s^2: deceleration due to internal dry friction (non-speed dependent) internal_viscous_deceleration: 0.05 #1/s: scales the current velocity to get deceleration due to internal viscous friction (speed dependent) diff --git a/GEMstack/knowledge/vehicle/gem_e2_fast_limits.yaml b/GEMstack/knowledge/vehicle/gem_e2_fast_limits.yaml index 59150d0c3..ccd374398 100644 --- a/GEMstack/knowledge/vehicle/gem_e2_fast_limits.yaml +++ b/GEMstack/knowledge/vehicle/gem_e2_fast_limits.yaml @@ -5,4 +5,6 @@ max_acceleration: 3.0 #m/s^2 max_deceleration: 5.0 #m/s^2 max_accelerator_pedal: 1.0 #0-1 max_brake_pedal: 1.0 #0-1 - +max_longitudinal_acceleration: 2.07 #m/s^2 e4 +min_longitudinal_acceleration: -2.61 #m/s^2 deceleration 2.61 e4 +max_lateral_acceleration: 3.3 #m/s^2 e4 diff --git a/GEMstack/knowledge/vehicle/gem_e4.yaml b/GEMstack/knowledge/vehicle/gem_e4.yaml index 78785ab03..23208868f 100644 --- a/GEMstack/knowledge/vehicle/gem_e4.yaml +++ b/GEMstack/knowledge/vehicle/gem_e4.yaml @@ -7,7 +7,7 @@ max_command_rate : 10.0 #for hardware, max rate of commands to send to #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 +limits: !include gem_e2_fast_limits.yaml control_defaults: !include gem_e2_control_defaults.yaml calibration: !include ../calibration/gem_e4.yaml sensors: !include gem_e4_sensor_environment.yaml diff --git a/GEMstack/knowledge/vehicle/gem_e4_dynamics.yaml b/GEMstack/knowledge/vehicle/gem_e4_dynamics.yaml index d20d2c357..23712b0a5 100644 --- a/GEMstack/knowledge/vehicle/gem_e4_dynamics.yaml +++ b/GEMstack/knowledge/vehicle/gem_e4_dynamics.yaml @@ -1,22 +1,24 @@ -mass: 300.0 #kg +mass: 700.0 #kg gravity: 9.81 #m/s^2 -longitudinal_friction : 1.0 # unitless -lateral_friction : 1.0 # unitless -max_brake_deceleration: 8.0 #m/s^2. Deceleration at max brake pedal -max_accelerator_acceleration: #m/s^2. Acceleration at max accelerator pedal, by gear +longitudinal_friction : 1.0 # unitless TODO find make/model of tires +lateral_friction : 1.0 # unitless (I will bet these things do not have 1 coefficent of fricition) +max_brake_deceleration: 8.0 #m/s^2. Deceleration at max brake pedal TODO (un cap this cap) +max_accelerator_acceleration: #m/s^2. Acceleration at max accelerator pedal, by gear (un cap this cap) - 0.0 - 5.0 max_accelerator_acceleration_reverse: 2.5 #m/s^2. Acceleration (backwards) in reverse gear -max_accelerator_power: #Watts. Power at max accelerator pedal, by gear +max_accelerator_power: #Watts. Power at max accelerator pedal, by gear (updated from website) - 0.0 - - 10000.0 -max_accelerator_power_reverse: 10000.0 #Watts. Power (backwards) in reverse gear + - 5000.0 +max_accelerator_power_reverse: 5000.0 #Watts. Power (backwards) in reverse gear -acceleration_model : kris_v1 +acceleration_model : hang_v1 accelerator_active_range : [0.2, 1.0] #range of accelerator pedal where output acceleration is not flat -brake_active_range : [0,1] #range of brake pedal where output deceleration is not flat +brake_active_range : [0.5,1] #range of brake pedal where output deceleration is not flat internal_dry_deceleration: 0.2 #m/s^2: deceleration due to internal dry friction (non-speed dependent) internal_viscous_deceleration: 0.05 #1/s: scales the current velocity to get deceleration due to internal viscous friction (speed dependent) aerodynamic_drag_coefficient: 0.01 #units in s, scaled by velocity^2 to get deceleration due to aerodynamic drag acceleration_deadband: 0.1 #m/s^2: minimum acceleration to be considered non-zero +velocity_scaling_factor: 0.0 # Velocity * this scalar will be added to brake and throttle percent. +pedal_mapping_function: linear diff --git a/GEMstack/knowledge/vehicle/gem_e4_sensor_environment.yaml b/GEMstack/knowledge/vehicle/gem_e4_sensor_environment.yaml index a0c611b37..af509af66 100644 --- a/GEMstack/knowledge/vehicle/gem_e4_sensor_environment.yaml +++ b/GEMstack/knowledge/vehicle/gem_e4_sensor_environment.yaml @@ -3,4 +3,4 @@ ros_topics: front_camera: /oak/rgb/image_raw front_depth: /oak/stereo/image_raw gnss: /septentrio_gnss/insnavgeod - \ No newline at end of file + diff --git a/GEMstack/mathutils/quadratic_equation.py b/GEMstack/mathutils/quadratic_equation.py new file mode 100644 index 000000000..6580fbec9 --- /dev/null +++ b/GEMstack/mathutils/quadratic_equation.py @@ -0,0 +1,21 @@ +import math + +def quad_root(a : float, b : float, c : float) -> float: + """Calculates the roots of a quadratic equation + + Args: + a (float): coefficient of x^2 + b (float): coefficient of x + c (float): constant term + + Returns: + float: returns all valid roots of the quadratic equation + """ + x1 = (-b + max(0,(b**2 - 4*a*c))**0.5)/(2*a) + x2 = (-b - max(0,(b**2 - 4*a*c))**0.5)/(2*a) + + if math.isnan(x1): x1 = 0 + if math.isnan(x2): x2 = 0 + + valid_roots = [n for n in [x1, x2] if not type(n) is complex] + return valid_roots \ No newline at end of file diff --git a/GEMstack/mathutils/transforms.py b/GEMstack/mathutils/transforms.py index a29ec48e2..89e5b58b5 100644 --- a/GEMstack/mathutils/transforms.py +++ b/GEMstack/mathutils/transforms.py @@ -117,7 +117,7 @@ def lat_lon_to_xy(lat : float, lon : float, lat_reference : float, lon_reference Returns (x,y), where x is east in m, y is north in m. """ - import alvinxy.alvinxy as axy + import alvinxy.alvinxy as axy # convert GNSS waypoints into local fixed frame reprented in x and y east_x, north_y = axy.ll2xy(lat, lon, lat_reference, lon_reference) return east_x, north_y diff --git a/GEMstack/offboard/calibration/README.md b/GEMstack/offboard/calibration/README.md new file mode 100644 index 000000000..c804f7a7d --- /dev/null +++ b/GEMstack/offboard/calibration/README.md @@ -0,0 +1,158 @@ +# Data Capture + +### Data Capture Script (`capture_ouster_oak.py`) + +Set up on vehicle: + +1. Run roscore in a terminal +2. Run catkin_make in gem stack +3. Run source /demo_ws/devel/setup.bash +4. Run roslaunch basic_launch sensor_init.launch to get all sensors running + +Default script usage: + + python3 capture_ouster_oak.py + +Additional Options: +1. To specify directory to save data, use --folder "path to save location" (default save folder is data) +2. To specify frequency of data capture, use --frequency put_frequency_in_hz_here (default is 2 hz) +3. To specify the what index the data should start being saved as, use --start_index desired_index_here (default is 1) + + +# GEMstack Offboard Calibration + +This section explains tools for offline calibration of LiDAR and camera sensors to the vehicle coordinate system on the GEM E4 platform. The calibration pipeline consists of three stages: + +1. **LiDAR-to-Vehicle** +2. **Camera-to-Vehicle** +3. **LiDAR-to-Camera** + +## Dependencies + +``` +pip install opencv-python scipy numpy matplotlib argparse pyyaml pyvis + +# If getting some issues, try: +pip install trame ipywidgets trame-vuetify +``` + +--- + + +## Calibration Pipeline + +### 1. LiDAR-to-Vehicle Calibration (`lidar_to_vehicle.py`) +**Method**: +- **Ground Plane Detection**: + 1. Crop LiDAR points near ground (Z ∈ [-3, -2]) + 2. Use RANSAC to fit a plane to ground points + 3. Compute vehicle height (`tz`) using plane equation and axel height offset (0.2794m) + 4. Derive pitch (`rx`) and roll (`ry`) from plane normal vector + +- **Frontal Object Alignment**: + 1. Crop LiDAR data to frontal area (X ∈ [0,20], Y ∈ [-1,1]) + 2. Fit line to object points for yaw (`rz`) estimation + 3. Compute translation (`tx`, `ty`) using vehicle dimensions + +**Usage**: + +Our script assumes data is formated as: colorx.png, lidarx.npz, depthx.tif where x is some index number. x is chosen using the --index flag seen below. Set it based on what data sample you want to use for calibration. + + python3 lidar_to_vehicle.py --data_path "path to data folder" --index INDEX_NUM + +Optionally, use --vis flag for visualizations throughout the computation process + + +### 2. CAMERA-to-Vehicle Calibration (`camera_to_vehicle_manual.py`) +**Method**: + 1. Capture camera intrinsics using camera_info.py (ROS node) + 2. Manually select 8 matching points in RGB image and LiDAR cloud (can adjust variable to select more pairs) + 3. Solve PnP problem to compute camera extrinsics + +**Usage**: + 1. Get camera intrinsics: + rosrun offboard\calibration\camera_info.py # Prints intrinsic matrix + 2. Update camera_in in script with intrinsics + 3. Our script assumes data is formated as: colorx.png, lidarx.npz, depthx.tif where x is some index number. x is chosen using the --index flag seen below. Set it based on what data sample you want to use for calibration. + + The script also reads the lidar_to_vehicle matrix from the gem_e4_ouster.yaml file so ensure that is up to date. + + 4. Run calibration: + + python3 camera_to_vehicle_manual.py --data_path "path to data folder" --index INDEX_NUM --config "path to gem_e4_ouster.yaml" + + 5. There will be a pop-up of the rgb image depending on the data index you chose. Left click and select as many points as manually specified in the script. + 6. The window will automatically close and reveal a pop-up of the lidar point cloud. + 7. Choose the corresponding lidar points with hovering over the point and right-clicking, or pressing P + 8. Once selected all corresponding points, close the window and the output will be printed. + +### 3. LIDAR-to-CAMERA Calibration (`lidar_to_camera.py`) +**Method**: + 1. Invert Camera-to-Vehicle matrix + 2. Multiply with LiDAR-to-Vehicle matrix + +**Usage**: +``` +python3 lidar_to_camera.py # Ensure T_lidar_vehicle and T_camera_vehicle matrices are updated +``` + +### Visualization Tools + +**3D Alignment Check**: + 1. Use vis() function in scripts to view calibrated LiDAR/camera clouds + 2. Use --vis flag when running lidar_to_vehicle.py for ground plane/object visualization + 3. Use test_transforms.py to visualize the transformed lidar point cloud to camera frame on top of the corresponding png image. Helps verify accuracy of lidar->camera. + +Usage of test_transforms.py: +``` +python3 test_transforms.py --data_path "path to data folder" --index INDEX_NUM +``` +Data path is the directory where lidar npz and color png files are located, index number is whichever lidar/png pair you want to evaluate. Ex. lidar1.npz color1.png where INDEX_NUM is 1 (--index 1) + +**Projection Validation**: + 1. RGB image overlaid with transformed LiDAR points (Z-buffered) + 2. Frontal view comparison of camera and LiDAR data + + + + + + +### Assumption and Notes + +1. The sensor data should be time-aligned. +2. The flat surface should be detectable in the Lidar scan +3. Magic Numbers: + Axel height (0.2794m) from physical measurements + Frontal crop areas based on vehicle dimensions +4. Validation: Use pyvista visualizations to verify alignment + + +### Results + +Our resultant transformation matrices are the following: +``` +T_camera_vehicle = np.array([[ 0.00349517, -0.03239524, 0.99946903, 1.75864913], + [-0.99996547, 0.00742285, 0.0037375, 0.01238124], + [-0.00753999, -0.99944757, -0.03236817, 1.54408419], + [0.000000000, 0.00000000, 0.00000000, 1.0]]) + +T_lidar_vehicle = np.array([[ 0.99941328, 0.02547416, 0.02289458, 1.1], + [-0.02530855, 0.99965159, -0.00749488, 0.03773044170906172], + [-0.02307753, 0.00691106, 0.99970979, 1.9525244316515322], + [0.000000000, 0.00000000, 0,00000000, 1.0]]) + +T_lidar_camera = np.array([ + [ 2.89748006e-02, -9.99580136e-01, 3.68439439e-05, -3.07300513e-02], + [-9.49930618e-03, -3.12215512e-04, -9.99954834e-01, -3.86689354e-01], + [ 9.99534999e-01, 2.89731321e-02, -9.50437214e-03, -6.71425124e-01], + [ 0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 1.00000000e+00] + ]) +``` +We find that these matrices are very accurate and worked well with perceptions task of identifying pedestrains using camera and lidar. Perception team makes use of our lidar->camera matrix. Below is an image showcasing the effectiveness of our lidar->camera matrix. You can see the lidar pointcloud corresponds very well to the pixels in the image. + +Screenshot 2025-02-26 at 11 07 16 PM + +We calculate this lidar->camera matrix by doing a matrix multiplication between the inverted camera->vehicle matrix and lidar->vehicle matrix. To evaluate the effectiveness of both of these matrices individually, we use visualizations in their respective calculations scripts. + +For basic sanity check purposes, we also ensure that the determinant of the rotation matrices we get is 1. diff --git a/GEMstack/offboard/calibration/camera_info.py b/GEMstack/offboard/calibration/camera_info.py new file mode 100644 index 000000000..5610efb7f --- /dev/null +++ b/GEMstack/offboard/calibration/camera_info.py @@ -0,0 +1,41 @@ +# ROS Headers +import rospy +from sensor_msgs.msg import Image,PointCloud2, CameraInfo +import sensor_msgs.point_cloud2 as pc2 +import ctypes +import struct +import pickle +import image_geometry + +import numpy as np +import os +import time + +camera_image = None + +def camera_callback(info : CameraInfo): + global camera_image + camera_image = info + +def get_intrinsics(): + model = image_geometry.PinholeCameraModel() + model.fromCameraInfo(camera_image) + print(model.intrinsicMatrix()) + +def main(folder='data',start_index=1): + rospy.init_node("capture_cam_info",disable_signals=True) + caminfo_sub = rospy.Subscriber("/oak/rgb/camera_info", CameraInfo, camera_callback) + while True: + if camera_image: + time.sleep(1) + get_intrinsics() + +if __name__ == '__main__': + import sys + folder = 'data' + start_index = 1 + if len(sys.argv) >= 2: + folder = sys.argv[1] + if len(sys.argv) >= 3: + start_index = int(sys.argv[2]) + main(folder,start_index) diff --git a/GEMstack/offboard/calibration/camera_to_vehicle_manual.py b/GEMstack/offboard/calibration/camera_to_vehicle_manual.py new file mode 100644 index 000000000..5a29f3411 --- /dev/null +++ b/GEMstack/offboard/calibration/camera_to_vehicle_manual.py @@ -0,0 +1,179 @@ +#%% +import cv2 +from scipy.spatial.transform import Rotation as R +import matplotlib.pyplot as plt +import numpy as np +from visualizer import visualizer +import argparse +import yaml + +parser = argparse.ArgumentParser(description='Select corresponding lidar, color, depth files based on index') +parser.add_argument('--data_path', type=str, required=True, help='Path to the dataset') +parser.add_argument('--index', type=int, required=True, help='Index for selecting the files') +parser.add_argument('--config', type=str, required=True, help='Path to YAML configuration file') +args = parser.parse_args() +args = parser.parse_args() + +# Construct file paths based on the provided index +lidar_path = f'{args.data_path}/lidar{args.index}.npz' +rgb_path = f'{args.data_path}/color{args.index}.png' +depth_path = f'{args.data_path}/depth{args.index}.tif' + +N = 8 #how many point pairs you want to select + +img = cv2.imread(rgb_path, cv2.IMREAD_UNCHANGED) + +lidar_points = np.load(lidar_path)['arr_0'] +lidar_points = lidar_points[~np.all(lidar_points== 0, axis=1)] # remove (0,0,0)'s + + + +# Load transformation parameters from YAML file +with open(args.config, 'r') as yaml_file: + config = yaml.safe_load(yaml_file) + +tx, ty, tz = config['position'] +rot = np.array(config['rotation']) + +# Construct transformation matrix +lidar_ex = np.hstack([rot, np.array([[tx], [ty], [tz]])]) +lidar_ex = np.vstack([lidar_ex, [0, 0, 0, 1]]) + +camera_in = np.array([ # Update intrinsics if necessary + [684.83331299, 0. , 573.37109375], + [ 0. , 684.60968018, 363.70092773], + [ 0. , 0. , 1. ] +], dtype=np.float32) + + +#%% +# blurred = cv2.GaussianBlur(img, (5, 5), 0) +# edges = cv2.Canny(blurred, threshold1=50, threshold2=150) +# plt.imshow(edges) +plt.imshow(cv2.cvtColor(img,cv2.COLOR_BGR2RGB)) + +#%% +import pyvista as pv +def vis(title='', ratio=1,notebook=False): + print(title) + pv.set_jupyter_backend('client') + + return visualizer().set_cam() +def crop(pc,ix=None,iy=None,iz=None): + # crop a subrectangle in a pointcloud + # usage: crop(pc, ix = (x_min,x_max), ...) + # return: array(N,3) + mask = True + for dim,intervel in zip([0,1,2],[ix,iy,iz]): + if not intervel: continue + d,u = intervel + mask &= pc[:,dim] >= d + mask &= pc[:,dim] <= u + print(f'points left after cropping {dim}\'th dim',mask.sum()) + return pc[mask] + + +lidar_post = np.pad(lidar_points,((0,0),(0,1)),constant_values=1) @ lidar_ex.T[:,:3] +lidar_post = crop(lidar_post,ix=(0,10),iy=(-5,5)) +# vis(notebook=False).add_pc(lidar_post).show() + +#%% +def pick_n_img(img,n=4): + corners = [] # Reset the corners list + def click_event(event, x, y, flags, param): + if event == cv2.EVENT_LBUTTONDOWN: + corners.append((x, y)) + cv2.circle(param, (x, y), 5, (0, 255, 0), -1) + cv2.imshow('Image', param) + + cv2.imshow('Image', img) + cv2.setMouseCallback('Image', click_event, img) + + while True: + if len(corners) == n: + break + if cv2.waitKey(1) & 0xFF == ord('q'): + return None + + cv2.destroyAllWindows() + + return corners +cpoints = np.array(pick_n_img(img,N)).astype(float) +print(cpoints) + +#%% +def pick_n_pc(point_cloud,n=4): + points = [] + def cb(pt,*args): + points.append(pt) + while len(points)!=n: + points = [] + cloud = pv.PolyData(point_cloud) + plotter = pv.Plotter(notebook=False) + plotter.camera.position = (-20,0,20) + plotter.camera.focal_point = (0,0,0) + plotter.add_mesh(cloud, color='lightblue', point_size=5, render_points_as_spheres=True) + plotter.enable_point_picking(cb) + plotter.show() + return points + +lpoints = np.array(pick_n_pc(lidar_post,N)) +print(lpoints) +# %% +success, rvec, tvec = cv2.solvePnP(lpoints, cpoints, camera_in, None) +R, _ = cv2.Rodrigues(rvec) + +T = np.eye(4) +T[:3, :3] = R +T[:3, 3] = tvec.flatten() +print(T) + + +#%% +def depth_to_points(depth_img: np.ndarray, intrinsics: np.ndarray): + """ + Convert a single-channel depth image into an Nx3 array of 3D points + in the camera coordinate system. + - depth_img: 2D array of type uint16 or float with depth values + - intrinsics: 3x3 camera matrix + """ + fx = intrinsics[0,0] + fy = intrinsics[1,1] + cx = intrinsics[0,2] + cy = intrinsics[1,2] + + # Indices of each pixel + h, w = depth_img.shape + i_range = np.arange(h) + j_range = np.arange(w) + jj, ii = np.meshgrid(j_range, i_range) # shape (h,w) + + # Flatten + ii = ii.flatten().astype(np.float32) + jj = jj.flatten().astype(np.float32) + depth = depth_img.flatten().astype(np.float32) + + # Filter out zero / invalid depths + valid_mask = (depth > 0) + ii = ii[valid_mask] + jj = jj[valid_mask] + depth = depth[valid_mask] + + z = depth / 10000 + x = (jj - cx) * z / fx + y = (ii - cy) * z / fy + points3d = np.stack((x, y, z), axis=-1) # shape (N,3) + + return points3d + + + +depth_img = cv2.imread(depth_path, cv2.IMREAD_UNCHANGED) +camera_points = depth_to_points(depth_img, camera_in) + +#%% +v2c = T +print('vehicle->camera:',v2c) +c2v = np.linalg.inv(v2c) +print('camera->vehicle:',c2v) + diff --git a/GEMstack/offboard/calibration/capture_lidar_zed.py b/GEMstack/offboard/calibration/capture_lidar_zed.py index 21814b793..ee11ebb1a 100644 --- a/GEMstack/offboard/calibration/capture_lidar_zed.py +++ b/GEMstack/offboard/calibration/capture_lidar_zed.py @@ -1,99 +1,107 @@ -# ROS Headers +#!/usr/bin/env python3 +""" +Capture ROS messages and save each run in its own time-stamped folder. +""" + import rospy -from sensor_msgs.msg import Image,PointCloud2 +from sensor_msgs.msg import Image, PointCloud2 import sensor_msgs.point_cloud2 as pc2 import ctypes import struct - -# OpenCV and cv2 bridge import cv2 from cv_bridge import CvBridge import numpy as np import os +import datetime lidar_points = None camera_image = None depth_image = None bridge = CvBridge() -def lidar_callback(lidar : PointCloud2): +def lidar_callback(lidar: PointCloud2): global lidar_points lidar_points = lidar -def camera_callback(img : Image): +def camera_callback(img: Image): global camera_image camera_image = img -def depth_callback(img : Image): +def depth_callback(img: Image): global depth_image depth_image = img -def pc2_to_numpy(pc2_msg, want_rgb = False): +def pc2_to_numpy(pc2_msg, want_rgb=False): gen = pc2.read_points(pc2_msg, skip_nans=True) if want_rgb: - xyzpack = np.array(list(gen),dtype=np.float32) + xyzpack = np.array(list(gen), dtype=np.float32) if xyzpack.shape[1] != 4: raise ValueError("PointCloud2 does not have points") - xyzrgb = np.empty((xyzpack.shape[0],6)) - xyzrgb[:,:3] = xyzpack[:,:3] - for i,x in enumerate(xyzpack): - rgb = x[3] - # cast float32 to int so that bitwise operations are possible - s = struct.pack('>f' ,rgb) - i = struct.unpack('>l',s)[0] - # you can get back the float value by the inverse operations - pack = ctypes.c_uint32(i).value - r = (pack & 0x00FF0000)>> 16 - g = (pack & 0x0000FF00)>> 8 + xyzrgb = np.empty((xyzpack.shape[0], 6)) + xyzrgb[:, :3] = xyzpack[:, :3] + for i, x in enumerate(xyzpack): + rgb = x[3] + s = struct.pack('>f', rgb) + i_val = struct.unpack('>l', s)[0] + pack = ctypes.c_uint32(i_val).value + r = (pack & 0x00FF0000) >> 16 + g = (pack & 0x0000FF00) >> 8 b = (pack & 0x000000FF) - #r,g,b values in the 0-255 range - xyzrgb[i,3:] = (r,g,b) + xyzrgb[i, 3:] = (r, g, b) return xyzrgb else: - return np.array(list(gen),dtype=np.float32)[:,:3] + return np.array(list(gen), dtype=np.float32)[:, :3] -def save_scan(lidar_fn,color_fn,depth_fn): - print("Saving scan to",lidar_fn,color_fn,depth_fn) - pc = pc2_to_numpy(lidar_points,want_rgb=False) - np.savez(lidar_fn,pc) - cv2.imwrite(color_fn,bridge.imgmsg_to_cv2(camera_image)) +def save_scan(lidar_fn, color_fn, depth_fn): + print("Saving scan to", lidar_fn, color_fn, depth_fn) + pc = pc2_to_numpy(lidar_points, want_rgb=False) + np.savez(lidar_fn, pc) + cv2.imwrite(color_fn, bridge.imgmsg_to_cv2(camera_image)) dimage = bridge.imgmsg_to_cv2(depth_image) dimage_non_nan = dimage[np.isfinite(dimage)] - print("Depth range",np.min(dimage_non_nan),np.max(dimage_non_nan)) - dimage = np.nan_to_num(dimage,nan=0,posinf=0,neginf=0) - dimage = (dimage/4000*0xffff) - print("Depth pixel range",np.min(dimage),np.max(dimage)) + print("Depth range", np.min(dimage_non_nan), np.max(dimage_non_nan)) + dimage = np.nan_to_num(dimage, nan=0, posinf=0, neginf=0) + dimage = (dimage / 4000 * 0xffff) + print("Depth pixel range", np.min(dimage), np.max(dimage)) dimage = dimage.astype(np.uint16) - cv2.imwrite(depth_fn,dimage) + cv2.imwrite(depth_fn, dimage) + +def main(base_folder='data', start_index=1): + # unique folder for this capture run based on the current date/time. + run_timestamp = datetime.datetime.now().strftime("%Y-%m-%d_%H-%M-%S") + run_folder = os.path.join(base_folder, run_timestamp) + os.makedirs(run_folder, exist_ok=True) + print("Capture run folder:", run_folder) + + rospy.init_node("capture_lidar_zed", disable_signals=True) + rospy.Subscriber("/lidar1/velodyne_points", PointCloud2, lidar_callback) + rospy.Subscriber("/zed2/zed_node/rgb/image_rect_color", Image, camera_callback) + rospy.Subscriber("/zed2/zed_node/depth/depth_registered", Image, depth_callback) -def main(folder='data',start_index=1): - rospy.init_node("capture_lidar_zed",disable_signals=True) - lidar_sub = rospy.Subscriber("/lidar1/velodyne_points", PointCloud2, lidar_callback) - camera_sub = rospy.Subscriber("/zed2/zed_node/rgb/image_rect_color", Image, camera_callback) - depth_sub = rospy.Subscriber("/zed2/zed_node/depth/depth_registered", Image, depth_callback) index = start_index print("Press any key to:") - print(" store lidar point clouds as npz") - print(" store color images as png") - print(" store depth images (m scaled by 0xffff/4000) as 16-bit tif") + print(" - store lidar point clouds as npz") + print(" - store color images as png") + print(" - store depth images (m scaled by 0xffff/4000) as 16-bit tif") print("Press Escape or Ctrl+C to quit") - while True: - if camera_image: - cv2.imshow("result",bridge.imgmsg_to_cv2(camera_image)) + + while not rospy.is_shutdown(): + if camera_image is not None: + cv2.imshow("result", bridge.imgmsg_to_cv2(camera_image)) key = cv2.waitKey(30) if key == -1: - #nothing - pass + pass # No key pressed. elif key == 27: - #escape - break + break # Escape key pressed. else: if lidar_points is None or camera_image is None or depth_image is None: print("Missing some messages?") else: - files = [os.path.join(folder,'lidar{}.npz'.format(index)), - os.path.join(folder,'color{}.png'.format(index)), - os.path.join(folder,'depth{}.tif'.format(index))] + files = [ + os.path.join(run_folder, 'lidar{}.npz'.format(index)), + os.path.join(run_folder, 'color{}.png'.format(index)), + os.path.join(run_folder, 'depth{}.tif'.format(index)) + ] save_scan(*files) index += 1 @@ -105,4 +113,4 @@ def main(folder='data',start_index=1): folder = sys.argv[1] if len(sys.argv) >= 3: start_index = int(sys.argv[2]) - main(folder,start_index) + main(folder, start_index) diff --git a/GEMstack/offboard/calibration/capture_ouster_oak.py b/GEMstack/offboard/calibration/capture_ouster_oak.py new file mode 100644 index 000000000..d20b38b57 --- /dev/null +++ b/GEMstack/offboard/calibration/capture_ouster_oak.py @@ -0,0 +1,103 @@ +# ROS Headers +import rospy +from sensor_msgs.msg import Image,PointCloud2 +import sensor_msgs.point_cloud2 as pc2 +import ctypes +import struct +import argparse + + +# OpenCV and cv2 bridge +import cv2 +from cv_bridge import CvBridge +import numpy as np +import os +import time + +lidar_points = None +camera_image = None +depth = None +depth_image = None +bridge = CvBridge() + +def lidar_callback(lidar : PointCloud2): + global lidar_points + lidar_points = lidar + +def camera_callback(img : Image): + global camera_image + camera_image = img + +def depth_callback(img : Image): + global depth_image + depth_image = img + +def pc2_to_numpy(pc2_msg, want_rgb = False): + gen = pc2.read_points(pc2_msg, skip_nans=True) + if want_rgb: + xyzpack = np.array(list(gen),dtype=np.float32) + if xyzpack.shape[1] != 4: + raise ValueError("PointCloud2 does not have points") + xyzrgb = np.empty((xyzpack.shape[0],6)) + xyzrgb[:,:3] = xyzpack[:,:3] + for i,x in enumerate(xyzpack): + rgb = x[3] + # cast float32 to int so that bitwise operations are possible + s = struct.pack('>f' ,rgb) + i = struct.unpack('>l',s)[0] + # you can get back the float value by the inverse operations + pack = ctypes.c_uint32(i).value + r = (pack & 0x00FF0000)>> 16 + g = (pack & 0x0000FF00)>> 8 + b = (pack & 0x000000FF) + #r,g,b values in the 0-255 range + xyzrgb[i,3:] = (r,g,b) + return xyzrgb + else: + return np.array(list(gen),dtype=np.float32)[:,:3] + +def save_scan(lidar_fn,color_fn,depth_fn): + print("Saving scan to",lidar_fn,color_fn) + + pc = pc2_to_numpy(lidar_points,want_rgb=False) # convert lidar feed to numpy + np.savez(lidar_fn,pc) + cv2.imwrite(color_fn,bridge.imgmsg_to_cv2(camera_image)) + + dimage = bridge.imgmsg_to_cv2(depth_image) + dimage_non_nan = dimage[np.isfinite(dimage)] + print("Depth range",np.min(dimage_non_nan),np.max(dimage_non_nan)) + dimage = np.nan_to_num(dimage,nan=0,posinf=0,neginf=0) + dimage = (dimage/4000*0xffff) + print("Depth pixel range",np.min(dimage),np.max(dimage)) + dimage = dimage.astype(np.uint16) + cv2.imwrite(depth_fn,dimage) + +def main(folder='data',start_index=1, frequency=2): + rospy.init_node("capture_ouster_oak",disable_signals=True) + lidar_sub = rospy.Subscriber("/ouster/points", PointCloud2, lidar_callback) + camera_sub = rospy.Subscriber("/oak/rgb/image_raw", Image, camera_callback) + depth_sub = rospy.Subscriber("/oak/stereo/image_raw", Image, depth_callback) + index = start_index + print(" Storing lidar point clouds as npz") + print(" Storing color images as png") + print(" Storing depth images as tif") + print(" Ctrl+C to quit") + while True: + if camera_image and depth_image: + cv2.imshow("result",bridge.imgmsg_to_cv2(camera_image)) + time.sleep(1.0/frequency) + files = [ + os.path.join(folder,'lidar{}.npz'.format(index)), + os.path.join(folder,'color{}.png'.format(index)), + os.path.join(folder,'depth{}.tif'.format(index))] + save_scan(*files) + index += 1 + +if __name__ == '__main__': + import sys + parser = argparse.ArgumentParser(description='Capture LiDAR and camera data.') + parser.add_argument('--folder', type=str, default='data', help='Directory to store data') + parser.add_argument('--start_index', type=int, default=1, help='Starting index for saved files') + parser.add_argument('--frequency', type=float, default=2.0, help='Capture frequency in Hz') + args = parser.parse_args() + main(args.folder, args.start_index, args.frequency) diff --git a/GEMstack/offboard/calibration/klampt_lidar_ouster_show.py b/GEMstack/offboard/calibration/klampt_lidar_ouster_show.py new file mode 100644 index 000000000..11a9fcbcc --- /dev/null +++ b/GEMstack/offboard/calibration/klampt_lidar_ouster_show.py @@ -0,0 +1,183 @@ +from klampt import vis +from klampt.math import so3,se3 +from klampt.vis.colorize import colorize +from klampt import PointCloud,Geometry3D +from klampt.io import numpy_convert +from klampt.model.sensing import image_to_points +from klampt.model.create import bbox +import klampt +import cv2 +import os +import numpy as np +import math +import time + +#uncalibrated values -- TODO: load these from a calibration file +zed_K = np.array([[684.8333, 0.0, 573.371], + [0.0, 684.609, 363.7], + [0.0, 0.0, 1.0]]) +zed_intrinsics = [zed_K[0,0],zed_K[1,1],zed_K[0,2],zed_K[1,2]] +zed_w = 1152 +zed_h = 720 + + +def main(folder): + lidar_xform = se3.identity() + zed_xform = (so3.from_ndarray(np.array([[0,0,1],[-1,0,0],[0,-1,0]])),[0,0,0]) + lidar_pattern = os.path.join(folder,"lidar{}.npz") + color_pattern = os.path.join(folder,"color{}.png") + depth_pattern = os.path.join(folder,"depth{}.tif") + data = {} + def load_and_show_scan(idx): + arr_compressed = np.load(lidar_pattern.format(idx)) + arr = arr_compressed['arr_0'] + arr_compressed.close() + pc = numpy_convert.from_numpy(arr,'PointCloud') + pc = colorize(pc,'z','plasma') + data['lidar'] = Geometry3D(pc) + + try: # might need some modifications to work with our code + color = cv2.imread(color_pattern.format(idx)) + depth = cv2.imread(depth_pattern.format(idx),cv2.IMREAD_UNCHANGED) + depth = depth.astype(np.float32) + print("depth range",np.min(depth),np.max(depth)) + zed_xfov = 2*np.arctan(zed_w/(2*zed_intrinsics[0])) + zed_yfov = 2*np.arctan(zed_h/(2*zed_intrinsics[1])) + print("estimated zed horizontal FOV",math.degrees(zed_xfov),"deg") + print(f"Depth image shape: {depth.shape}, dtype: {depth.dtype}, min: {np.min(depth)}, max: {np.max(depth)}") + print(f"Color image shape: {color.shape}, dtype: {color.dtype}, min: {np.min(color)}, max: {np.max(color)}") + image_to_points( + depth, + color, + intrinsics=None, + xfov=zed_xfov, + yfov=zed_yfov, + depth_scale=4000.0 / 0xffff + ) + + except Exception as e: + print("Error loading zed data:",e) + pc = PointCloud() + + data['oak'] = Geometry3D(pc) + data['lidar'].setCurrentTransform(*lidar_xform) + data['oak'].setCurrentTransform(*zed_xform) + vis.add('lidar',data['lidar']) + vis.add('oak',data['oak']) + + data['index'] = 1 + def increment_index(): + data['index'] += 1 + try: + load_and_show_scan(data['index']) + except Exception: + data['index'] -= 1 + return + def decrement_index(): + data['index'] -= 1 + try: + load_and_show_scan(data['index']) + except Exception: + data['index'] += 1 + return + def print_xforms(): + print("lidar:") + print("rotation:",so3.ndarray(lidar_xform[0])) + print("position:",lidar_xform[1]) + print("zed:") + print("rotation:",so3.ndarray(zed_xform[0])) + print("position:",zed_xform[1]) + + point_selection = (4,0,0) + box_selection = [(3.5,-0.5,-0.5),(4.5,0.5,0.5)] + box_geometry = bbox(box_selection[0],box_selection[1],type='GeometricPrimitive') + data['selection_widget'] = None + + def select_point(): + if data['selection_widget'] is not None: + vis.remove(data['selection_widget']) + data['selection_widget'] = 'point_widget' + vis.add('point_widget',point_selection) + vis.edit('point_widget') + + def select_box(): + if data['selection_widget'] is not None: + vis.remove(data['selection_widget']) + data['selection_widget'] = 'box_widget' + vis.add('box_widget',box_geometry,color=(1.0,0.5,0,0.5)) + vis.add('box_widget_handle1',box_selection[0]) + vis.edit('box_widget_handle1') + vis.add('box_widget_handle2',box_selection[1]) + vis.edit('box_widget_handle2') + + def print_selection(): + if data['selection_widget'] is not None: + if data['selection_widget'] == 'point_widget': + print("Target point:",point_selection) + lidar = data['lidar'] # type: Geometry3D + pts = lidar.getPointCloud().getPoints() + pts = pts @ so3.ndarray(lidar_xform[0]).T + np.array(lidar_xform[1]) + dist_2 = np.sum((pts - point_selection)**2, axis=1) + closest_dist2 = np.min(dist_2) + closest_ind = np.argmin(dist_2) + print("Closest lidar point is",pts[closest_ind],"index",closest_ind,"at distance",math.sqrt(closest_dist2)) + else: + print("Target box:",box_selection) + lidar = data['lidar'] # type: Geometry3D + pts = lidar.getPointCloud().getPoints() + pts = pts @ so3.ndarray(lidar_xform[0]).T + np.array(lidar_xform[1]) + mask = np.logical_and(np.all(pts >= box_selection[0],axis=1),np.all(pts <= box_selection[1],axis=1)) + print("Number of lidar points in box:",np.sum(mask)) + print("Indices of lidar points in box:",np.where(mask)[0]) + print("Points in box",pts[mask]) + else: + print("No selection") + + vis.addAction(select_point,'Select with point','s','Select a point by dragging a point widget') + vis.addAction(select_box,'Select with box','b','Select multiple points with a box widget') + vis.addAction(print_selection,'Print selection','q') + + vis.addAction(increment_index,"Increment index",'=') + vis.addAction(decrement_index,"Decrement index",'-') + vis.addAction(print_xforms,'Print transforms','p') + load_and_show_scan(1) + vis.add('zed_xform',zed_xform) + vis.add('lidar_xform',lidar_xform) + vis.edit('zed_xform') + vis.edit('lidar_xform') + vis.show() + while vis.shown(): + lidar_xform = vis.getItemConfig('lidar_xform') + lidar_xform = lidar_xform[:9],lidar_xform[9:] + zed_xform = vis.getItemConfig('zed_xform') + zed_xform = zed_xform[:9],zed_xform[9:] + if data['selection_widget'] == 'point_widget': + point_selection = vis.getItemConfig('point_widget') + elif data['selection_widget'] == 'box_widget': + handle1 = vis.getItemConfig('box_widget_handle1') + handle2 = vis.getItemConfig('box_widget_handle2') + lower = [min(handle1[i],handle2[i]) for i in range(3)] + upper = [max(handle1[i],handle2[i]) for i in range(3)] + box_selection = [lower,upper] + box_geometry = bbox(lower,upper,type='GeometricPrimitive') + vis.add('box_widget',box_geometry,color=(1.0,0.5,0,0.5)) + data['lidar'].setCurrentTransform(*lidar_xform) + data['oak'].setCurrentTransform(*zed_xform) + time.sleep(0.02) + vis.kill() + +if __name__ == '__main__': + import sys + folder = 'data' + if len(sys.argv) >= 2: + folder = sys.argv[1] + if len(sys.argv) >= 3: + calib = sys.argv[2] + import yaml + with open(calib,'r') as f: + config = yaml.load(f,yaml.SafeLoader) + zed_K = np.array(config['K']).reshape((3,3)) + zed_intrinsics = [zed_K[0,0],zed_K[1,1],zed_K[0,2],zed_K[1,2]] + zed_w = config['width'] + zed_height = config['height'] + main(folder) diff --git a/GEMstack/offboard/calibration/lidar_to_camera.py b/GEMstack/offboard/calibration/lidar_to_camera.py new file mode 100644 index 000000000..cbf979c98 --- /dev/null +++ b/GEMstack/offboard/calibration/lidar_to_camera.py @@ -0,0 +1,20 @@ +import numpy as np + +T_camera_vehicle = np.array([[ 0.00349517, -0.03239524, 0.99946903, 1.75864913], + [-0.99996547, 0.00742285, 0.0037375, 0.01238124], + [-0.00753999, -0.99944757, -0.03236817, 1.54408419], + [0,0,0,1]]) + +T_lidar_vehicle = np.array([[ 0.99941328, 0.02547416, 0.02289458, 1.1], + [-0.02530855, 0.99965159, -0.00749488, 0.03773044170906172], + [-0.02307753, 0.00691106, 0.99970979, 1.9525244316515322], + [0,0,0,1]]) + +# Invert Camera->Vehicle transformation +T_vehicle_camera = np.linalg.inv(T_camera_vehicle) + +T_lidar_camera = T_vehicle_camera @ T_lidar_vehicle + +# Print result +print("Lidar to Camera Transformation Matrix:") +print(T_lidar_camera) diff --git a/GEMstack/offboard/calibration/lidar_to_vehicle.py b/GEMstack/offboard/calibration/lidar_to_vehicle.py new file mode 100644 index 000000000..6902df6db --- /dev/null +++ b/GEMstack/offboard/calibration/lidar_to_vehicle.py @@ -0,0 +1,224 @@ +#%% +import sys +import math +import numpy as np +from scipy.spatial.transform import Rotation as R +import pyvista as pv +import matplotlib.pyplot as plt +from visualizer import visualizer +import argparse + +parser = argparse.ArgumentParser(description='Process LiDAR data with calibration.') +parser.add_argument('--data_path', type=str, required=True, help='Path to the dataset') +parser.add_argument('--index', type=int, required=True, help='Index for selecting the files') +parser.add_argument('--vis', action='store_true', help='Enable visualization') +args = parser.parse_args() + +VIS = args.vis + +#%% things to extract +tx,ty,tz,rx,ry,rz = [None] * 6 + +#%%============================================================== +#======================= util functions ========================= +#================================================================ +def vis(title='', ratio=1): + print(title) + pv.set_jupyter_backend('client') + return visualizer().set_cam() +def load_scene(path): + sc = np.load(path)['arr_0'] + sc = sc[~np.all(sc == 0, axis=1)] # remove (0,0,0)'s + return sc + +sc1 = load_scene(f'{args.data_path}/lidar{args.index}.npz') + +def crop(pc,ix=None,iy=None,iz=None): + # crop a subrectangle in a pointcloud + # usage: crop(pc, ix = (x_min,x_max), ...) + # return: array(N,3) + mask = True + for dim,intervel in zip([0,1,2],[ix,iy,iz]): + if not intervel: continue + d,u = intervel + mask &= pc[:,dim] >= d + mask &= pc[:,dim] <= u + print(f'points left after cropping {dim}\'th dim',mask.sum()) + return pc[mask] + +from sklearn.linear_model import RANSACRegressor +from sklearn.linear_model import LinearRegression +def fit_plane_ransac(pc,tol=0.01): + # fit a line/plane/hyperplane in a pointcloud + # pc: np array (N,D). the pointcloud + # tol: the tolerance. default 0.01 + model = RANSACRegressor(LinearRegression(), residual_threshold=tol) + model.fit(pc[:,:-1], pc[:,-1]) + a = model.estimator_.coef_ + inter = model.estimator_.intercept_ + class visual: + def plot(self): + inliers = pc[model.inlier_mask_] + if pc.shape[1] == 2: + plt.title('ransac fitting line') + plt.scatter(pc[:,0], pc[:,1], color='blue', marker='o', s=1) + plt.scatter(inliers[:,0], inliers[:,1], color='red', marker='o', s=1) + x_line = np.linspace(0, max(pc[:,0]), 100).reshape(-1,1) + plt.plot(x_line, x_line * a[0] + inter, color='red', label='Fitted Line') + elif pc.shape[1] == 3: + vis('ransac fitting a plane').add_pc(pc).add_pc(inliers,color='red').show() + return self + + def results(self): + # return: array(D-1), float, array(N,3) + # ^: , coeffs, intercept toward the plane, inliers of the fit + return a,inter + return visual() + +from scipy.spatial import cKDTree +def pc_diff(pc0,pc1,tol=0.1): + # remove points in pc0 from pc1 s.t. euclidian distance is within tolerance + # return: array(N,3) + tree = cKDTree(pc0) + diff = [] + for i, point in enumerate(pc1): + _, idx = tree.query(point) + distance = np.linalg.norm(point - pc0[idx]) # Compute the distance + if distance > tol: + diff.append(point) + tree = cKDTree(pc1) + for i, point in enumerate(pc0): + _, idx = tree.query(point) + distance = np.linalg.norm(point - pc1[idx]) # Compute the distance + if distance > tol: + diff.append(point) + return np.array(diff) + + + + + + +#%%============================================================== +#========================= tz rx ry ============================= +#================================================================ + +#%% load scene for ground plane +# Update depending on where data is stored +sc = load_scene('./data/lidar1.npz') + +# %% we crop to keep the ground +cropped_sc = crop(sc,iz = (-3,-2)) +if VIS: + vis('ground points cropped').add_pc(cropped_sc,color='blue').show() + +#%% +from math import sqrt +fit = fit_plane_ransac(cropped_sc,tol=0.01) # small tol because the ground is very flat +c, inter = fit.results() +normv = np.array([c[0], c[1], -1]) +normv /= np.linalg.norm(normv) +nx,ny,nz = normv +height = nz * inter +# TODO MAGIC NUMBER WARNING +height_axel = 0.2794 # 11 inches that we measured +tz = height - height_axel +if VIS: + fit.plot() +rx = -math.atan2(ny,-nz) +ry = -math.atan2(-nx,-nz) + + +if VIS: + from scipy.spatial.transform import Rotation as R + rot = R.from_euler('xyz',[rx,ry,0]).as_matrix() + cal_sc = sc @ rot.T + [0,0,tz] + vis('yz projection').add_pc(cal_sc*[0,1,1],color='blue').show() + vis('xz projection').add_pc(cal_sc*[1,0,1],color='blue').show() + +#%%============================================================== +#========================== tx ty rz ============================ +#================================================================ + +rot = R.from_euler('xyz',[rx,ry,0]).as_matrix() + +if False: # True to use the diff method to extract object. + # load data: update depending on where data is stored + sc0 = load_scene('./data/lidar70.npz') + sc1 = load_scene('./data/lidar78.npz') + + sc0 = sc0 @ rot.T + [0,0,tz] + sc1 = sc1 @ rot.T + [0,0,tz] + + # crop to only keep a frontal box area + area = (-0,7),(-1,1),(-3,1) + cropped0 = crop(sc0,*area) + cropped1 = crop(sc1,*area) + print(cropped0.shape) + print(cropped1.shape) + + # Take difference to only keep added object + objects = pc_diff(cropped0,cropped1) + +else: #False to use only cropping + # Update depending on where data is stored + + objects = sc1 @ rot.T + [0,0,tz] + + # crop to only keep a frontal box area + area = (-0,20),(-1,1),(0,1) + objects = crop(objects,*area) + print(objects.shape) + + +#%% +if VIS: + vis().add_pc(objects,color='blue').show() #visualize diff, hopefully the added objects + +# %% use the added objects to find rz. +# TODO after dataset retake +# right now we assume tx = ty = 0 and \ +# just use median to find a headding direction +fit = fit_plane_ransac(objects[:,:2],tol=1) # tol=1 because 1m^3 foam boxes +c,inter = fit.results() +if VIS: + fit.plot() +# tx = ty = 0 +# hx,hy = np.median(diff,axis=0)[:2] +# rz = -np.arctan2(hy,hx) +rz = - math.atan(c) +tx = 2.56 - 1.46 # https://publish.illinois.edu/robotics-autonomy-resources/gem-e4/hardware/ +ty = - inter * math.cos(rz) + +if VIS: + p1 = (0,inter,0) + p2 = max(objects[:,0])*np.array([1,c[0],0])+np.array([0,inter,0]) + vis().add_pc(sc1*np.array([1,1,0]),color='blue').add_line(p1,p2,color='red').show() + + from scipy.spatial.transform import Rotation as R + rot = R.from_euler('xyz',[0,0,rz]).as_matrix() + cal_sc1 = sc1 @ rot.T + [tx,ty,0] + vis().add_pc(cal_sc1,color='blue').show() + + +#%% visualize calibrated pointcloud +if VIS: + rot = R.from_euler('xyz',[rx,ry,rz]).as_matrix() + + cal_sc1 = sc1 @ rot.T + [tx,ty,tz] + v = vis(ratio=100) + proj = [1,1,1] + v.add_pc(cal_sc1*proj,color='blue') + v.add_box((2.56,.61*2,2.03+height_axel),[2.56/2,0,(2.03+height_axel)/2]) + v.show() + # the yellow box should be 11 inches above the ground + # rear-axel center should be at (0,0,0) +# %% +print(f""" +translation: ({tx,ty,tz}) +rotation: ({rx,ry,rz}) +""") + + + +# %% diff --git a/GEMstack/offboard/calibration/test_transforms.py b/GEMstack/offboard/calibration/test_transforms.py new file mode 100644 index 000000000..07fe0f7c4 --- /dev/null +++ b/GEMstack/offboard/calibration/test_transforms.py @@ -0,0 +1,74 @@ +import numpy as np +import cv2 +import matplotlib.pyplot as plt +import argparse +import os + +def load_lidar_data(data_folder, index): + lidar_path = os.path.join(data_folder, f"lidar{index}.npz") + lidar_data = np.load(lidar_path) + return lidar_data['arr_0'] + +def load_image(data_folder, index): + image_path = os.path.join(data_folder, f"color{index}.png") + image = cv2.imread(image_path) + return cv2.cvtColor(image, cv2.COLOR_BGR2RGB) + +def main(data_folder, index): + # Load Data + lidar_points = load_lidar_data(data_folder, index) + image = load_image(data_folder, index) + + # Transformation Matrix + T_lidar_camera = np.array([ + [ 2.89748006e-02, -9.99580136e-01, 3.68439439e-05, -3.07300513e-02], + [-9.49930618e-03, -3.12215512e-04, -9.99954834e-01, -3.86689354e-01], + [ 9.99534999e-01, 2.89731321e-02, -9.50437214e-03, -6.71425124e-01], + [ 0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 1.00000000e+00] + ]) + + # Convert LiDAR points to homogeneous coordinates + num_points = lidar_points.shape[0] + lidar_homogeneous = np.hstack((lidar_points, np.ones((num_points, 1)))) + + # Transform LiDAR points to Camera Frame + lidar_points_camera = (T_lidar_camera @ lidar_homogeneous.T).T + + # Intrinsic Camera Matrix + K = np.array([ + [684.83331299, 0. , 573.37109375], + [ 0. , 684.60968018, 363.70092773], + [ 0. , 0. , 1. ] + ], dtype=np.float32) + + # Extract 3D points in camera frame + X_c = lidar_points_camera[:, 0] + Y_c =lidar_points_camera[:, 1] + Z_c = lidar_points_camera[:, 2] #depth + + # Avoid division by zero + valid = Z_c > 0 + X_c, Y_c, Z_c = X_c[valid], Y_c[valid], Z_c[valid] + + # Project points onto image plane + u = (K[0, 0] * X_c / Z_c) + K[0, 2] + v = (K[1, 1] * Y_c / Z_c) + K[1, 2] + + # Filter points within image bounds + img_h, img_w, _ = image.shape + valid_pts = (u >= 0) & (u < img_w) & (v >= 0) & (v < img_h) + u, v = u[valid_pts], v[valid_pts] + + # Plot projected points on camera image + plt.imshow(image) + plt.scatter(u, v, s=2, c='r') + plt.title("Projected LiDAR Points on Camera Image") + plt.show() + +if __name__ == "__main__": + parser = argparse.ArgumentParser(description="Project LiDAR points onto a camera image.") + parser.add_argument("--data_folder", type=str, required=True, help="Path to the data folder") + parser.add_argument("--index", type=int, required=True, help="Index of the dataset (e.g., 1 for color1.png and lidar1.npz)") + args = parser.parse_args() + + main(args.data_folder, args.index) \ No newline at end of file diff --git a/GEMstack/offboard/calibration/visualizer.py b/GEMstack/offboard/calibration/visualizer.py new file mode 100644 index 000000000..538172068 --- /dev/null +++ b/GEMstack/offboard/calibration/visualizer.py @@ -0,0 +1,43 @@ +import pyvista as pv + +class visualizer: + def __init__(self): + self.plotter = pv.Plotter(notebook=False) + self.plotter.show_axes() + + def set_cam(self, pos=(-20, 0, 20), foc=(0, 0, 0)): + self.plotter.camera.position = pos + self.plotter.camera.focal_point = foc + return self + + def add_pc(self, pc, ratio=1, **kargs): + self.plotter.add_mesh( + pv.PolyData(pc * ratio), + render_points_as_spheres=True, + point_size=2, + **kargs + ) + return self + + def add_line(self, p1, p2, ratio=1, **kargs): + self.plotter.add_mesh( + pv.Line(p1 * ratio, p2 * ratio), + **kargs, + line_width=1 + ) + return self + + def add_box(self, bound, trans, ratio=1): + l, w, h = map(lambda x: x * ratio, bound) + box = pv.Box(bounds=(-l/2, l/2, -w/2, w/2, -h/2, h/2)) + box = box.translate(list(map(lambda x: x * ratio, trans))) + self.plotter.add_mesh(box, color='yellow') + return self + + def show(self): + self.plotter.show() + return self + + def close(self): + self.plotter.close() + return None diff --git a/GEMstack/offboard/log_management/s3.py b/GEMstack/offboard/log_management/s3.py new file mode 100644 index 000000000..b8f2ea4c8 --- /dev/null +++ b/GEMstack/offboard/log_management/s3.py @@ -0,0 +1,248 @@ +#!/usr/bin/env python3 +""" +This client interacts with S3 to upload (push) or download (pull) the latest folder. +For push, the latest folder in the local base directory (default "logs") +is determined based on its timestamp (folder name in "YYYY-MM-DD_HH-MM-SS" format). +For pull, the latest folder under the S3 prefix is selected. + +Before running this client make sure you have defined .env in root with following values: +AWS_ACCESS_KEY_ID=example +AWS_SECRET_ACCESS_KEY=example +AWS_DEFAULT_REGION=us-east-1 + +Requires: + pip install boto3 python-dotenv + +Example Usage: + + # Push the latest folder from the local "logs" directory to S3: + python3 -m GEMstack.offboard.log_management.s3 \ + --action push \ + --bucket cs588 \ + --s3-prefix captures + + # Pull (download) the latest folder from S3 into local "download/" directory: + python3 -m GEMstack.offboard.log_management.s3 \ + --action pull \ + --bucket cs588 \ + --s3-prefix captures \ + --dest-dir download +""" + +import argparse +import boto3 +import os +import sys +from datetime import datetime +from dotenv import load_dotenv + +def get_s3_client(): + """ + Initializes the S3 client using AWS credentials from environment variables. + Expects: + - AWS_ACCESS_KEY_ID + - AWS_SECRET_ACCESS_KEY + - AWS_DEFAULT_REGION + Exits if any of these are missing. + """ + # load environment variables from .env file (override local config if exists) + load_dotenv(override=True) + + access_key = os.environ.get('AWS_ACCESS_KEY_ID') + secret_key = os.environ.get('AWS_SECRET_ACCESS_KEY') + region = os.environ.get('AWS_DEFAULT_REGION') + + if not access_key or not secret_key or not region: + sys.exit( + "Error: AWS credentials not set. Please set AWS_ACCESS_KEY_ID, " + "AWS_SECRET_ACCESS_KEY, and AWS_DEFAULT_REGION environment variables (in .env)." + ) + + return boto3.client( + 's3', + aws_access_key_id=access_key, + aws_secret_access_key=secret_key, + region_name=region + ) + +def check_s3_connection(s3_client, bucket): + """ + Verifies that we can connect to S3 and access the specified bucket. + """ + try: + s3_client.head_bucket(Bucket=bucket) + print(f"Connection check: Successfully accessed bucket '{bucket}'") + except Exception as e: + sys.exit(f"Error: Could not connect to S3 bucket '{bucket}': {e}") + +def push_folder_to_s3(folder_path, bucket, s3_prefix): + """ + Walks through the folder and uploads each file to S3 under the given prefix. + Files are stored under the key: s3_prefix/folder_name/. + """ + s3_client = get_s3_client() + check_s3_connection(s3_client, bucket) + + folder_name = os.path.basename(folder_path) + files_uploaded = 0 + + for root, _, files in os.walk(folder_path): + for file in files: + local_path = os.path.join(root, file) + # determine the file's path relative to the folder being pushed. + relative_path = os.path.relpath(local_path, folder_path) + s3_key = os.path.join(s3_prefix, folder_name, relative_path) + try: + print(f"Uploading {local_path} to s3://{bucket}/{s3_key}") + s3_client.upload_file(local_path, bucket, s3_key) + files_uploaded += 1 + except Exception as e: + print(f"Error uploading {local_path}: {e}") + + if files_uploaded == 0: + sys.exit(f"Error: No files were uploaded from folder: {folder_path}") + +def pull_folder_from_s3(bucket, s3_prefix, folder_name, dest_dir): + """ + Downloads all objects from S3 whose key begins with s3_prefix/folder_name. + The folder will be recreated under `dest_dir/folder_name`. + """ + s3_client = get_s3_client() + check_s3_connection(s3_client, bucket) + + prefix = os.path.join(s3_prefix, folder_name) + + paginator = s3_client.get_paginator('list_objects_v2') + pages = paginator.paginate(Bucket=bucket, Prefix=prefix) + + found_files = False + for page in pages: + if 'Contents' not in page: + continue + for obj in page['Contents']: + key = obj['Key'] + if key.endswith("/"): + continue + + found_files = True + relative_path = os.path.relpath(key, prefix) + local_path = os.path.join(dest_dir, folder_name, relative_path) + + os.makedirs(os.path.dirname(local_path), exist_ok=True) + + print(f"Downloading s3://{bucket}/{key} to {local_path}") + try: + s3_client.download_file(bucket, key, local_path) + except Exception as e: + print(f"Error downloading s3://{bucket}/{key}: {e}") + + if not found_files: + sys.exit(f"Error: No files found in bucket '{bucket}' with prefix '{prefix}'") + +def get_latest_local_folder(base_dir): + """ + Scans the base directory for subdirectories and returns the one with the latest timestamp. + Assumes folder names are in the format "YYYY-MM-DD_HH-MM-SS". + """ + try: + subdirs = [d for d in os.listdir(base_dir) if os.path.isdir(os.path.join(base_dir, d))] + except FileNotFoundError: + sys.exit(f"Error: Base directory does not exist: {base_dir}") + + if not subdirs: + sys.exit(f"Error: No subdirectories found in base directory: {base_dir}") + + def parse_timestamp(folder): + try: + return datetime.strptime(folder, "%Y-%m-%d_%H-%M-%S") + except Exception: + return datetime.min + + latest = sorted(subdirs, key=parse_timestamp)[-1] + return latest + +def get_latest_s3_folder(s3_client, bucket, s3_prefix): + """ + Retrieves the latest folder name from S3 under the given prefix. + It lists common prefixes (folders) and returns the one with the latest timestamp. + Assumes folder names follow the format "YYYY-MM-DD_HH-MM-SS". + """ + response = s3_client.list_objects_v2( + Bucket=bucket, + Prefix=s3_prefix + "/", + Delimiter="/" + ) + if 'CommonPrefixes' not in response: + sys.exit(f"Error: No folders found in S3 bucket '{bucket}' with prefix '{s3_prefix}'") + + folders = [] + for cp in response['CommonPrefixes']: + prefix = cp.get('Prefix') + # Expect prefix like "captures/2025-02-12_15-30-00/" + parts = prefix.split('/') + if len(parts) >= 2: + folder_name = parts[-2] + folders.append(folder_name) + + if not folders: + sys.exit(f"Error: No valid folder names found in S3 bucket '{bucket}' with prefix '{s3_prefix}'") + + def parse_timestamp(folder): + try: + return datetime.strptime(folder, "%Y-%m-%d_%H-%M-%S") + except Exception: + return datetime.min + + latest = sorted(folders, key=parse_timestamp)[-1] + return latest + +def main(): + parser = argparse.ArgumentParser( + description="Push or pull the latest folder to/from an S3 bucket." + ) + parser.add_argument("--action", choices=["push", "pull"], required=True, + help="Choose whether to push (upload) or pull (download) a folder.") + # The --folder argument is now optional. If not provided, the latest folder is auto-detected. + parser.add_argument("--folder", default=None, + help="(Optional) Folder name (e.g. 2025-02-12_15-30-00). If omitted, the latest folder is selected.") + parser.add_argument("--base-dir", default="logs", + help="Local base directory where capture runs are stored (used for push).") + parser.add_argument("--dest-dir", default="download", + help="Local directory to place the downloaded folder (used for pull).") + parser.add_argument("--bucket", required=True, + help="S3 bucket name.") + parser.add_argument("--s3-prefix", default="captures", + help="S3 prefix (folder) where data is stored or will be uploaded.") + args = parser.parse_args() + + if args.action == "push": + # If no folder is provided, determine the latest local folder from the base directory. + if args.folder is None: + args.folder = get_latest_local_folder(args.base_dir) + print(f"Auto-detected latest local folder: {args.folder}") + folder_path = os.path.join(args.base_dir, args.folder) + if not os.path.exists(folder_path): + sys.exit(f"Error: Folder does not exist: {folder_path}") + + # check if the folder is empty. + folder_empty = True + for _, _, files in os.walk(folder_path): + if files: + folder_empty = False + break + if folder_empty: + sys.exit(f"Error: Folder is empty: {folder_path}") + + push_folder_to_s3(folder_path, args.bucket, args.s3_prefix) + + elif args.action == "pull": + # If no folder is provided, query S3 for the latest folder under the specified prefix. + if args.folder is None: + s3_client = get_s3_client() + check_s3_connection(s3_client, args.bucket) + args.folder = get_latest_s3_folder(s3_client, args.bucket, args.s3_prefix) + print(f"Auto-detected latest folder on S3: {args.folder}") + pull_folder_from_s3(args.bucket, args.s3_prefix, args.folder, args.dest_dir) + +if __name__ == '__main__': + main() diff --git a/GEMstack/onboard/execution/entrypoint.py b/GEMstack/onboard/execution/entrypoint.py index b1e7a8d10..f20621bbd 100644 --- a/GEMstack/onboard/execution/entrypoint.py +++ b/GEMstack/onboard/execution/entrypoint.py @@ -122,17 +122,19 @@ def caution_callback(k,variant): #configure logging if log_settings: - topfolder = log_settings.get('log','logs') + topfolder = log_settings.get('folder','logs') prefix = log_settings.get('prefix','') from datetime import datetime default_suffix = datetime.now().strftime('%Y-%m-%d_%H-%M-%S') suffix = log_settings.get('suffix',default_suffix) logfolder = os.path.join(topfolder,prefix+suffix) print(EXECUTION_PREFIX,"Logging to",logfolder) + auto_plot = log_settings.get("auto_plot", False) os.makedirs(logfolder,exist_ok=True) #configure logging for components mission_executor.set_log_folder(logfolder) + mission_executor.set_auto_plot(auto_plot) #configure ROS logging log_topics = log_settings.get('ros_topics',[]) rosbag_options = log_settings.get('rosbag_options','') diff --git a/GEMstack/onboard/execution/execution.py b/GEMstack/onboard/execution/execution.py index a65c2acc5..9af6ee5f3 100644 --- a/GEMstack/onboard/execution/execution.py +++ b/GEMstack/onboard/execution/execution.py @@ -424,6 +424,9 @@ def add_pipeline(self,name : str, perception : Dict[str,ComponentExecutor], plan def set_log_folder(self,folder : str): self.logging_manager.set_log_folder(folder) + + def set_auto_plot(self,enabled : bool): + self.logging_manager.set_auto_plot(enabled) def log_vehicle_interface(self,enabled=True): """Indicates that the vehicle interface should be logged""" diff --git a/GEMstack/onboard/execution/logging.py b/GEMstack/onboard/execution/logging.py index 31ebd962b..21f401994 100644 --- a/GEMstack/onboard/execution/logging.py +++ b/GEMstack/onboard/execution/logging.py @@ -1,6 +1,6 @@ from __future__ import annotations from ..component import Component -from ...utils import serialization,logging,config,settings +from ...utils import serialization,logging,config,settings,log_plot from typing import List,Optional,Dict,Set,Any import time import datetime @@ -27,6 +27,10 @@ def __init__(self): self.vehicle_time = None self.start_vehicle_time = None self.debug_messages = {} + self.auto_plot = False + + def set_auto_plot(self, auto_plot : bool) -> None: + self.auto_plot = auto_plot def logging(self) -> bool: return self.log_folder is not None @@ -264,6 +268,8 @@ def log_component_stderr(self, component : str, msg : List[str]) -> None: def close(self): self.dump_debug() + if self.auto_plot: + log_plot.main(self.log_folder) self.debug_messages = {} if self.rosbag_process is not None: out,err = self.rosbag_process.communicate() # Will block diff --git a/GEMstack/onboard/interface/gem.py b/GEMstack/onboard/interface/gem.py index 9abcd1b6b..0b3e09b6a 100644 --- a/GEMstack/onboard/interface/gem.py +++ b/GEMstack/onboard/interface/gem.py @@ -4,6 +4,7 @@ from ...knowledge.vehicle.geometry import front2steer,steer2front,heading_rate from ...knowledge.vehicle.dynamics import pedal_positions_to_acceleration, acceleration_to_pedal_positions from typing import List,Optional,Callable +import numpy as np @dataclass @serialization.register @@ -95,6 +96,7 @@ class GEMInterface: def __init__(self): self.last_command = None # type: GEMVehicleCommand self.last_reading = None # type: GEMVehicleReading + self.max_accel = settings.get('vehicle.limits.max_accelerator_pedal') def start(self): pass @@ -133,7 +135,7 @@ def hardware_faults(self) -> List[str]: """ raise NotImplementedError() - def simple_command(self, acceleration_mps2 : float, steering_wheel_angle : float, state : VehicleState = None) -> GEMVehicleCommand: + def simple_command(self, acceleration_mps2: float, steering_wheel_angle: float, state: VehicleState = None) -> GEMVehicleCommand: """" Returns a command according to a desired acceleration and steering angle @@ -145,7 +147,11 @@ def simple_command(self, acceleration_mps2 : float, steering_wheel_angle : float pitch = state.pose.pitch if state is not None and state.pose.pitch is not None else 0.0 v = state.v if state is not None else 0.0 gear = state.gear if state is not None else 1 - acc_pos,brake_pos,gear = acceleration_to_pedal_positions(acceleration_mps2, v, pitch, gear) + + acc_pos, brake_pos, gear = acceleration_to_pedal_positions(acceleration_mps2, v, pitch, gear) + + + # acc_pos,brake_pos,gear = acceleration_to_pedal_positions(acceleration_mps2, v, pitch, gear) cmd = GEMVehicleCommand(gear=gear, accelerator_pedal_position=acc_pos, diff --git a/GEMstack/onboard/interface/gem_hardware.py b/GEMstack/onboard/interface/gem_hardware.py index 836d7ef71..21cac6fd1 100644 --- a/GEMstack/onboard/interface/gem_hardware.py +++ b/GEMstack/onboard/interface/gem_hardware.py @@ -27,6 +27,7 @@ import numpy as np from ...utils import conversions + class GEMHardwareInterface(GEMInterface): """Interface for connnecting to the physical GEM e2 vehicle.""" def __init__(self): @@ -187,6 +188,7 @@ def callback_with_gnss_reading(msg: INSNavGeod): roll=math.radians(msg.roll), pitch=math.radians(msg.pitch), ) + # print("@@@@@, POSE", pose.x, pose.y) speed = np.sqrt(msg.ve**2 + msg.vn**2) callback(GNSSReading(pose,speed,('error' if msg.error else 'ok'))) self.gnss_sub = rospy.Subscriber(topic, INSNavGeod, callback_with_gnss_reading) @@ -294,6 +296,16 @@ def send_command(self, command : GEMVehicleCommand): if command.brake_pedal_position > 0.0: self.accel_cmd.f64_cmd = 0.0 self.brake_cmd.f64_cmd = command.brake_pedal_position + + # if self.last_reading.speed == 0 and command.brake_pedal_position > 0.0 and command.accelerator_pedal_position > 0.0: + # self.accel_cmd.f64_cmd = command.accelerator_pedal_position + # self.brake_cmd.f64_cmd = command.brake_pedal_position + # else: + # self.accel_cmd.f64_cmd = command.accelerator_pedal_position + # if command.brake_pedal_position > 0.0: + # self.accel_cmd.f64_cmd = 0.0 + # self.brake_cmd.f64_cmd = command.brake_pedal_position + self.steer_cmd.angular_position = command.steering_wheel_angle self.steer_cmd.angular_velocity_limit = command.steering_wheel_speed print("**************************") @@ -305,7 +317,7 @@ def send_command(self, command : GEMVehicleCommand): print("Warning: commanded acceleration exceeded accel pedal limit") self.accel_cmd.f64_cmd = maxacc if self.brake_cmd.f64_cmd > maxbrake: - print("Warning: commanded braking exceeded brake pedal limit") + print("Warning: commanded braking exceed 0 # to ed brake pedal limit") self.brake_cmd.f64_cmd = maxbrake print("**************************") @@ -317,6 +329,7 @@ def send_command(self, command : GEMVehicleCommand): self.accel_cmd.clear = False self.accel_cmd.ignore = False + self.gear_cmd.ui16_cmd = PacmodCmd.SHIFT_FORWARD self.gear_cmd.enable = True self.gear_pub.publish(self.gear_cmd) diff --git a/GEMstack/onboard/interface/gem_simulator.py b/GEMstack/onboard/interface/gem_simulator.py index 2abfde71f..88adf8433 100644 --- a/GEMstack/onboard/interface/gem_simulator.py +++ b/GEMstack/onboard/interface/gem_simulator.py @@ -19,7 +19,8 @@ 'bicyclist' : (1.8,0.5,1.6), 'car' : (4.0,2.5,1.4), 'medium_truck': (6.0,2.5,3.0), - 'large_truck': (10.0,2.5,3.5) + 'large_truck': (10.0,2.5,3.5), + 'cone' : (0.5,0.5,1.0) } AGENT_TYPE_TO_ENUM = { @@ -27,7 +28,8 @@ 'bicyclist' : AgentEnum.BICYCLIST, 'car' : AgentEnum.CAR, 'medium_truck': AgentEnum.MEDIUM_TRUCK, - 'large_truck': AgentEnum.LARGE_TRUCK + 'large_truck': AgentEnum.LARGE_TRUCK, + 'cone': AgentEnum.CONE } AGENT_NOMINAL_VELOCITY = { @@ -35,7 +37,8 @@ 'bicyclist' : 5.0, 'car' : 20.0, 'medium_truck': 15.0, - 'large_truck': 10.0 + 'large_truck': 10.0, + 'cone' : 0.0 } AGENT_NOMINAL_ACCELERATION = { @@ -43,7 +46,8 @@ 'bicyclist' : 2.0, 'car' : 5.0, 'medium_truck': 3.0, - 'large_truck': 2.0 + 'large_truck': 2.0, + 'cone' : 0.0 } class AgentSimulation: @@ -207,7 +211,7 @@ def simulate(self, T : float, command : Optional[GEMVehicleCommand]): reading.brake_pedal_position = brake_pedal_position reading.accelerator_pedal_position = 0 reading.speed = v - if v > 0: + if v >= 0: reading.gear = 1 else: reading.gear = -1 diff --git a/GEMstack/onboard/perception/cone_detection.py b/GEMstack/onboard/perception/cone_detection.py new file mode 100644 index 000000000..42ea26169 --- /dev/null +++ b/GEMstack/onboard/perception/cone_detection.py @@ -0,0 +1,516 @@ +from ...state import AllState, VehicleState, ObjectPose, ObjectFrameEnum, AgentState, AgentEnum, AgentActivityEnum +from ..interface.gem import GEMInterface +from ..component import Component +from .perception_utils import * +from ultralytics import YOLO +import cv2 +from typing import Dict +import open3d as o3d +import numpy as np +from scipy.spatial.transform import Rotation as R +import rospy +from sensor_msgs.msg import PointCloud2, Image +from message_filters import Subscriber, ApproximateTimeSynchronizer +from cv_bridge import CvBridge +import time +import os +import yaml + + +class ConeDetector3D(Component): + """ + Detects cones by fusing YOLO 2D detections with LiDAR point cloud data. + + Tracking is optional: set `enable_tracking=False` to disable persistent tracking + and return only detections from the current frame. + + Supports multiple cameras; each camera’s intrinsics and extrinsics are + loaded from a single YAML calibration file via plain PyYAML. + """ + + def __init__( + self, + vehicle_interface: GEMInterface, + camera_name: str, + camera_calib_file: str, + enable_tracking: bool = True, + visualize_2d: bool = False, + use_cyl_roi: bool = False, + T_l2v: list = None, + save_data: bool = True, + orientation: bool = True, + use_start_frame: bool = True, + **kwargs + ): + # Core interfaces and state + self.vehicle_interface = vehicle_interface + self.current_agents = {} + self.tracked_agents = {} + self.cone_counter = 0 + self.latest_image = None + self.latest_lidar = None + self.bridge = CvBridge() + self.start_pose_abs = None + self.start_time = None + + # Config flags + self.camera_name = camera_name + self.enable_tracking = enable_tracking + self.visualize_2d = visualize_2d + self.use_cyl_roi = use_cyl_roi + self.save_data = save_data + self.orientation = orientation + self.use_start_frame = use_start_frame + + # 1) Load lidar→vehicle transform + if T_l2v is not None: + self.T_l2v = np.array(T_l2v) + else: + self.T_l2v = np.array([ + [0.99939639, 0.02547917, 0.023615, 1.1], + [-0.02530848, 0.99965156, -0.00749882, 0.03773583], + [-0.02379784, 0.00689664, 0.999693, 1.95320223], + [0.0, 0.0, 0.0, 1.0] + ]) + + # 2) Load camera intrinsics/extrinsics from the supplied YAML + with open(camera_calib_file, 'r') as f: + calib = yaml.safe_load(f) + + # Expect structure: + # cameras: + # front: + # K: [[...], [...], [...]] + # D: [...] + # T_l2c: [[...], ..., [...]] + cam_cfg = calib['cameras'][camera_name] + self.K = np.array(cam_cfg['K']) + self.D = np.array(cam_cfg['D']) + self.T_l2c = np.array(cam_cfg['T_l2c']) + + # Derived transforms + + self.undistort_map1 = None + self.undistort_map2 = None + self.camera_front = (camera_name=='front') + + def rate(self) -> float: + return 8 + + def state_inputs(self) -> list: + return ['vehicle'] + + def state_outputs(self) -> list: + return ['agents'] + + def initialize(self): + # --- Determine the correct RGB topic for this camera --- + rgb_topic_map = { + 'front': '/oak/rgb/image_raw', + 'front_right': '/camera_fr/arena_camera_node/image_raw', + # add additional camera mappings here if needed + } + rgb_topic = rgb_topic_map.get( + self.camera_name, + f'/{self.camera_name}/rgb/image_raw' + ) + + # Subscribe to the RGB and LiDAR streams + self.rgb_sub = Subscriber(rgb_topic, Image) + self.lidar_sub = Subscriber('/ouster/points', PointCloud2) + self.sync = ApproximateTimeSynchronizer([ + self.rgb_sub, self.lidar_sub + ], queue_size=500, slop=0.05) + self.sync.registerCallback(self.synchronized_callback) + + # Initialize the YOLO detector + self.detector = YOLO('GEMstack/knowledge/detection/cone.pt') + self.detector.to('cuda') + self.T_c2l = np.linalg.inv(self.T_l2c) + self.R_c2l = self.T_c2l[:3, :3] + self.camera_origin_in_lidar = self.T_c2l[:3, 3] + + def synchronized_callback(self, image_msg, lidar_msg): + step1 = time.time() + try: + self.latest_image = self.bridge.imgmsg_to_cv2(image_msg, "bgr8") + except Exception as e: + rospy.logerr("Failed to convert image: {}".format(e)) + self.latest_image = None + step2 = time.time() + self.latest_lidar = pc2_to_numpy(lidar_msg, want_rgb=False) + step3 = time.time() + # print('image callback: ', step2 - step1, 'lidar callback ', step3 - step2) + + def undistort_image(self, image, K, D): + h, w = image.shape[:2] + newK, _ = cv2.getOptimalNewCameraMatrix(K, D, (w, h), 1, (w, h)) + if self.undistort_map1 is None or self.undistort_map2 is None: + self.undistort_map1, self.undistort_map2 = cv2.initUndistortRectifyMap(K, D, R=None, + newCameraMatrix=newK, size=(w, h), + m1type=cv2.CV_32FC1) + + start = time.time() + undistorted = cv2.remap(image, self.undistort_map1, self.undistort_map2, interpolation=cv2.INTER_NEAREST) + end = time.time() + # print('--------undistort', end-start) + return undistorted, newK + + def update(self, vehicle: VehicleState) -> Dict[str, AgentState]: + downsample = False + # Gate guards against data not being present for both sensors: + if self.latest_image is None or self.latest_lidar is None: + return {} + lastest_image = self.latest_image.copy() + + # Set up current time variables + start = time.time() + current_time = self.vehicle_interface.time() + + if downsample: + lidar_down = downsample_points(self.latest_lidar, voxel_size=0.1) + else: + lidar_down = self.latest_lidar.copy() + + if self.start_time is None: + self.start_time = current_time + time_elapsed = current_time - self.start_time + + # Ensure data/ exists and build timestamp + if self.save_data: + self.save_sensor_data(vehicle=vehicle, latest_image=latest_image) + + if self.camera_front == False: + start = time.time() + undistorted_img, current_K = self.undistort_image(lastest_image, self.K, self.D) + end = time.time() + # print('-------processing time undistort_image---', end -start) + self.current_K = current_K + orig_H, orig_W = undistorted_img.shape[:2] + + # --- Begin modifications for three-angle detection --- + img_normal = undistorted_img + else: + img_normal = lastest_image.copy() + undistorted_img = lastest_image.copy() + orig_H, orig_W = lastest_image.shape[:2] + self.current_K = self.K + results_normal = self.detector(img_normal, conf=0.35, classes=[0]) + combined_boxes = [] + if not self.enable_tracking: + self.cone_counter = 0 + if self.orientation: + img_left = cv2.rotate(undistorted_img.copy(), cv2.ROTATE_90_COUNTERCLOCKWISE) + img_right = cv2.rotate(undistorted_img.copy(), cv2.ROTATE_90_CLOCKWISE) + results_left = self.detector(img_left, conf=0.1, classes=[0]) + results_right = self.detector(img_right, conf=0.1, classes=[0]) + boxes_left = np.array(results_left[0].boxes.xywh.cpu()) if len(results_left) > 0 else [] + boxes_right = np.array(results_right[0].boxes.xywh.cpu()) if len(results_right) > 0 else [] + for box in boxes_left: + cx, cy, w, h = box + new_cx = cy + new_cy = orig_W - 1 - cx + combined_boxes.append((new_cx, new_cy, h, w, AgentActivityEnum.RIGHT)) + for box in boxes_right: + cx, cy, w, h = box + new_cx = orig_H - 1 - cy + new_cy = cx + combined_boxes.append((new_cx, new_cy, h, w, AgentActivityEnum.LEFT)) + + boxes_normal = np.array(results_normal[0].boxes.xywh.cpu()) if len(results_normal) > 0 else [] + for box in boxes_normal: + cx, cy, w, h = box + combined_boxes.append((cx, cy, w, h, AgentActivityEnum.STANDING)) + + # Visualize the received images in 2D with their corresponding labels + # It draws rectangles and labels on the images: + if getattr(self, 'visualize_2d', False): + for (cx, cy, w, h, activity) in combined_boxes: + left = int(cx - w / 2) + right = int(cx + w / 2) + top = int(cy - h / 2) + bottom = int(cy + h / 2) + if activity == AgentActivityEnum.STANDING: + color = (255, 0, 0) + label = "STANDING" + elif activity == AgentActivityEnum.RIGHT: + color = (0, 255, 0) + label = "RIGHT" + elif activity == AgentActivityEnum.LEFT: + color = (0, 0, 255) + label = "LEFT" + else: + color = (255, 255, 255) + label = "UNKNOWN" + cv2.rectangle(undistorted_img, (left, top), (right, bottom), color, 2) + cv2.putText(undistorted_img, label, (left, max(top - 5, 20)), + cv2.FONT_HERSHEY_SIMPLEX, 0.6, color, 2) + cv2.imshow("Detection - Cone 2D", undistorted_img) + + start = time.time() + # Transform the lidar points from lidar frame of reference to camera EXTRINSIC frame of reference. + # Then project the pixels onto the lidar points to "paint them" (essentially determine which points are associated with detected objects) + pts_cam = transform_points_l2c(lidar_down, self.T_l2c) + projected_pts = project_points(pts_cam, self.current_K, lidar_down) + # What is returned: + # projected_pts[:, 0]: u-coordinate in the image (horizontal pixel position) + # projected_pts[:, 1]: v-coordinate in the image (vertical pixel position) + # projected_pts[:, 2:5]: original X, Y, Z coordinates in the LiDAR frame + + end = time.time() + # print('-------processing time1---', end -start) + + agents = {} + + for i, box_info in enumerate(combined_boxes): + cx, cy, w, h, activity = box_info + left = int(cx - w / 1.6) + right = int(cx + w / 1.6) + top = int(cy - h / 2) + bottom = int(cy + h / 2) + mask = (projected_pts[:, 0] >= left) & (projected_pts[:, 0] <= right) & \ + (projected_pts[:, 1] >= top) & (projected_pts[:, 1] <= bottom) + roi_pts = projected_pts[mask] + if roi_pts.shape[0] < 5: + continue + + points_3d = roi_pts[:, 2:5] + points_3d = filter_points_within_threshold(points_3d, 40) + points_3d = remove_ground_by_min_range(points_3d, z_range=0.08) + points_3d = filter_depth_points(points_3d, max_depth_diff=0.5) + + if self.use_cyl_roi: + global_filtered = filter_points_within_threshold(lidar_down, 30) + roi_cyl = cylindrical_roi(global_filtered, np.mean(points_3d, axis=0), radius=0.4, height=1.2) + refined_cluster = remove_ground_by_min_range(roi_cyl, z_range=0.01) + refined_cluster = filter_depth_points(refined_cluster, max_depth_diff=0.3) + else: + refined_cluster = points_3d.copy() + # end1 = time.time() + if refined_cluster.shape[0] < 4: + continue + + pcd = o3d.geometry.PointCloud() + pcd.points = o3d.utility.Vector3dVector(refined_cluster) + obb = pcd.get_oriented_bounding_box() + refined_center = obb.center + dims = tuple(obb.extent) + R_lidar = obb.R.copy() + + refined_center_hom = np.append(refined_center, 1) + refined_center_vehicle_hom = self.T_l2v @ refined_center_hom + refined_center_vehicle = refined_center_vehicle_hom[:3] + + R_vehicle = self.T_l2v[:3, :3] @ R_lidar + yaw, pitch, roll = R.from_matrix(R_vehicle).as_euler('zyx', degrees=False) + refined_center = refined_center_vehicle + + if self.use_start_frame: + if self.start_pose_abs is None: + self.start_pose_abs = vehicle.pose + vehicle_start_pose = vehicle.pose.to_frame( + ObjectFrameEnum.START, + vehicle.pose, + self.start_pose_abs + ) + T_vehicle_to_start = pose_to_matrix(vehicle_start_pose) + xp, yp, zp = (T_vehicle_to_start @ np.append(refined_center, 1))[:3] + out_frame = ObjectFrameEnum.START + else: + xp, yp, zp = refined_center + out_frame = ObjectFrameEnum.CURRENT + + new_pose = ObjectPose( + t=current_time, + x=xp, y=yp, z=zp, + yaw=yaw, pitch=pitch, roll=roll, + frame=out_frame + ) + + # --- Optional tracking --- + if self.enable_tracking: + existing_id = match_existing_cone( + np.array([new_pose.x, new_pose.y, new_pose.z]), + dims, + self.tracked_agents, + distance_threshold=2.0 + ) + if existing_id is not None: + old_state = self.tracked_agents[existing_id] + if vehicle.v < 100: + alpha = 0.1 + avg_x = alpha * new_pose.x + (1 - alpha) * old_state.pose.x + avg_y = alpha * new_pose.y + (1 - alpha) * old_state.pose.y + avg_z = alpha * new_pose.z + (1 - alpha) * old_state.pose.z + avg_yaw = alpha * new_pose.yaw + (1 - alpha) * old_state.pose.yaw + avg_pitch = alpha * new_pose.pitch + (1 - alpha) * old_state.pose.pitch + avg_roll = alpha * new_pose.roll + (1 - alpha) * old_state.pose.roll + + updated_pose = ObjectPose( + t=new_pose.t, + x=avg_x, + y=avg_y, + z=avg_z, + yaw=avg_yaw, + pitch=avg_pitch, + roll=avg_roll, + frame=new_pose.frame + ) + updated_agent = AgentState( + pose=updated_pose, + dimensions=dims, + outline=None, + type=AgentEnum.CONE, + activity=activity, + velocity=(0, 0, 0), + yaw_rate=0 + ) + else: + updated_agent = old_state + agents[existing_id] = updated_agent + self.tracked_agents[existing_id] = updated_agent + else: + agent_id = f"Cone{self.cone_counter}" + self.cone_counter += 1 + new_agent = AgentState( + pose=new_pose, + dimensions=dims, + outline=None, + type=AgentEnum.CONE, + activity=activity, + velocity=(0, 0, 0), + yaw_rate=0 + ) + agents[agent_id] = new_agent + self.tracked_agents[agent_id] = new_agent + else: + agent_id = f"Cone{self.cone_counter}" + self.cone_counter += 1 + new_agent = AgentState( + pose=new_pose, + dimensions=dims, + outline=None, + type=AgentEnum.CONE, + activity=activity, + velocity=(0, 0, 0), + yaw_rate=0 + ) + agents[agent_id] = new_agent + + self.current_agents = agents + + # If tracking not enabled, return only current frame detections + if not self.enable_tracking: + for agent_id, agent in self.current_agents.items(): + p = agent.pose + rospy.loginfo( + f"Agent ID: {agent_id}\n" + f"Pose: (x: {p.x:.3f}, y: {p.y:.3f}, z: {p.z:.3f}, " + f"yaw: {p.yaw:.3f}, pitch: {p.pitch:.3f}, roll: {p.roll:.3f})\n" + f"Velocity: (vx: {agent.velocity[0]:.3f}, vy: {agent.velocity[1]:.3f}, vz: {agent.velocity[2]:.3f})\n" + f"type:{agent.activity}" + ) + end = time.time() + # print('-------processing time', end -start) + return self.current_agents + + stale_ids = [agent_id for agent_id, agent in self.tracked_agents.items() + if current_time - agent.pose.t > 20.0] + for agent_id in stale_ids: + rospy.loginfo(f"Removing stale agent: {agent_id}\n") + del self.tracked_agents[agent_id] + if self.enable_tracking: + for agent_id, agent in self.tracked_agents.items(): + p = agent.pose + rospy.loginfo( + f"Agent ID: {agent_id}\n" + f"Pose: (x: {p.x:.3f}, y: {p.y:.3f}, z: {p.z:.3f}, " + f"yaw: {p.yaw:.3f}, pitch: {p.pitch:.3f}, roll: {p.roll:.3f})\n" + f"Velocity: (vx: {agent.velocity[0]:.3f}, vy: {agent.velocity[1]:.3f}, vz: {agent.velocity[2]:.3f})\n" + f"type:{agent.activity}" + ) + end = time.time() + # print('-------processing time', end -start) + return self.tracked_agents + + def save_sensor_data(self, vehicle: VehicleState, latest_image) -> None: + os.makedirs("data", exist_ok=True) + tstamp = int(self.vehicle_interface.time() * 1000) + # 1) Dump raw image + cv2.imwrite(f"data/{tstamp}_image.png", lastest_image) + # 2) Dump raw LiDAR + np.savez(f"data/{tstamp}_lidar.npz", lidar=self.latest_lidar) + # 3) Write BEFORE_TRANSFORM + with open(f"data/{tstamp}_vehstate.txt", "w") as f: + vp = vehicle.pose + f.write( + f"BEFORE_TRANSFORM " + f"x={vp.x:.3f}, y={vp.y:.3f}, z={vp.z:.3f}, " + f"yaw={vp.yaw:.2f}, pitch={vp.pitch:.2f}, roll={vp.roll:.2f}\n" + ) + # Compute vehicle_start_pose in either START or CURRENT + if self.use_start_frame: + if self.start_pose_abs is None: + self.start_pose_abs = vehicle.pose + vehicle_start_pose = vehicle.pose.to_frame( + ObjectFrameEnum.START, + vehicle.pose, + self.start_pose_abs + ) + mode = "START" + else: + vehicle_start_pose = vehicle.pose + mode = "CURRENT" + with open(f"data/{tstamp}_vehstate.txt", "a") as f: + f.write( + f"AFTER_TRANSFORM " + f"x={vehicle_start_pose.x:.3f}, " + f"y={vehicle_start_pose.y:.3f}, " + f"z={vehicle_start_pose.z:.3f}, " + f"yaw={vehicle_start_pose.yaw:.2f}, " + f"pitch={vehicle_start_pose.pitch:.2f}, " + f"roll={vehicle_start_pose.roll:.2f}, " + f"frame={mode}\n" + ) + + # ----- Fake Cone Detector 2D (for Testing Purposes) ----- + + +class FakConeDetector(Component): + def __init__(self, vehicle_interface: GEMInterface): + self.vehicle_interface = vehicle_interface + self.times = [(5.0, 20.0), (30.0, 35.0)] + self.t_start = None + + def rate(self): + return 4.0 + + def state_inputs(self): + return ['vehicle'] + + def state_outputs(self): + return ['agents'] + + def update(self, vehicle: VehicleState) -> Dict[str, AgentState]: + if self.t_start is None: + self.t_start = self.vehicle_interface.time() + t = self.vehicle_interface.time() - self.t_start + res = {} + for time_range in self.times: + if t >= time_range[0] and t <= time_range[1]: + res['cone0'] = box_to_fake_agent((0, 0, 0, 0)) + rospy.loginfo("Detected a Cone (simulated)") + return res + + +def box_to_fake_agent(box): + x, y, w, h = box + pose = ObjectPose(t=0, x=x + w / 2, y=y + h / 2, z=0, yaw=0, pitch=0, roll=0, frame=ObjectFrameEnum.CURRENT) + dims = (w, h, 0) + return AgentState(pose=pose, dimensions=dims, outline=None, + type=AgentEnum.CONE, activity=AgentActivityEnum.MOVING, + velocity=(0, 0, 0), yaw_rate=0) + + +if __name__ == '__main__': + pass diff --git a/GEMstack/onboard/perception/pedestrian_detection.py b/GEMstack/onboard/perception/pedestrian_detection.py new file mode 100644 index 000000000..be4001e76 --- /dev/null +++ b/GEMstack/onboard/perception/pedestrian_detection.py @@ -0,0 +1,820 @@ +from ...state import AllState, VehicleState, ObjectPose, ObjectFrameEnum, AgentState, AgentEnum, AgentActivityEnum +from ..interface.gem import GEMInterface +from ..component import Component +from ultralytics import YOLO +import cv2 +from typing import Dict +import open3d as o3d +import numpy as np +from sklearn.cluster import DBSCAN +from scipy.spatial.transform import Rotation as R +import rospy +from sensor_msgs.msg import PointCloud2, Image +import sensor_msgs.point_cloud2 as pc2 +import struct, ctypes +from message_filters import Subscriber, ApproximateTimeSynchronizer +from cv_bridge import CvBridge +import time + +''' +The following function is contributed by Aavi Deora +Essentially this method is simliar to teamB's method, i.e. transform point cloud from lidar to image frame +Though we find this calculation is heavy, this method have potential usage in other parts, e.g. replacing DBSCAN +''' + +# def get_average_cam_point_from_lidar(bbox, point_cloud): +# """ +# Given a bounding box (x, y, w, h) in image coordinates and a lidar point cloud (in the lidar frame), +# this function: +# 1. Converts the point cloud to homogeneous coordinates. +# 2. Transforms the points into the camera frame using LIDAR_TO_CAMERA_TRANSFORM. +# 3. Projects the points into the image using the camera intrinsics. +# 4. Selects points that fall inside the bounding box. +# 5. Returns the average 3D point (in the camera frame) of those points. +# +# Returns: +# avg_point: A NumPy array [x_cam, y_cam, z_cam] in the camera frame, +# or None if no points are found inside the bbox. +# """ +# x, y, w, h = bbox +# if point_cloud is None or point_cloud.shape[0] == 0: +# return None +# +# # Convert the point cloud (assumed shape (N,3)) to homogeneous coordinates (N,4) +# ones = np.ones((point_cloud.shape[0], 1)) +# points_homog = np.hstack((point_cloud, ones)) # shape (N,4) +# +# # Transform points from lidar frame to camera frame +# cam_points_homog = (LIDAR_TO_CAMERA_TRANSFORM @ points_homog.T).T # shape (N,4) +# cam_points = cam_points_homog[:, :3] # (x_cam, y_cam, z_cam) +# +# # Only consider points in front of the camera (z_cam > 0) +# valid_mask = cam_points[:, 2] > 0 +# cam_points = cam_points[valid_mask] +# if cam_points.shape[0] == 0: +# return None +# +# # Project points into the image using the pinhole camera model: +# # u = fx * (x_cam / z_cam) + cx, v = fy * (y_cam / z_cam) + cy +# u = CAMERA_INTRINSICS['fx'] * (cam_points[:, 0] / cam_points[:, 2]) + CAMERA_INTRINSICS['cx'] +# v = CAMERA_INTRINSICS['fy'] * (cam_points[:, 1] / cam_points[:, 2]) + CAMERA_INTRINSICS['cy'] +# +# # Create a mask for points that fall within the bounding box. +# in_bbox_mask = (u >= x) & (u <= x + w) & (v >= y) & (v <= y + h) +# if np.sum(in_bbox_mask) == 0: +# return None +# +# selected_points = cam_points[in_bbox_mask] +# return selected_points + + +''' +The following function is contributed by Shuning Liu. +Since the height and velocity detection is not entirely stable, we are not using this matching logic currently. +But we may also test a more robust version of this in future on board test. +''' + +# def match_existing_pedestrian( +# new_center: np.ndarray, +# new_dims: tuple, +# existing_agents: Dict[str, AgentState], +# prev_velocities: Dict[str, np.ndarray], +# distance_threshold: float = 1.0, +# size_threshold: float = 0.5, +# height_threshold: float = 0.3, +# velocity_threshold: float = 2.0 +# ) -> str: +# """ +# Match a newly detected pedestrian with an existing one using: +# - Euclidean distance +# - Bounding box similarity +# - Height consistency +# - Velocity consistency +# +# Returns the best-matching agent_id or None if no good match is found. +# """ +# best_agent_id = None +# best_score = float('inf') +# +# for agent_id, agent_state in existing_agents.items(): +# old_center = np.array([agent_state.pose.x, agent_state.pose.y, agent_state.pose.z]) +# old_dims = agent_state.dimensions +# +# # 1. Euclidean Distance Check +# dist = np.linalg.norm(new_center - old_center) +# if dist > distance_threshold: +# continue # Skip if too far away +# +# # 2. Bounding Box Size Similarity (with Zero-Division Handling) +# size_norm = np.linalg.norm(np.array(old_dims)) +# if size_norm > 0: +# size_change = np.linalg.norm(np.array(new_dims) - np.array(old_dims)) / size_norm +# else: +# size_change = float('inf') # Prevent invalid matching +# +# if size_change > size_threshold: +# continue # Skip if bounding box changes too much +# +# # 3. Height Consistency Check +# height_change = abs(new_dims[2] - old_dims[2]) / old_dims[2] if old_dims[2] > 0 else 0 +# if height_change > height_threshold: +# continue # Skip if height changes drastically +# +# # 4. Velocity Consistency Check +# if agent_id in prev_velocities: +# prev_velocity = prev_velocities[agent_id] +# estimated_velocity = (new_center - old_center) +# velocity_change = np.linalg.norm(estimated_velocity - prev_velocity) +# +# if velocity_change > velocity_threshold: +# continue # Skip if unrealistic velocity jump +# +# # Score: Lower score = better match (distance is primary factor) +# score = dist +# if score < best_score: +# best_score = score +# best_agent_id = agent_id +# +# return best_agent_id + +''' +The following function is contributed by Justin Li. An alternative to basic distance-based matching +We plan to test this new tracking logic in the next on board test +''' + +class BoundingBox: + """ + center: center of bounding box in x, y, z coordinates + dimensions: dimensions of bounding box in x, y, z format + orientation: 3x3 rotation matrix + """ + + def __init__( + self, + center: tuple[float, float, float], + dimensions: tuple[float, float, float], + orientation: list[list[float]], + ): + self.center = np.array(center) + self.dimensions = np.array(dimensions) + self.orientation = np.array(orientation) + +def obb_collision(box1: BoundingBox, box2: BoundingBox): + """ + Checks if two oriented bounding boxes (OBBs) collide using the Separating Axis Theorem (SAT). + + :param box1: Box with 'center' (x, y, z), 'dimensions' (dx, dy, dz), and 'orientation' (3x3 rotation matrix) + :param box2: Box with 'center' (x, y, z), 'dimensions' (dx, dy, dz), and 'orientation' (3x3 rotation matrix) + :return: Boolean indicating whether the two OBBs collide + """ + + def get_axes(rotation_matrix): + """Extracts the axes from the rotation matrix.""" + return [rotation_matrix[:, i] for i in range(3)] + + def project_obb(obb: BoundingBox, axis): + """Projects the OBB onto a given axis and returns the min and max values.""" + center_proj = np.dot(obb.center, axis) + extents = np.abs(np.dot(obb.orientation, np.diag(obb.dimensions / 2.0))) + radius = np.sum(extents * np.abs(axis)) + return center_proj - radius, center_proj + radius + + def overlap_on_axis(axis, box1, box2): + """Checks if the projections of two OBBs overlap on the given axis.""" + min1, max1 = project_obb(box1, axis) + min2, max2 = project_obb(box2, axis) + return max1 >= min2 and max2 >= min1 + + # Get OBB axes + axes1 = get_axes(box1.orientation) + axes2 = get_axes(box2.orientation) + + # Compute cross products of axes for possible separating axes + cross_axes = [np.cross(a1, a2) for a1 in axes1 for a2 in axes2] + + # Test all axes + for axis in axes1 + axes2 + cross_axes: + if np.linalg.norm(axis) > 1e-6: # Avoid near-zero axes + axis = axis / np.linalg.norm(axis) # Normalize + if not overlap_on_axis(axis, box1, box2): + return False # Separating axis found, no collision + + return True # No separating axis found, collision detected + + +# ----- Helper Functions ----- + +def match_existing_pedestrian( + new_center: np.ndarray, + new_dims: tuple, + existing_agents: Dict[str, AgentState], + distance_threshold: float = 1.0 +) -> str: + """ + Find the closest existing pedestrian agent within a specified distance threshold. + + Args: + new_center (np.ndarray): The 3D center (x,y,z) of the new detection. + new_dims (tuple): The dimensions of the new detection (currently unused). + existing_agents (Dict[str, AgentState]): Dictionary of currently tracked agents. + distance_threshold (float): Maximum allowed distance to consider a match. + + Returns: + str: The agent_id of the best matching pedestrian if within the threshold; otherwise, None. + """ + best_agent_id = None + best_dist = float('inf') + + for agent_id, agent_state in existing_agents.items(): + old_center = np.array([agent_state.pose.x, agent_state.pose.y, agent_state.pose.z]) + dist = np.linalg.norm(new_center - old_center) + if dist < distance_threshold and dist < best_dist: + best_dist = dist + best_agent_id = agent_id + + return best_agent_id + + +def compute_velocity(old_pose: ObjectPose, new_pose: ObjectPose, dt: float) -> tuple: + """ + Compute the velocity vector (vx, vy, vz) based on change in pose over a time interval. + + Args: + old_pose (ObjectPose): The previous pose. + new_pose (ObjectPose): The current pose. + dt (float): Time elapsed between the poses. + + Returns: + tuple: (vx, vy, vz) velocity in the same coordinate frame as the input poses. + """ + if dt <= 0: + return (0, 0, 0) + vx = (new_pose.x - old_pose.x) / dt + vy = (new_pose.y - old_pose.y) / dt + vz = (new_pose.z - old_pose.z) / dt + return (vx, vy, vz) + + +def extract_roi_box(lidar_pc, center, half_extents): + """ + Extract a region of interest (ROI) from the LiDAR point cloud defined by an axis-aligned bounding box. + + Args: + lidar_pc (np.ndarray): The LiDAR point cloud as an (N, 3) array. + center (np.ndarray): Center of the ROI box. + half_extents (np.ndarray): Half-lengths in each dimension defining the box. + + Returns: + np.ndarray: Subset of points within the ROI. + """ + lower = center - half_extents + upper = center + half_extents + mask = np.all((lidar_pc >= lower) & (lidar_pc <= upper), axis=1) + return lidar_pc[mask] + + +def pc2_to_numpy(pc2_msg, want_rgb=False): + """ + Convert a ROS PointCloud2 message into a numpy array with basic filtering. + + This function extracts the x, y, z coordinates from the point cloud and + filters out points with x <= 0 and z >= 2.5. + + Args: + pc2_msg: The ROS PointCloud2 message. + want_rgb (bool): Flag to indicate if RGB data is desired (not used here). + + Returns: + np.ndarray: Filtered point cloud array of shape (N, 3). + """ + gen = pc2.read_points(pc2_msg, skip_nans=True) + pts = np.array(list(gen), dtype=np.float32) + pts = pts[:, :3] # Only x, y, z coordinates + mask = (pts[:, 0] > 0) & (pts[:, 2] < 2.5) + return pts[mask] + + +def backproject_pixel(u, v, K): + """ + Backproject a pixel coordinate (u, v) into a normalized 3D ray in the camera coordinate system. + + Args: + u (float): The pixel's x-coordinate. + v (float): The pixel's y-coordinate. + K (np.ndarray): The 3x3 camera intrinsic matrix. + + Returns: + np.ndarray: A unit vector representing the 3D ray direction. + """ + cx, cy = K[0, 2], K[1, 2] + fx, fy = K[0, 0], K[1, 1] + x = (u - cx) / fx + y = (v - cy) / fy + ray_dir = np.array([x, y, 1.0]) + return ray_dir / np.linalg.norm(ray_dir) + + +def find_human_center_on_ray(lidar_pc, ray_origin, ray_direction, + t_min, t_max, t_step, + distance_threshold, min_points, ransac_threshold): + """ + Identify the center of a human detected along a projected ray. + + This function first filters the LiDAR points to only those near the ray. Then it + sweeps along the ray (from t_min to t_max in steps of t_step) to find a candidate + location where enough points (>= min_points) lie within the distance_threshold. + + Args: + lidar_pc (np.ndarray): LiDAR point cloud in 3D. + ray_origin (np.ndarray): Origin of the ray in LiDAR coordinates. + ray_direction (np.ndarray): Normalized direction of the ray. + t_min (float): Minimum distance along the ray to start searching. + t_max (float): Maximum distance along the ray. + t_step (float): Increment along the ray. + distance_threshold (float): Maximum distance from the ray for a point to be considered. + min_points (int): Minimum number of points needed to validate a candidate. + ransac_threshold (float): (Unused in current implementation) threshold for RANSAC. + + Returns: + tuple: (refined_candidate, None, None) if a valid candidate is found; otherwise, (None, None, None). + """ + # Compute projection distances and the corresponding points on the ray. + vecs = lidar_pc - ray_origin + proj_lengths = np.dot(vecs, ray_direction) + proj_points = ray_origin + np.outer(proj_lengths, ray_direction) + dists_to_ray = np.linalg.norm(lidar_pc - proj_points, axis=1) + near_ray_mask = dists_to_ray < distance_threshold + filtered_pc = lidar_pc[near_ray_mask] + + if filtered_pc.shape[0] < min_points: + return None, None, None + + # Sweep along the ray to locate a cluster of points. + t_values = np.arange(t_min, t_max, t_step) + for t in t_values: + candidate = ray_origin + t * ray_direction + dists = np.linalg.norm(filtered_pc - candidate, axis=1) + nearby_points = filtered_pc[dists < distance_threshold] + if nearby_points.shape[0] >= min_points: + refined_candidate = np.mean(nearby_points, axis=0) + return refined_candidate, None, None + return None, None, None + + +def extract_roi(pc, center, roi_radius): + """ + Extract points from a point cloud that lie within a specified radius of a center point. + + Args: + pc (np.ndarray): The point cloud array. + center (np.ndarray): The 3D center point. + roi_radius (float): The radius of the region of interest. + + Returns: + np.ndarray: Points from pc that are within roi_radius of center. + """ + distances = np.linalg.norm(pc - center, axis=1) + return pc[distances < roi_radius] + + +def refine_cluster(roi_points, center, eps=0.2, min_samples=10): + """ + Refine a point cluster by applying DBSCAN and selecting the cluster closest to a given center. + + Args: + roi_points (np.ndarray): Points within a region of interest. + center (np.ndarray): The expected center of the cluster. + eps (float): The maximum distance between two samples for one to be considered in the neighborhood of the other. + min_samples (int): The number of samples required in a neighborhood for a point to be considered as a core point. + + Returns: + np.ndarray: The refined cluster points. If no clusters are found, returns the original points. + """ + clustering = DBSCAN(eps=eps, min_samples=min_samples).fit(roi_points) + labels = clustering.labels_ + valid_clusters = [roi_points[labels == l] for l in set(labels) if l != -1] + if not valid_clusters: + return roi_points + best_cluster = min(valid_clusters, key=lambda c: np.linalg.norm(np.mean(c, axis=0) - center)) + return best_cluster + + +def remove_ground_by_min_range(cluster, z_range=0.05): + """ + Remove ground points from a cluster by excluding points that lie close to the minimum z value. + + Args: + cluster (np.ndarray): The input point cluster. + z_range (float): The threshold range above the minimum z-value to consider as ground. + + Returns: + np.ndarray: The cluster with ground points removed. + """ + if cluster is None or cluster.shape[0] == 0: + return cluster + min_z = np.min(cluster[:, 2]) + filtered = cluster[cluster[:, 2] > (min_z + z_range)] + return filtered + + +def get_bounding_box_center_and_dimensions(points): + """ + Calculate the axis-aligned bounding box's center and dimensions for a set of 3D points. + + Args: + points (np.ndarray): The input points. + + Returns: + tuple: (center, dimensions) where center is the midpoint of the bounding box and dimensions is (max - min). + Returns (None, None) if the input is empty. + """ + if points.shape[0] == 0: + return None, None + min_vals = np.min(points, axis=0) + max_vals = np.max(points, axis=0) + center = (min_vals + max_vals) / 2 + dimensions = max_vals - min_vals + return center, dimensions + + +def create_ray_line_set(start, end): + """ + Create an Open3D LineSet object representing a ray between two 3D points. + + The line is colored yellow. + + Args: + start (np.ndarray): The start point of the ray. + end (np.ndarray): The end point of the ray. + + Returns: + o3d.geometry.LineSet: The LineSet object representing the ray. + """ + points = [start, end] + lines = [[0, 1]] + line_set = o3d.geometry.LineSet() + line_set.points = o3d.utility.Vector3dVector(points) + line_set.lines = o3d.utility.Vector2iVector(lines) + line_set.colors = o3d.utility.Vector3dVector([[1, 1, 0]]) + return line_set + + +def visualize_geometries(geometries, window_name="Open3D", width=800, height=600, point_size=5.0): + """ + Visualize a list of Open3D geometry objects in a dedicated window. + + Args: + geometries (list): A list of Open3D geometry objects. + window_name (str): Title of the visualization window. + width (int): Width of the window. + height (int): Height of the window. + point_size (float): Size of the rendered points. + """ + vis = o3d.visualization.Visualizer() + vis.create_window(window_name=window_name, width=width, height=height) + for geom in geometries: + vis.add_geometry(geom) + opt = vis.get_render_option() + opt.point_size = point_size + vis.run() + vis.destroy_window() + + +# ----- Pedestrian Detector 2D (with 3D Fusion and Synchronized Callbacks) ----- + +class PedestrianDetector2D(Component): + """ + Detects pedestrians by fusing 2D YOLO detections with LiDAR point cloud data to estimate 3D poses. + + This implementation uses message_filters to synchronize incoming RGB images and LiDAR data. + The synchronized callback caches the latest sensor data for processing in the update() method. + """ + + def __init__(self, vehicle_interface: GEMInterface): + self.vehicle_interface = vehicle_interface + self.current_agents = {} + self.tracked_agents = {} + self.pedestrian_counter = 0 + # Variables to store the most recent synchronized sensor data: + self.latest_image = None + self.latest_lidar = None + self.bridge = CvBridge() + + def rate(self) -> float: + # Process data at 4 Hz. + return 4.0 + + def state_inputs(self) -> list: + # Expects vehicle state information as input. + return ['vehicle'] + + def state_outputs(self) -> list: + # Outputs detected pedestrian agents. + return ['agents'] + + def initialize(self): + """ + Initialize sensor subscriptions and the YOLO detector. + + Uses message_filters to synchronize the image and LiDAR data streams. + Also sets up the camera intrinsic matrix and LiDAR-to-camera (and vehicle) transformations. + """ + self.rgb_sub = Subscriber('/oak/rgb/image_raw', Image) + self.lidar_sub = Subscriber('/ouster/points', PointCloud2) + self.sync = ApproximateTimeSynchronizer([self.rgb_sub, self.lidar_sub], + queue_size=10, slop=0.1) + self.sync.registerCallback(self.synchronized_callback) + # Initialize YOLO detector with the pretrained model and set to CUDA. + self.detector = YOLO('../../knowledge/detection/yolov8s.pt') + self.detector.to('cuda') + # Camera intrinsic matrix. + self.K = np.array([[684.83331299, 0., 573.37109375], + [0., 684.60968018, 363.70092773], + [0., 0., 1.]]) + # LiDAR-to-vehicle transformation matrix. + self.T_l2v = np.array([[0.99939639, 0.02547917, 0.023615, 1.1], + [-0.02530848, 0.99965156, -0.00749882, 0.03773583], + [-0.02379784, 0.00689664, 0.999693, 1.95320223], + [0., 0., 0., 1.]]) + # LiDAR-to-camera transformation matrix. + self.T_l2c = np.array([ + [0.001090, -0.999489, -0.031941, 0.149698], + [-0.007664, 0.031932, -0.999461, -0.397813], + [0.999970, 0.001334, -0.007625, -0.691405], + [0.000000, 0.000000, 0.000000, 1.000000] + ]) + # Inverse transformation: camera-to-LiDAR. + self.T_c2l = np.linalg.inv(self.T_l2c) + self.R_c2l = self.T_c2l[:3, :3] + # Camera origin expressed in LiDAR coordinates. + self.camera_origin_in_lidar = self.T_c2l[:3, 3] + + def synchronized_callback(self, image_msg, lidar_msg): + """ + Callback function that is invoked when an image and a LiDAR message are received within the allowed time difference. + + This function converts the ROS messages into usable formats: + - The image is converted to an OpenCV BGR image. + - The LiDAR message is converted to a numpy array. + """ + try: + self.latest_image = self.bridge.imgmsg_to_cv2(image_msg, "bgr8") + except Exception as e: + rospy.logerr("Failed to convert image: {}".format(e)) + self.latest_image = None + self.latest_lidar = pc2_to_numpy(lidar_msg, want_rgb=False) + + def update(self, vehicle: VehicleState) -> Dict[str, AgentState]: + """ + Process the latest synchronized sensor data to detect pedestrians and estimate their 3D poses. + + This method performs the following: + 1. Runs YOLO on the latest image to obtain 2D pedestrian detections. + 2. Backprojects the 2D detections into 3D rays in the LiDAR frame. + 3. Uses LiDAR data along the ray to estimate a 3D position (and size) for the pedestrian. + 4. Matches detections to existing tracked agents or creates new ones. + + Args: + vehicle (VehicleState): The current vehicle state. + + Returns: + Dict[str, AgentState]: Dictionary mapping agent IDs to their updated states. + """ + # Ensure both image and LiDAR data are available. + if self.latest_image is None or self.latest_lidar is None: + return {} + + current_time = self.vehicle_interface.time() + # Run YOLO inference on the current image (detecting only class 0, e.g., persons). + results = self.detector(self.latest_image, conf=0.4, classes=[0]) + boxes = np.array(results[0].boxes.xywh.cpu()) # Format: [center_x, center_y, width, height] + + agents = {} + lidar_pc = self.latest_lidar.copy() + + for i, box in enumerate(boxes): + cx, cy, w, h = box + # Backproject the 2D pixel center into a 3D ray in the LiDAR coordinate frame. + ray_dir_cam = backproject_pixel(cx, cy, self.K) + ray_dir_lidar = self.R_c2l @ ray_dir_cam + ray_dir_lidar /= np.linalg.norm(ray_dir_lidar) + + # Attempt to locate the pedestrian's center along the ray using LiDAR data. + intersection, _, _ = find_human_center_on_ray( + lidar_pc, self.camera_origin_in_lidar, ray_dir_lidar, + t_min=0.4, t_max=25.0, t_step=0.1, + distance_threshold=0.5, min_points=5, ransac_threshold=0.05 + ) + if intersection is None: + # If no valid intersection is found, update the positions of already tracked agents + # based on the vehicle's forward velocity and time elapsed. + for agent in self.tracked_agents.values(): + dt = current_time - agent.pose.t + agent.pose.x -= vehicle.v * dt # Adjust x-coordinate assuming vehicle moves forward along x. + agent.pose.t = current_time + continue + + # Estimate the pedestrian's physical dimensions using the detection box size and distance. + d = np.linalg.norm(intersection - self.camera_origin_in_lidar) + physical_width = (w * d) / self.K[0, 0] + physical_height = (h * d) / self.K[1, 1] + # Since the depth (x-direction) measurement is less reliable, use an empirical value. + half_extents = np.array([0.4, 1.1 * physical_width / 2, 1.1 * physical_height / 2]) + + # Extract LiDAR points within the ROI box around the estimated intersection. + roi_points = extract_roi_box(lidar_pc, intersection, half_extents) + if roi_points.shape[0] < 10: + refined_cluster = roi_points + else: + refined_cluster = refine_cluster(roi_points, intersection, eps=0.15, min_samples=10) + + # Remove ground points from the refined cluster. + refined_cluster = remove_ground_by_min_range(refined_cluster, z_range=0.03) + if refined_cluster is None or refined_cluster.shape[0] == 0: + # Fallback to the initial intersection if no valid cluster remains. + refined_center = intersection + dims = (0, 0, 0) + yaw, pitch, roll = 0, 0, 0 + elif refined_cluster.shape[0] <= 5: + # Skip detections with insufficient LiDAR points. + continue + else: + # Create an Open3D point cloud from the refined cluster and compute its oriented bounding box. + pcd = o3d.geometry.PointCloud() + pcd.points = o3d.utility.Vector3dVector(refined_cluster) + obb = pcd.get_oriented_bounding_box() + refined_center = obb.center + dims = tuple(obb.extent) + R_lidar = obb.R.copy() + + # Transform the refined center from LiDAR coordinates to the vehicle frame. + refined_center_lidar_hom = np.array([refined_center[0], + refined_center[1], + refined_center[2], + 1.0]) + refined_center_vehicle_hom = self.T_l2v @ refined_center_lidar_hom + refined_center_vehicle = refined_center_vehicle_hom[:3] + + # Compute the orientation (yaw, pitch, roll) in the vehicle frame. + R_vehicle = self.T_l2v[:3, :3] @ R_lidar + euler_angles_vehicle = R.from_matrix(R_vehicle).as_euler('zyx', degrees=False) + yaw, pitch, roll = euler_angles_vehicle + refined_center = refined_center_vehicle # Use vehicle frame coordinates for output + + ''' + Note that this part can be used for converting the speed relative to vehicle -> speed relative to START frame + However, the VehicleState may read in Global coordinate (i.e. long and lat) instead of relative to START frame + In order to avoid this issue, we found it is actually easier to implement this in the planning code. + Planning function has access to Allstate instead of just Vehicle state, + therefore it is easier to specify which coordinate system to use + ''' + ''' + i.e. Simliar function is implemented in GEMstack/onboard/planning/pedestrian_yield_logic.py L569-573 + # If the pedestrian's frame is CURRENT, convert the pedestrian's frame to START. + elif a.pose.frame == ObjectFrameEnum.CURRENT: + a_x = a.pose.x + curr_x + a_y = a.pose.y + curr_y + a_v_x = a_v_x - curr_v + ''' + # curr_x = vehicle.pose.x + # curr_y = vehicle.pose.y + # curr_yaw = vehicle.pose.yaw + # curr_pitch = vehicle.pose.pitch + # curr_roll = vehicle.pose.roll + # refined_center[0] += curr_x + # refined_center[1] += curr_y + # euler_angles_vehicle[0] += curr_yaw + # euler_angles_vehicle[1] += curr_pitch + # euler_angles_vehicle[2] += curr_roll + + # Create a new pose for the detected pedestrian in the vehicle frame. + new_pose = ObjectPose( + t=current_time, + x=refined_center[0], + y=refined_center[1], + z=refined_center[2], + yaw=yaw, + pitch=pitch, + roll=roll, + frame=ObjectFrameEnum.CURRENT + ) + + # Attempt to match the new detection with an existing tracked pedestrian. + existing_id = match_existing_pedestrian( + new_center=np.array([new_pose.x, new_pose.y, new_pose.z]), + new_dims=dims, + existing_agents=self.tracked_agents, + distance_threshold=2.0 + ) + + if existing_id is not None: + # Update the state of the matched pedestrian using the computed velocity. + old_agent_state = self.tracked_agents[existing_id] + dt = new_pose.t - old_agent_state.pose.t + ''' + We found that the velocity calculated here is not entirely stable. + We are implementing a more stable method, e.g. kalman filter based one + ''' + vx, vy, vz = compute_velocity(old_agent_state.pose, new_pose, dt) + + updated_agent = AgentState( + pose=new_pose, + dimensions=dims, + outline=None, + type=AgentEnum.PEDESTRIAN, + activity=AgentActivityEnum.MOVING, + velocity=(vx, vy, vz), + yaw_rate=0 + ) + agents[existing_id] = updated_agent + self.tracked_agents[existing_id] = updated_agent + else: + # If no match is found, create a new pedestrian agent. + agent_id = f"pedestrian{self.pedestrian_counter}" + self.pedestrian_counter += 1 + + new_agent = AgentState( + pose=new_pose, + dimensions=dims, + outline=None, + type=AgentEnum.PEDESTRIAN, + activity=AgentActivityEnum.MOVING, + velocity=(0, 0, 0), + yaw_rate=0 + ) + agents[agent_id] = new_agent + self.tracked_agents[agent_id] = new_agent + + self.current_agents = agents + + stale_ids = [agent_id for agent_id, agent in self.tracked_agents.items() + if current_time - agent.pose.t > 5.0] + for agent_id in stale_ids: + rospy.loginfo(f"Removing stale agent: {agent_id}") + del self.tracked_agents[agent_id] + # Log the details of each detected agent. + for agent_id, agent in agents.items(): + rospy.loginfo(f"Agent ID: {agent_id}, Pose: {agent.pose}, Velocity: {agent.velocity}") + + return agents + + +# ----- Fake Pedestrian Detector 2D (for Testing Purposes) ----- + +class FakePedestrianDetector2D(Component): + """ + A dummy pedestrian detector that simulates detections during pre-defined time intervals. + + This component is useful for testing the overall system without relying on real sensor data. + """ + + def __init__(self, vehicle_interface: GEMInterface): + self.vehicle_interface = vehicle_interface + self.times = [(5.0, 20.0), (30.0, 35.0)] + self.t_start = None + + def rate(self): + return 4.0 + + def state_inputs(self): + return ['vehicle'] + + def state_outputs(self): + return ['agents'] + + def update(self, vehicle: VehicleState) -> Dict[str, AgentState]: + if self.t_start is None: + self.t_start = self.vehicle_interface.time() + t = self.vehicle_interface.time() - self.t_start + res = {} + for time_range in self.times: + if t >= time_range[0] and t <= time_range[1]: + res['pedestrian0'] = box_to_fake_agent((0, 0, 0, 0)) + rospy.loginfo("Detected a pedestrian (simulated)") + return res + + +def box_to_fake_agent(box): + """ + Create a fake AgentState from a bounding box represented as (x, y, width, height). + + The pose is computed using the center of the box, and the dimensions are treated as 2D approximations. + + Args: + box (tuple): A tuple (x, y, w, h) representing the bounding box. + + Returns: + AgentState: The simulated pedestrian agent. + """ + x, y, w, h = box + pose = ObjectPose(t=0, x=x + w / 2, y=y + h / 2, z=0, yaw=0, pitch=0, roll=0, frame=ObjectFrameEnum.CURRENT) + dims = (w, h, 0) + return AgentState(pose=pose, dimensions=dims, outline=None, + type=AgentEnum.PEDESTRIAN, activity=AgentActivityEnum.MOVING, + velocity=(0, 0, 0), yaw_rate=0) + + +if __name__ == '__main__': + # This module is intended to be used within the vehicle interface context. + # For standalone testing, instantiate a fake vehicle state and call update(). + pass diff --git a/GEMstack/onboard/perception/person_detector.py b/GEMstack/onboard/perception/person_detector.py new file mode 100644 index 000000000..8f4fa3588 --- /dev/null +++ b/GEMstack/onboard/perception/person_detector.py @@ -0,0 +1,48 @@ +#from ultralytics import YOLO +import cv2 +import sys + +def person_detector(img : cv2.Mat): + #TODO: implement me to produce a list of (x,y,w,h) bounding boxes of people in the image + return [] + +def main(fn): + image = cv2.imread(fn) + bboxes = person_detector(image) + print("Detected",len(bboxes),"people") + for bb in bboxes: + x,y,w,h = bb + if not isinstance(x,(int,float)) or not isinstance(y,(int,float)) or not isinstance(w,(int,float)) or not isinstance(h,(int,float)): + print("WARNING: make sure to return Python numbers rather than PyTorch Tensors") + print("Corner",(x,y),"size",(w,h)) + cv2.rectangle(image, (int(x-w/2), int(y-h/2)), (int(x+w/2), int(y+h/2)), (255, 0, 255), 3) + cv2.imshow('Results', image) + cv2.waitKey(0) + +def main_webcam(): + cap = cv2.VideoCapture(0) + cap.set(3, 640) + cap.set(4, 480) + + print("Press space to exit") + while True: + _, image = cap.read() + + bboxes = person_detector(image) + for bb in bboxes: + x,y,w,h = bb + cv2.rectangle(image, (int(x-w/2), int(y-h/2)), (int(x+w/2), int(y+h/2)), (255, 0, 255), 3) + + cv2.imshow('Person detection', image) + if cv2.waitKey(1) & 0xFF == ord(' '): + break + + cap.release() + + +if __name__ == '__main__': + fn = sys.argv[1] + if fn != 'webcam': + main(fn) + else: + main_webcam() \ No newline at end of file diff --git a/GEMstack/onboard/perception/state_estimation.py b/GEMstack/onboard/perception/state_estimation.py index 4aef25659..4d19d4fa4 100644 --- a/GEMstack/onboard/perception/state_estimation.py +++ b/GEMstack/onboard/perception/state_estimation.py @@ -37,6 +37,7 @@ def state_outputs(self) -> List[str]: return ['vehicle'] def healthy(self): + # return True return self.gnss_pose is not None def update(self) -> VehicleState: diff --git a/GEMstack/onboard/planning/README.md b/GEMstack/onboard/planning/README.md new file mode 100644 index 000000000..5efb4fced --- /dev/null +++ b/GEMstack/onboard/planning/README.md @@ -0,0 +1,50 @@ +# Planning-A HW1 Document + +This document serves as an overview for integrating pedestrian yielder into longitudinal planner. It describes how parameters from `pedetrian_detecion.yaml` are used in the planning system along with references to the `longitudinal_planning.py` script and the `pedestrian_yield_logic.py` script. + +Details on the algorithm and demos are availavle at the link below:
+https://drive.google.com/drive/folders/1aSOWIrqXjf9-j6i1S_MJksATMyyoP31_?usp=sharing + + +## Contribution +Each member contributed to: +### longitudinal_planning.py Contributions + +| Algorithm | Contributor | +| :--------- | :-------------- | +| milestone | Simon (sk106) | +| dt | Rohit (srm17) | +| dx | Hansen (hl58) | + +### pedestrian_yield_logic.py Contributions + +| Algorithm | Contributor | +| :--------- | :------------------------------------------ | +| expert | Patrick (bohaowu2), Animesh (animesh8) | +| analytic | Henry (weigang2) | +| simulation | Yudai (yyamada2) | + + +## Configuration Details +The `pedetrian_detecion.yaml` file includes: +``` +args: + mode: 'real' + params: { + 'yielder': 'expert', # 'expert', 'analytic', or 'simulation' + 'planner': 'milestone', # 'milestone', 'dt', or 'dx' + 'desired_speed': 1.0, # m/s + 'acceleration': 0.75 # m/s2 + } +``` + + +## Usage +### pedetrian_detecion.yaml +Algorithm can be chosen from the above in this file. Also contains parameters for the logic. +### Execution: Simulator +`python3 main.py --variant=fake_sim launch/pedestrian_detection.yaml` +### Testing +- `testing/test_longitudinal_plan.py` +- `testing/test_yield_logic_analytic.ipynb` +- `testing/test_collision_detection.py` diff --git a/GEMstack/onboard/planning/blink_component.py b/GEMstack/onboard/planning/blink_component.py new file mode 100644 index 000000000..acd40ed0e --- /dev/null +++ b/GEMstack/onboard/planning/blink_component.py @@ -0,0 +1,92 @@ +from ..component import Component +from ..interface.gem import GEMInterface,GEMVehicleCommand,GEMVehicleReading +from ...state import AllState,VehicleIntent +import time +from typing import List + +TURN_OFF = 0 +TURN_LEFT = 1 +TURN_RIGHT = 2 + +class BlinkDistress(Component): + """Your control loop code should go here. You will use GEMVehicleCommand + to communicate with drive-by-wire system to control the vehicle's turn signals. + """ + def __init__(self, vehicle_interface : GEMInterface): + self.vehicle_interface = vehicle_interface + self.command = None + self.turn_state = TURN_OFF # Start with turn signals off + self.last_update_time = time.time() + + def rate(self): + """Requested update frequency, in Hz""" + return 0.5 + + def initialize(self): + """Run first""" + print("BlinkDistress Component Initialized.") + self.send_turn_command(TURN_OFF) + # pass + + def cleanup(self): + """Run last""" + print("Cleaning up... Turning off blinkers.") + self.send_turn_command(TURN_OFF) + # pass + + def state_inputs(self) -> List[str]: + """Returns the list of AllState inputs this component requires.""" + return ["intent"] + + def update(self, state: AllState): + """Run in a loop""" + # we need to set up a GEMVehicleCommand which encapsulates all commands that will be + # sent to the drive-by-wire system, simultaneously. To avoid doing arbitrary things + # to the vehicle, let's maintain the current values (e.g., accelerator, brake pedal, + # steering angle) from its current readings. + current_time = time.time() + if state.intent == 2: # check if halting + + if current_time - self.last_update_time >= 2: # Change signal every 2 seconds + if self.turn_state == TURN_OFF: + self.turn_state = TURN_LEFT + elif self.turn_state == TURN_LEFT: + self.turn_state = TURN_RIGHT + else: + self.turn_state = TURN_OFF + + self.send_turn_command(self.turn_state) + self.last_update_time = current_time + + # Read vehicle sensor data + vehicle_reading = self.vehicle_interface.get_reading() + print(f"Vehicle Speed: {vehicle_reading.speed:.2f} m/s") + print(f"Acceleration: {vehicle_reading.accelerator_pedal_position - vehicle_reading.brake_pedal_position:.2f} m/s²") + # command = self.vehicle_interface.command_from_reading() + # TODO: alter command to execute turn signals, then uncomment line below to send + # the command to vehicle + # self.vehicle_interface.send_command(command) + + def send_turn_command(self, turn_signal): + """Send the updated turn signal command to the vehicle""" + command = self.vehicle_interface.command_from_reading() + + # Update only turn signals, keeping other controls unchanged + if turn_signal == TURN_LEFT: + command.left_turn_signal = True + command.right_turn_signal = False + elif turn_signal == TURN_RIGHT: + command.left_turn_signal = False + command.right_turn_signal = True + else: + command.left_turn_signal = False + command.right_turn_signal = False + + self.vehicle_interface.send_command(command) + print(f"Turn Signal Set: {'LEFT' if turn_signal == TURN_LEFT else 'RIGHT' if turn_signal == TURN_RIGHT else 'OFF'}") + + + def healthy(self): + """Returns True if the element is in a stable state.""" + return True + diff --git a/GEMstack/onboard/planning/driving_logic_component.py b/GEMstack/onboard/planning/driving_logic_component.py new file mode 100644 index 000000000..157fb90ad --- /dev/null +++ b/GEMstack/onboard/planning/driving_logic_component.py @@ -0,0 +1,42 @@ +from typing import List +from ..component import Component +from ...state import AllState,VehicleIntent + +class DrivingLogic(Component): + # count of times blinked + """Base class for top-level components in the execution stack.""" + def rate(self) -> float: + """Returns the rate in Hz at which this component should be updated.""" + return .5 + def state_inputs(self) -> List[str]: + """Returns the list of AllState inputs this component requires.""" + return ['all'] + def state_outputs(self) -> List[str]: + """Returns the list of AllState outputs this component generates.""" + return ['intent'] + def healthy(self): + """Returns True if the element is in a stable state.""" + return True + def initialize(self): + """Initialize the component. This is called once before the first + update.""" + self.count = 0 + return + def cleanup(self): + """Cleans up resources used by the component. This is called once after + the last update.""" + pass + def update(self, state: AllState): + """Update the component.""" + + state.intent.intent = 2 + + return + def debug(self, item, value): + """Debugs a streaming value within this component""" + if hasattr(self, 'debugger'): + self.debugger.debug(item, value) + def debug_event(self, label): + """Debugs an event within this component""" + if hasattr(self, 'debugger'): + self.debugger.debug_event(label) \ No newline at end of file diff --git a/GEMstack/onboard/planning/longitudinal_planning.py b/GEMstack/onboard/planning/longitudinal_planning.py new file mode 100644 index 000000000..f2657c67d --- /dev/null +++ b/GEMstack/onboard/planning/longitudinal_planning.py @@ -0,0 +1,739 @@ +from typing import List, Tuple, Union +from ..component import Component +from ...state import AllState, VehicleState, EntityRelation, EntityRelationEnum, Path, Trajectory, Route, ObjectFrameEnum, AgentState +from ...utils import serialization, settings +from ...mathutils.transforms import vector_madd +from ...mathutils.quadratic_equation import quad_root + +import numpy as np +import math + + +################################################################################ +########## Longitudinal Planning ############################################### +################################################################################ + +def longitudinal_plan(path : Path, acceleration : float, deceleration : float, max_speed : float, current_speed : float, + method : str) -> Trajectory: + """Generates a longitudinal trajectory for a path with a + trapezoidal velocity profile. + + 1. accelerates from current speed toward max speed + 2. travel along max speed + 3. if at any point you can't brake before hitting the end of the path, + decelerate with accel = -deceleration until velocity goes to 0. + """ + + if method == "milestone": + return longitudinal_plan_milestone(path, acceleration, deceleration, max_speed, current_speed) + elif method == "dt": + return longitudinal_plan_dt(path, acceleration, deceleration, max_speed, current_speed) + elif method == "dx": + return longitudinal_plan_dx(path, acceleration, deceleration, max_speed, current_speed) + else: + raise NotImplementedError("Invalid method, only milestone, dt, adn dx are implemented.") + +######################## +##### Simon's Code ##### +######################## +def longitudinal_plan_milestone(path : Path, acceleration : float, deceleration : float, max_speed : float, current_speed : float) -> Trajectory: + """Generates a longitudinal trajectory for a path with a + trapezoidal velocity profile. + + 1. accelerates from current speed toward max speed + 2. travel along max speed + 3. if at any point you can't brake before hitting the end of the path, + decelerate with accel = -deceleration until velocity goes to 0. + """ + # Extrapolation factor for the points + # @TODO this should be moved to a parameter/allow dx to handle the case + # where we need more points + factor = 5.0 + new_points = [] + for idx, point in enumerate(path.points[:-1]): + next_point = path.points[idx+1] + if point[0] == next_point[0]: + break + xarange = np.arange(point[0], next_point[0], (next_point[0] - point[0])/factor) + if point[1] == next_point[1]: + yarange = [point[1]]*len(xarange) + else: + yarange = np.arange(point[1], next_point[1], (next_point[1] - point[1])/factor) + for x, y in zip(xarange, yarange): + new_points.append((x, y)) + new_points.append(path.points[-1]) + + path = Path(path.frame, new_points) + + path_normalized = path.arc_length_parameterize() + points = [p for p in path_normalized.points] + times = [t for t in path_normalized.times] + #============================================= + + print("-----LONGITUDINAL PLAN-----") + #print("path length: ", path.length()) + length = path.length() + + # If the path is too short, just return the path for preventing sudden halt of simulation + if length < 0.05: + return Trajectory(path.frame, points, times) + + # Starting point + x0 = points[0][0] + cur_point = points[0] + cur_time = times[0] + cur_index = 0 + + new_points = [] + new_times = [] + velocities = [] # for graphing and debugging purposes + + while current_speed > 0 or cur_index == 0: + # we want to iterate through all the points and add them + # to the new points. However, we also want to add "switch points" + # where we reach top speed, begin decelerating, and stop + new_points.append(cur_point) + new_times.append(cur_time) + velocities.append(current_speed) + + # Information we will need: + # Calculate how much time it would take to stop + # Calculate how much distance it would take to stop + min_delta_t_stop = current_speed/deceleration + min_delta_x_stop = current_speed*min_delta_t_stop - 0.5*deceleration*min_delta_t_stop**2 + # print(min_delta_x_stop) + assert min_delta_x_stop >= 0 + + # If we cannot stop before or stop exactly at the final position requested + if cur_point[0] + min_delta_x_stop >= points[-1][0]: + # put on the breaks + + # Calculate the next point in a special manner because of too-little time to stop + if cur_index == len(points)-1: + # the next point in this instance would be when we stop + next_point = (cur_point[0] + min_delta_x_stop, 0) + else: + next_point = points[cur_index+1] + + # keep breaking until the next milestone in path + if next_point[0] <= points[-1][0]: + # print("continuing to next point") + delta_t_to_next_x = compute_time_to_x(cur_point[0], next_point[0], current_speed, -deceleration) + cur_time += delta_t_to_next_x + cur_point = next_point + current_speed -= deceleration*delta_t_to_next_x + cur_index += 1 + else: + # continue to the point in which we would stop (current_velocity = 0) + # update to the next point + delta_t_to_next_x = compute_time_to_x(cur_point[0], next_point[0], current_speed, -deceleration) + cur_point = next_point + cur_time += delta_t_to_next_x + # current_speed would not be exactly zero error would be less than 1e-4 but perfer to just set to zero + #current_speed -= delta_t_to_next_x*deceleration + current_speed = 0 + assert current_speed == 0 + + # This is the case where we are accelerating to max speed + # because the first if-statement covers for when we decelerating, + # the only time current_speed < max_speed is when we are accelerating + elif current_speed < max_speed: + # next point + next_point = points[cur_index+1] + # accelerate to max speed + + # calculate the time it would take to reach max speed + delta_t_to_max_speed = (max_speed - current_speed)/acceleration + # calculate the distance it would take to reach max speed + delta_x_to_max_speed = current_speed*delta_t_to_max_speed + 0.5*acceleration*delta_t_to_max_speed**2 + + delta_t_to_stop_from_max_speed = max_speed/deceleration + delta_x_to_stop_from_max_speed = max_speed*delta_t_to_stop_from_max_speed - 0.5*deceleration*delta_t_to_stop_from_max_speed**2 + + delta_t_to_next_point = compute_time_to_x(cur_point[0], next_point[0], current_speed, acceleration) + velocity_at_next_point = current_speed + delta_t_to_next_point*acceleration + time_to_stop_from_next_point = velocity_at_next_point/deceleration + delta_x_to_stop_from_next_point = velocity_at_next_point*time_to_stop_from_next_point - 0.5*deceleration*time_to_stop_from_next_point**2 + # if we would reach max speed after the next point, + # just move to the next point and update the current speed and time + if next_point[0] + delta_x_to_stop_from_next_point < points[-1][0] and \ + cur_point[0] + delta_x_to_max_speed >= next_point[0]: + # go to next point + # accelerate to max speed + delta_t_to_next_x = compute_time_to_x(cur_point[0], next_point[0], current_speed, acceleration) + cur_time += delta_t_to_next_x + cur_point = [next_point[0], 0] + current_speed += delta_t_to_next_x*acceleration + cur_index += 1 + + # This is the case where we would need to start breaking before reaching + # top speed and before the next point (i.e. triangle shape velocity) + elif cur_point[0] + delta_x_to_max_speed + delta_x_to_stop_from_max_speed >= points[-1][0]: + # Add a new point at the point where we should start breaking + delta_t_to_next_x = compute_time_triangle(cur_point[0], points[-1][0], current_speed, 0, acceleration, deceleration) + next_x = cur_point[0] + current_speed*delta_t_to_next_x + 0.5*acceleration*delta_t_to_next_x**2 + cur_time += delta_t_to_next_x + cur_point = [next_x, 0] + current_speed += delta_t_to_next_x*acceleration + + # this is the case where we would reach max speed before the next point + # we need to create a new point where we would reach max speed + else: + # we would need to add a new point at max speed + cur_time += delta_t_to_max_speed + cur_point = [cur_point[0] + delta_x_to_max_speed, 0] + current_speed = max_speed + + # This is the case where we are at max speed + # special functionality is that this block must + # add a point where we would need to start declerating to reach + # the final point + elif current_speed == max_speed: + next_point = points[cur_index+1] + # continue on with max speed + + # add point to start decelerating + if next_point[0] + min_delta_x_stop >= points[-1][0]: + cur_time += (points[-1][0] - min_delta_x_stop - cur_point[0])/current_speed + cur_point = [points[-1][0] - min_delta_x_stop,0] + current_speed = max_speed + else: + # Continue on to next point + cur_time += (next_point[0] - cur_point[0])/current_speed + cur_point = next_point + cur_index += 1 + + # This is an edge case and should only be reach + # if the initial speed is greater than the max speed + elif current_speed > max_speed: + # We need to hit the breaks + + next_point = points[cur_index+1] + # slow down to max speed + delta_t_to_max_speed = (current_speed - max_speed)/deceleration + delta_x_to_max_speed = current_speed*delta_t_to_max_speed - 0.5*deceleration*delta_t_to_max_speed**2 + + # If we would reach the next point before slowing down to max speed + # keep going until we reach the next point + if cur_point[0] + delta_x_to_max_speed >= next_point[0]: + delta_t_to_next_x = compute_time_to_x(cur_point[0], next_point[0], current_speed, -deceleration) + cur_time += delta_t_to_next_x + cur_point = [next_point[0], 0] + current_speed -= delta_t_to_next_x*deceleration + cur_index += 1 + else: + # We would reach max speed before the next point + # we need to add a new point at the point where we + # would reach max speed + cur_time += delta_t_to_max_speed + cur_point = [cur_point[0] + delta_x_to_max_speed, 0] + current_speed = max_speed + + else: + # not sure what falls here + raise ValueError("LONGITUDINAL PLAN ERROR: Not sure how we ended up here") + + new_points.append(cur_point) + new_times.append(cur_time) + velocities.append(current_speed) + + points = new_points + times = new_times + print("[PLAN] Computed points:", points) + print("[TIME] Computed time:", times) + print("[Velocities] Computed velocities:", velocities) + + #============================================= + + trajectory = Trajectory(path.frame,points,times,velocities) + return trajectory + +def compute_time_to_x(x0 : float, x1 : float, v : float, a : float) -> float: + """Computes the time to go from x0 to x1 with initial velocity v0 and final velocity v1 + with constant acceleration a. I am assuming that we will always have a solution by settings + discriminant equal to zero, i'm not sure if this is an issue.""" + + """Consider changing the system to use linear operators instead of explicitly calculating because of instances here""" + + t1 = (-v + max(0,(v**2 - 2*a*(x0-x1)))**0.5)/a + t2 = (-v - max(0,(v**2 - 2*a*(x0-x1)))**0.5)/a + + if math.isnan(t1): t1 = 0 + if math.isnan(t2): t2 = 0 + + valid_times = [n for n in [t1, t2] if n > 0] + if valid_times: + return min(valid_times) + else: + return 0.0 + +def compute_time_triangle(x0 : float, xf: float, v0: float, vf : float, acceleration : float, deceleration : float) -> float: + """ + Compute the time to go from current point assuming we are accelerating to the point at which + we would need to start breaking in order to reach the final point with velocity 0. + """ + roots = quad_root(0.5*acceleration + acceleration**2/deceleration - 0.5*acceleration**2/deceleration, + v0+2*acceleration*v0/deceleration - acceleration*v0/deceleration, + x0 - xf + v0**2/deceleration - 0.5*v0**2/deceleration) + t1 = max(roots) + assert t1 > 0 + return t1 + + + +######################## +##### Rohit's Code ##### +######################## +def solve_for_v_peak(v0: float, acceleration: float, deceleration: float, total_length: float) -> float: + + if acceleration <= 0 or deceleration <= 0: + raise ValueError("Acceleration and deceleration cant be negative") + + #Formuala: (v_peak^2 - v0^2)/(2*a) + v_peak^2/(2*d) = total_length + numerator = deceleration * v0**2 + 2 * acceleration * deceleration * total_length + denominator = acceleration + deceleration + v_peak_sq = numerator / denominator + + if v_peak_sq < 0: + return 0.0 + + return math.sqrt(v_peak_sq) + + +def compute_dynamic_dt(acceleration, speed, k=0.01, a_min=0.5): + position_step = k * max(speed, 1.0) # Ensures position step is speed-dependent + return np.sqrt(2 * position_step / max(acceleration, a_min)) + + +def longitudinal_plan_dt(path, acceleration: float, deceleration: float, max_speed: float, current_speed: float): + # 1 parametrizatiom. + path_norm = path.arc_length_parameterize(speed=1.0) + total_length = path.length() + + # ------------------- + # If the path is too short, just return the path for preventing sudden halt of simulation + if total_length < 0.05: + points = [p for p in path_norm.points] + times = [t for t in path_norm.times] + return Trajectory(path.frame, points, times) + # ------------------- + + # 2. Compute distances for d_accel,d_decel + if max_speed > current_speed: + d_accel = (max_speed**2 - current_speed**2) / (2 * acceleration) + else: + d_accel = 0.0 # Already at or above max_speed + + d_decel = (max_speed**2) / (2 * deceleration) + + # 3. trapezoidal or triangle? + if d_accel + d_decel <= total_length: + t_accel = (max_speed - current_speed) / acceleration if max_speed > current_speed else 0.0 + t_decel = max_speed / deceleration + d_cruise = total_length - d_accel - d_decel + t_cruise = d_cruise / max_speed if max_speed != 0 else 0.0 + t_final = t_accel + t_cruise + t_decel + profile_type = "trapezoidal" + else: + # Triangular profile: not enough distance to reach max_speed so we will calculate peak speed. + peak_speed = solve_for_v_peak(current_speed, acceleration, deceleration, total_length) + # choose the min just in case + peak_speed = min(peak_speed, max_speed) + t_accel = (peak_speed - current_speed) / acceleration if peak_speed > current_speed else 0.0 + t_decel = peak_speed / deceleration + t_final = t_accel + t_decel + profile_type = "triangular" + + t = 0 + times = [] + s_vals = [] + velocities = [] # for graphing and debugging purposes + + num_time_steps = 0 + speed = current_speed + while t < t_final: + times.append(t) + velocities.append(speed) + if profile_type == "trapezoidal": + if t < t_accel: + # Acceleration phase. + s = current_speed * t + 0.5 * acceleration * t**2 + speed = current_speed + acceleration * t + elif t < t_accel + t_cruise: + # Cruise phase. + s = d_accel + max_speed * (t - t_accel) + else: + # Deceleration phase. + t_decel_phase = t - (t_accel + t_cruise) + s = total_length - 0.5 * deceleration * (t_decel - t_decel_phase)**2 + speed = speed - deceleration * (t_decel-t_decel_phase) + else: # Triangular profile. + if t < t_accel: + # Acceleration phase. + s = current_speed * t + 0.5 * acceleration * t**2 + speed = current_speed + acceleration * t + else: + t_decel_phase = t - t_accel + s_accel = current_speed * t_accel + 0.5 * acceleration * t_accel**2 + s = s_accel + peak_speed * t_decel_phase - 0.5 * deceleration * t_decel_phase**2 + speed = speed - deceleration * t_decel_phase + + s_vals.append(min(s, total_length)) + if s >= total_length: + break + + dt = compute_dynamic_dt(acceleration if t < t_accel else deceleration,current_speed) + t = t + dt + + num_time_steps +=1 + + # Compute trajectory points + points = [path_norm.eval(s) for s in s_vals] + + trajectory = Trajectory(path_norm.frame, points, list(times),velocities=velocities) + return trajectory + + + +######################### +##### Hansen's Code ##### +######################### +def longitudinal_plan_dx(path : Path, acceleration : float, deceleration : float, max_speed : float, current_speed : float) -> Trajectory: + """Generates a longitudinal trajectory for a path with a + trapezoidal velocity profile. + + 1. accelerates from current speed toward max speed + 2. travel along max speed + 3. if at any point you can't brake before hitting the end of the path, + decelerate with accel = -deceleration until velocity goes to 0. + """ + path_normalized = path.arc_length_parameterize() + points = [p for p in path_normalized.points] + times = [t for t in path_normalized.times] + + #============================================= + # Adjust these two numbers to choose between computation speed or smoothness + rq = 0.1 # Smaller, smoother + multi = 5 # Larger, smoother + print("-----LONGITUDINAL PLAN-----") + print("path length: ", path.length()) + length = path.length() + + # If the path is too short, just return the path for preventing sudden halt of simulation + if length < 0.05: + return Trajectory(path.frame, points, times) + + # This assumes that the time denomination cannot be changed + + # Starting point + x0 = points[0][0] + cur_point = points[0] + cur_time = times[0] + cur_index = 0 + acc = 0 + + new_points = [] + new_times = [] + velocities = [] # for graphing and debugging purposes + + while current_speed > 0 or cur_index == 0: + # we want to iterate through all the points and add them + # to the new points. However, we also want to add "critical points" + # where we reach top speed, begin decelerating, and stop + new_points.append(cur_point) + new_times.append(cur_time) + velocities.append(current_speed) + print("=====================================") + print("new points: ", new_points) + print("current index: ", cur_index) + print("current speed: ", current_speed) + + # Information we will need: + # Calculate how much time it would take to stop + # Calculate how much distance it would take to stop + min_delta_t_stop = current_speed/deceleration + min_delta_x_stop = current_speed*min_delta_t_stop - 0.5*deceleration*min_delta_t_stop**2 + assert min_delta_x_stop >= 0 + + # Check if we are done + + # If we cannot stop before or stop exactly at the final position requested + if cur_point[0] + min_delta_x_stop >= points[-1][0] - 0.0001: + acc = deceleration + flag = 1 + print("In case one") + # put on the breaks + # Calculate the next point in a special manner because of too-little time to stop + if cur_index >= len(points)-1: + # the next point in this instance would be when we stop + print(1) + if min_delta_x_stop < rq * acc: + next_point = (cur_point[0] + min_delta_x_stop, 0) + else: + next_point = (cur_point[0] + (min_delta_x_stop / (acc * multi)), 0) + flag = 0 + else: + print(2) + next_point = points[cur_index+1] + if next_point[0] - cur_point[0] > rq * acc: + tmp = cur_point[0] + (next_point[0] - cur_point[0]) / (acc * multi) + flag = 0 + next_point = [tmp, next_point[1]] + + # keep breaking until the next milestone in path + print("continuing to next point") + delta_t_to_next_x = compute_time_to_x(cur_point[0], next_point[0], current_speed, -deceleration) + cur_time += delta_t_to_next_x + cur_point = next_point + current_speed -= deceleration*delta_t_to_next_x + if flag: + cur_index += 1 + + # This is the case where we are accelerating to max speed + # because the first if-statement covers for when we decelerating, + # the only time current_speed < max_speed is when we are accelerating + elif current_speed < max_speed: + print("In case two") + print(current_speed) + acc = acceleration + flag = 1 + # next point + next_point = points[cur_index+1] + if next_point[0] - cur_point[0] > rq * acc: + tmp = cur_point[0] + (next_point[0] - cur_point[0]) / (acc * multi) + flag = 0 + next_point = [tmp, next_point[1]] + # accelerate to max speed + + # calculate the time it would take to reach max speed + delta_t_to_max_speed = (max_speed - current_speed)/acceleration + # calculate the distance it would take to reach max speed + delta_x_to_max_speed = current_speed*delta_t_to_max_speed + 0.5*acceleration*delta_t_to_max_speed**2 + + # if we would reach max speed after the next point, + # just move to the next point and update the current speed and time + if cur_point[0] + delta_x_to_max_speed >= next_point[0]: + print("go to next point") + # accelerate to max speed + delta_t_to_next_x = compute_time_to_x(cur_point[0], next_point[0], current_speed, acceleration) + cur_time += delta_t_to_next_x + cur_point = [next_point[0], 0] + current_speed += delta_t_to_next_x*acceleration + if flag: + cur_index += 1 + + # this is the case where we would reach max speed before the next point + # we need to create a new point where we would reach max speed + else: + print("adding new point") + # we would need to add a new point at max speed + cur_time += delta_t_to_max_speed + cur_point = [cur_point[0] + delta_x_to_max_speed, 0] + current_speed = max_speed + + # This is the case where we are at max speed + # special functionality is that this block must + # add a point where we would need to start declerating to reach + # the final point + elif current_speed == max_speed: + next_point = points[cur_index+1] + # continue on with max speed + print("In case three") + + # add point to start decelerating + if next_point[0] + min_delta_x_stop >= points[-1][0]: + print("Adding new point to start decelerating") + cur_time += (points[-1][0] - min_delta_x_stop - cur_point[0])/current_speed + cur_point = [points[-1][0] - min_delta_x_stop,0] + current_speed = max_speed + else: + # Continue on to next point + print("Continuing on to next point") + cur_time += (next_point[0] - cur_point[0])/current_speed + cur_point = next_point + cur_index += 1 + + # This is an edge case and should only be reach + # if the initial speed is greater than the max speed + elif current_speed > max_speed: + # We need to hit the breaks + acc = deceleration + flag = 1 + # next point + next_point = points[cur_index+1] + if next_point[0] - cur_point[0] > rq * acc: + tmp = cur_point[0] + (next_point[0] - cur_point[0]) / (acc * multi) + flag = 0 + next_point = [tmp, next_point[1]] + print("In case four") + # slow down to max speed + delta_t_to_max_speed = (current_speed - max_speed)/deceleration + delta_x_to_max_speed = current_speed*delta_t_to_max_speed - 0.5*deceleration*delta_t_to_max_speed**2 + + # If we would reach the next point before slowing down to max speed + # keep going until we reach the next point + if cur_point[0] + delta_x_to_max_speed >= next_point[0]: + delta_t_to_next_x = compute_time_to_x(cur_point[0], next_point[0], current_speed, -deceleration) + cur_time += delta_t_to_next_x + cur_point = [next_point[0], 0] + current_speed -= delta_t_to_next_x*deceleration + cur_index += 1 + else: + # We would reach max speed before the next point + # we need to add a new point at the point where we + # would reach max speed + cur_time += delta_t_to_max_speed + cur_point = [cur_point[0] + delta_x_to_max_speed, 0] + current_speed = max_speed + + else: + # not sure what falls here + raise ValueError("LONGITUDINAL PLAN ERROR: Not sure how we ended up here") + + new_points.append(cur_point) + new_times.append(cur_time) + velocities.append(current_speed) + + points = new_points + times = new_times + print("[PLAN] Computed points:", points) + print("[TIME] Computed time:", times) + print("[Velocities] Computed velocities:", velocities) + + #============================================= + + trajectory = Trajectory(path.frame,points,times) + return trajectory + +def longitudinal_brake(path : Path, deceleration : float, current_speed : float) -> Trajectory: + """Generates a longitudinal trajectory for braking along a path.""" + path_normalized = path.arc_length_parameterize() + points = [p for p in path_normalized.points] + times = [t for t in path_normalized.times] + + #============================================= + + print("=====LONGITUDINAL BRAKE=====") + print("path length: ", path.length()) + length = path.length() + + x0 = points[0][0] + t_stop = current_speed / deceleration + x_stop = x0 + current_speed * t_stop - 0.5 * deceleration * t_stop**2 + + new_points = [] + velocities = [] + + for t in times: + if t <= t_stop: + x = x0 + current_speed * t - 0.5 * deceleration * t**2 + else: + x = x_stop + new_points.append([x, 0]) + velocities.append(current_speed - deceleration * t) + points = new_points + print("[BRAKE] Computed points:", points) + + #============================================= + + trajectory = Trajectory(path.frame,points,times,velocities) + return trajectory + + + +################################################################################ +########## Yield Trajectory Planner ############################################ +################################################################################ + +##################################################### +##### Patrick, Animesh, Henry, and Yudai's Code ##### +##################################################### +class YieldTrajectoryPlanner(Component): + """Follows the given route. Brakes if you have to yield or + you are at the end of the route, otherwise accelerates to + the desired speed. + """ + + def __init__(self): + self.route_progress = None + self.t_last = None + + self.mode = settings.get("planning.longitudinal_plan.mode") + self.planner = settings.get("planning.longitudinal_plan.planner") + self.acceleration = settings.get("planning.longitudinal_plan.acceleration") + self.deceleration = settings.get("planning.longitudinal_plan.deceleration") + self.desired_speed = settings.get("planning.longitudinal_plan.desired_speed") + self.yield_deceleration = settings.get("planning.longitudinal_plan.yield_deceleration") + + def state_inputs(self): + return ['all'] + + def state_outputs(self) -> List[str]: + return ['trajectory'] + + def rate(self): + return 10.0 + + def update(self, state : AllState): + vehicle = state.vehicle # type: VehicleState + route = state.route # type: Route + t = state.t + + if self.t_last is None: + self.t_last = t + dt = t - self.t_last + print("Elapsed time:", int(dt*1000), "ms") + self.t_last = t + + curr_x = vehicle.pose.x + curr_y = vehicle.pose.y + curr_v = vehicle.v + + #figure out where we are on the route + if self.route_progress is None: + self.route_progress = 0.0 + closest_dist,closest_parameter = state.route.closest_point_local((curr_x,curr_y),[self.route_progress-5.0,self.route_progress+5.0]) + self.route_progress = closest_parameter + + # Compute the lookahead distance + lookahead_distance = max(10, curr_v**2 / (2 * self.yield_deceleration)) + print("Lookahead distance:", lookahead_distance) + route_with_lookahead = route.trim(closest_parameter,closest_parameter + lookahead_distance) + + # Default values + should_brake = False + input_values = [{"decel": self.deceleration, "desired_speed": self.desired_speed, "collision_distance": lookahead_distance}] + + # Extract yielding information from all YIELDING agents. + for r in state.relations: + if r.type == EntityRelationEnum.YIELDING and r.obj1 == '': + input_values.append({"decel": r.yield_decel, "desired_speed": r.yield_speed, "collision_distance": r.yield_dist}) + + print("Input values:", input_values) + # Choose minimum desired speed and extract deceleration and collision distance from input_values. + valid_input_values = [val for val in input_values if val['desired_speed'] is not None] + desired_speed = min(valid_input_values, key=lambda x: x['desired_speed'])['desired_speed'] if not None else self.desired_speed + decel = min(valid_input_values, key=lambda x: x['desired_speed'])['decel'] if not None else self.deceleration + # If desired_speed is 0, we should brake to stop. + if desired_speed == 0.0: + should_brake = True + else: + collision_distance = min(valid_input_values, key=lambda x: x['desired_speed'])['collision_distance'] if not None else lookahead_distance + # Update the lookahead distance to pedestrian. + route_with_lookahead = route.trim(closest_parameter,closest_parameter + collision_distance) + print(f"Collision distance: {collision_distance:.2f} m") + + print(f"Desired speed: {desired_speed:.2f} m/s") + print(f"Deceleration: {decel:.2f} m/s^2") + + should_accelerate = (not should_brake and curr_v < self.desired_speed) + + #choose whether to accelerate, brake, or keep at current velocity + if should_accelerate: + traj = longitudinal_plan(route_with_lookahead, self.acceleration, decel, desired_speed, curr_v, self.planner) + elif should_brake: + traj = longitudinal_brake(route_with_lookahead, decel, curr_v) + else: + traj = longitudinal_plan(route_with_lookahead, 0.0, decel, desired_speed, curr_v, self.planner) + + return traj diff --git a/GEMstack/onboard/planning/pedestrian_yield_logic.py b/GEMstack/onboard/planning/pedestrian_yield_logic.py new file mode 100644 index 000000000..4f1936fa2 --- /dev/null +++ b/GEMstack/onboard/planning/pedestrian_yield_logic.py @@ -0,0 +1,625 @@ +from ...state import AllState,VehicleState,AgentState,AgentEnum,EntityRelation,EntityRelationEnum,ObjectFrameEnum +from ..component import Component +from typing import List,Dict,Union,Tuple +from scipy.optimize import minimize +import numpy as np +import math +import matplotlib.pyplot as plt +import matplotlib.patches as patches +from ...utils import settings + +################################################################################ +########## Collisiong Detection ################################################ +################################################################################ + +###################################### +##### Patrick and Animesh's Code ##### +###################################### +# Global variables +PEDESTRIAN_LENGTH = 0.5 +PEDESTRIAN_WIDTH = 0.5 + +VEHICLE_LENGTH = 3.5 +VEHICLE_WIDTH = 2 + +VEHICLE_BUFFER_X = 3.0 +VEHICLE_BUFFER_Y = 1.5 + +YIELD_BUFFER_Y = 1.0 +COMFORT_DECELERATION = 1.5 + +def detect_collision(curr_x: float, curr_y: float, curr_v: float, obj_x: float, obj_y: float, obj_v_x: float, obj_v_y: float, min_deceleration: float, max_deceleration: float, acceleration: float, max_speed: float) -> Tuple[bool, Union[float, List[float]]]: + """Detects if a collision will occur with the given object and return deceleration to avoid it or info for computing cruising speed""" + + vehicle_front = curr_x + VEHICLE_LENGTH + vehicle_back = curr_x + vehicle_left = curr_y + VEHICLE_WIDTH / 2 + vehicle_right = curr_y - VEHICLE_WIDTH / 2 + + pedestrian_front = obj_x + PEDESTRIAN_LENGTH / 2 + pedestrian_back = obj_x - PEDESTRIAN_LENGTH / 2 + pedestrian_left = obj_y + PEDESTRIAN_WIDTH / 2 + pedestrian_right = obj_y - PEDESTRIAN_WIDTH / 2 + + # Check if the object is in front of the vehicle + if vehicle_front > pedestrian_back: + if vehicle_back > pedestrian_front: + # The object is behind the vehicle + print("Object is behind the vehicle") + return False, 0.0 + if vehicle_right - VEHICLE_BUFFER_Y > pedestrian_left or vehicle_left + VEHICLE_BUFFER_Y < pedestrian_right: + # The object is to the side of the vehicle + print("Object is to the side of the vehicle") + return False, 0.0 + # The object overlaps with the vehicle's buffer + return True, max_deceleration + + if vehicle_right - VEHICLE_BUFFER_Y > pedestrian_left and obj_v_y <= 0: + # The object is to the right of the vehicle and moving away + print("Object is to the right of the vehicle and moving away") + return False, 0.0 + + if vehicle_left + VEHICLE_BUFFER_Y < pedestrian_right and obj_v_y >= 0: + # The object is to the left of the vehicle and moving away + print("Object is to the left of the vehicle and moving away") + return False, 0.0 + + if vehicle_front + VEHICLE_BUFFER_X >= pedestrian_back and (vehicle_right - VEHICLE_BUFFER_Y <= pedestrian_left and vehicle_left + VEHICLE_BUFFER_Y >= pedestrian_right): + # The object is in front of the vehicle and within the buffer + print("Object is in front of the vehicle and within the buffer") + return True, max_deceleration + + # Calculate the deceleration needed to avoid a collision + print("Object is in front of the vehicle and outside the buffer") + distance = pedestrian_back - vehicle_front + distance_with_buffer = pedestrian_back - vehicle_front - VEHICLE_BUFFER_X + + relative_v = curr_v - obj_v_x + if relative_v <= 0: + return False, 0.0 + + if obj_v_y == 0: + # The object is in front of the vehicle blocking it + deceleration = relative_v ** 2 / (2 * distance_with_buffer) + if deceleration > max_deceleration: + return True, max_deceleration + if deceleration < min_deceleration: + return False, 0.0 + + return True, deceleration + + if obj_v_y > 0: + # The object is to the right of the vehicle and moving towards it + time_to_get_close = (vehicle_right - VEHICLE_BUFFER_Y - YIELD_BUFFER_Y - pedestrian_left) / abs(obj_v_y) + time_to_pass = (vehicle_left + VEHICLE_BUFFER_Y + YIELD_BUFFER_Y - pedestrian_right) / abs(obj_v_y) + else: + # The object is to the left of the vehicle and moving towards it + time_to_get_close = (pedestrian_right - vehicle_left - VEHICLE_BUFFER_Y - YIELD_BUFFER_Y) / abs(obj_v_y) + time_to_pass = (pedestrian_left - vehicle_right + VEHICLE_BUFFER_Y + YIELD_BUFFER_Y) / abs(obj_v_y) + + time_to_accel_to_max_speed = (max_speed - curr_v) / acceleration + distance_to_accel_to_max_speed = (max_speed + curr_v - 2 * obj_v_x) * time_to_accel_to_max_speed / 2 #area of trapezoid + + if distance_to_accel_to_max_speed > distance_with_buffer: + # The object will reach the buffer before reaching max speed + time_to_buffer_when_accel = (-relative_v + (relative_v * relative_v + 2 * distance_with_buffer * acceleration) ** 0.5) / acceleration + else: + # The object will reach the buffer after reaching max speed + time_to_buffer_when_accel = time_to_accel_to_max_speed + (distance_with_buffer - distance_to_accel_to_max_speed) / (max_speed - obj_v_x) + + if distance_to_accel_to_max_speed > distance: + # We will collide before reaching max speed + time_to_collide_when_accel = (-relative_v + (relative_v * relative_v + 2 * distance * acceleration) ** 0.5) / acceleration + else: + # We will collide after reaching max speed + time_to_collide_when_accel = time_to_accel_to_max_speed + (distance - distance_to_accel_to_max_speed) / (max_speed - obj_v_x) + + if time_to_get_close > time_to_collide_when_accel: + # We can do normal driving and will pass the object before it gets in our way + print("We can do normal driving and will pass the object before it gets in our way") + return False, 0.0 + + if vehicle_front + VEHICLE_BUFFER_X >= pedestrian_back: + # We cannot move pass the pedestrian before it reaches the buffer from side + return True, max_deceleration + + if time_to_pass < time_to_buffer_when_accel: + # The object will pass through our front before we drive normally and reach it + print("The object will pass through our front before we drive normally and reach it") + return False, 0.0 + + distance_to_move = distance_with_buffer + time_to_pass * obj_v_x + + if curr_v**2/(2*distance_to_move) >= COMFORT_DECELERATION: + return True, curr_v**2/(2*distance_to_move) + + print("Calculating cruising speed") + return True, [distance_to_move, time_to_pass] + +######################## +##### Henry's Code ##### +######################## + +def detect_collision_analytical(r_pedestrain_x: float, r_pedestrain_y: float, p_vehicle_left_y_after_t: float, p_vehicle_right_y_after_t: float, lateral_buffer: float) -> Union[bool, str]: + """Detects if a collision will occur with the given object and return deceleration to avoid it. Analytical""" + if r_pedestrain_x < 0 and abs(r_pedestrain_y) > lateral_buffer: + return False + elif r_pedestrain_x < 0: + return 'max' + if r_pedestrain_y >= p_vehicle_left_y_after_t and r_pedestrain_y <= p_vehicle_right_y_after_t: + return True + + return False + + +def get_minimum_deceleration_for_collision_avoidance(curr_x: float, curr_y: float, curr_v: float, obj_x: float, obj_y: float, obj_v_x: float, obj_v_y: float, min_deceleration: float, max_deceleration: float) -> Tuple[bool, float]: + """Detects if a collision will occur with the given object and return deceleration to avoid it. Via Optimization""" + + vehicle_length = 3 + vehicle_width = 2 + + vehicle_buffer_x = 3.0 + vehicle_buffer_y = 1.0 + + obj_x = obj_x - curr_x + obj_y = obj_y - curr_y + + curr_x = curr_x - curr_x + curr_y = curr_y - curr_y + + vehicle_front = curr_x + vehicle_length + vehicle_buffer_x + vehicle_back = curr_x + vehicle_left = curr_y - vehicle_width / 2 + vehicle_right = curr_y + vehicle_width / 2 + + r_vehicle_front = vehicle_front - vehicle_front + r_vehicle_back = vehicle_back - vehicle_front + r_vehicle_left = vehicle_left - vehicle_buffer_y + r_vehicle_right = vehicle_right + vehicle_buffer_y + r_vehicle_v_x = curr_v + r_vehicle_v_y = 0 + + r_pedestrain_x = obj_x - vehicle_front + r_pedestrain_y = -obj_y + r_pedestrain_v_x = obj_v_x + r_pedestrain_v_y = -obj_v_y + + r_velocity_x_from_vehicle = r_vehicle_v_x - r_pedestrain_v_x + r_velocity_y_from_vehicle = r_vehicle_v_y - r_pedestrain_v_y + + t_to_r_pedestrain_x = (r_pedestrain_x - r_vehicle_front) / r_velocity_x_from_vehicle + + p_vehicle_left_y_after_t = r_vehicle_left + r_velocity_y_from_vehicle * t_to_r_pedestrain_x + p_vehicle_right_y_after_t = r_vehicle_right + r_velocity_y_from_vehicle * t_to_r_pedestrain_x + + collision_flag = detect_collision_analytical(r_pedestrain_x, r_pedestrain_y, p_vehicle_left_y_after_t, p_vehicle_right_y_after_t, vehicle_buffer_y) + if collision_flag == False: + print("No collision", curr_x, curr_y, r_pedestrain_x, r_pedestrain_y, r_vehicle_left, r_vehicle_right, p_vehicle_left_y_after_t, p_vehicle_right_y_after_t) + return 0.0 + elif collision_flag == 'max': + return max_deceleration + + print("Collision", curr_x, curr_y, r_pedestrain_x, r_pedestrain_y, r_vehicle_left, r_vehicle_right, p_vehicle_left_y_after_t, p_vehicle_right_y_after_t) + yaw = None + minimum_deceleration = None + if yaw is None: + if abs(r_velocity_y_from_vehicle) > 0.1: + if r_velocity_y_from_vehicle > 0.1: + # Vehicle Left would be used to yield + r_pedestrain_y_temp = r_pedestrain_y + abs(r_vehicle_left) + elif r_velocity_y_from_vehicle < -0.1: + # Vehicle Right would be used to yield + r_pedestrain_y_temp = r_pedestrain_y - abs(r_vehicle_right) + + softest_accleration = 2 * r_velocity_y_from_vehicle * (r_velocity_y_from_vehicle * r_pedestrain_x - r_velocity_x_from_vehicle * r_pedestrain_y_temp) / r_pedestrain_y_temp**2 + peak_y = -(r_velocity_x_from_vehicle * r_velocity_y_from_vehicle) / softest_accleration + # if the peak is within the position of the pedestrian, + # then it indicates the path had already collided with the pestrain, + # and so the softest acceleration should be the one the peak of the path is the same as the pedestrain's x position + # and the vehicle should be stopped exactly before the pedestrain's x position + if abs(peak_y) > abs(r_pedestrain_y_temp): + minimum_deceleration = abs(softest_accleration) + # else: the vehicle should be stopped exactly before the pedestrain's x position the same case as the pedestrain barely move laterally + + if minimum_deceleration is None: + minimum_deceleration = r_velocity_x_from_vehicle**2 / (2 * r_pedestrain_x) + else: + pass + + print("calculatedminimum_deceleration: ", minimum_deceleration) + return max(min(minimum_deceleration, max_deceleration), min_deceleration) + + +######################## +##### Yudai's Code ##### +######################## +class CollisionDetector: + """ + Simulation class to update positions of two rectangles (vehicle and pedestrian) + with velocities v1 and v2, performing collision detection at each time step. + All functions remain within the class, and variables defined in __init__ remain unchanged; + local copies are used during simulation. + """ + def __init__(self, x1, y1, t1, x2, y2, t2, v1, v2, total_time=10.0, desired_speed=2.0, acceleration=0.5): + + self.vehicle_x = x1 + self.vehicle_y = y1 + self.pedestrian_x = x2 + self.pedestrian_y = y2 + + # Vehicle parameters with buffer adjustments + self.vehicle_size_x = VEHICLE_LENGTH + self.vehicle_size_y = VEHICLE_WIDTH + self.vehicle_buffer_x = VEHICLE_BUFFER_X + self.vehicle_buffer_y = VEHICLE_BUFFER_Y * 2.0 # Double the buffer for both sides + + # Vehicle rectangle + self.x1 = self.vehicle_x + (self.vehicle_size_x + self.vehicle_buffer_x)*0.5 # Offset for buffer (remains constant) + self.y1 = self.vehicle_y + self.w1 = self.vehicle_size_x + self.vehicle_buffer_x # Increase width with buffer + self.h1 = self.vehicle_size_y + self.vehicle_buffer_y # Increase height with buffer + self.t1 = t1 + + # Pedestrian rectangle + self.x2 = x2 + self.y2 = y2 + self.w2 = 0.5 + self.h2 = 0.5 + self.t2 = t2 + + # Velocities are expected as [vx, vy] + self.v1 = v1 + self.v2 = v2 + + self.dt = 0.1 # seconds + self.total_time = total_time # seconds + + self.desired_speed = desired_speed + self.acceleration = acceleration + + def set_params(self, speed, acceleration): + self.desired_speed = speed + self.acceleration = acceleration + + def get_corners(self, x, y, w, h, theta): + """ + Returns the 4 corners of a rotated rectangle. + (x, y): center of rectangle + w, h: width and height of rectangle + theta: rotation angle in radians + """ + cos_t = math.cos(theta) + sin_t = math.sin(theta) + hw, hh = w / 2.0, h / 2.0 + + corners = np.array([ + [ hw * cos_t - hh * sin_t, hw * sin_t + hh * cos_t], + [-hw * cos_t - hh * sin_t, -hw * sin_t + hh * cos_t], + [-hw * cos_t + hh * sin_t, -hw * sin_t - hh * cos_t], + [ hw * cos_t + hh * sin_t, hw * sin_t - hh * cos_t] + ]) + + corners[:, 0] += x + corners[:, 1] += y + + return corners + + def get_axes(self, rect): + axes = [] + for i in range(len(rect)): + p1 = rect[i] + p2 = rect[(i + 1) % len(rect)] + edge = p2 - p1 + normal = np.array([-edge[1], edge[0]]) + norm = np.linalg.norm(normal) + if norm: + normal /= norm + axes.append(normal) + return axes + + def project(self, rect, axis): + dots = np.dot(rect, axis) + return np.min(dots), np.max(dots) + + def sat_collision(self, rect1, rect2): + """ + Determines if two convex polygons (rectangles) collide using the + Separating Axis Theorem (SAT). + rect1 and rect2 are numpy arrays of shape (4,2) representing their corners. + """ + axes1 = self.get_axes(rect1) + axes2 = self.get_axes(rect2) + + for axis in axes1 + axes2: + min1, max1 = self.project(rect1, axis) + min2, max2 = self.project(rect2, axis) + if max1 < min2 or max2 < min1: + return False + return True + + def plot_rectangles(self, rect1, rect2, collision, ax): + """ + Plot two rectangles on a provided axis and indicate collision by color. + """ + color = 'red' if collision else 'blue' + for rect in [rect1, rect2]: + polygon = patches.Polygon(rect, closed=True, edgecolor=color, fill=False, linewidth=2) + ax.add_patch(polygon) + ax.scatter(rect[:, 0], rect[:, 1], color=color, zorder=3) + ax.set_title(f"Collision: {'Yes' if collision else 'No'}") + + def run(self, is_displayed=False): + collision_distance = -1 + steps = int(self.total_time / self.dt) + 1 + + # Create local variables for positions; these will be updated + # without modifying the __init__ attributes. + current_x1 = self.x1 + current_y1 = self.y1 + current_x2 = self.x2 + current_y2 = self.y2 + current_v1 = self.v1[0] + + if is_displayed: + plt.ion() # Turn on interactive mode + fig, ax = plt.subplots(figsize=(10,5)) + + for i in range(steps): + t_sim = i * self.dt + + # Compute rectangle corners using the local positional variables. + rect1 = self.get_corners(current_x1, current_y1, self.w1, self.h1, self.t1) + rect2 = self.get_corners(current_x2, current_y2, self.w2, self.h2, self.t2) + + # Perform collision detection. + collision = self.sat_collision(rect1, rect2) + + if is_displayed: + # Plot the current step. + ax.clear() + self.plot_rectangles(rect1, rect2, collision, ax) + ax.set_aspect('equal') + ax.grid(True, linestyle='--', alpha=0.5) + ax.set_xlim(self.vehicle_x - 5, self.vehicle_x + 20) + ax.set_ylim(self.vehicle_y -5, self.vehicle_y +5) + + # Draw an additional rectangle (vehicle body) at the vehicle's center. + rect_vehiclebody = patches.Rectangle( + (current_x1 - (self.vehicle_size_x + self.vehicle_buffer_x)*0.5, current_y1 - self.vehicle_size_y * 0.5), + self.w1 - self.vehicle_buffer_x, + self.h1 - self.vehicle_buffer_y, + edgecolor='green', + fill=False, + linewidth=2, + linestyle='--' + ) + ax.add_patch(rect_vehiclebody) + + ax.text(0.01, 0.99, f"t = {t_sim:.1f}s", fontsize=12, transform=ax.transAxes, verticalalignment='top') + plt.draw() + + # Pause briefly to simulate real-time updating. + plt.pause(self.dt * 0.05) + + # Stop simulation if collision is detected. + if collision: + current_vehicle_x = current_x1 - (self.vehicle_size_x + self.vehicle_buffer_x) * 0.5 + current_vehicle_y = current_y1 + collision_distance = current_vehicle_x - self.vehicle_x + break + + # Update the vehicle's speed if it is not at the desired speed. + next_v = current_v1 + self.acceleration * self.dt + # Accelerating: Check if the vehicle is about to exceed the desired speed. + if next_v > self.desired_speed and current_v1 <= self.desired_speed: + current_v1 = self.desired_speed + # Decelerating: Check if the vehicle is about to fall below the desired speed. + elif next_v < self.desired_speed and current_v1 >= self.desired_speed: + current_v1 = self.desired_speed + else: + current_v1 = next_v + + current_v1 = 0.0 if current_v1 < 0.0 else current_v1 + + # Update local positions based on velocities. + current_x1 += current_v1 * self.dt + current_y1 += self.v1[1] * self.dt + current_x2 += self.v2[0] * self.dt + current_y2 += self.v2[1] * self.dt + + if is_displayed: + plt.ioff() + plt.show(block=True) + + # print("Collision distance:", collision_distance) + + return collision_distance + +def calculate_yielding_parameters(curr_x, curr_y, curr_v, a_x, a_y, a_v, desired_speed, acceleration, deceleration, max_deceleration, yield_deceleration): + """ + Calculate yielding parameters using Yudai's simulation code. + Returns a tuple (output_decel, output_dist, output_speed). + """ + + # Simulate if a collision will occur when the vehicle accelerates to the desired speed. + sim = CollisionDetector(curr_x, curr_y, 0, a_x, a_y, 0, curr_v, a_v, total_time=10.0, desired_speed=desired_speed, acceleration=acceleration) + collision_distance = sim.run() + + # No collision detected: use default deceleration and desired speed. + if collision_distance < 0: + print("No collision detected.") + output_decel = deceleration + output_speed = desired_speed + output_dist = collision_distance + + # Collision detected: try to find a yielding speed. + else: + print("Collision detected. Try to find yielding speed.") + output_decel = None + output_speed = None + collision_distance_after_yield = -1 + + # Generate yielding speeds from desired speed down to a low speed. + yield_speed = [v for v in np.arange(desired_speed, 0.1, -0.25)] + for v in yield_speed: + # If trying to accelerate (v > current vehicle speed) + if v > curr_v[0]: + sim.set_params(v, acceleration) + # Otherwise apply deceleration to yield + else: + sim.set_params(v, yield_deceleration * -1.0) + collision_distance_after_yield = sim.run() + if collision_distance_after_yield < 0: + print(f"Yielding at speed: {v}") + output_decel = yield_deceleration + output_dist = collision_distance + output_speed = v + break + + # Collision detected for any yielding speed: brake to avoid collision. + if collision_distance_after_yield >= 0: + print("The vehicle is Stopping.") + brake_deceleration = max(deceleration, curr_v[0]**2 / (2 * (collision_distance))) + if brake_deceleration > max_deceleration: + brake_deceleration = max_deceleration + output_decel = brake_deceleration + output_dist = collision_distance + output_speed = 0.0 + + return output_decel, output_dist, output_speed + + + + + + + + + + + + + + + + +################################################################################ +########## Pedestrian Yielder ################################################## +################################################################################ + +class PedestrianYielder(Component): + """Yields for all pedestrians in the scene. + + Result is stored in the relations graph. + """ + def __init__(self, mode : str = 'real', params : dict = {}): + # Planner mode + self.mode = mode + self.yielder = params["yielder"] + self.planner = params["planner"] + self.acceleration = params["acceleration"] + self.desired_speed = params["desired_speed"] + + # Update current.yaml settings with the given parameters in pedestrian_detection.yaml + settings.set("planning.longitudinal_plan.mode", self.mode) + settings.set("planning.longitudinal_plan.yielder", self.yielder) + settings.set("planning.longitudinal_plan.planner", self.planner) + settings.set("planning.longitudinal_plan.acceleration", self.acceleration) + settings.set("planning.longitudinal_plan.desired_speed", self.desired_speed) + + self.min_deceleration = settings.get("planning.longitudinal_plan.min_deceleration") + self.max_deceleration = settings.get("planning.longitudinal_plan.max_deceleration") + self.deceleration = settings.get("planning.longitudinal_plan.deceleration") + self.yield_deceleration = settings.get("planning.longitudinal_plan.yield_deceleration") + + def rate(self): + return None + def state_inputs(self): + return ['all'] + def state_outputs(self): + return ['relations'] + def update(self, state : AllState) -> List[EntityRelation]: + res = [] + vehicle = state.vehicle + agents = state.agents + + # Position in vehicle frame (Start (0,0) to (15,0)) + curr_x = vehicle.pose.x + curr_y = vehicle.pose.y + curr_v = vehicle.v + + for n,a in agents.items(): + if a.type == AgentEnum.PEDESTRIAN: + """ + yield_decel : float # Deceleration at which obj1 yields to obj2 + yield_dist : float # Distance at which obj1 yields to obj2 + yield_speed : float # Speed at which obj1 yields to obj2 + """ + output_decel, output_dist, output_speed = None, None, None + + # Get the pedestrian's position and velocity + a_x, a_y = a.pose.x, a.pose.y + a_v_x, a_v_y = a.velocity[0], a.velocity[1] # Pedestrian speed vector + + # If the pedestrian's frame is ABSOLUTE, convert the vehicle's frame to ABSOLUTE. + if a.pose.frame == ObjectFrameEnum.ABSOLUTE_CARTESIAN: + curr_x = curr_x + state.start_vehicle_pose.x + curr_y = curr_y + state.start_vehicle_pose.y + + # If the pedestrian's frame is CURRENT, convert the pedestrian's frame to START. + elif a.pose.frame == ObjectFrameEnum.CURRENT: + a_x = a.pose.x + curr_x + a_y = a.pose.y + curr_y + a_v_x = a_v_x - curr_v + + ########################## + ##### Yielding Part ###### + ########################## + + # Switch between different yielder methods + if self.yielder == 'expert': + ###################################### + ##### Patrick and Animesh's Code ##### + ###################################### + detected, deceleration = detect_collision(curr_x, curr_y, curr_v, a_x, a_y, a_v_x, a_v_y, self.min_deceleration, self.max_deceleration, self.acceleration, self.desired_speed) + if isinstance(deceleration, list): + print("@@@@@ INPUT", deceleration) + time_collision = deceleration[1] + distance_collision = deceleration[0] + b = 3*time_collision - 2*curr_v + c = curr_v**2 - 3*distance_collision + output_speed = (-b + (b**2 - 4*c)**0.5)/2 + output_decel = 1.5 + output_dist = distance_collision + else: + if detected and deceleration > 0: + output_speed = 0 # Brake to Stop + output_decel = deceleration + output_dist = None + + elif self.yielder == 'analytic': + ######################### + ##### Henry's Code ###### + ######################### + deceleration = get_minimum_deceleration_for_collision_avoidance(curr_x, curr_y, curr_v, a_x, a_y, a_v_x, a_v_y, self.min_deceleration, self.max_deceleration) + if deceleration > 0: + output_decel = deceleration + output_speed = 0 + output_dist = None + + elif self.yielder == 'simulation': + ######################## + ##### Yudai's Code ##### + ######################## + output_decel, output_dist, output_speed = calculate_yielding_parameters(curr_x, curr_y, [curr_v, 0], a_x, a_y, [a_v_x, a_v_y], self.desired_speed, self.acceleration, self.deceleration, self.max_deceleration, self.yield_deceleration) + + else: + raise ValueError(f"Yielder {self.yielder} is not supported.") + + # Add the relation to the list + res.append(EntityRelation(type=EntityRelationEnum.YIELDING, obj1='', obj2=n, + yield_decel=output_decel, + yield_dist=output_dist, + yield_speed=output_speed)) + + return res diff --git a/GEMstack/onboard/planning/pure_pursuit.py b/GEMstack/onboard/planning/pure_pursuit.py index e4b6f4f4e..ca905c876 100644 --- a/GEMstack/onboard/planning/pure_pursuit.py +++ b/GEMstack/onboard/planning/pure_pursuit.py @@ -8,6 +8,7 @@ from ..interface.gem import GEMVehicleCommand from ..component import Component import numpy as np +import rospy class PurePursuit(object): """Implements a pure pursuit controller on a second-order Dubins vehicle.""" @@ -19,6 +20,7 @@ def __init__(self, lookahead = None, lookahead_scale = None, crosstrack_gain = N self.wheelbase = settings.get('vehicle.geometry.wheelbase') self.wheel_angle_range = [settings.get('vehicle.geometry.min_wheel_angle'),settings.get('vehicle.geometry.max_wheel_angle')] self.steering_angle_range = [settings.get('vehicle.geometry.min_steering_angle'),settings.get('vehicle.geometry.max_steering_angle')] + # self.launch_control = settings.get('control.pure_pursuit.launch_control') if desired_speed is not None: self.desired_speed_source = desired_speed @@ -35,6 +37,10 @@ def __init__(self, lookahead = None, lookahead_scale = None, crosstrack_gain = N #if trajectory = None, then only an untimed path was provided and we can't use the path velocity as the reference self.trajectory = None # type: Trajectory + self.enable_launch_control = settings.get('control.launch_control.enable', False) + self.stage_duration = settings.get('control.launch_control.stage_duration', 0.5) + self.launch_start_time = None + self.current_path_parameter = 0.0 self.current_traj_parameter = 0.0 self.t_last = None @@ -45,7 +51,7 @@ def set_path(self, path : Path): self.path_arg = path if len(path.points[0]) > 2: path = path.get_dims([0,1]) - if not isinstance(path,Trajectory): + if not isinstance(path, Trajectory): self.path = path.arc_length_parameterize() self.trajectory = None self.current_traj_parameter = 0.0 @@ -90,6 +96,7 @@ def compute(self, state : VehicleState, component : Component = None): #TODO: calculate parameter that is look_ahead distance away from the closest point? #(rather than just advancing the parameter) des_parameter = closest_parameter + self.look_ahead + self.look_ahead_scale * speed + print("desired speed source is:", self.desired_speed_source) print("Closest parameter: " + str(closest_parameter),"distance to path",closest_dist) if closest_dist > 0.1: print("Closest point",self.path.eval(closest_parameter),"vs",(curr_x,curr_y)) @@ -162,12 +169,46 @@ def compute(self, state : VehicleState, component : Component = None): print("Desired speed",desired_speed,"m/s",", trying to reach desired",next_desired_speed,"m/s") feedforward_accel= np.clip(feedforward_accel, -self.max_decel, self.max_accel) print("Feedforward accel: " + str(feedforward_accel) + " m/s^2") + elif self.desired_speed_source == 'racing': + # get radius of the upcoming curve_points + # right now we can only use 3 points + curve_points = 3 + curve_radius = self.path.fit_curve_radius((curr_x,curr_y), curve_points) + # map curve radius to desired_speed. Note curve_radius can be inf if all points are colinear + print("curve_radius: ", curve_radius) + #if curve_radius < 10: + # desired_speed = 2.5 + #elif curve_radius < 15: + # desired_speed = 3 + #elif curve_radius < 20: + # desired_speed = 4 + #elif curve_radius < 30: + # desired_speed = 5 + #else: + # desired_speed = 10 + desired_speed = (.5*curve_radius)**.5 else: #decay speed when crosstrack error is high - desired_speed *= np.exp(-abs(ct_error)*0.4) + desired_speed *= np.exp(-abs(ct_error)*0.8) if desired_speed > self.speed_limit: desired_speed = self.speed_limit + + + # # # braking for 50m dash test + # if self.current_path_parameter >= self.path.domain()[1]: + # if component is not None: + # component.debug_event('Past the end of trajectory') + # #past the end, just stop + # desired_speed = 0.0 + # feedforward_accel = -3.0 + # f_delta = 0 + + output_accel = self.pid_speed.advance(e = desired_speed - speed, t = t, feedforward_term=feedforward_accel) + + # self.brake_cmd.f64_cmd = maxbrake + # self.accel_cmd.f64_cmd = 0 + if component is not None: component.debug('curr pt',(curr_x,curr_y)) component.debug('curr param',self.current_path_parameter) @@ -178,6 +219,8 @@ def compute(self, state : VehicleState, component : Component = None): component.debug('desired speed (m/s)',desired_speed) component.debug('feedforward accel (m/s^2)',feedforward_accel) component.debug('output accel (m/s^2)',output_accel) + component.debug('current yaw (rad)', curr_yaw) + component.debug('current speed (m/s)', speed) print("Output accel: " + str(output_accel) + " m/s^2") if output_accel > self.max_accel: @@ -187,6 +230,11 @@ def compute(self, state : VehicleState, component : Component = None): output_accel = -self.max_decel self.t_last = t + + if desired_speed == 0 and speed == 0 and output_accel < 0.0: + print("Stopping. Set accel", output_accel, "to 0") + output_accel = 0.0 + return (output_accel, f_delta) @@ -194,6 +242,8 @@ class PurePursuitTrajectoryTracker(Component): def __init__(self,vehicle_interface=None, **args): self.pure_pursuit = PurePursuit(**args) self.vehicle_interface = vehicle_interface + self.enable_launch_control = settings.get('control.launch_control.enable', False) # and vehicle.v < 0.1 + self.stage_duration = settings.get('control.launch_control.stage_duration', 0.5) def rate(self): return 50.0 @@ -210,7 +260,27 @@ def update(self, vehicle : VehicleState, trajectory: Trajectory): #print("Desired wheel angle",wheel_angle) steering_angle = np.clip(front2steer(wheel_angle), self.pure_pursuit.steering_angle_range[0], self.pure_pursuit.steering_angle_range[1]) #print("Desired steering angle",steering_angle) - self.vehicle_interface.send_command(self.vehicle_interface.simple_command(accel,steering_angle, vehicle)) + + cmd = self.vehicle_interface.simple_command(accel, steering_angle, vehicle) + + if self.enable_launch_control: + print("launch control active") + if not hasattr(self,'_launch_start_time'): + self._launch_start_time = rospy.get_time() + elapsed = rospy.get_time() - self._launch_start_time + if elapsed < self.stage_duration: + cmd.accelerator_pedal_position = 0.0 + cmd.brake_pedal_position = 1.0 + elif elapsed < 2 * self.stage_duration: + cmd.accelerator_pedal_position = 1.0 + cmd.brake_pedal_position = 1.0 + elif elapsed < 3 * self.stage_duration: + cmd.accelerator_pedal_position = 1.0 + cmd.brake_pedal_position = 0.0 + else: + self.enable_launch_control = False + + self.vehicle_interface.send_command(cmd) def healthy(self): return self.pure_pursuit.path is not None \ No newline at end of file diff --git a/GEMstack/onboard/planning/racing_planning.py b/GEMstack/onboard/planning/racing_planning.py new file mode 100644 index 000000000..8524d4946 --- /dev/null +++ b/GEMstack/onboard/planning/racing_planning.py @@ -0,0 +1,1037 @@ +from ...state.trajectory import Trajectory +from ...state.vehicle import VehicleState +from ...state import AgentState, AgentEnum +from ..component import Component + +from ...state.trajectory import Trajectory, compute_headings, Path +from ...state.physical_object import ObjectFrameEnum + +import numpy as np +import matplotlib.pyplot as plt +from scipy.optimize import minimize + +from typing import Dict + +# -------------------------- +# This is the main code for the racing trajectory planner. +# Contributors: Hua-Ta, Shilan +# -------------------------- + +def scenario_check(vehicle_state, cone_state): + """ + Check the cone state and determine the scenario. + Args: + vehicle_state: The state of the vehicle. + cone_state: The state of the cones. + Returns: + str: The scenario type. + - 'left_pass': cone pointed left, go left + - 'right_pass': cone pointed right, go right + - 'u_turn': cone standing up, make a U-turn + tuple: (cone_x, cone__y) + """ + # Get the closest cone info + cones_ahead = sorted(cone_state, key=lambda c: np.linalg.norm( + np.array([c['x'], c['y']]) - np.array(vehicle_state['position']))) + cone_direction = cones_ahead[0]['orientation'] + cone_position = (cones_ahead[0]['x'], cones_ahead[0]['y']) + + # Check the cone orientation + if cone_direction != 'LEFT' and cone_direction != 'RIGHT' and cone_direction != 'STANDING' and cone_direction != '90turn': + raise ValueError("Unknown cone orientation") + + return cone_direction, cone_position + +def waypoint_generate(vehicle_state, cones, cone_idx): + """ + Generate waypoints based on the scenario. + Args: + vehicle_state: The state of the vehicle. + cone_state: The state of the cones. + Returns: + Tuple[str, Tuple[float, float], Tuple[float, float]]: + scenario: detected scenario type + flex_wp: flexible waypoint (used to maneuver) + fixed_wp: fixed waypoint (goal position) + """ + scenario, cone_position = scenario_check(vehicle_state, [cones[cone_idx]]) + car_position = np.array(vehicle_state['position']) + car_heading = vehicle_state['heading'] # in radians + current_heading = car_heading + target_heading = car_heading + + # ===== Parameters ===== + u_turn_radius = 11.5 # Radius for U-turn + offset = 2.0 # Offset for left/right pass + lookahead_distance = 10.0 # Distance ahead for fixed point + # ====================== + + # Direction vector based on heading + heading_vector = np.array([np.cos(car_heading), np.sin(car_heading)]) + + # Vector perpendicular to heading (to determine left/right) + perpendicular_vector = np.array([-np.sin(car_heading), np.cos(car_heading)]) + + if cone_idx > 0: + prev_cone_position = np.array((cones[cone_idx - 1]['x'], cones[cone_idx - 1]['y'])) + cone_position = np.array((cones[cone_idx]['x'], cones[cone_idx]['y'])) + target_heading = np.arctan2(cone_position[1] - prev_cone_position[1], + cone_position[0] - prev_cone_position[0]) + + if scenario == 'STANDING': + # U-turn: Generate points in a semi-circular arc around the cone + cone = np.array(cone_position) + + # Number of waypoints to generate for the arc + num_arc_points = 9 + + # Generate waypoints in a smooth semi-circular pattern on the RIGHT side + flex_wps_list = [] + + # Create a semi-circular arc from 0 to π + # But negate perpendicular_vector to go to the right side + for i in range(num_arc_points): + # Calculate angle in the semi-circle (0 to π) + angle = i * np.pi * 1 / (num_arc_points - 1) + + # MODIFIED: Negative perpendicular_vector to go to right side of cone + # This creates a counter-clockwise turn around the cone + wp = cone - u_turn_radius * ( + perpendicular_vector * np.cos(angle) - + heading_vector * np.sin(angle) + ) + + flex_wps_list.append(wp) + + # Fixed waypoint: behind the cone after U-turn (also on right side) + fixed_wp = cone + u_turn_radius * perpendicular_vector + + target_heading = target_heading + np.pi + + # For visualization only + # for i, wp in enumerate(flex_wps_list): + # plt.plot(wp[0], wp[1], 'ro') # Plot all waypoints in red + # plt.text(wp[0], wp[1], f'wp{i}', fontsize=9) + + # plt.plot(fixed_wp[0], fixed_wp[1], 'bo') # Plot fixed waypoint in blue + # plt.plot(cone[0], cone[1], 'gx') # Plot cone in green + # plt.plot(car_position[0], car_position[1], 'ks') # Plot car position + # plt.axis('equal') # Equal aspect ratio for better visualization + # plt.grid(True) + # plt.show() + + elif scenario == 'LEFT': + cone = np.array(cone_position) + + # Flexible waypoint: go to the left of the cone + flex_wp1 = cone + offset * perpendicular_vector + flex_wps_list = [flex_wp1] + + # Fixed waypoint: forward after passing the cone + # fixed_wp = flex_wp + heading_vector * lookahead_distance - offset * perpendicular_vector * 2 + fixed_wp = flex_wp1 + heading_vector * lookahead_distance - offset * perpendicular_vector + + elif scenario == 'RIGHT': + cone = np.array(cone_position) + + # Flexible waypoint: go to the right of the cone + flex_wp1 = cone - offset * perpendicular_vector + flex_wps_list = [flex_wp1] + + # Fixed waypoint: forward after passing the cone + # fixed_wp = flex_wp + heading_vector * lookahead_distance + offset * perpendicular_vector * 2 + fixed_wp = flex_wp1 + heading_vector * lookahead_distance + offset * perpendicular_vector + + # TODO: move to a different setting instead of as a scenario + elif scenario == '90turn': + turn_vector = np.array([-np.sin(car_heading + np.pi / 6), np.cos(car_heading + np.pi / 6)]) + cone = np.array(cone_position) + distance_to_cone = np.linalg.norm(car_position - cone) + + flex_wps_list = [] + if distance_to_cone > 7: + steps = int(distance_to_cone // 6) + print("steps:", steps) + + final_flex_wp = cone + 1.0 * perpendicular_vector + heading_vector * 1.0 + fixed_wp = cone - turn_vector * 2.5 + heading_vector * 0.0 + + cone_direction = (final_flex_wp - car_position) / np.linalg.norm(final_flex_wp - car_position) + for i in range(steps - 2): + intermediate_wp = car_position + cone_direction * ((i + 1) * 6) + flex_wps_list.append(intermediate_wp) + + flex_wps_list.append(final_flex_wp) + else: + flex_wp = cone + 1.0 * perpendicular_vector + heading_vector * 1.0 + fixed_wp = cone - turn_vector * 2.5 + heading_vector * 0.0 + flex_wps_list = [flex_wp] + + else: + flex_wps_list = None + fixed_wp = None + + target_heading = (target_heading + np.pi) % (2 * np.pi) - np.pi + current_heading = (current_heading + np.pi) % (2 * np.pi) - np.pi + + if abs(target_heading - current_heading) > np.pi: + if target_heading < current_heading: + target_heading += 2 * np.pi + else: + target_heading -= 2 * np.pi + + return scenario, flex_wps_list, fixed_wp, target_heading + +def trajectory_generation(init_state, final_state, N=30, T=0.1, Lr=1.5, + w_c=10.0, w_eps=0.0, w_vvar=4.0, + w_terminal=10.0, + v_min=3.0, v_max=11.0, + waypoints=None, waypoint_penalty_weight=100.0): + """ + Generate a dynamically feasible trajectory between init_state and final_state + using curvature-based vehicle dynamics and nonlinear optimization. + + Now supports multiple waypoints. + + Parameters: + - init_state (dict): Initial vehicle state with keys 'x', 'y', 'psi', 'c', 'v'. + - final_state (dict): Target vehicle state with keys 'x', 'y', 'psi', 'c'. + - N (int): Number of discrete time steps in the trajectory. + - T (float): Duration of each time step (in seconds). + - Lr (float): Distance from the vehicle's center to the rear axle. + - w_c (float): Weight for penalizing curvature (smoothness of turns). + - w_eps (float): Weight for penalizing curvature rate (reduces sharp steering changes). + - w_vvar (float): Weight for penalizing speed variance (encourages speed smoothness). + - w_terminal (float): Weight for penalizing final state deviation (soft constraint). + - v_min (float): Minimum allowed speed (in m/s). + - v_max (float): Maximum allowed speed (in m/s). + - waypoints (list or None): Optional list of (x, y) coordinates that the trajectory should pass near. + - waypoint_penalty_weight (float): Penalty weight for distance from waypoints (soft constraint). + + Returns: + - x, y, psi, c, v, eps (np.ndarray): Arrays of optimized state and control values. + - final_error (dict): Final state errors in x, y, psi, and c. + """ + def cost(p): + x_, y_, psi_, c_, v_, eps_ = np.split(p, [N - 1, 2 * (N - 1), 3 * (N - 1), 4 * (N - 1), 5 * (N - 1)]) + c_seq = np.concatenate(([init_state['c']], c_)) + v_seq = np.concatenate(([init_state['v']], v_)) + x_final, y_final, psi_final, c_final = x_[-1], y_[-1], psi_[-1], c_[-1] + + cost_c = w_c * np.sum(c_seq ** 2) + cost_eps = w_eps * np.sum(eps_ ** 2) + v_mean = np.mean(v_seq) + cost_vvar = w_vvar * np.mean((v_seq - v_mean) ** 2) + + cost_terminal = w_terminal * ( + (x_final - final_state['x']) ** 2 + + (y_final - final_state['y']) ** 2 + + (psi_final - final_state['psi']) ** 2 * 100 + + (c_final - final_state['c']) ** 2 * 100 + ) + + cost_waypoints = 0.0 + if waypoints is not None and len(waypoints) > 0: + # Calculate equally spaced indices for each waypoint + num_waypoints = len(waypoints) + indices = [int((i + 1) * (N - 1) / (num_waypoints + 1)) for i in range(num_waypoints)] + + # Sum penalties for each waypoint at its corresponding index + for wp_idx, waypoint in enumerate(waypoints): + traj_idx = indices[wp_idx] + cost_waypoints += waypoint_penalty_weight * ( + (x_[traj_idx] - waypoint[0])**2 + (y_[traj_idx] - waypoint[1])**2 + ) + + return cost_c + cost_eps + cost_vvar + cost_terminal + cost_waypoints + def dynamics_constraints(p): + x_, y_, psi_, c_, v_, eps_ = np.split(p, [N - 1, 2 * (N - 1), 3 * (N - 1), 4 * (N - 1), 5 * (N - 1)]) + constraints = [] + x_prev, y_prev, psi_prev, c_prev, v_prev = init_state['x'], init_state['y'], init_state['psi'], init_state['c'], init_state['v'] + for k in range(N - 1): + dx = v_prev * np.cos(psi_prev + c_prev * Lr) * T + dy = v_prev * np.sin(psi_prev + c_prev * Lr) * T + dpsi = v_prev * c_prev * T + dc = eps_[k] * T + constraints.extend([ + x_[k] - (x_prev + dx), + y_[k] - (y_prev + dy), + psi_[k] - (psi_prev + dpsi), + c_[k] - (c_prev + dc) + ]) + x_prev, y_prev, psi_prev, c_prev, v_prev = x_[k], y_[k], psi_[k], c_[k], v_[k] + return constraints + + # Initial guesses + x_vals = np.linspace(init_state['x'], final_state['x'], N) + y_vals = np.linspace(init_state['y'], final_state['y'], N) + psi_vals = np.linspace(init_state['psi'], final_state['psi'], N) + c_vals = np.linspace(init_state['c'], final_state['c'], N) + v_vals = np.ones(N) * init_state['v'] + eps_vals = np.zeros(N - 1) + + p0 = np.concatenate([x_vals[1:], y_vals[1:], psi_vals[1:], c_vals[1:], v_vals[1:], eps_vals]) + bounds = [(None, None)] * (4 * (N - 1)) + [(v_min, v_max)] * (N - 1) + [(None, None)] * (N - 1) + + result = minimize(cost, p0, bounds=bounds, + constraints={'type': 'eq', 'fun': dynamics_constraints}, + options={'maxiter': 1000}) + if not result.success: + raise RuntimeError("Optimization failed") + + x_, y_, psi_, c_, v_, eps_ = np.split(result.x, [N - 1, 2 * (N - 1), 3 * (N - 1), 4 * (N - 1), 5 * (N - 1)]) + x_full = np.concatenate(([init_state['x']], x_)) + y_full = np.concatenate(([init_state['y']], y_)) + psi_full = np.concatenate(([init_state['psi']], psi_)) + c_full = np.concatenate(([init_state['c']], c_)) + v_full = np.concatenate(([init_state['v']], v_)) + + final_error = { + 'x_error': abs(x_full[-1] - final_state['x']), + 'y_error': abs(y_full[-1] - final_state['y']), + 'psi_error': abs(psi_full[-1] - final_state['psi']), + 'c_error': abs(c_full[-1] - final_state['c']), + } + + return x_full, y_full, psi_full, c_full, v_full, eps_, final_error + +def feasibility_check(trajectory, cone_map, car_width=2.0, safety_margin=0.3, v=10.0, Lr=1.5, T=0.1): + """ + Check if the car trajectory collides with any cones. + + Parameters: + - trajectory: list of (y, psi, c) states + - cone_map: list of (x, y) cone positions + - car_width: width of the vehicle in meters + - safety_margin: buffer around the vehicle + - v: vehicle constant speed (used for x position estimation) + - Lr: distance to rear axle + - T: time step + + Returns: + - feasible: True if no collisions + - collisions: list of indices of cones that were collided with (for plotting purpose) + - x_vals, y_vals: trajectory positions for plotting (for plotting purpose) + """ + y_vals, psi_vals, c_vals = zip(*trajectory) + x_vals = [0.0] + for i in range(1, len(trajectory)): + dx = v * np.cos(psi_vals[i-1] + c_vals[i-1] * Lr) * T + x_vals.append(x_vals[-1] + dx) + + collision_radius = (car_width / 2.0) + safety_margin + collisions = [] + + for j, (cone_x, cone_y) in enumerate(cone_map): + for x, y in zip(x_vals, y_vals): + if np.hypot(x - cone_x, y - cone_y) < collision_radius: + collisions.append(j) + break + + feasible = len(collisions) == 0 + return feasible, collisions, x_vals, y_vals + + +def waypoint_search_optimization(vehicle_state, cones, search_attempts=3): + valid_flex_wps = [] + valid_fixed_wps = [] + current_state = vehicle_state.copy() + cones_copy = cones.copy() + + for i in range(min(search_attempts, len(cones_copy))): + scenario, flex_wps, fixed_wp = waypoint_generate(current_state, cones_copy) + + if flex_wps is None or fixed_wp is None: + break + + for flex_wp in flex_wps: + init_state = { + 'x': current_state['position'][0], + 'y': current_state['position'][1], + 'psi': current_state['heading'], + 'c': 0.0, + 'v': current_state['velocity'] + } + final_state = { + 'x': fixed_wp[0], + 'y': fixed_wp[1], + 'psi': current_state['heading'], + 'c': 0.0 + } + + try: + x, y, psi, c, v, eps, final_error = trajectory_generation(init_state, final_state, waypoint=flex_wp) + trajectory = list(zip(y, psi, c)) + feasible, collisions, x_vals, y_vals = feasibility_check(trajectory, [(cone['x'], cone['y']) for cone in cones]) + # print(f"Checking waypoint: {flex_wp}, Fixed: {fixed_wp}, Feasible: {feasible}, Collisions: {collisions}") + if feasible: + valid_flex_wps.append(flex_wp) + valid_fixed_wps.append(fixed_wp) + current_state['position'] = list(fixed_wp) + break + except: + continue + if len(cones_copy) > 0: + cones_copy.pop(0) + return valid_flex_wps, valid_fixed_wps + + +def to_gemstack_trajectory(x_all, y_all, v_all, T=0.1): + t_vals = np.arange(len(x_all)) * T + combined_xy = [[x, y] for x, y in zip(x_all, y_all)] + curr_path = Path(ObjectFrameEnum.START,combined_xy) + path = compute_headings(curr_path) + path_normalized = path.arc_length_parameterize() + points = [p for p in path_normalized.points] + return Trajectory(points=points, times=t_vals, frame=ObjectFrameEnum.START) + + +def plan_full_slalom_trajectory(vehicle_state, cones): + x_all, y_all, v_all = [], [], [] + current_pos = np.array(vehicle_state['position']) + current_heading = vehicle_state['heading'] + + for cone_idx, cone in enumerate(cones): + scenario, flex_wps, fixed_wp, target_heading = waypoint_generate(vehicle_state, cones, cone_idx) + print(f"Scenario: {scenario}, Cone: {cone}, Flex WP: {flex_wps}, Fixed WP: {fixed_wp}") + if not flex_wps or fixed_wp is None: + continue + # flex_wp = flex_wps[0] + current_heading = (current_heading + np.pi) % (2 * np.pi) - np.pi + + init_state = { + 'x': current_pos[0], 'y': current_pos[1], 'psi': current_heading, + 'c': 0.0, 'v': vehicle_state['velocity'] + } + final_state = { + 'x': fixed_wp[0], 'y': fixed_wp[1], 'psi': target_heading, 'c': 0.0 + } + + x, y, psi, c, v, eps, _ = trajectory_generation(init_state, final_state, waypoints=flex_wps) + x_all.extend(x) + y_all.extend(y) + v_all.extend(v) + + current_pos = np.array([x[-1], y[-1]]) + current_heading = psi[-1] + current_steering = c[-1] + + vehicle_state = { + 'position': current_pos, + 'heading': current_heading, + 'velocity': v[-1] + } + current_pos = np.array([x[-1], y[-1]]) + + # # Plot overall trajectory + # plt.figure() + # plt.plot(x_all, y_all, label='Overall Trajectory') + + # # Plot cones + # for i, cone in enumerate(cones): + # plt.scatter(cone['x'], cone['y'], color='orange', s=10, label='Cone' if i == 0 else "") + # plt.text(cone['x'], cone['y'] + 0.5, f'C{i+1}', ha='center', fontsize=9, color='darkorange') + + # plt.title('4-Cone Full Course Trajectory') + # plt.xlabel('X') + # plt.ylabel('Y') + # plt.legend() + # plt.axis('equal') + # plt.grid(True) + # plt.show() + + combined_xy = [[x, y] for x, y in zip(x_all, y_all)] + # print(combined_xy) + path = Path(ObjectFrameEnum.START,combined_xy) + path = compute_headings(path) + path = path.arc_length_parameterize() + # print(path) + return path.racing_velocity_profile() + # return to_gemstack_trajectory(x_all, y_all, v_all) + + +def no_cone_planning(vehicle_dict): + temp_points = [] + vehicle_x, vehicle_y = vehicle_dict['position'][0], vehicle_dict['position'][1] + vehicle_heading = vehicle_dict['heading'] + vehicle_velocity = vehicle_dict['velocity'] + step_size = 0.5 * (max(1,vehicle_velocity)) + for i in range(10): + temp_points.append([vehicle_x + i * step_size * np.cos(vehicle_heading), + vehicle_y + i * step_size * np.sin(vehicle_heading)]) + + path = Path(ObjectFrameEnum.START,temp_points) + # print(temp_points) + path = compute_headings(path) + path = path.arc_length_parameterize() + # print(path) + return path.racing_velocity_profile() + +def got_new_cone(current_cones, prev_cones): + if current_cones is None: + return False + if prev_cones is None: + return True + prev_ids = {cone['id'] for cone in prev_cones} + + for cone in current_cones: + if cone['id'] not in prev_ids: + return True # Found a new cone not in previous list + + return False +################################################ +# Main Racing Trajectory Planner Class +################################################ +class SlalomTrajectoryPlanner(Component): + def __init__(self, **kwargs): + # You can accept args here if needed + self.trajectory = None + self.prev_cones = None + # ---------------------------- + # Predifined-Cones Simulation + # self.run_fake_plan = True + # self.onboard = False + + # # Onboard + self.run_fake_plan = False + self.onboard = True + # ---------------------------- + + self.DEBUG_MODE = True + + def state_inputs(self): + return ['agents', 'vehicle'] # Receive VehicleState & AgentState input + + def state_outputs(self): + return ['trajectory'] # Return trajectory output + + def rate(self): # Setup the update rate + return 1.0 + + def update(self, agents: Dict[str, AgentState], vehicle: VehicleState): + # Running on real vehicle + if self.onboard: + # Get all current detected cones + cones = [] + n = 0 + for id, agent in agents.items(): + if agent.type == AgentEnum.CONE: + # ===== RUNNING ONBOARD ===== + # cones.append({ + # 'id': id, + # 'x': agent.pose.x, + # 'y': agent.pose.y, + # 'orientation': agent.activity + # }) + # ===== TESTING ONBOARD in BASIC SIM ===== + if n % 2 == 0: + curr_activity = 'LEFT' + elif n % 2 == 1: + curr_activity = 'RIGHT' + else: + curr_activity = 'STANDING' + cones.append({ + 'id': id, + 'x': agent.pose.x, + 'y': agent.pose.y, + 'orientation': curr_activity + }) + n = n + 1 + + vehicle_dict = { + 'position': [vehicle.pose.x, vehicle.pose.y], + 'heading': vehicle.pose.yaw, + 'velocity': vehicle.v + } + if self.DEBUG_MODE: + print("===================== STATES =====================") + print(f"Vehicle State: {vehicle_dict}") + print(f"Detected Cones: {cones}") + print("===================== ====== =====================") + # If no cones detected, drive forward + if len(cones) == 0: + self.trajectory = no_cone_planning(vehicle_dict) + # Otherwise, plan trajectory + elif got_new_cone(cones, self.prev_cones): + # Replan only if new cones are detected + self.trajectory = plan_full_slalom_trajectory(vehicle_dict, cones) + self.prev_cones = cones + else: + # No need to update the plan if the same cones are detected + self.prev_cones = cones + + # Testing with predefined fake generated cone positions + elif self.run_fake_plan: + # Example Test - Slalom + cones = [ + {'x': 10, 'y': 0.0, 'orientation': 'LEFT'}, + {'x': 30, 'y': 1.0, 'orientation': 'RIGHT'}, + {'x': 50, 'y': 0.0, 'orientation': 'LEFT'}, + {'x': 70, 'y': 1.0, 'orientation': 'STANDING'}, + {'x': 50, 'y': 0.0, 'orientation': 'RIGHT'}, + {'x': 30, 'y': 1.0, 'orientation': 'LEFT'}, + {'x': 10, 'y': 0.0, 'orientation': 'RIGHT'} + ] + vehicle_dict = { + 'position': [vehicle.pose.x, vehicle.pose.y], + 'heading': vehicle.pose.yaw, + 'velocity': vehicle.v + } + + # Example Test - Racing Circle + # cones = [ + # {'x': -60.083, 'y': -33.118, 'orientation': '90turn'}, + # {'x': -6.392, 'y': -5.147, 'orientation': '90turn'}, + # {'x': -5.625, 'y': -13.637, 'orientation': '90turn'}, + # {'x': -56.258, 'y': -41.080, 'orientation': '90turn'} + # ] + # vehicle_dict = { + # 'position': [-60.0, -39.0], + # 'heading': np.pi * 2 / 3, + # 'velocity': 0.0 + # } + + # Example Test - Racing Circle + # cones = [ + # {'x': 0.0, 'y': 70.0, 'orientation': '90turn'}, + # {'x': 30.0, 'y': 70.0, 'orientation': '90turn'}, + # {'x': 30.0, 'y': 0.0, 'orientation': '90turn'}, + # {'x': 0.0, 'y': 0.0, 'orientation': '90turn'} + # ] + # vehicle_dict = { + # 'position': [0.0, 20.0], + # 'heading': 0.0, + # 'velocity': 0.0 + # } + + self.trajectory = plan_full_slalom_trajectory(vehicle_dict, cones) + self.run_fake_plan = False + + # Update output + return self.trajectory + + + + + + + + + +######################################################################################################################## +######################################################################################################################## + +# ------------ Test Code START -------------- + +# ======= Overall test cases to generate full trajectories with known cone positions ======= +def test_4_cone_slalom(): + vehicle_state = { + 'position': [0.0, 0.0], + 'heading': 0.0, + 'velocity': 5.0 + } + + cones = [ + {'x': 10, 'y': 0.0, 'orientation': 'left'}, + {'x': 30, 'y': 1.0, 'orientation': 'right'}, + {'x': 50, 'y': 0.0, 'orientation': 'left'}, + {'x': 70, 'y': 1.0, 'orientation': 'standing'} + ] + + flex_wps, fixed_wps = waypoint_search_optimization(vehicle_state, cones, search_attempts=1) + + current_pos = np.array(vehicle_state['position']) + + x_all, y_all = [], [] + + for idx, (flex_wp, fixed_wp) in enumerate(zip(flex_wps, fixed_wps)): + init_state = { + 'x': current_pos[0], 'y': current_pos[1], 'psi': vehicle_state['heading'], + 'c': 0.0, 'v': vehicle_state['velocity'] + } + final_state = { + 'x': fixed_wp[0], 'y': fixed_wp[1], 'psi': vehicle_state['heading'], 'c': 0.0 + } + x, y, psi, c, v, eps, final_error = trajectory_generation(init_state, final_state, waypoint=flex_wp) + + print(f"\nSegment {idx + 1}:") + print(f" Waypoint: {flex_wp}") + print(f" Final Errors:") + for k, e in final_error.items(): + print(f" {k}: {e:.4f}") + + x_all += list(x) + y_all += list(y) + + plot_trajectory(x, y, v, c, eps, waypoint=flex_wp) + + current_pos = np.array(fixed_wp) + + # Plot overall trajectory + plt.figure() + plt.plot(x_all, y_all, label='Overall Trajectory') + + # Plot cones + for i, cone in enumerate(cones): + plt.scatter(cone['x'], cone['y'], color='orange', s=80, label='Cone' if i == 0 else "") + plt.text(cone['x'], cone['y'] + 0.5, f'C{i+1}', ha='center', fontsize=9, color='darkorange') + + plt.title('4-Cone Full Course Trajectory') + plt.xlabel('X') + plt.ylabel('Y') + plt.legend() + plt.axis('equal') + plt.grid(True) + plt.show() + +######################## +if __name__ == "__main__": + def plot_trajectory(x, y, v, c, eps, waypoint=None): + plt.figure(figsize=(12, 10)) + + # Trajectory plot + plt.subplot(4, 1, 1) + plt.plot(x, y, label="Trajectory") + plt.scatter([x[0], x[-1]], [y[0], y[-1]], color='red', label="Start/End") + + if waypoint is not None: + plt.scatter(*waypoint, color='purple', s=60, marker='X', label="Waypoint") + plt.annotate("Waypoint", (waypoint[0], waypoint[1]), textcoords="offset points", xytext=(5,5), color='purple') + + plt.axis('equal') + plt.ylabel("y (m)") + plt.title("Trajectory") + plt.grid(True) + plt.legend() + + # Speed plot + plt.subplot(4, 1, 2) + plt.plot(v, label="Speed (v)", color="blue") + plt.ylabel("Speed (m/s)") + plt.grid(True) + plt.legend() + + # Curvature plot + plt.subplot(4, 1, 3) + plt.plot(c, label="Curvature (c)", color="orange") + plt.ylabel("Curvature (1/m)") + plt.grid(True) + plt.legend() + + # Curvature rate plot + plt.subplot(4, 1, 4) + plt.plot(eps, label="Curvature Rate (ε)", color="green") + plt.xlabel("Step") + plt.ylabel("ε (1/m²)") + plt.grid(True) + plt.legend() + + plt.tight_layout() + plt.show() + + # --- Test Case 1: pass a cone in slalom --- + def trajectory_generation_test1(): + # Init and final + init_state = {'x': 0.0, 'y': 0.0, 'psi': 0.0, 'c': 0.0, 'v': 5.0} + final_state = {'x': 15.0, 'y': 0.0, 'psi': np.pi / 20000000, 'c': np.pi / 20000000} + waypoint = (8.0, 6.0) + + # Solve + x, y, psi, c, v, eps, final_error = trajectory_generation( + init_state, final_state, waypoint=waypoint + ) + plot_trajectory(x, y, v, c, eps, waypoint) + + # Error + print("\nFinal State Errors:") + for k, e in final_error.items(): + print(f"{k}: {e:.6f}") + + # --- Test case 2: 90 degree turn --- + def trajectory_generation_test2(): + # Init and final + init_state = {'x': 0.0, 'y': 0.0, 'psi': 0.0, 'c': 0.0, 'v': 5.0} + final_state = {'x': 15.0, 'y': 15.0, 'psi': np.pi / 2, 'c': np.pi / 2} + waypoint = (13.0, 3.0) + + # Solve + x, y, psi, c, v, eps, final_error = trajectory_generation( + init_state, final_state, waypoint=waypoint + ) + plot_trajectory(x, y, v, c, eps, waypoint) + + # Error + print("\nFinal State Errors:") + for k, e in final_error.items(): + print(f"{k}: {e:.6f}") + + ############# + ######################### + # --- Test Case --- + def test_feasibility_check(): + N = 50 + y_traj = np.linspace(0, 10, N) + psi_traj = np.linspace(0, 0.1, N) + c_traj = np.linspace(0, 0.2, N) + trajectory = list(zip(y_traj, psi_traj, c_traj)) + + # Cone map near the path + cone_map = [(5.0, 1.0), (10.0, 1.5), (15.0, 2.0), (25.0, 4.0), (25.0, 10.0), (16.0, 9.0), (40.0, 5.0)] + + # Run check + feasible, collisions, x_vals, y_vals = feasibility_check(trajectory, cone_map) + + # Plot + plt.figure(figsize=(10, 6)) + plt.plot(x_vals, y_vals, label="Trajectory", linewidth=2) + for i, (cx, cy) in enumerate(cone_map): + color = 'red' if i in collisions else 'green' + plt.scatter(cx, cy, color=color, s=100, label=f'Cone {i}' if i == 0 else "") + plt.xlabel("x (m)") + plt.ylabel("y (m)") + plt.title("Trajectory and Cone Map") + plt.legend() + plt.axis("equal") + plt.grid(True) + plt.show() + + print("Feasible:", feasible) + print("Collisions with cones:", collisions) + + +# TODO 1: Compute target heading in waypoint_generation for different settings (slalom or course run) +# TODO 2: Implement replanning +def test_fixed_course(): + # steering angle c is relative to car heading!! + vehicle_state = { + 'position': [-60.0, -39.0], + 'heading': np.pi * 2 / 3, + 'velocity': 0.0 + } + + cones = [ + {'x': -60.083, 'y': -33.118, 'orientation': '90turn'}, + {'x': -6.392, 'y': -5.147, 'orientation': '90turn'}, + {'x': -5.625, 'y': -13.637, 'orientation': '90turn'}, + {'x': -56.258, 'y': -41.080, 'orientation': '90turn'} + ] + + current_pos = np.array(vehicle_state['position']) + current_heading = vehicle_state['heading'] + current_steering = 0.0 + + x_all, y_all = [], [] + + for cone_idx, cone in enumerate(cones): + print("current cone: ", cone) + scenario, flex_wps, fixed_wp = waypoint_generate(vehicle_state, [cone]) + if not flex_wps or fixed_wp is None: + continue + + # Setting target_heading in final_state + if cone_idx > 0: + prev_cone_position = np.array((cones[cone_idx - 1]['x'], cones[cone_idx - 1]['y'])) + current_cone_position = np.array((cones[cone_idx]['x'], cones[cone_idx]['y'])) + target_heading = np.arctan2(current_cone_position[1] - prev_cone_position[1], + current_cone_position[0] - prev_cone_position[0]) - np.pi / 2 + np.pi / 18 + + else: # no previous cone + target_heading = current_heading - np.pi / 2 + np.pi / 18 + + # mod to -pi to pi range + target_heading = (target_heading + np.pi) % (2 * np.pi) - np.pi + current_heading = (current_heading + np.pi) % (2 * np.pi) - np.pi + + if abs(target_heading - current_heading) > np.pi: + if target_heading < current_heading: + target_heading += 2 * np.pi + else: + target_heading -= 2 * np.pi + + init_state = { + 'x': current_pos[0], 'y': current_pos[1], 'psi': current_heading, + 'c': current_steering, 'v': vehicle_state['velocity'] + } + + final_state = { + 'x': fixed_wp[0], 'y': fixed_wp[1], 'psi': target_heading, 'c': 0.0 + } + + estimated_N = int(((current_pos[0]-fixed_wp[0]) ** 2 + (current_pos[1]-fixed_wp[1]) ** 2) ** 0.5 / 0.7) + + x, y, psi, c, v, eps, _ = trajectory_generation(init_state, final_state, waypoints=flex_wps, N=estimated_N) + x_all.extend(x) + y_all.extend(y) + + plot_trajectory(x, y, v, c, eps) + + current_pos = np.array([x[-1], y[-1]]) + current_heading = psi[-1] + current_steering = c[-1] + + vehicle_state = { + 'position': current_pos, + 'heading': current_heading, + 'velocity': v[-1] + } + + # Plot overall trajectory + plt.figure() + plt.plot(x_all, y_all, label='Overall Trajectory') + + # Plot cones + for i, cone in enumerate(cones): + plt.scatter(cone['x'], cone['y'], color='orange', s=10, label='Cone' if i == 0 else "") + plt.text(cone['x'], cone['y'] + 0.5, f'C{i+1}', ha='center', fontsize=9, color='darkorange') + + plt.title('4-Cone Full Course Trajectory') + plt.xlabel('X') + plt.ylabel('Y') + plt.legend() + plt.axis('equal') + plt.grid(True) + plt.show() + +if __name__ == "__main__": + # -------------------------- + # Plotting Function + # -------------------------- + def plot_results(vehicle_state, cones, wpt_flexes=None, wpt_fixed=None, scenario_label=""): + plt.figure(figsize=(10, 5)) + ax = plt.gca() + ax.set_aspect('equal') + + all_x = [cone['x'] for cone in cones] + [vehicle_state['position'][0]] + all_y = [cone['y'] for cone in cones] + [vehicle_state['position'][1]] + + if wpt_flexes is not None: + all_x += [pt[0] for pt in wpt_flexes] + all_y += [pt[1] for pt in wpt_flexes] + + if wpt_fixed is not None: + all_x.append(wpt_fixed[0]) + all_y.append(wpt_fixed[1]) + + # Compute axis limits with padding + padding = 2 + x_min, x_max = min(all_x) - padding, max(all_x) + padding + y_min, y_max = min(all_y) - padding, max(all_y) + padding + plt.xlim(x_min, x_max) + plt.ylim(y_min, y_max) + + # Plot cones + for cone in cones: + plt.scatter(cone['x'], cone['y'], c='orange', label='Cone' if cone == cones[0] else "") + plt.text(cone['x'], cone['y'] + 0.5, cone['orientation'][0].upper(), fontsize=10, ha='center') + + # Plot vehicle + vx, vy = vehicle_state['position'] + plt.plot(vx, vy, 'bo', label='Vehicle Start') + plt.arrow(vx, vy, np.cos(vehicle_state['heading']) * 2, np.sin(vehicle_state['heading']) * 2, + head_width=0.25, color='blue') + + # Plot flexible waypoint + if wpt_flexes is not None: + for wpt_flex in wpt_flexes: + plt.plot(wpt_flex[0], wpt_flex[1], 'go', label='Flexible Waypoint') + plt.text(wpt_flex[0], wpt_flex[1] + 0.5, 'Flex', fontsize=9, color='green') + + # Plot fixed waypoint + if wpt_fixed is not None: + plt.plot(wpt_fixed[0], wpt_fixed[1], 'ro', label='Fixed Waypoint') + plt.text(wpt_fixed[0], wpt_fixed[1] + 0.5, 'Fixed', fontsize=9, color='red') + + plt.title(scenario_label) + plt.xlabel("X") + plt.ylabel("Y") + plt.grid(True) + plt.legend() + plt.show() + return + + # -------------------------- + # Vehicle State Test Update + # -------------------------- + def drive(vehicle_state): + # Update vehicle state + vehicle_state['position'][0] += vehicle_state['velocity'] * np.cos(vehicle_state['heading']) + vehicle_state['position'][1] += vehicle_state['velocity'] * np.sin(vehicle_state['heading']) + return vehicle_state + # -------------------------- + # Step 1: Generate Fake Cones + # -------------------------- + def generate_test_cones(case='slalom'): + if case == 'slalom': + cones = [] + for i in range(3): + x = (i+1) * 10 + y = 0 if i % 2 == 0 else 1 + orientation = 'left' if i % 2 == 0 else 'right' + cones.append({'x': x, 'y': y, 'orientation': orientation}) + return cones + + elif case == 'u_turn': + return [{'x': 10, 'y': 0, 'orientation': 'standing'}] + + # -------------------------- + # Step 2: Define Fake Vehicle + # -------------------------- + def get_test_vehicle_state(vehicle_state=None): + if vehicle_state is not None: + return vehicle_state + return { + 'position': [0, 0], + 'heading': 0.0 * 180/np.pi, # Facing right + 'velocity': 10.0 + } + + # -------------------------- + # Step 3: Run Scenario + Waypoints + # -------------------------- + def test_waypoint_generation(case='slalom', test_loop=1): + vehicle_state = get_test_vehicle_state() + cones = generate_test_cones(case) + + for i in range(test_loop): + scenario = scenario_check(vehicle_state, cones) + scenario_label = f"Scenario: {scenario}" + scenario, wpt_flexes, wpt_fixed = waypoint_generate(vehicle_state, cones) + plot_results(vehicle_state, cones, wpt_flexes, wpt_fixed, scenario_label) + vehicle_state = drive(vehicle_state) + if case == 'slalom': + cones.pop(0) + + # -------------------------- + # Main for waypoint + # -------------------------- + # test_waypoint_generation(case='slalom', test_loop=2) + # test_waypoint_generation(case='u_turn') + + + # -------------------------- + ### Combine Test + # -------------------------- + def test_planning(case='slalom', test_loop=2): + vehicle_state = get_test_vehicle_state() + cones = generate_test_cones(case) + + for i in range(test_loop): + # Way Points + scenario = scenario_check(vehicle_state, cones) + scenario_label = f"Scenario: {scenario}" + scenario, wpt_flexes, wpt_fixed = waypoint_generate(vehicle_state, cones) + plot_results(vehicle_state, cones, wpt_flexes, wpt_fixed, scenario_label) + # Trajectory + init_state = {'y': wpt_flexes[0][1], 'psi': 0.0, 'c': 0.0} + final_state = {'y': wpt_fixed[1], 'psi': 0.0, 'c': 0.0} + + y_traj, psi_traj, c_traj, eps_traj = trajectory_generation(init_state, final_state) + # plot_trajectory(y_traj, psi_traj, c_traj, label="Generated trajectory") + # plot_dynamics(psi_traj, c_traj, eps_traj) + + # Iterate + vehicle_state = drive(vehicle_state) + if case == 'slalom': + cones.pop(0) + # test_planning(case='slalom', test_loop=2) +# ------------ Test Code END -------------- \ No newline at end of file diff --git a/GEMstack/onboard/planning/racing_planning_old.py b/GEMstack/onboard/planning/racing_planning_old.py new file mode 100644 index 000000000..54085a656 --- /dev/null +++ b/GEMstack/onboard/planning/racing_planning_old.py @@ -0,0 +1,840 @@ +from ...state.trajectory import Trajectory +from ...state.vehicle import VehicleState +from ..component import Component + +from ...state.trajectory import Trajectory, compute_headings, Path#, racing_velocity_profile +from ...state.physical_object import ObjectFrameEnum + +import numpy as np +import matplotlib.pyplot as plt +from scipy.optimize import minimize + + + +# --------------------------------------------------------------------------- Hua-Ta's Code START +def scenario_check(vehicle_state, cone_state): + """ + Check the cone state and determine the scenario. + Args: + vehicle_state: The state of the vehicle. + cone_state: The state of the cones. + Returns: + str: The scenario type. + - 'left_pass': cone pointed left, go left + - 'right_pass': cone pointed right, go right + - 'u_turn': cone standing up, make a U-turn + tuple: (cone_x, cone__y) + """ + # Get the closest cone info + cones_ahead = sorted(cone_state, key=lambda c: np.linalg.norm( + np.array([c['x'], c['y']]) - np.array(vehicle_state['position']))) + cone_direction = cones_ahead[0]['orientation'] + cone_position = (cones_ahead[0]['x'], cones_ahead[0]['y']) + + # Check the cone orientation + if cone_direction != 'left' and cone_direction != 'right' and cone_direction != 'standing': + raise ValueError("Unknown cone orientation") + + return cone_direction, cone_position + +def waypoint_generate(vehicle_state, cone_state): + """ + Generate waypoints based on the scenario. + Args: + vehicle_state: The state of the vehicle. + cone_state: The state of the cones. + Returns: + Tuple[str, Tuple[float, float], Tuple[float, float]]: + scenario: detected scenario type + flex_wp: flexible waypoint (used to maneuver) + fixed_wp: fixed waypoint (goal position) + """ + scenario, cone_position = scenario_check(vehicle_state, cone_state) + car_position = np.array(vehicle_state['position']) + car_heading = vehicle_state['heading'] # in radians + + # ===== Parameters ===== + u_turn_radius = 5.0 # Radius for U-turn + offset = 2.0 # Offset for left/right pass + lookahead_distance = 10.0 # Distance ahead for fixed point + # ====================== + + # Direction vector based on heading + heading_vector = np.array([np.cos(car_heading), np.sin(car_heading)]) + + # Vector perpendicular to heading (to determine left/right) + perpendicular_vector = np.array([-np.sin(car_heading), np.cos(car_heading)]) + + if scenario == 'standing': + # U-turn: Generate points in a semi-circular arc around the cone + cone = np.array(cone_position) + + # Number of waypoints to generate for the arc + num_arc_points = 7 + + # Generate waypoints in a smooth semi-circular pattern on the RIGHT side + flex_wps_list = [] + + # Create a semi-circular arc from 0 to π + # But negate perpendicular_vector to go to the right side + for i in range(num_arc_points): + # Calculate angle in the semi-circle (0 to π) + angle = i * np.pi / (num_arc_points - 1) + + # MODIFIED: Negative perpendicular_vector to go to right side of cone + # This creates a counter-clockwise turn around the cone + wp = cone - u_turn_radius * ( + perpendicular_vector * np.cos(angle) - + heading_vector * np.sin(angle) + ) + + flex_wps_list.append(wp) + + # Fixed waypoint: behind the cone after U-turn (also on right side) + fixed_wp = cone + u_turn_radius * perpendicular_vector + + # For visualization only + # for i, wp in enumerate(flex_wps_list): + # plt.plot(wp[0], wp[1], 'ro') # Plot all waypoints in red + # plt.text(wp[0], wp[1], f'wp{i}', fontsize=9) + + # plt.plot(fixed_wp[0], fixed_wp[1], 'bo') # Plot fixed waypoint in blue + # plt.plot(cone[0], cone[1], 'gx') # Plot cone in green + # plt.plot(car_position[0], car_position[1], 'ks') # Plot car position + # plt.axis('equal') # Equal aspect ratio for better visualization + # plt.grid(True) + # plt.show() + + elif scenario == 'left': + cone = np.array(cone_position) + + # Flexible waypoint: go to the left of the cone + flex_wp1 = cone + offset * perpendicular_vector + flex_wps_list = [flex_wp1] + + # Fixed waypoint: forward after passing the cone + # fixed_wp = flex_wp + heading_vector * lookahead_distance - offset * perpendicular_vector * 2 + fixed_wp = flex_wp1 + heading_vector * lookahead_distance - offset * perpendicular_vector + + elif scenario == 'right': + cone = np.array(cone_position) + + # Flexible waypoint: go to the right of the cone + flex_wp1 = cone - offset * perpendicular_vector + flex_wps_list = [flex_wp1] + + # Fixed waypoint: forward after passing the cone + # fixed_wp = flex_wp + heading_vector * lookahead_distance + offset * perpendicular_vector * 2 + fixed_wp = flex_wp1 + heading_vector * lookahead_distance + offset * perpendicular_vector + + else: + flex_wps_list = None + fixed_wp = None + + return scenario, flex_wps_list, fixed_wp + +def velocity_profiling(path, acceleration, deceleration, max_speed, current_speed, lateral_acc_limit): + """ + Returns a trajectory with velocity profile that respects: + 1. max longitudinal acceleration + 2. max deceleration + 3. max lateral acceleration from curvature + 4. max speed + """ + # Curvature-based speed limit + curvature_safe_speeds = [] + for p in path.curvature: + if abs(p) < 1e-3: + curvature_safe_speeds.append(max_speed) + else: + max_v = np.sqrt(lateral_acc_limit / abs(p)) + curvature_safe_speeds.append(min(max_v, max_speed)) + + # Create a custom profile-aware speed function + def dynamic_max_speed_at(index): + return curvature_safe_speeds[min(index, len(curvature_safe_speeds) - 1)] + + # You can inject dynamic speed limit into your plan + return +# --------------------------------------------------------------------------- Hua-Ta's Code END + +# --------------------------------------------------------------------------- Shilan's Code START +# ORIGINAL CODE +# def trajectory_generation(init_state, final_state, N=30, T=0.1, Lr=1.5, +# w_c=10.0, w_eps=0.0, w_vvar=5.0, +# w_terminal=10.0, +# v_min=3.0, v_max=11.0, +# waypoint=None, waypoint_penalty_weight=100.0): +# """ +# Generate a dynamically feasible trajectory between init_state and final_state (optionally pass a (x,y) waypoint) +# using curvature-based vehicle dynamics and nonlinear optimization. + +# Note: We minimize variance of velocity to roughly keep constant velocity so it does not affect the turning radius. + +# Thoughts: The trajectory generated from large velocity and large curvature rate can be similar to the trajectory +# generated using small velovity and small curvature rate, might be scaled versions if the proportions are proper. +# For racing, we want to use the maximum velocity. So maybe we should scale the trajectory using the allowed velocity??? (TODO) +# And how to obtain that??? (TODO) + +# TODO: remove v in init_state + +# Parameters: +# - init_state (dict): Initial vehicle state with keys 'x', 'y', 'psi', 'c', 'v'. +# - final_state (dict): Target vehicle state with keys 'x', 'y', 'psi', 'c'. +# - N (int): Number of discrete time steps in the trajectory. +# - T (float): Duration of each time step (in seconds). +# - Lr (float): Distance from the vehicle's center to the rear axle. # TODO: find this value for GEMe4 +# - w_c (float): Weight for penalizing curvature (smoothness of turns). +# - w_eps (float): Weight for penalizing curvature rate (reduces sharp steering changes). +# - w_vvar (float): Weight for penalizing speed variance (encourages speed smoothness). +# - w_terminal (float): Weight for penalizing final state deviation (soft constraint). +# - v_min (float): Minimum allowed speed (in m/s). +# - v_max (float): Maximum allowed speed (in m/s). +# - waypoint (tuple or None): Optional (x, y) coordinate that the trajectory should pass near. +# - waypoint_penalty_weight (float): Penalty weight for distance from waypoint (soft constraint). + +# Returns: +# - x, y, psi, c, v, eps (np.ndarray): Arrays of optimized state and control values. +# - final_error (dict): Final state errors in x, y, psi, and c. +# """ +# def cost(p): +# x_, y_, psi_, c_, v_, eps_ = np.split(p, [N - 1, 2 * (N - 1), 3 * (N - 1), 4 * (N - 1), 5 * (N - 1)]) +# c_seq = np.concatenate(([init_state['c']], c_)) +# v_seq = np.concatenate(([init_state['v']], v_)) +# x_final, y_final, psi_final, c_final = x_[-1], y_[-1], psi_[-1], c_[-1] + +# cost_c = w_c * np.sum(c_seq ** 2) +# cost_eps = w_eps * np.sum(eps_ ** 2) +# v_mean = np.mean(v_seq) +# cost_vvar = w_vvar * np.mean((v_seq - v_mean) ** 2) + +# cost_terminal = w_terminal * ( +# (x_final - final_state['x']) ** 2 + +# (y_final - final_state['y']) ** 2 + +# (psi_final - final_state['psi']) ** 2 * 100 + +# (c_final - final_state['c']) ** 2 * 100 # TODO: remove magic constant +# ) + +# cost_waypoint = 0.0 +# if waypoint is not None: +# # use midpoint index to check passing near the waypoint +# mid = N // 2 +# cost_waypoint = waypoint_penalty_weight * ( +# (x_[mid-1] - waypoint[0])**2 + (y_[mid-1] - waypoint[1])**2 +# ) + +# return cost_c + cost_eps + cost_vvar + cost_terminal + cost_waypoint + +# def dynamics_constraints(p): +# x_, y_, psi_, c_, v_, eps_ = np.split(p, [N - 1, 2 * (N - 1), 3 * (N - 1), 4 * (N - 1), 5 * (N - 1)]) +# constraints = [] +# x_prev, y_prev, psi_prev, c_prev, v_prev = init_state['x'], init_state['y'], init_state['psi'], init_state['c'], init_state['v'] +# for k in range(N - 1): +# dx = v_prev * np.cos(psi_prev + c_prev * Lr) * T +# dy = v_prev * np.sin(psi_prev + c_prev * Lr) * T +# dpsi = v_prev * c_prev * T +# dc = eps_[k] * T +# constraints.extend([ +# x_[k] - (x_prev + dx), +# y_[k] - (y_prev + dy), +# psi_[k] - (psi_prev + dpsi), +# c_[k] - (c_prev + dc) +# ]) +# x_prev, y_prev, psi_prev, c_prev, v_prev = x_[k], y_[k], psi_[k], c_[k], v_[k] +# return constraints + +# # Initial guesses +# x_vals = np.linspace(init_state['x'], final_state['x'], N) +# y_vals = np.linspace(init_state['y'], final_state['y'], N) +# psi_vals = np.linspace(init_state['psi'], final_state['psi'], N) +# c_vals = np.linspace(init_state['c'], final_state['c'], N) +# v_vals = np.ones(N) * init_state['v'] +# eps_vals = np.zeros(N - 1) + +# p0 = np.concatenate([x_vals[1:], y_vals[1:], psi_vals[1:], c_vals[1:], v_vals[1:], eps_vals]) +# bounds = [(None, None)] * (4 * (N - 1)) + [(v_min, v_max)] * (N - 1) + [(None, None)] * (N - 1) + +# result = minimize(cost, p0, bounds=bounds, +# constraints={'type': 'eq', 'fun': dynamics_constraints}, +# options={'maxiter': 1000}) +# if not result.success: +# raise RuntimeError("Optimization failed") + +# x_, y_, psi_, c_, v_, eps_ = np.split(result.x, [N - 1, 2 * (N - 1), 3 * (N - 1), 4 * (N - 1), 5 * (N - 1)]) +# x_full = np.concatenate(([init_state['x']], x_)) +# y_full = np.concatenate(([init_state['y']], y_)) +# psi_full = np.concatenate(([init_state['psi']], psi_)) +# c_full = np.concatenate(([init_state['c']], c_)) +# v_full = np.concatenate(([init_state['v']], v_)) + +# final_error = { +# 'x_error': abs(x_full[-1] - final_state['x']), +# 'y_error': abs(y_full[-1] - final_state['y']), +# 'psi_error': abs(psi_full[-1] - final_state['psi']), +# 'c_error': abs(c_full[-1] - final_state['c']), +# } + +# return x_full, y_full, psi_full, c_full, v_full, eps_, final_error +def trajectory_generation(init_state, final_state, N=30, T=0.1, Lr=1.5, + w_c=10.0, w_eps=0.0, w_vvar=5.0, + w_terminal=10.0, + v_min=3.0, v_max=11.0, + waypoints=None, waypoint_penalty_weight=100.0): + """ + Generate a dynamically feasible trajectory between init_state and final_state + using curvature-based vehicle dynamics and nonlinear optimization. + + Now supports multiple waypoints. + + Parameters: + - init_state (dict): Initial vehicle state with keys 'x', 'y', 'psi', 'c', 'v'. + - final_state (dict): Target vehicle state with keys 'x', 'y', 'psi', 'c'. + - N (int): Number of discrete time steps in the trajectory. + - T (float): Duration of each time step (in seconds). + - Lr (float): Distance from the vehicle's center to the rear axle. + - w_c (float): Weight for penalizing curvature (smoothness of turns). + - w_eps (float): Weight for penalizing curvature rate (reduces sharp steering changes). + - w_vvar (float): Weight for penalizing speed variance (encourages speed smoothness). + - w_terminal (float): Weight for penalizing final state deviation (soft constraint). + - v_min (float): Minimum allowed speed (in m/s). + - v_max (float): Maximum allowed speed (in m/s). + - waypoints (list or None): Optional list of (x, y) coordinates that the trajectory should pass near. + - waypoint_penalty_weight (float): Penalty weight for distance from waypoints (soft constraint). + + Returns: + - x, y, psi, c, v, eps (np.ndarray): Arrays of optimized state and control values. + - final_error (dict): Final state errors in x, y, psi, and c. + """ + def cost(p): + x_, y_, psi_, c_, v_, eps_ = np.split(p, [N - 1, 2 * (N - 1), 3 * (N - 1), 4 * (N - 1), 5 * (N - 1)]) + c_seq = np.concatenate(([init_state['c']], c_)) + v_seq = np.concatenate(([init_state['v']], v_)) + x_final, y_final, psi_final, c_final = x_[-1], y_[-1], psi_[-1], c_[-1] + + cost_c = w_c * np.sum(c_seq ** 2) + cost_eps = w_eps * np.sum(eps_ ** 2) + v_mean = np.mean(v_seq) + cost_vvar = w_vvar * np.mean((v_seq - v_mean) ** 2) + + cost_terminal = w_terminal * ( + (x_final - final_state['x']) ** 2 + + (y_final - final_state['y']) ** 2 + + (psi_final - final_state['psi']) ** 2 * 100 + + (c_final - final_state['c']) ** 2 * 100 + ) + + cost_waypoints = 0.0 + if waypoints is not None and len(waypoints) > 0: + # Calculate equally spaced indices for each waypoint + num_waypoints = len(waypoints) + indices = [int((i + 1) * (N - 1) / (num_waypoints + 1)) for i in range(num_waypoints)] + + # Sum penalties for each waypoint at its corresponding index + for wp_idx, waypoint in enumerate(waypoints): + traj_idx = indices[wp_idx] + cost_waypoints += waypoint_penalty_weight * ( + (x_[traj_idx] - waypoint[0])**2 + (y_[traj_idx] - waypoint[1])**2 + ) + + return cost_c + cost_eps + cost_vvar + cost_terminal + cost_waypoints + def dynamics_constraints(p): + x_, y_, psi_, c_, v_, eps_ = np.split(p, [N - 1, 2 * (N - 1), 3 * (N - 1), 4 * (N - 1), 5 * (N - 1)]) + constraints = [] + x_prev, y_prev, psi_prev, c_prev, v_prev = init_state['x'], init_state['y'], init_state['psi'], init_state['c'], init_state['v'] + for k in range(N - 1): + dx = v_prev * np.cos(psi_prev + c_prev * Lr) * T + dy = v_prev * np.sin(psi_prev + c_prev * Lr) * T + dpsi = v_prev * c_prev * T + dc = eps_[k] * T + constraints.extend([ + x_[k] - (x_prev + dx), + y_[k] - (y_prev + dy), + psi_[k] - (psi_prev + dpsi), + c_[k] - (c_prev + dc) + ]) + x_prev, y_prev, psi_prev, c_prev, v_prev = x_[k], y_[k], psi_[k], c_[k], v_[k] + return constraints + + # Initial guesses + x_vals = np.linspace(init_state['x'], final_state['x'], N) + y_vals = np.linspace(init_state['y'], final_state['y'], N) + psi_vals = np.linspace(init_state['psi'], final_state['psi'], N) + c_vals = np.linspace(init_state['c'], final_state['c'], N) + v_vals = np.ones(N) * init_state['v'] + eps_vals = np.zeros(N - 1) + + p0 = np.concatenate([x_vals[1:], y_vals[1:], psi_vals[1:], c_vals[1:], v_vals[1:], eps_vals]) + bounds = [(None, None)] * (4 * (N - 1)) + [(v_min, v_max)] * (N - 1) + [(None, None)] * (N - 1) + + result = minimize(cost, p0, bounds=bounds, + constraints={'type': 'eq', 'fun': dynamics_constraints}, + options={'maxiter': 1000}) + if not result.success: + raise RuntimeError("Optimization failed") + + x_, y_, psi_, c_, v_, eps_ = np.split(result.x, [N - 1, 2 * (N - 1), 3 * (N - 1), 4 * (N - 1), 5 * (N - 1)]) + x_full = np.concatenate(([init_state['x']], x_)) + y_full = np.concatenate(([init_state['y']], y_)) + psi_full = np.concatenate(([init_state['psi']], psi_)) + c_full = np.concatenate(([init_state['c']], c_)) + v_full = np.concatenate(([init_state['v']], v_)) + + final_error = { + 'x_error': abs(x_full[-1] - final_state['x']), + 'y_error': abs(y_full[-1] - final_state['y']), + 'psi_error': abs(psi_full[-1] - final_state['psi']), + 'c_error': abs(c_full[-1] - final_state['c']), + } + + return x_full, y_full, psi_full, c_full, v_full, eps_, final_error + +def feasibility_check(trajectory, cone_map, car_width=2.0, safety_margin=0.3, v=10.0, Lr=1.5, T=0.1): + """ + Check if the car trajectory collides with any cones. + + Parameters: + - trajectory: list of (y, psi, c) states + - cone_map: list of (x, y) cone positions + - car_width: width of the vehicle in meters + - safety_margin: buffer around the vehicle + - v: vehicle constant speed (used for x position estimation) + - Lr: distance to rear axle + - T: time step + + Returns: + - feasible: True if no collisions + - collisions: list of indices of cones that were collided with (for plotting purpose) + - x_vals, y_vals: trajectory positions for plotting (for plotting purpose) + """ + y_vals, psi_vals, c_vals = zip(*trajectory) + x_vals = [0.0] + for i in range(1, len(trajectory)): + dx = v * np.cos(psi_vals[i-1] + c_vals[i-1] * Lr) * T + x_vals.append(x_vals[-1] + dx) + + collision_radius = (car_width / 2.0) + safety_margin + collisions = [] + + for j, (cone_x, cone_y) in enumerate(cone_map): + for x, y in zip(x_vals, y_vals): + if np.hypot(x - cone_x, y - cone_y) < collision_radius: + collisions.append(j) + break + + feasible = len(collisions) == 0 + return feasible, collisions, x_vals, y_vals +######################## +if __name__ == "__main__": + def plot_trajectory(x, y, v, c, eps, waypoint=None): + plt.figure(figsize=(12, 10)) + + # Trajectory plot + plt.subplot(4, 1, 1) + plt.plot(x, y, label="Trajectory") + plt.scatter([x[0], x[-1]], [y[0], y[-1]], color='red', label="Start/End") + + if waypoint is not None: + plt.scatter(*waypoint, color='purple', s=60, marker='X', label="Waypoint") + plt.annotate("Waypoint", (waypoint[0], waypoint[1]), textcoords="offset points", xytext=(5,5), color='purple') + + plt.axis('equal') + plt.ylabel("y (m)") + plt.title("Trajectory") + plt.grid(True) + plt.legend() + + # Speed plot + plt.subplot(4, 1, 2) + plt.plot(v, label="Speed (v)", color="blue") + plt.ylabel("Speed (m/s)") + plt.grid(True) + plt.legend() + + # Curvature plot + plt.subplot(4, 1, 3) + plt.plot(c, label="Curvature (c)", color="orange") + plt.ylabel("Curvature (1/m)") + plt.grid(True) + plt.legend() + + # Curvature rate plot + plt.subplot(4, 1, 4) + plt.plot(eps, label="Curvature Rate (ε)", color="green") + plt.xlabel("Step") + plt.ylabel("ε (1/m²)") + plt.grid(True) + plt.legend() + + plt.tight_layout() + plt.show() + + # --- Test Case 1: pass a cone in slalom --- + def trajectory_generation_test1(): + # Init and final + init_state = {'x': 0.0, 'y': 0.0, 'psi': 0.0, 'c': 0.0, 'v': 5.0} + final_state = {'x': 15.0, 'y': 0.0, 'psi': np.pi / 20000000, 'c': np.pi / 20000000} + waypoint = (8.0, 6.0) + + # Solve + x, y, psi, c, v, eps, final_error = trajectory_generation( + init_state, final_state, waypoint=waypoint + ) + plot_trajectory(x, y, v, c, eps, waypoint) + + # Error + print("\nFinal State Errors:") + for k, e in final_error.items(): + print(f"{k}: {e:.6f}") + + # --- Test case 2: 90 degree turn --- + def trajectory_generation_test2(): + # Init and final + init_state = {'x': 0.0, 'y': 0.0, 'psi': 0.0, 'c': 0.0, 'v': 5.0} + final_state = {'x': 15.0, 'y': 15.0, 'psi': np.pi / 2, 'c': np.pi / 2} + waypoint = (13.0, 3.0) + + # Solve + x, y, psi, c, v, eps, final_error = trajectory_generation( + init_state, final_state, waypoint=waypoint + ) + plot_trajectory(x, y, v, c, eps, waypoint) + + # Error + print("\nFinal State Errors:") + for k, e in final_error.items(): + print(f"{k}: {e:.6f}") + + ############# + ######################### + # --- Test Case --- + def test_feasibility_check(): + N = 50 + y_traj = np.linspace(0, 10, N) + psi_traj = np.linspace(0, 0.1, N) + c_traj = np.linspace(0, 0.2, N) + trajectory = list(zip(y_traj, psi_traj, c_traj)) + + # Cone map near the path + cone_map = [(5.0, 1.0), (10.0, 1.5), (15.0, 2.0), (25.0, 4.0), (25.0, 10.0), (16.0, 9.0), (40.0, 5.0)] + + # Run check + feasible, collisions, x_vals, y_vals = feasibility_check(trajectory, cone_map) + + # Plot + plt.figure(figsize=(10, 6)) + plt.plot(x_vals, y_vals, label="Trajectory", linewidth=2) + for i, (cx, cy) in enumerate(cone_map): + color = 'red' if i in collisions else 'green' + plt.scatter(cx, cy, color=color, s=100, label=f'Cone {i}' if i == 0 else "") + plt.xlabel("x (m)") + plt.ylabel("y (m)") + plt.title("Trajectory and Cone Map") + plt.legend() + plt.axis("equal") + plt.grid(True) + plt.show() + + print("Feasible:", feasible) + print("Collisions with cones:", collisions) +# --------------------------------------------------------------------------- Shilan's Code END + + +def waypoint_search_optimization(vehicle_state, cones, search_attempts=3): + valid_flex_wps = [] + valid_fixed_wps = [] + current_state = vehicle_state.copy() + cones_copy = cones.copy() + + for i in range(min(search_attempts, len(cones_copy))): + scenario, flex_wps, fixed_wp = waypoint_generate(current_state, cones_copy) + + if flex_wps is None or fixed_wp is None: + break + + for flex_wp in flex_wps: + init_state = { + 'x': current_state['position'][0], + 'y': current_state['position'][1], + 'psi': current_state['heading'], + 'c': 0.0, + 'v': current_state['velocity'] + } + final_state = { + 'x': fixed_wp[0], + 'y': fixed_wp[1], + 'psi': current_state['heading'], + 'c': 0.0 + } + + try: + x, y, psi, c, v, eps, final_error = trajectory_generation(init_state, final_state, waypoint=flex_wp) + trajectory = list(zip(y, psi, c)) + feasible, collisions, x_vals, y_vals = feasibility_check(trajectory, [(cone['x'], cone['y']) for cone in cones]) + print(f"Checking waypoint: {flex_wp}, Fixed: {fixed_wp}, Feasible: {feasible}, Collisions: {collisions}") + if feasible: + valid_flex_wps.append(flex_wp) + valid_fixed_wps.append(fixed_wp) + current_state['position'] = list(fixed_wp) + break + except: + continue + + if len(cones_copy) > 0: + cones_copy.pop(0) + + return valid_flex_wps, valid_fixed_wps + + +def test_4_cone_slalom(): + vehicle_state = { + 'position': [0.0, 0.0], + 'heading': 0.0, + 'velocity': 5.0 + } + + cones = [ + {'x': 10, 'y': 0.0, 'orientation': 'left'}, + {'x': 30, 'y': 1.0, 'orientation': 'right'}, + {'x': 50, 'y': 0.0, 'orientation': 'left'}, + {'x': 70, 'y': 1.0, 'orientation': 'standing'} + ] + + flex_wps, fixed_wps = waypoint_search_optimization(vehicle_state, cones, search_attempts=4) + + current_pos = np.array(vehicle_state['position']) + + for idx, (flex_wp, fixed_wp) in enumerate(zip(flex_wps, fixed_wps)): + init_state = { + 'x': current_pos[0], 'y': current_pos[1], 'psi': vehicle_state['heading'], + 'c': 0.0, 'v': vehicle_state['velocity'] + } + final_state = { + 'x': fixed_wp[0], 'y': fixed_wp[1], 'psi': vehicle_state['heading'], 'c': 0.0 + } + x, y, psi, c, v, eps, final_error = trajectory_generation(init_state, final_state, waypoint=flex_wp) + + print(f"\nSegment {idx + 1}:") + print(f" Waypoint: {flex_wp}") + print(f" Final Errors:") + for k, e in final_error.items(): + print(f" {k}: {e:.4f}") + + plot_trajectory(x, y, v, c, eps, waypoint=flex_wp) + + current_pos = np.array(fixed_wp) + +#test_4_cone_slalom() + +def to_gemstack_trajectory(x_all, y_all, v_all, T=0.1): + t_vals = np.arange(len(x_all)) * T + combined_xy = [[x, y] for x, y in zip(x_all, y_all)] + curr_path = Path(ObjectFrameEnum.START,combined_xy) + path = compute_headings(curr_path) + path_normalized = path.arc_length_parameterize() + points = [p for p in path_normalized.points] + return Trajectory(points=points, times=t_vals, frame=ObjectFrameEnum.START) + +def plan_full_slalom_trajectory(vehicle_state, cones): + x_all, y_all, v_all = [], [], [] + current_pos = np.array(vehicle_state['position']) + current_heading = vehicle_state['heading'] + + for cone in cones: + scenario, flex_wps, fixed_wp = waypoint_generate(vehicle_state, [cone]) + if not flex_wps or fixed_wp is None: + continue + # flex_wp = flex_wps[0] + + init_state = { + 'x': current_pos[0], 'y': current_pos[1], 'psi': current_heading, + 'c': 0.0, 'v': vehicle_state['velocity'] + } + final_state = { + 'x': fixed_wp[0], 'y': fixed_wp[1], 'psi': current_heading, 'c': 0.0 + } + + x, y, psi, c, v, eps, _ = trajectory_generation(init_state, final_state, waypoints=flex_wps) + x_all.extend(x) + y_all.extend(y) + v_all.extend(v) + + current_pos = np.array([x[-1], y[-1]]) + + return to_gemstack_trajectory(x_all, y_all, v_all) + +# def test_slalom_fixe + +class SlalomTrajectoryPlanner(Component): + def __init__(self, **kwargs): + # You can accept args here if needed + self.trajectory = None + self.planned = False + + def state_inputs(self): + return ['vehicle'] # Will receive a VehicleState input + + def state_outputs(self): + return ['trajectory'] + + def update(self, vehicle: VehicleState): + if not self.planned: + cones = [ + {'x': 10, 'y': 0.0, 'orientation': 'left'}, + {'x': 30, 'y': 1.0, 'orientation': 'right'}, + {'x': 50, 'y': 0.0, 'orientation': 'left'}, + {'x': 70, 'y': 1.0, 'orientation': 'standing'} + ] + vehicle_dict = { + 'position': [vehicle.pose.x, vehicle.pose.y], + 'heading': vehicle.pose.yaw, + 'velocity': vehicle.v + } + self.trajectory = plan_full_slalom_trajectory(vehicle_dict, cones) + self.planned = True + return self.trajectory + + +# ------------ Test Code START -------------- +if __name__ == "__main__": + # -------------------------- + # Plotting Function + # -------------------------- + def plot_results(vehicle_state, cones, wpt_flexes=None, wpt_fixed=None, scenario_label=""): + plt.figure(figsize=(10, 5)) + ax = plt.gca() + ax.set_aspect('equal') + + all_x = [cone['x'] for cone in cones] + [vehicle_state['position'][0]] + all_y = [cone['y'] for cone in cones] + [vehicle_state['position'][1]] + + if wpt_flexes is not None: + all_x += [pt[0] for pt in wpt_flexes] + all_y += [pt[1] for pt in wpt_flexes] + + if wpt_fixed is not None: + all_x.append(wpt_fixed[0]) + all_y.append(wpt_fixed[1]) + + # Compute axis limits with padding + padding = 2 + x_min, x_max = min(all_x) - padding, max(all_x) + padding + y_min, y_max = min(all_y) - padding, max(all_y) + padding + plt.xlim(x_min, x_max) + plt.ylim(y_min, y_max) + + # Plot cones + for cone in cones: + plt.scatter(cone['x'], cone['y'], c='orange', label='Cone' if cone == cones[0] else "") + plt.text(cone['x'], cone['y'] + 0.5, cone['orientation'][0].upper(), fontsize=10, ha='center') + + # Plot vehicle + vx, vy = vehicle_state['position'] + plt.plot(vx, vy, 'bo', label='Vehicle Start') + plt.arrow(vx, vy, np.cos(vehicle_state['heading']) * 2, np.sin(vehicle_state['heading']) * 2, + head_width=0.25, color='blue') + + # Plot flexible waypoint + if wpt_flexes is not None: + for wpt_flex in wpt_flexes: + plt.plot(wpt_flex[0], wpt_flex[1], 'go', label='Flexible Waypoint') + plt.text(wpt_flex[0], wpt_flex[1] + 0.5, 'Flex', fontsize=9, color='green') + + # Plot fixed waypoint + if wpt_fixed is not None: + plt.plot(wpt_fixed[0], wpt_fixed[1], 'ro', label='Fixed Waypoint') + plt.text(wpt_fixed[0], wpt_fixed[1] + 0.5, 'Fixed', fontsize=9, color='red') + + plt.title(scenario_label) + plt.xlabel("X") + plt.ylabel("Y") + plt.grid(True) + plt.legend() + plt.show() + return + + # -------------------------- + # Vehicle State Test Update + # -------------------------- + def drive(vehicle_state): + # Update vehicle state + vehicle_state['position'][0] += vehicle_state['velocity'] * np.cos(vehicle_state['heading']) + vehicle_state['position'][1] += vehicle_state['velocity'] * np.sin(vehicle_state['heading']) + return vehicle_state + # -------------------------- + # Step 1: Generate Fake Cones + # -------------------------- + def generate_test_cones(case='slalom'): + if case == 'slalom': + cones = [] + for i in range(3): + x = (i+1) * 10 + y = 0 if i % 2 == 0 else 1 + orientation = 'left' if i % 2 == 0 else 'right' + cones.append({'x': x, 'y': y, 'orientation': orientation}) + return cones + + elif case == 'u_turn': + return [{'x': 10, 'y': 0, 'orientation': 'standing'}] + + # -------------------------- + # Step 2: Define Fake Vehicle + # -------------------------- + def get_test_vehicle_state(vehicle_state=None): + if vehicle_state is not None: + return vehicle_state + return { + 'position': [0, 0], + 'heading': 0.0 * 180/np.pi, # Facing right + 'velocity': 10.0 + } + + # -------------------------- + # Step 3: Run Scenario + Waypoints + # -------------------------- + def test_waypoint_generation(case='slalom', test_loop=1): + vehicle_state = get_test_vehicle_state() + cones = generate_test_cones(case) + + for i in range(test_loop): + scenario = scenario_check(vehicle_state, cones) + scenario_label = f"Scenario: {scenario}" + scenario, wpt_flexes, wpt_fixed = waypoint_generate(vehicle_state, cones) + plot_results(vehicle_state, cones, wpt_flexes, wpt_fixed, scenario_label) + vehicle_state = drive(vehicle_state) + if case == 'slalom': + cones.pop(0) + + # -------------------------- + # Main for waypoint + # -------------------------- + # test_waypoint_generation(case='slalom', test_loop=2) + # test_waypoint_generation(case='u_turn') + + + # -------------------------- + ### Combine Test + # -------------------------- + def test_planning(case='slalom', test_loop=2): + vehicle_state = get_test_vehicle_state() + cones = generate_test_cones(case) + + for i in range(test_loop): + # Way Points + scenario = scenario_check(vehicle_state, cones) + scenario_label = f"Scenario: {scenario}" + scenario, wpt_flexes, wpt_fixed = waypoint_generate(vehicle_state, cones) + plot_results(vehicle_state, cones, wpt_flexes, wpt_fixed, scenario_label) + # Trajectory + init_state = {'y': wpt_flexes[0][1], 'psi': 0.0, 'c': 0.0} + final_state = {'y': wpt_fixed[1], 'psi': 0.0, 'c': 0.0} + + y_traj, psi_traj, c_traj, eps_traj = trajectory_generation(init_state, final_state) + # plot_trajectory(y_traj, psi_traj, c_traj, label="Generated trajectory") + # plot_dynamics(psi_traj, c_traj, eps_traj) + + # Iterate + vehicle_state = drive(vehicle_state) + if case == 'slalom': + cones.pop(0) + # test_planning(case='slalom', test_loop=2) +# ------------ Test Code END -------------- \ No newline at end of file diff --git a/GEMstack/onboard/planning/racing_planning_online.py b/GEMstack/onboard/planning/racing_planning_online.py new file mode 100644 index 000000000..6729d968e --- /dev/null +++ b/GEMstack/onboard/planning/racing_planning_online.py @@ -0,0 +1,1048 @@ +from ...state.trajectory import Trajectory +from ...state.vehicle import VehicleState +from ...state import AgentState, AgentEnum +from ..component import Component + +from ...state.trajectory import Trajectory, compute_headings, Path +from ...state.physical_object import ObjectFrameEnum + +import numpy as np +import matplotlib.pyplot as plt +from scipy.optimize import minimize + +from typing import Dict +import time + +# -------------------------- +# This is the main code for the racing trajectory planner. +# Contributors: Hua-Ta, Shilan +# -------------------------- + +def scenario_check(vehicle_state, cone_state): + """ + Check the cone state and determine the scenario. + Args: + vehicle_state: The state of the vehicle. + cone_state: The state of the cones. + Returns: + str: The scenario type. + - 'left_pass': cone pointed left, go left + - 'right_pass': cone pointed right, go right + - 'u_turn': cone standing up, make a U-turn + tuple: (cone_x, cone__y) + """ + # Get the closest cone info + cones_ahead = sorted(cone_state, key=lambda c: np.linalg.norm( + np.array([c['x'], c['y']]) - np.array(vehicle_state['position']))) + cone_direction = cones_ahead[0]['orientation'] + cone_position = (cones_ahead[0]['x'], cones_ahead[0]['y']) + + # Check the cone orientation + if cone_direction != 'LEFT' and cone_direction != 'RIGHT' and cone_direction != 'STANDING' and cone_direction != '90turn': + raise ValueError("Unknown cone orientation") + + return cone_direction, cone_position + +def waypoint_generate(vehicle_state, cones, cone_idx): + """ + Generate waypoints based on the scenario. + Args: + vehicle_state: The state of the vehicle. + cone_state: The state of the cones. + Returns: + Tuple[str, Tuple[float, float], Tuple[float, float]]: + scenario: detected scenario type + flex_wp: flexible waypoint (used to maneuver) + fixed_wp: fixed waypoint (goal position) + """ + scenario, cone_position = scenario_check(vehicle_state, [cones[cone_idx]]) + car_position = np.array(vehicle_state['position']) + car_heading = vehicle_state['heading'] # in radians + current_heading = car_heading + target_heading = car_heading + + # ===== Parameters ===== + u_turn_radius = 11.5 # Radius for U-turn + offset = 2.0 # Offset for left/right pass + lookahead_distance = 10.0 # Distance ahead for fixed point + # ====================== + + # Direction vector based on heading + heading_vector = np.array([np.cos(car_heading), np.sin(car_heading)]) + + # Vector perpendicular to heading (to determine left/right) + perpendicular_vector = np.array([-np.sin(car_heading), np.cos(car_heading)]) + + if cone_idx > 0: + prev_cone_position = np.array((cones[cone_idx - 1]['x'], cones[cone_idx - 1]['y'])) + cone_position = np.array((cones[cone_idx]['x'], cones[cone_idx]['y'])) + target_heading = np.arctan2(cone_position[1] - prev_cone_position[1], + cone_position[0] - prev_cone_position[0]) + + if scenario == 'STANDING': + # U-turn: Generate points in a semi-circular arc around the cone + cone = np.array(cone_position) + + # Number of waypoints to generate for the arc + num_arc_points = 9 + + # Generate waypoints in a smooth semi-circular pattern on the RIGHT side + flex_wps_list = [] + + # Create a semi-circular arc from 0 to π + # But negate perpendicular_vector to go to the right side + for i in range(num_arc_points): + # Calculate angle in the semi-circle (0 to π) + angle = i * np.pi * 1 / (num_arc_points - 1) + + # MODIFIED: Negative perpendicular_vector to go to right side of cone + # This creates a counter-clockwise turn around the cone + wp = cone - u_turn_radius * ( + perpendicular_vector * np.cos(angle) - + heading_vector * np.sin(angle) + ) + + flex_wps_list.append(wp) + + # Fixed waypoint: behind the cone after U-turn (also on right side) + fixed_wp = cone + u_turn_radius * perpendicular_vector + + target_heading = target_heading + np.pi + + # For visualization only + # for i, wp in enumerate(flex_wps_list): + # plt.plot(wp[0], wp[1], 'ro') # Plot all waypoints in red + # plt.text(wp[0], wp[1], f'wp{i}', fontsize=9) + + # plt.plot(fixed_wp[0], fixed_wp[1], 'bo') # Plot fixed waypoint in blue + # plt.plot(cone[0], cone[1], 'gx') # Plot cone in green + # plt.plot(car_position[0], car_position[1], 'ks') # Plot car position + # plt.axis('equal') # Equal aspect ratio for better visualization + # plt.grid(True) + # plt.show() + + elif scenario == 'LEFT': + cone = np.array(cone_position) + + # Flexible waypoint: go to the left of the cone + flex_wp1 = cone + offset * perpendicular_vector + flex_wps_list = [flex_wp1] + + # Fixed waypoint: forward after passing the cone + # fixed_wp = flex_wp + heading_vector * lookahead_distance - offset * perpendicular_vector * 2 + fixed_wp = flex_wp1 + heading_vector * lookahead_distance - offset * perpendicular_vector + + elif scenario == 'RIGHT': + cone = np.array(cone_position) + + # Flexible waypoint: go to the right of the cone + flex_wp1 = cone - offset * perpendicular_vector + flex_wps_list = [flex_wp1] + + # Fixed waypoint: forward after passing the cone + # fixed_wp = flex_wp + heading_vector * lookahead_distance + offset * perpendicular_vector * 2 + fixed_wp = flex_wp1 + heading_vector * lookahead_distance + offset * perpendicular_vector + + # TODO: move to a different setting instead of as a scenario + elif scenario == '90turn': + turn_vector = np.array([-np.sin(car_heading + np.pi / 6), np.cos(car_heading + np.pi / 6)]) + cone = np.array(cone_position) + distance_to_cone = np.linalg.norm(car_position - cone) + + flex_wps_list = [] + if distance_to_cone > 7: + steps = int(distance_to_cone // 6) + print("steps:", steps) + + final_flex_wp = cone + 1.0 * perpendicular_vector + heading_vector * 1.0 + fixed_wp = cone - turn_vector * 2.5 + heading_vector * 0.0 + + cone_direction = (final_flex_wp - car_position) / np.linalg.norm(final_flex_wp - car_position) + for i in range(steps - 2): + intermediate_wp = car_position + cone_direction * ((i + 1) * 6) + flex_wps_list.append(intermediate_wp) + + flex_wps_list.append(final_flex_wp) + else: + flex_wp = cone + 1.0 * perpendicular_vector + heading_vector * 1.0 + fixed_wp = cone - turn_vector * 2.5 + heading_vector * 0.0 + flex_wps_list = [flex_wp] + + else: + flex_wps_list = None + fixed_wp = None + + target_heading = (target_heading + np.pi) % (2 * np.pi) - np.pi + current_heading = (current_heading + np.pi) % (2 * np.pi) - np.pi + + if abs(target_heading - current_heading) > np.pi: + if target_heading < current_heading: + target_heading += 2 * np.pi + else: + target_heading -= 2 * np.pi + + return scenario, flex_wps_list, fixed_wp, target_heading + +def trajectory_generation(init_state, final_state, N=30, T=0.1, Lr=1.5, + w_c=10.0, w_eps=0.0, w_vvar=4.0, + w_terminal=10.0, + v_min=3.0, v_max=11.0, + waypoints=None, waypoint_penalty_weight=100.0): + """ + Generate a dynamically feasible trajectory between init_state and final_state + using curvature-based vehicle dynamics and nonlinear optimization. + + Now supports multiple waypoints. + + Parameters: + - init_state (dict): Initial vehicle state with keys 'x', 'y', 'psi', 'c', 'v'. + - final_state (dict): Target vehicle state with keys 'x', 'y', 'psi', 'c'. + - N (int): Number of discrete time steps in the trajectory. + - T (float): Duration of each time step (in seconds). + - Lr (float): Distance from the vehicle's center to the rear axle. + - w_c (float): Weight for penalizing curvature (smoothness of turns). + - w_eps (float): Weight for penalizing curvature rate (reduces sharp steering changes). + - w_vvar (float): Weight for penalizing speed variance (encourages speed smoothness). + - w_terminal (float): Weight for penalizing final state deviation (soft constraint). + - v_min (float): Minimum allowed speed (in m/s). + - v_max (float): Maximum allowed speed (in m/s). + - waypoints (list or None): Optional list of (x, y) coordinates that the trajectory should pass near. + - waypoint_penalty_weight (float): Penalty weight for distance from waypoints (soft constraint). + + Returns: + - x, y, psi, c, v, eps (np.ndarray): Arrays of optimized state and control values. + - final_error (dict): Final state errors in x, y, psi, and c. + """ + def cost(p): + x_, y_, psi_, c_, v_, eps_ = np.split(p, [N - 1, 2 * (N - 1), 3 * (N - 1), 4 * (N - 1), 5 * (N - 1)]) + c_seq = np.concatenate(([init_state['c']], c_)) + v_seq = np.concatenate(([init_state['v']], v_)) + x_final, y_final, psi_final, c_final = x_[-1], y_[-1], psi_[-1], c_[-1] + + cost_c = w_c * np.sum(c_seq ** 2) + cost_eps = w_eps * np.sum(eps_ ** 2) + v_mean = np.mean(v_seq) + cost_vvar = w_vvar * np.mean((v_seq - v_mean) ** 2) + + cost_terminal = w_terminal * ( + (x_final - final_state['x']) ** 2 + + (y_final - final_state['y']) ** 2 + + (psi_final - final_state['psi']) ** 2 * 100 + + (c_final - final_state['c']) ** 2 * 100 + ) + + cost_waypoints = 0.0 + if waypoints is not None and len(waypoints) > 0: + # Calculate equally spaced indices for each waypoint + num_waypoints = len(waypoints) + indices = [int((i + 1) * (N - 1) / (num_waypoints + 1)) for i in range(num_waypoints)] + + # Sum penalties for each waypoint at its corresponding index + for wp_idx, waypoint in enumerate(waypoints): + traj_idx = indices[wp_idx] + cost_waypoints += waypoint_penalty_weight * ( + (x_[traj_idx] - waypoint[0])**2 + (y_[traj_idx] - waypoint[1])**2 + ) + + return cost_c + cost_eps + cost_vvar + cost_terminal + cost_waypoints + def dynamics_constraints(p): + x_, y_, psi_, c_, v_, eps_ = np.split(p, [N - 1, 2 * (N - 1), 3 * (N - 1), 4 * (N - 1), 5 * (N - 1)]) + constraints = [] + x_prev, y_prev, psi_prev, c_prev, v_prev = init_state['x'], init_state['y'], init_state['psi'], init_state['c'], init_state['v'] + for k in range(N - 1): + dx = v_prev * np.cos(psi_prev + c_prev * Lr) * T + dy = v_prev * np.sin(psi_prev + c_prev * Lr) * T + dpsi = v_prev * c_prev * T + dc = eps_[k] * T + constraints.extend([ + x_[k] - (x_prev + dx), + y_[k] - (y_prev + dy), + psi_[k] - (psi_prev + dpsi), + c_[k] - (c_prev + dc) + ]) + x_prev, y_prev, psi_prev, c_prev, v_prev = x_[k], y_[k], psi_[k], c_[k], v_[k] + return constraints + + # Initial guesses + x_vals = np.linspace(init_state['x'], final_state['x'], N) + y_vals = np.linspace(init_state['y'], final_state['y'], N) + psi_vals = np.linspace(init_state['psi'], final_state['psi'], N) + c_vals = np.linspace(init_state['c'], final_state['c'], N) + v_vals = np.ones(N) * init_state['v'] + eps_vals = np.zeros(N - 1) + + p0 = np.concatenate([x_vals[1:], y_vals[1:], psi_vals[1:], c_vals[1:], v_vals[1:], eps_vals]) + bounds = [(None, None)] * (4 * (N - 1)) + [(v_min, v_max)] * (N - 1) + [(None, None)] * (N - 1) + + result = minimize(cost, p0, bounds=bounds, + constraints={'type': 'eq', 'fun': dynamics_constraints}, + options={'maxiter': 1000}) + if not result.success: + raise RuntimeError("Optimization failed") + + x_, y_, psi_, c_, v_, eps_ = np.split(result.x, [N - 1, 2 * (N - 1), 3 * (N - 1), 4 * (N - 1), 5 * (N - 1)]) + x_full = np.concatenate(([init_state['x']], x_)) + y_full = np.concatenate(([init_state['y']], y_)) + psi_full = np.concatenate(([init_state['psi']], psi_)) + c_full = np.concatenate(([init_state['c']], c_)) + v_full = np.concatenate(([init_state['v']], v_)) + + final_error = { + 'x_error': abs(x_full[-1] - final_state['x']), + 'y_error': abs(y_full[-1] - final_state['y']), + 'psi_error': abs(psi_full[-1] - final_state['psi']), + 'c_error': abs(c_full[-1] - final_state['c']), + } + + return x_full, y_full, psi_full, c_full, v_full, eps_, final_error + +def feasibility_check(trajectory, cone_map, car_width=2.0, safety_margin=0.3, v=10.0, Lr=1.5, T=0.1): + """ + Check if the car trajectory collides with any cones. + + Parameters: + - trajectory: list of (y, psi, c) states + - cone_map: list of (x, y) cone positions + - car_width: width of the vehicle in meters + - safety_margin: buffer around the vehicle + - v: vehicle constant speed (used for x position estimation) + - Lr: distance to rear axle + - T: time step + + Returns: + - feasible: True if no collisions + - collisions: list of indices of cones that were collided with (for plotting purpose) + - x_vals, y_vals: trajectory positions for plotting (for plotting purpose) + """ + y_vals, psi_vals, c_vals = zip(*trajectory) + x_vals = [0.0] + for i in range(1, len(trajectory)): + dx = v * np.cos(psi_vals[i-1] + c_vals[i-1] * Lr) * T + x_vals.append(x_vals[-1] + dx) + + collision_radius = (car_width / 2.0) + safety_margin + collisions = [] + + for j, (cone_x, cone_y) in enumerate(cone_map): + for x, y in zip(x_vals, y_vals): + if np.hypot(x - cone_x, y - cone_y) < collision_radius: + collisions.append(j) + break + + feasible = len(collisions) == 0 + return feasible, collisions, x_vals, y_vals + + +def waypoint_search_optimization(vehicle_state, cones, search_attempts=3): + valid_flex_wps = [] + valid_fixed_wps = [] + current_state = vehicle_state.copy() + cones_copy = cones.copy() + + for i in range(min(search_attempts, len(cones_copy))): + scenario, flex_wps, fixed_wp = waypoint_generate(current_state, cones_copy) + + if flex_wps is None or fixed_wp is None: + break + + for flex_wp in flex_wps: + init_state = { + 'x': current_state['position'][0], + 'y': current_state['position'][1], + 'psi': current_state['heading'], + 'c': 0.0, + 'v': current_state['velocity'] + } + final_state = { + 'x': fixed_wp[0], + 'y': fixed_wp[1], + 'psi': current_state['heading'], + 'c': 0.0 + } + + try: + x, y, psi, c, v, eps, final_error = trajectory_generation(init_state, final_state, waypoint=flex_wp) + trajectory = list(zip(y, psi, c)) + feasible, collisions, x_vals, y_vals = feasibility_check(trajectory, [(cone['x'], cone['y']) for cone in cones]) + # print(f"Checking waypoint: {flex_wp}, Fixed: {fixed_wp}, Feasible: {feasible}, Collisions: {collisions}") + if feasible: + valid_flex_wps.append(flex_wp) + valid_fixed_wps.append(fixed_wp) + current_state['position'] = list(fixed_wp) + break + except: + continue + if len(cones_copy) > 0: + cones_copy.pop(0) + return valid_flex_wps, valid_fixed_wps + + +def to_gemstack_trajectory(x_all, y_all, v_all, T=0.1): + t_vals = np.arange(len(x_all)) * T + combined_xy = [[x, y] for x, y in zip(x_all, y_all)] + curr_path = Path(ObjectFrameEnum.START,combined_xy) + path = compute_headings(curr_path) + path_normalized = path.arc_length_parameterize() + points = [p for p in path_normalized.points] + return Trajectory(points=points, times=t_vals, frame=ObjectFrameEnum.START) + + +def plan_full_slalom_trajectory(vehicle_state, cones, prev_conesID=None): + x_all, y_all, v_all = [], [], [] + current_pos = np.array(vehicle_state['position']) + current_heading = vehicle_state['heading'] + processed_coneIDs = [] + count = 0 + for cone_idx, cone in enumerate(cones): + if count == 1: + break + if (prev_conesID is not None) and (cone_idx in prev_conesID) : + continue + scenario, flex_wps, fixed_wp, target_heading = waypoint_generate(vehicle_state, cones, cone_idx) + print(f"Scenario: {scenario}, Cone: {cone}, Flex WP: {flex_wps}, Fixed WP: {fixed_wp}") + if not flex_wps or fixed_wp is None: + continue + # flex_wp = flex_wps[0] + current_heading = (current_heading + np.pi) % (2 * np.pi) - np.pi + + init_state = { + 'x': current_pos[0], 'y': current_pos[1], 'psi': current_heading, + 'c': 0.0, 'v': vehicle_state['velocity'] + } + final_state = { + 'x': fixed_wp[0], 'y': fixed_wp[1], 'psi': target_heading, 'c': 0.0 + } + + x, y, psi, c, v, eps, _ = trajectory_generation(init_state, final_state, waypoints=flex_wps) + x_all.extend(x) + y_all.extend(y) + v_all.extend(v) + + current_pos = np.array([x[-1], y[-1]]) + current_heading = psi[-1] + current_steering = c[-1] + + vehicle_state = { + 'position': current_pos, + 'heading': current_heading, + 'velocity': v[-1] + } + current_pos = np.array([x[-1], y[-1]]) + processed_coneIDs.append(cone_idx) + count += 1 + + # # Plot overall trajectory + # plt.figure() + # plt.plot(x_all, y_all, label='Overall Trajectory') + + # # Plot cones + # for i, cone in enumerate(cones): + # plt.scatter(cone['x'], cone['y'], color='orange', s=10, label='Cone' if i == 0 else "") + # plt.text(cone['x'], cone['y'] + 0.5, f'C{i+1}', ha='center', fontsize=9, color='darkorange') + + # plt.title('4-Cone Full Course Trajectory') + # plt.xlabel('X') + # plt.ylabel('Y') + # plt.legend() + # plt.axis('equal') + # plt.grid(True) + # plt.show() + + combined_xy = [[x, y] for x, y in zip(x_all, y_all)] + # print(combined_xy) + path = Path(ObjectFrameEnum.START,combined_xy) + path = compute_headings(path) + path = path.arc_length_parameterize() + # print(path) + return path.racing_velocity_profile(), processed_coneIDs + # return to_gemstack_trajectory(x_all, y_all, v_all) + + +def no_cone_planning(vehicle_dict): + temp_points = [] + vehicle_x, vehicle_y = vehicle_dict['position'][0], vehicle_dict['position'][1] + vehicle_heading = vehicle_dict['heading'] + vehicle_velocity = vehicle_dict['velocity'] + step_size = 0.5 * (max(1,vehicle_velocity)) + for i in range(10): + temp_points.append([vehicle_x + i * step_size * np.cos(vehicle_heading), + vehicle_y + i * step_size * np.sin(vehicle_heading)]) + + path = Path(ObjectFrameEnum.START,temp_points) + # print(temp_points) + path = compute_headings(path) + path = path.arc_length_parameterize() + # print(path) + return path.racing_velocity_profile() + +# def got_new_cone(current_cones, prev_cones): +# if current_cones is None: +# return False +# if prev_cones is None: +# return True +# prev_ids = {cone['id'] for cone in prev_cones} + +# for cone in current_cones: +# if cone['id'] not in prev_ids: +# return True # Found a new cone not in previous list + +# return False +################################################ +# Main Racing Trajectory Planner Class +################################################ +class SlalomTrajectoryPlanner(Component): + def __init__(self, **kwargs): + # You can accept args here if needed + self.trajectory = None + self.prev_coneIDs = [] + self.time = None + # ---------------------------- + # Predifined-Cones Simulation + # self.run_fake_plan = True + # self.onboard = False + + # # Onboard + self.run_fake_plan = False + self.onboard = True + # ---------------------------- + + self.DEBUG_MODE = True + + def state_inputs(self): + return ['agents', 'vehicle'] # Receive VehicleState & AgentState input + + def state_outputs(self): + return ['trajectory'] # Return trajectory output + + def rate(self): # Setup the update rate + return 1.0 + + def update(self, agents: Dict[str, AgentState], vehicle: VehicleState): + # Running on real vehicle + if self.onboard: + # Get all current detected cones + cones = [] + n = 0 + now = time.time() + + # Replan every 3 seconds + if self.time is None or now - self.time > 5: + self.time = now + + for id, agent in agents.items(): + if agent.type == AgentEnum.CONE: + # ===== RUNNING ONBOARD ===== + # cones.append({ + # 'id': id, + # 'x': agent.pose.x, + # 'y': agent.pose.y, + # 'orientation': agent.activity + # }) + # ===== TESTING ONBOARD in BASIC SIM ===== + if n % 2 == 0: + curr_activity = 'LEFT' + elif n % 2 == 1: + curr_activity = 'RIGHT' + else: + curr_activity = 'STANDING' + cones.append({ + 'id': id, + 'x': agent.pose.x, + 'y': agent.pose.y, + 'orientation': curr_activity + }) + n = n + 1 + + vehicle_dict = { + 'position': [vehicle.pose.x, vehicle.pose.y], + 'heading': vehicle.pose.yaw, + 'velocity': vehicle.v + } + if self.DEBUG_MODE: + print("===================== STATES =====================") + print(f"Vehicle State: {vehicle_dict}") + print(f"Detected Cones: {cones}") + print("===================== ====== =====================") + # If no cones detected, drive forward + if len(cones) == 0: + self.trajectory = no_cone_planning(vehicle_dict) + # Otherwise, plan trajectory + else: + self.trajectory, processed_ids = plan_full_slalom_trajectory(vehicle_dict, cones, self.prev_coneIDs) + self.prev_coneIDs = self.prev_coneIDs + processed_ids + + # Testing with predefined fake generated cone positions + elif self.run_fake_plan: + # Example Test - Slalom + cones = [ + {'x': 10, 'y': 0.0, 'orientation': 'LEFT'}, + {'x': 30, 'y': 1.0, 'orientation': 'RIGHT'}, + {'x': 50, 'y': 0.0, 'orientation': 'LEFT'}, + {'x': 70, 'y': 1.0, 'orientation': 'STANDING'}, + {'x': 50, 'y': 0.0, 'orientation': 'RIGHT'}, + {'x': 30, 'y': 1.0, 'orientation': 'LEFT'}, + {'x': 10, 'y': 0.0, 'orientation': 'RIGHT'} + ] + vehicle_dict = { + 'position': [vehicle.pose.x, vehicle.pose.y], + 'heading': vehicle.pose.yaw, + 'velocity': vehicle.v + } + + # Example Test - Racing Circle + # cones = [ + # {'x': -60.083, 'y': -33.118, 'orientation': '90turn'}, + # {'x': -6.392, 'y': -5.147, 'orientation': '90turn'}, + # {'x': -5.625, 'y': -13.637, 'orientation': '90turn'}, + # {'x': -56.258, 'y': -41.080, 'orientation': '90turn'} + # ] + # vehicle_dict = { + # 'position': [-60.0, -39.0], + # 'heading': np.pi * 2 / 3, + # 'velocity': 0.0 + # } + + # Example Test - Racing Circle + # cones = [ + # {'x': 0.0, 'y': 70.0, 'orientation': '90turn'}, + # {'x': 30.0, 'y': 70.0, 'orientation': '90turn'}, + # {'x': 30.0, 'y': 0.0, 'orientation': '90turn'}, + # {'x': 0.0, 'y': 0.0, 'orientation': '90turn'} + # ] + # vehicle_dict = { + # 'position': [0.0, 20.0], + # 'heading': 0.0, + # 'velocity': 0.0 + # } + + self.trajectory = plan_full_slalom_trajectory(vehicle_dict, cones) + self.run_fake_plan = False + + # Update output + return self.trajectory + + + + + + + + + +######################################################################################################################## +######################################################################################################################## + +# ------------ Test Code START -------------- + +# ======= Overall test cases to generate full trajectories with known cone positions ======= +def test_4_cone_slalom(): + vehicle_state = { + 'position': [0.0, 0.0], + 'heading': 0.0, + 'velocity': 5.0 + } + + cones = [ + {'x': 10, 'y': 0.0, 'orientation': 'left'}, + {'x': 30, 'y': 1.0, 'orientation': 'right'}, + {'x': 50, 'y': 0.0, 'orientation': 'left'}, + {'x': 70, 'y': 1.0, 'orientation': 'standing'} + ] + + flex_wps, fixed_wps = waypoint_search_optimization(vehicle_state, cones, search_attempts=1) + + current_pos = np.array(vehicle_state['position']) + + x_all, y_all = [], [] + + for idx, (flex_wp, fixed_wp) in enumerate(zip(flex_wps, fixed_wps)): + init_state = { + 'x': current_pos[0], 'y': current_pos[1], 'psi': vehicle_state['heading'], + 'c': 0.0, 'v': vehicle_state['velocity'] + } + final_state = { + 'x': fixed_wp[0], 'y': fixed_wp[1], 'psi': vehicle_state['heading'], 'c': 0.0 + } + x, y, psi, c, v, eps, final_error = trajectory_generation(init_state, final_state, waypoint=flex_wp) + + print(f"\nSegment {idx + 1}:") + print(f" Waypoint: {flex_wp}") + print(f" Final Errors:") + for k, e in final_error.items(): + print(f" {k}: {e:.4f}") + + x_all += list(x) + y_all += list(y) + + plot_trajectory(x, y, v, c, eps, waypoint=flex_wp) + + current_pos = np.array(fixed_wp) + + # Plot overall trajectory + plt.figure() + plt.plot(x_all, y_all, label='Overall Trajectory') + + # Plot cones + for i, cone in enumerate(cones): + plt.scatter(cone['x'], cone['y'], color='orange', s=80, label='Cone' if i == 0 else "") + plt.text(cone['x'], cone['y'] + 0.5, f'C{i+1}', ha='center', fontsize=9, color='darkorange') + + plt.title('4-Cone Full Course Trajectory') + plt.xlabel('X') + plt.ylabel('Y') + plt.legend() + plt.axis('equal') + plt.grid(True) + plt.show() + +######################## +if __name__ == "__main__": + def plot_trajectory(x, y, v, c, eps, waypoint=None): + plt.figure(figsize=(12, 10)) + + # Trajectory plot + plt.subplot(4, 1, 1) + plt.plot(x, y, label="Trajectory") + plt.scatter([x[0], x[-1]], [y[0], y[-1]], color='red', label="Start/End") + + if waypoint is not None: + plt.scatter(*waypoint, color='purple', s=60, marker='X', label="Waypoint") + plt.annotate("Waypoint", (waypoint[0], waypoint[1]), textcoords="offset points", xytext=(5,5), color='purple') + + plt.axis('equal') + plt.ylabel("y (m)") + plt.title("Trajectory") + plt.grid(True) + plt.legend() + + # Speed plot + plt.subplot(4, 1, 2) + plt.plot(v, label="Speed (v)", color="blue") + plt.ylabel("Speed (m/s)") + plt.grid(True) + plt.legend() + + # Curvature plot + plt.subplot(4, 1, 3) + plt.plot(c, label="Curvature (c)", color="orange") + plt.ylabel("Curvature (1/m)") + plt.grid(True) + plt.legend() + + # Curvature rate plot + plt.subplot(4, 1, 4) + plt.plot(eps, label="Curvature Rate (ε)", color="green") + plt.xlabel("Step") + plt.ylabel("ε (1/m²)") + plt.grid(True) + plt.legend() + + plt.tight_layout() + plt.show() + + # --- Test Case 1: pass a cone in slalom --- + def trajectory_generation_test1(): + # Init and final + init_state = {'x': 0.0, 'y': 0.0, 'psi': 0.0, 'c': 0.0, 'v': 5.0} + final_state = {'x': 15.0, 'y': 0.0, 'psi': np.pi / 20000000, 'c': np.pi / 20000000} + waypoint = (8.0, 6.0) + + # Solve + x, y, psi, c, v, eps, final_error = trajectory_generation( + init_state, final_state, waypoint=waypoint + ) + plot_trajectory(x, y, v, c, eps, waypoint) + + # Error + print("\nFinal State Errors:") + for k, e in final_error.items(): + print(f"{k}: {e:.6f}") + + # --- Test case 2: 90 degree turn --- + def trajectory_generation_test2(): + # Init and final + init_state = {'x': 0.0, 'y': 0.0, 'psi': 0.0, 'c': 0.0, 'v': 5.0} + final_state = {'x': 15.0, 'y': 15.0, 'psi': np.pi / 2, 'c': np.pi / 2} + waypoint = (13.0, 3.0) + + # Solve + x, y, psi, c, v, eps, final_error = trajectory_generation( + init_state, final_state, waypoint=waypoint + ) + plot_trajectory(x, y, v, c, eps, waypoint) + + # Error + print("\nFinal State Errors:") + for k, e in final_error.items(): + print(f"{k}: {e:.6f}") + + ############# + ######################### + # --- Test Case --- + def test_feasibility_check(): + N = 50 + y_traj = np.linspace(0, 10, N) + psi_traj = np.linspace(0, 0.1, N) + c_traj = np.linspace(0, 0.2, N) + trajectory = list(zip(y_traj, psi_traj, c_traj)) + + # Cone map near the path + cone_map = [(5.0, 1.0), (10.0, 1.5), (15.0, 2.0), (25.0, 4.0), (25.0, 10.0), (16.0, 9.0), (40.0, 5.0)] + + # Run check + feasible, collisions, x_vals, y_vals = feasibility_check(trajectory, cone_map) + + # Plot + plt.figure(figsize=(10, 6)) + plt.plot(x_vals, y_vals, label="Trajectory", linewidth=2) + for i, (cx, cy) in enumerate(cone_map): + color = 'red' if i in collisions else 'green' + plt.scatter(cx, cy, color=color, s=100, label=f'Cone {i}' if i == 0 else "") + plt.xlabel("x (m)") + plt.ylabel("y (m)") + plt.title("Trajectory and Cone Map") + plt.legend() + plt.axis("equal") + plt.grid(True) + plt.show() + + print("Feasible:", feasible) + print("Collisions with cones:", collisions) + + +# TODO 1: Compute target heading in waypoint_generation for different settings (slalom or course run) +# TODO 2: Implement replanning +def test_fixed_course(): + # steering angle c is relative to car heading!! + vehicle_state = { + 'position': [-60.0, -39.0], + 'heading': np.pi * 2 / 3, + 'velocity': 0.0 + } + + cones = [ + {'x': -60.083, 'y': -33.118, 'orientation': '90turn'}, + {'x': -6.392, 'y': -5.147, 'orientation': '90turn'}, + {'x': -5.625, 'y': -13.637, 'orientation': '90turn'}, + {'x': -56.258, 'y': -41.080, 'orientation': '90turn'} + ] + + current_pos = np.array(vehicle_state['position']) + current_heading = vehicle_state['heading'] + current_steering = 0.0 + + x_all, y_all = [], [] + + for cone_idx, cone in enumerate(cones): + print("current cone: ", cone) + scenario, flex_wps, fixed_wp = waypoint_generate(vehicle_state, [cone]) + if not flex_wps or fixed_wp is None: + continue + + # Setting target_heading in final_state + if cone_idx > 0: + prev_cone_position = np.array((cones[cone_idx - 1]['x'], cones[cone_idx - 1]['y'])) + current_cone_position = np.array((cones[cone_idx]['x'], cones[cone_idx]['y'])) + target_heading = np.arctan2(current_cone_position[1] - prev_cone_position[1], + current_cone_position[0] - prev_cone_position[0]) - np.pi / 2 + np.pi / 18 + + else: # no previous cone + target_heading = current_heading - np.pi / 2 + np.pi / 18 + + # mod to -pi to pi range + target_heading = (target_heading + np.pi) % (2 * np.pi) - np.pi + current_heading = (current_heading + np.pi) % (2 * np.pi) - np.pi + + if abs(target_heading - current_heading) > np.pi: + if target_heading < current_heading: + target_heading += 2 * np.pi + else: + target_heading -= 2 * np.pi + + init_state = { + 'x': current_pos[0], 'y': current_pos[1], 'psi': current_heading, + 'c': current_steering, 'v': vehicle_state['velocity'] + } + + final_state = { + 'x': fixed_wp[0], 'y': fixed_wp[1], 'psi': target_heading, 'c': 0.0 + } + + estimated_N = int(((current_pos[0]-fixed_wp[0]) ** 2 + (current_pos[1]-fixed_wp[1]) ** 2) ** 0.5 / 0.7) + + x, y, psi, c, v, eps, _ = trajectory_generation(init_state, final_state, waypoints=flex_wps, N=estimated_N) + x_all.extend(x) + y_all.extend(y) + + plot_trajectory(x, y, v, c, eps) + + current_pos = np.array([x[-1], y[-1]]) + current_heading = psi[-1] + current_steering = c[-1] + + vehicle_state = { + 'position': current_pos, + 'heading': current_heading, + 'velocity': v[-1] + } + + # Plot overall trajectory + plt.figure() + plt.plot(x_all, y_all, label='Overall Trajectory') + + # Plot cones + for i, cone in enumerate(cones): + plt.scatter(cone['x'], cone['y'], color='orange', s=10, label='Cone' if i == 0 else "") + plt.text(cone['x'], cone['y'] + 0.5, f'C{i+1}', ha='center', fontsize=9, color='darkorange') + + plt.title('4-Cone Full Course Trajectory') + plt.xlabel('X') + plt.ylabel('Y') + plt.legend() + plt.axis('equal') + plt.grid(True) + plt.show() + +if __name__ == "__main__": + # -------------------------- + # Plotting Function + # -------------------------- + def plot_results(vehicle_state, cones, wpt_flexes=None, wpt_fixed=None, scenario_label=""): + plt.figure(figsize=(10, 5)) + ax = plt.gca() + ax.set_aspect('equal') + + all_x = [cone['x'] for cone in cones] + [vehicle_state['position'][0]] + all_y = [cone['y'] for cone in cones] + [vehicle_state['position'][1]] + + if wpt_flexes is not None: + all_x += [pt[0] for pt in wpt_flexes] + all_y += [pt[1] for pt in wpt_flexes] + + if wpt_fixed is not None: + all_x.append(wpt_fixed[0]) + all_y.append(wpt_fixed[1]) + + # Compute axis limits with padding + padding = 2 + x_min, x_max = min(all_x) - padding, max(all_x) + padding + y_min, y_max = min(all_y) - padding, max(all_y) + padding + plt.xlim(x_min, x_max) + plt.ylim(y_min, y_max) + + # Plot cones + for cone in cones: + plt.scatter(cone['x'], cone['y'], c='orange', label='Cone' if cone == cones[0] else "") + plt.text(cone['x'], cone['y'] + 0.5, cone['orientation'][0].upper(), fontsize=10, ha='center') + + # Plot vehicle + vx, vy = vehicle_state['position'] + plt.plot(vx, vy, 'bo', label='Vehicle Start') + plt.arrow(vx, vy, np.cos(vehicle_state['heading']) * 2, np.sin(vehicle_state['heading']) * 2, + head_width=0.25, color='blue') + + # Plot flexible waypoint + if wpt_flexes is not None: + for wpt_flex in wpt_flexes: + plt.plot(wpt_flex[0], wpt_flex[1], 'go', label='Flexible Waypoint') + plt.text(wpt_flex[0], wpt_flex[1] + 0.5, 'Flex', fontsize=9, color='green') + + # Plot fixed waypoint + if wpt_fixed is not None: + plt.plot(wpt_fixed[0], wpt_fixed[1], 'ro', label='Fixed Waypoint') + plt.text(wpt_fixed[0], wpt_fixed[1] + 0.5, 'Fixed', fontsize=9, color='red') + + plt.title(scenario_label) + plt.xlabel("X") + plt.ylabel("Y") + plt.grid(True) + plt.legend() + plt.show() + return + + # -------------------------- + # Vehicle State Test Update + # -------------------------- + def drive(vehicle_state): + # Update vehicle state + vehicle_state['position'][0] += vehicle_state['velocity'] * np.cos(vehicle_state['heading']) + vehicle_state['position'][1] += vehicle_state['velocity'] * np.sin(vehicle_state['heading']) + return vehicle_state + # -------------------------- + # Step 1: Generate Fake Cones + # -------------------------- + def generate_test_cones(case='slalom'): + if case == 'slalom': + cones = [] + for i in range(3): + x = (i+1) * 10 + y = 0 if i % 2 == 0 else 1 + orientation = 'left' if i % 2 == 0 else 'right' + cones.append({'x': x, 'y': y, 'orientation': orientation}) + return cones + + elif case == 'u_turn': + return [{'x': 10, 'y': 0, 'orientation': 'standing'}] + + # -------------------------- + # Step 2: Define Fake Vehicle + # -------------------------- + def get_test_vehicle_state(vehicle_state=None): + if vehicle_state is not None: + return vehicle_state + return { + 'position': [0, 0], + 'heading': 0.0 * 180/np.pi, # Facing right + 'velocity': 10.0 + } + + # -------------------------- + # Step 3: Run Scenario + Waypoints + # -------------------------- + def test_waypoint_generation(case='slalom', test_loop=1): + vehicle_state = get_test_vehicle_state() + cones = generate_test_cones(case) + + for i in range(test_loop): + scenario = scenario_check(vehicle_state, cones) + scenario_label = f"Scenario: {scenario}" + scenario, wpt_flexes, wpt_fixed = waypoint_generate(vehicle_state, cones) + plot_results(vehicle_state, cones, wpt_flexes, wpt_fixed, scenario_label) + vehicle_state = drive(vehicle_state) + if case == 'slalom': + cones.pop(0) + + # -------------------------- + # Main for waypoint + # -------------------------- + # test_waypoint_generation(case='slalom', test_loop=2) + # test_waypoint_generation(case='u_turn') + + + # -------------------------- + ### Combine Test + # -------------------------- + def test_planning(case='slalom', test_loop=2): + vehicle_state = get_test_vehicle_state() + cones = generate_test_cones(case) + + for i in range(test_loop): + # Way Points + scenario = scenario_check(vehicle_state, cones) + scenario_label = f"Scenario: {scenario}" + scenario, wpt_flexes, wpt_fixed = waypoint_generate(vehicle_state, cones) + plot_results(vehicle_state, cones, wpt_flexes, wpt_fixed, scenario_label) + # Trajectory + init_state = {'y': wpt_flexes[0][1], 'psi': 0.0, 'c': 0.0} + final_state = {'y': wpt_fixed[1], 'psi': 0.0, 'c': 0.0} + + y_traj, psi_traj, c_traj, eps_traj = trajectory_generation(init_state, final_state) + # plot_trajectory(y_traj, psi_traj, c_traj, label="Generated trajectory") + # plot_dynamics(psi_traj, c_traj, eps_traj) + + # Iterate + vehicle_state = drive(vehicle_state) + if case == 'slalom': + cones.pop(0) + # test_planning(case='slalom', test_loop=2) +# ------------ Test Code END -------------- \ No newline at end of file diff --git a/GEMstack/onboard/planning/racing_planning_trajectory.py b/GEMstack/onboard/planning/racing_planning_trajectory.py new file mode 100644 index 000000000..1886e41f7 --- /dev/null +++ b/GEMstack/onboard/planning/racing_planning_trajectory.py @@ -0,0 +1,196 @@ +import numpy as np +import matplotlib.pyplot as plt +from scipy.optimize import minimize + +def trajectory_generation(init_state, final_state, w_c=1.0, w_eps=1.0): + N = 50 + T = 0.1 + v = 10.0 + Lr = 1.5 + small_constant = 1e-3 + + def optimize_with_weights(dynamic_weights_c=None, dynamic_weights_eps=None): + y = np.linspace(init_state['y'], final_state['y'], N) + psi = np.linspace(init_state['psi'], final_state['psi'], N) + c = np.linspace(init_state['c'], final_state['c'], N) + eps = np.zeros(N - 1) + + def cost(x): + y_, psi_, c_, eps_ = np.split(x, [N-1, 2*(N-1), 3*(N-1)]) + c_seq = np.concatenate(([init_state['c']], c_)) + cost_c = np.sum((dynamic_weights_c if dynamic_weights_c is not None else w_c) * c_seq**2) + cost_eps = np.sum((dynamic_weights_eps if dynamic_weights_eps is not None else w_eps) * eps_**2) + return cost_c + cost_eps + + def dynamics_constraints(x): + y_, psi_, c_, eps_ = np.split(x, [N-1, 2*(N-1), 3*(N-1)]) + constraints = [] + y_prev, psi_prev, c_prev = init_state['y'], init_state['psi'], init_state['c'] + for k in range(N-1): + dy = v * np.sin(psi_prev + c_prev * Lr) * T + dpsi = v * c_prev * T + dc = eps_[k] * T + constraints.append(y_[k] - (y_prev + dy)) + constraints.append(psi_[k] - (psi_prev + dpsi)) + constraints.append(c_[k] - (c_prev + dc)) + y_prev, psi_prev, c_prev = y_[k], psi_[k], c_[k] + constraints.append(y_[-1] - final_state['y']) + constraints.append(psi_[-1] - final_state['psi']) + constraints.append(c_[-1] - final_state['c']) + return constraints + + x0 = np.concatenate([y[1:], psi[1:], c[1:], eps]) + result = minimize(cost, x0, constraints={'type': 'eq', 'fun': dynamics_constraints}, options={'maxiter': 1000}) + + if result.success: + y_, psi_, c_, eps_ = np.split(result.x, [N-1, 2*(N-1), 3*(N-1)]) + y_full = np.concatenate(([init_state['y']], y_)) + psi_full = np.concatenate(([init_state['psi']], psi_)) + c_full = np.concatenate(([init_state['c']], c_)) + return y_full, psi_full, c_full, eps_ + else: + raise RuntimeError("Optimization failed") + + # First pass + y1, psi1, c1, eps1 = optimize_with_weights() + + # Shape weights based on result + dynamic_weights_c = np.abs(c1) + small_constant + dynamic_weights_eps = np.abs(eps1) + small_constant + + # Second pass with weighted cost + y2, psi2, c2, eps2 = optimize_with_weights(dynamic_weights_c, dynamic_weights_eps) + return y2, psi2, c2, eps2 + +def plot_trajectory(y_traj, psi_traj, c_traj, label): + N = len(y_traj) + T = 0.1 + v = 5.0 + x_traj = np.zeros(N) + for i in range(1, N): + dx = v * np.cos(psi_traj[i-1] + c_traj[i-1] * 1.5) * T + x_traj[i] = x_traj[i-1] + dx + + plt.figure(figsize=(8, 5)) + plt.plot(x_traj, y_traj, label=label) + plt.scatter([x_traj[0], x_traj[-1]], [y_traj[0], y_traj[-1]], color='red', zorder=5) + plt.annotate("init", (x_traj[0], y_traj[0]), textcoords="offset points", xytext=(-10,10), ha='center') + plt.annotate("final", (x_traj[-1], y_traj[-1]), textcoords="offset points", xytext=(10,10), ha='center') + plt.xlabel('x (m)') + plt.ylabel('y (m)') + plt.title('Trajectory from Initial to Final State') + plt.legend() + plt.axis('equal') + plt.grid(True) + plt.show() + +def plot_dynamics(psi_traj, c_traj, eps_traj): + time_steps = np.arange(len(psi_traj)) + eps_time = np.arange(len(eps_traj)) + + plt.figure(figsize=(12, 8)) + + plt.subplot(3, 1, 1) + plt.plot(time_steps, psi_traj, label="Heading (ψ)") + plt.ylabel("ψ (rad)") + plt.grid(True) + plt.legend() + + plt.subplot(3, 1, 2) + plt.plot(time_steps, c_traj, label="Curvature (c)", color='orange') + plt.ylabel("Curvature (1/m)") + plt.grid(True) + plt.legend() + + plt.subplot(3, 1, 3) + plt.plot(eps_time, eps_traj, label="Curvature Rate (ε)", color='green') + plt.xlabel("Time Step") + plt.ylabel("ε (1/m²)") + plt.grid(True) + plt.legend() + + plt.tight_layout() + plt.show() + +# --- Test Case --- +def test_trajectory_generation(): + init_state = {'y': 0.0, 'psi': 0.0, 'c': 0.0} + final_state = {'y': 10.0, 'psi': 0.0, 'c': 0.0} + + y_traj, psi_traj, c_traj, eps_traj = trajectory_generation(init_state, final_state) + plot_trajectory(y_traj, psi_traj, c_traj, label="Generated trajectory") + plot_dynamics(psi_traj, c_traj, eps_traj) + + + + +def feasibility_check(trajectory, cone_map, car_width=2.0, safety_margin=0.3, v=10.0, Lr=1.5, T=0.1): + """ + Check if the car trajectory collides with any cones. + + Parameters: + - trajectory: list of (y, psi, c) states + - cone_map: list of (x, y) cone positions + - car_width: width of the vehicle in meters + - safety_margin: buffer around the vehicle + - v: vehicle constant speed (used for x position estimation) + - Lr: distance to rear axle + - T: time step + + Returns: + - feasible: True if no collisions + - collisions: list of indices of cones that were collided with (for plotting purpose) + - x_vals, y_vals: trajectory positions for plotting (for plotting purpose) + """ + y_vals, psi_vals, c_vals = zip(*trajectory) + x_vals = [0.0] + for i in range(1, len(trajectory)): + dx = v * np.cos(psi_vals[i-1] + c_vals[i-1] * Lr) * T + x_vals.append(x_vals[-1] + dx) + + collision_radius = (car_width / 2.0) + safety_margin + collisions = [] + + for j, (cone_x, cone_y) in enumerate(cone_map): + for x, y in zip(x_vals, y_vals): + if np.hypot(x - cone_x, y - cone_y) < collision_radius: + collisions.append(j) + break + + feasible = len(collisions) == 0 + return feasible, collisions, x_vals, y_vals + +# --- Test Case --- +def test_feasibility_check(): + N = 50 + y_traj = np.linspace(0, 10, N) + psi_traj = np.linspace(0, 0.1, N) + c_traj = np.linspace(0, 0.2, N) + trajectory = list(zip(y_traj, psi_traj, c_traj)) + + # Cone map near the path + cone_map = [(5.0, 1.0), (10.0, 1.5), (15.0, 2.0), (25.0, 4.0), (25.0, 10.0), (16.0, 9.0), (40.0, 5.0)] + + # Run check + feasible, collisions, x_vals, y_vals = feasibility_check(trajectory, cone_map) + + # Plot + plt.figure(figsize=(10, 6)) + plt.plot(x_vals, y_vals, label="Trajectory", linewidth=2) + for i, (cx, cy) in enumerate(cone_map): + color = 'red' if i in collisions else 'green' + plt.scatter(cx, cy, color=color, s=100, label=f'Cone {i}' if i == 0 else "") + plt.xlabel("x (m)") + plt.ylabel("y (m)") + plt.title("Trajectory and Cone Map") + plt.legend() + plt.axis("equal") + plt.grid(True) + plt.show() + + print("Feasible:", feasible) + print("Collisions with cones:", collisions) + +if __name__ == "__main__": + test_trajectory_generation() + test_feasibility_check() \ No newline at end of file diff --git a/GEMstack/onboard/planning/racing_planning_waypoint.py b/GEMstack/onboard/planning/racing_planning_waypoint.py new file mode 100644 index 000000000..950911c71 --- /dev/null +++ b/GEMstack/onboard/planning/racing_planning_waypoint.py @@ -0,0 +1,256 @@ +# from typing import List, Tuple, Union +# from ..component import Component +# from ...state import AllState, VehicleState, EntityRelation, EntityRelationEnum, Path, Trajectory, Route, ObjectFrameEnum, AgentState +# from ...utils import serialization, settings +# from ...mathutils.transforms import vector_madd +# from ...mathutils.quadratic_equation import quad_root + +# ===== Additional Imports ===== +import numpy as np +import matplotlib.pyplot as plt +from scipy.optimize import minimize +# ============================== + +#TODO: Combine with current planner and GemStack +# def longitudinal_plan(path : Path, acceleration : float, deceleration : float, max_speed : float, current_speed : float, +# method : str) -> Trajectory: + +# return Trajectory(frame=path.frame, points=dense_points, times=times) + +def scenario_check(vehicle_state, cone_state): + """ + Check the cone state and determine the scenario. + Args: + vehicle_state: The state of the vehicle. + cone_state: The state of the cones. + Returns: + str: The scenario type. + - 'left_pass': cone pointed left, go left + - 'right_pass': cone pointed right, go right + - 'u_turn': cone standing up, make a U-turn + tuple: (cone_x, cone__y) + """ + # Get the closest cone info + cones_ahead = sorted(cone_state, key=lambda c: np.linalg.norm( + np.array([c['x'], c['y']]) - np.array(vehicle_state['position']))) + cone_direction = cones_ahead[0]['orientation'] + cone_position = (cones_ahead[0]['x'], cones_ahead[0]['y']) + + # Check the cone orientation + if cone_direction != 'left' and cone_direction != 'right' and cone_direction != 'standing': + raise ValueError("Unknown cone orientation") + + return cone_direction, cone_position + +def waypoint_generate(vehicle_state, cone_state): + """ + Generate waypoints based on the scenario. + Args: + vehicle_state: The state of the vehicle. + cone_state: The state of the cones. + Returns: + Tuple[str, Tuple[float, float], Tuple[float, float]]: + scenario: detected scenario type + flex_wp: flexible waypoint (used to maneuver) + fixed_wp: fixed waypoint (goal position) + """ + scenario, cone_position = scenario_check(vehicle_state, cone_state) + car_position = np.array(vehicle_state['position']) + car_heading = vehicle_state['heading'] # in radians + + # ===== Parameters ===== + u_turn_radius = 5.0 # Radius for U-turn + offset = 2.0 # Offset for left/right pass + lookahead_distance = 5.0 # Distance ahead for fixed point + # ====================== + + # Direction vector based on heading + heading_vector = np.array([np.cos(car_heading), np.sin(car_heading)]) + + # Vector perpendicular to heading (to determine left/right) + perpendicular_vector = np.array([-np.sin(car_heading), np.cos(car_heading)]) + + if scenario == 'standing': + # U-turn: Circle around the cone + cone = np.array(cone_position) + + # Flexible waypoint: halfway between car and a point offset from cone center + flex_wp1 = cone + u_turn_radius * perpendicular_vector + flex_wp2 = cone + heading_vector * lookahead_distance + flex_wps = [flex_wp1, flex_wp2] + + # Fixed waypoint: behind the cone after U-turn + # fixed_wp = cone - heading_vector * lookahead_distance + fixed_wp = cone - u_turn_radius * perpendicular_vector + + elif scenario == 'left': + cone = np.array(cone_position) + + # Flexible waypoint: go to the left of the cone + flex_wp1 = cone + offset * perpendicular_vector + flex_wps = [flex_wp1] + + # Fixed waypoint: forward after passing the cone + # fixed_wp = flex_wp + heading_vector * lookahead_distance - offset * perpendicular_vector * 2 + fixed_wp = flex_wp1 + heading_vector * lookahead_distance - offset * perpendicular_vector + + elif scenario == 'right': + cone = np.array(cone_position) + + # Flexible waypoint: go to the right of the cone + flex_wp1 = cone - offset * perpendicular_vector + flex_wps = [flex_wp1] + + # Fixed waypoint: forward after passing the cone + # fixed_wp = flex_wp + heading_vector * lookahead_distance + offset * perpendicular_vector * 2 + fixed_wp = flex_wp1 + heading_vector * lookahead_distance + offset * perpendicular_vector + + else: + flex_wps = None + fixed_wp = None + + return scenario, flex_wps, fixed_wp + +def velocity_profiling(path, acceleration, deceleration, max_speed, current_speed, lateral_acc_limit): + """ + Returns a trajectory with velocity profile that respects: + 1. max longitudinal acceleration + 2. max deceleration + 3. max lateral acceleration from curvature + 4. max speed + """ + # Curvature-based speed limit + curvature_safe_speeds = [] + for p in path.curvature: + if abs(p) < 1e-3: + curvature_safe_speeds.append(max_speed) + else: + max_v = np.sqrt(lateral_acc_limit / abs(p)) + curvature_safe_speeds.append(min(max_v, max_speed)) + + # Create a custom profile-aware speed function + def dynamic_max_speed_at(index): + return curvature_safe_speeds[min(index, len(curvature_safe_speeds) - 1)] + + # You can inject dynamic speed limit into your plan + return + + +# ------------ Test Code -------------- +if __name__ == "__main__": + import matplotlib.pyplot as plt + import numpy as np + + # -------------------------- + # Plotting Function + # -------------------------- + def plot_results(vehicle_state, cones, wpt_flexes=None, wpt_fixed=None, scenario_label=""): + plt.figure(figsize=(10, 5)) + ax = plt.gca() + ax.set_aspect('equal') + + all_x = [cone['x'] for cone in cones] + [vehicle_state['position'][0]] + all_y = [cone['y'] for cone in cones] + [vehicle_state['position'][1]] + + if wpt_flexes is not None: + all_x += [pt[0] for pt in wpt_flexes] + all_y += [pt[1] for pt in wpt_flexes] + + if wpt_fixed is not None: + all_x.append(wpt_fixed[0]) + all_y.append(wpt_fixed[1]) + + # Compute axis limits with padding + padding = 2 + x_min, x_max = min(all_x) - padding, max(all_x) + padding + y_min, y_max = min(all_y) - padding, max(all_y) + padding + plt.xlim(x_min, x_max) + plt.ylim(y_min, y_max) + + # Plot cones + for cone in cones: + plt.scatter(cone['x'], cone['y'], c='orange', label='Cone' if cone == cones[0] else "") + plt.text(cone['x'], cone['y'] + 0.5, cone['orientation'][0].upper(), fontsize=10, ha='center') + + # Plot vehicle + vx, vy = vehicle_state['position'] + plt.plot(vx, vy, 'bo', label='Vehicle Start') + plt.arrow(vx, vy, np.cos(vehicle_state['heading']) * 2, np.sin(vehicle_state['heading']) * 2, + head_width=0.25, color='blue') + + # Plot flexible waypoint + if wpt_flexes is not None: + for wpt_flex in wpt_flexes: + plt.plot(wpt_flex[0], wpt_flex[1], 'go', label='Flexible Waypoint') + plt.text(wpt_flex[0], wpt_flex[1] + 0.5, 'Flex', fontsize=9, color='green') + + # Plot fixed waypoint + if wpt_fixed is not None: + plt.plot(wpt_fixed[0], wpt_fixed[1], 'ro', label='Fixed Waypoint') + plt.text(wpt_fixed[0], wpt_fixed[1] + 0.5, 'Fixed', fontsize=9, color='red') + + plt.title(scenario_label) + plt.xlabel("X") + plt.ylabel("Y") + plt.grid(True) + plt.legend() + plt.show() + return + + # -------------------------- + # Vehicle State Test Update + # -------------------------- + def drive(vehicle_state): + # Update vehicle state + vehicle_state['position'][0] += vehicle_state['velocity'] * np.cos(vehicle_state['heading']) + vehicle_state['position'][1] += vehicle_state['velocity'] * np.sin(vehicle_state['heading']) + return vehicle_state + # -------------------------- + # Step 1: Generate Fake Cones + # -------------------------- + def generate_test_cones(case='slalom'): + if case == 'slalom': + cones = [] + for i in range(3): + x = (i+1) * 10 + y = 0 if i % 2 == 0 else 1 + orientation = 'left' if i % 2 == 0 else 'right' + cones.append({'x': x, 'y': y, 'orientation': orientation}) + return cones + + elif case == 'u_turn': + return [{'x': 10, 'y': 0, 'orientation': 'standing'}] + + # -------------------------- + # Step 2: Define Fake Vehicle + # -------------------------- + def get_test_vehicle_state(vehicle_state=None): + if vehicle_state is not None: + return vehicle_state + return { + 'position': [0, 0], + 'heading': 0.0 * 180/np.pi, # Facing right + 'velocity': 10.0 + } + + # -------------------------- + # Step 3: Run Scenario + Waypoints + # -------------------------- + def test_waypoint_generation(case='slalom', test_loop=1): + vehicle_state = get_test_vehicle_state() + cones = generate_test_cones(case) + + for i in range(test_loop): + scenario = scenario_check(vehicle_state, cones) + scenario_label = f"Scenario: {scenario}" + scenario, wpt_flexes, wpt_fixed = waypoint_generate(vehicle_state, cones) + plot_results(vehicle_state, cones, wpt_flexes, wpt_fixed, scenario_label) + vehicle_state = drive(vehicle_state) + if case == 'slalom': + cones.pop(0) + + # -------------------------- + # Main for waypoint + # -------------------------- + test_waypoint_generation(case='slalom', test_loop=2) + test_waypoint_generation(case='u_turn') diff --git a/GEMstack/onboard/planning/stanley.py b/GEMstack/onboard/planning/stanley.py new file mode 100644 index 000000000..f00fdff5a --- /dev/null +++ b/GEMstack/onboard/planning/stanley.py @@ -0,0 +1,402 @@ +import numpy as np +import rospy +from math import sin, cos, atan2 + +# These imports match your existing project structure +from ...mathutils.control import PID +from ...utils import settings +from ...mathutils import transforms +from ...knowledge.vehicle.geometry import front2steer +from ...knowledge.vehicle.dynamics import acceleration_to_pedal_positions +from ...state.vehicle import VehicleState, ObjectFrameEnum +from ...state.trajectory import Path, Trajectory +from ..interface.gem import GEMVehicleCommand +from ..component import Component + +##################################### +# 1. Angle normalization +##################################### +def normalise_angle(angle): + """Wraps an angle to the [-pi, pi] range.""" + while angle > np.pi: + angle -= 2.0 * np.pi + while angle < -np.pi: + angle += 2.0 * np.pi + return angle + +##################################### +# 2. Stanley-based controller with longitudinal PID +##################################### +class Stanley(object): + """ + A Stanley controller that handles lateral control (steering) + plus a basic longitudinal control (PID + optional feedforward). + It has been modified to reduce oscillations by: + 1) Lower gains + 2) Steering damping + 3) Low-pass filter on steering + 4) Gentler speed logic when cornering + """ + + def __init__( + self, + control_gain=None, + softening_gain=None, + desired_speed=None + ): + """ + :param control_gain: Stanley lateral control gain k (lowered from the default to reduce overshoot). + :param softening_gain: Softening gain k_soft. + :param yaw_rate_gain: Yaw-rate gain k_yaw_rate (helps reduce oscillations). + :param steering_damp_gain: Steering damping gain k_damp_steer. + :param desired_speed: Desired speed (float) or 'path'/'trajectory'. + """ + + # 1) Lower Gains + self.k = control_gain if control_gain is not None else settings.get('control.stanley.control_gain') + self.k_soft = softening_gain if softening_gain is not None else settings.get('control.stanley.softening_gain') + + # Typically, this is the max front-wheel steering angle in radians + self.max_steer = settings.get('vehicle.geometry.max_wheel_angle') + self.wheelbase = settings.get('vehicle.geometry.wheelbase') + + # Basic longitudinal constraints + self.speed_limit = settings.get('vehicle.limits.max_speed') + self.max_accel = settings.get('vehicle.limits.max_acceleration') + self.max_decel = settings.get('vehicle.limits.max_deceleration') + + # PID for longitudinal speed tracking + p = settings.get('control.longitudinal_control.pid_p') + d = settings.get('control.longitudinal_control.pid_d') + i = settings.get('control.longitudinal_control.pid_i') + self.pid_speed = PID(p, d, i, windup_limit=20) + + self.stage_duration = settings.get('control.launch_control.stage_duration', 0.5) + self.launch_start_time = None + + # Speed source: numeric or derived from path/trajectory + if desired_speed is not None: + self.desired_speed_source = desired_speed + else: + self.desired_speed_source = settings.get('control.stanley.desired_speed', 'path') + + if isinstance(self.desired_speed_source, (int, float)): + self.desired_speed = self.desired_speed_source + else: + self.desired_speed = None + + # For path/trajectory + self.path_arg = None + self.path = None + self.trajectory = None + self.current_path_parameter = 0.0 + self.current_traj_parameter = 0.0 + self.t_last = None + + def set_path(self, path: Path): + """Sets the path or trajectory to track.""" + if path == self.path_arg: + return + self.path_arg = path + + # If the path has more than 2D, reduce to (x,y) + if len(path.points[0]) > 2: + path = path.get_dims([0,1]) + + # If no timing info, we can't rely on 'path'/'trajectory' speed + if not isinstance(path, Trajectory): + self.path = path.arc_length_parameterize() + self.trajectory = None + self.current_traj_parameter = 0.0 + if self.desired_speed_source in ['path', 'trajectory']: + raise ValueError("Stanley: Provided path has no timing. Either provide a Trajectory or set a constant desired_speed.") + else: + self.path = path.arc_length_parameterize() + self.trajectory = path + self.current_traj_parameter = self.trajectory.domain()[0] + + self.current_path_parameter = 0.0 + + def set_racing_path(self, path: Path): + if path == self.path_arg: + return + self.path_arg = path + if len(path.points[0]) > 2: + path = path.get_dims([0,1]) + if not isinstance(path, Trajectory): + self.path = path.arc_length_parameterize() + self.trajectory = path.racing_velocity_profile() + self.current_traj_parameter = 0.0 + if self.desired_speed_source not in ['racing']: + raise ValueError("Racing: desired speed must be set to racing, currently set to: " + str(self.desired_speed_source)) + else: + self.path = path.arc_length_parameterize() + self.trajectory = path + self.current_traj_parameter = self.trajectory.domain()[0] + self.current_path_parameter = 0.0 + + def _find_front_axle_position(self, x, y, yaw): + """Compute front-axle world position from the center/rear and yaw.""" + fx = x + self.wheelbase * cos(yaw) + fy = y + self.wheelbase * sin(yaw) + return fx, fy + + def compute(self, state: VehicleState, component: Component = None): + """Compute the control outputs: (longitudinal acceleration, front wheel angle).""" + t = state.pose.t + if self.t_last is None: + self.t_last = t + dt = t - self.t_last + + + + # Current vehicle states + curr_x = state.pose.x + curr_y = state.pose.y + curr_yaw = state.pose.yaw if state.pose.yaw is not None else 0.0 + speed = state.v + + if self.path is None: + if component: + component.debug_event("No path provided to Stanley controller. Doing nothing.") + return (0.0, 0.0) + + # Ensure same frame + if self.path.frame != state.pose.frame: + if component: + component.debug_event(f"Transforming path from {self.path.frame.name} to {state.pose.frame.name}") + self.path = self.path.to_frame(state.pose.frame, current_pose=state.pose) + + if self.trajectory and self.trajectory.frame != state.pose.frame: + if component: + component.debug_event(f"Transforming trajectory from {self.trajectory.frame.name} to {state.pose.frame.name}") + self.trajectory = self.trajectory.to_frame(state.pose.frame, current_pose=state.pose) + + # 1) Closest point + fx, fy = self._find_front_axle_position(curr_x, curr_y, curr_yaw) + search_start = self.current_path_parameter - 5.0 + search_end = self.current_path_parameter + 5.0 + closest_dist, closest_parameter = self.path.closest_point_local((fx, fy), [search_start, search_end]) + self.current_path_parameter = closest_parameter + + # 2) Path heading + target_x, target_y = self.path.eval(closest_parameter) + index, u = self.path.time_to_index(closest_parameter) + tangent = self.path.eval_tangent(closest_parameter) + path_yaw = atan2(tangent[1], tangent[0]) + desired_x = target_x + desired_y = target_y + # 3) Lateral error + dx = fx - target_x + dy = fy - target_y + left_vec = np.array([sin(curr_yaw), -cos(curr_yaw)]) + cross_track_error = np.sign(np.dot(np.array([dx, dy]), left_vec)) * closest_dist + + # 4) Heading error + yaw_error = normalise_angle(path_yaw - curr_yaw) + + # 5) Standard Stanley terms + cross_term = atan2(self.k * cross_track_error, self.k_soft + speed) + desired_steering_angle = yaw_error + cross_term + + desired_speed = self.desired_speed + feedforward_accel = 0.0 + print(self.desired_speed) + # print(self.trajectory) + if self.trajectory and self.desired_speed_source in ['path', 'trajectory', 'racing']: + if len(self.trajectory.points) < 2 or self.current_path_parameter >= self.path.domain()[1]: + # End of trajectory -> stop + if component: + component.debug_event("Stanley: Past the end of trajectory, stopping.") + desired_speed = 0.0 + feedforward_accel = -2.0 + else: + # Use racing velocity profile as target + if self.desired_speed_source == 'racing': + # desired_speed = self.trajectory.velocity_variable(closest_parameter) + desired_speed = self.trajectory.velocities[index] + desired_speed = min(desired_speed, self.speed_limit) + # print("close param speed: " + str(closest_parameter)) + # current_trajectory_time = self.trajectory.parameter_to_time(closest_parameter) + # print("time: " + str(current_trajectory_time)) + # print("des x: " + str(desired_x)) + # print("curr speed: " + str(speed)) + # print("des speed: " + str(desired_speed)) + + # difference_dt = 0.1 + # future_t = current_trajectory_time + difference_dt + # future_parameter = self.trajectory.time_to_parameter(future_t) + # next_desired_speed = self.trajectory.velocity_variable(future_parameter) + next_desired_speed = self.trajectory.velocities[index + 1] + next_desired_speed = min(next_desired_speed, self.speed_limit) + # print("next des speed: " + str(next_desired_speed)) + difference_dt = self.trajectory.times[index + 1] - self.trajectory.times[index] + feedforward_accel = (next_desired_speed - desired_speed) / difference_dt + feedforward_accel = np.clip(feedforward_accel, -self.max_decel, self.max_accel) + if speed < next_desired_speed and feedforward_accel < 0: + feedforward_accel = 0.0 + else: + if self.desired_speed_source == 'path': + current_trajectory_time = self.trajectory.parameter_to_time(self.current_path_parameter) + else: + self.current_traj_parameter += dt + current_trajectory_time = self.current_traj_parameter + print(current_trajectory_time) + + deriv = self.trajectory.eval_derivative(current_trajectory_time) + + # deriv 0 at time 0 + if np.isnan(deriv[0]): + desired_speed = 0.0 + else: + desired_speed = min(np.linalg.norm(deriv), self.speed_limit) + + difference_dt = 0.1 + future_t = current_trajectory_time + difference_dt + if future_t > self.trajectory.domain()[1]: + future_t = self.trajectory.domain()[1] + future_deriv = self.trajectory.eval_derivative(future_t) + next_desired_speed = min(np.linalg.norm(future_deriv), self.speed_limit) + feedforward_accel = (next_desired_speed - desired_speed) / difference_dt + feedforward_accel = np.clip(feedforward_accel, -self.max_decel, self.max_accel) + else: + if desired_speed is None: + desired_speed = 4.0 + + # Cross-track-based slowdown (less aggressive than before). More aggressive for racing + if self.desired_speed_source in ['racing']: + desired_speed *= np.exp(-abs(cross_track_error) * 1.5) + else: + desired_speed *= np.exp(-abs(cross_track_error) * 0.6) + + # Clip to speed limit + if desired_speed > self.speed_limit: + desired_speed = self.speed_limit + + # PID for longitudinal control + speed_error = desired_speed - speed + output_accel = self.pid_speed.advance(e=speed_error, t=t, feedforward_term=feedforward_accel) + + # Clip acceleration + if output_accel > self.max_accel: + output_accel = self.max_accel + elif output_accel < -self.max_decel: + output_accel = -self.max_decel + + # Avoid negative accel when fully stopped + if desired_speed == 0 and abs(speed) < 0.01 and output_accel < 0: + output_accel = 0.0 + + # Debug + if component is not None: + # component.debug("Stanley: fx, fy", (fx, fy)) + component.debug('curr pt',(curr_x,curr_y)) + component.debug("desired_x",desired_x) + component.debug("desired_y",desired_y) + component.debug("Stanley: path param", self.current_path_parameter) + component.debug("Stanley: crosstrack dist", closest_dist) + component.debug("crosstrack error", cross_track_error) + component.debug("Stanley: yaw_error", yaw_error) + component.debug('steering_angle', desired_steering_angle) + component.debug("Stanley: desired_speed (m/s)", desired_speed) + component.debug("Stanley: feedforward_accel (m/s^2)", feedforward_accel) + component.debug("Stanley: output_accel (m/s^2)", output_accel) + component.debug('Stanley: current yaw (rad)', curr_yaw) + component.debug('Stanley: current speed (m/s)', speed) + + + if output_accel > self.max_accel: + output_accel = self.max_accel + + if output_accel < -self.max_decel: + output_accel = -self.max_decel + + self.t_last = t + return (output_accel, desired_steering_angle) + +##################################### +# 3. Tracker component +##################################### +class StanleyTrajectoryTracker(Component): + """ + A trajectory-tracking Component that uses the above Stanley controller + for lateral control plus PID-based longitudinal control. + It now includes measures to mitigate oscillations. + """ + + def __init__(self, vehicle_interface=None, **kwargs): + """ + :param vehicle_interface: The low-level interface to send commands to the vehicle. + :param kwargs: Optional parameters to pass into the Stanley(...) constructor. + """ + self.stanley = Stanley(**kwargs) + self.vehicle_interface = vehicle_interface + self.desired_speed_source = settings.get('control.stanley.desired_speed', 'path') + self.stage_duration = settings.get('control.launch_control.stage_duration', 0.5) + self.enable_launch_control = settings.get('control.launch_control.enable', False) # and vehicle.v < 0.1 + + def rate(self): + """Control frequency in Hz.""" + return 50.0 + + def state_inputs(self): + """ + Required state inputs: + - Vehicle state + - Trajectory + """ + return ["vehicle", "trajectory"] + + def state_outputs(self): + """No direct output state here.""" + return [] + + def update(self, vehicle: VehicleState, trajectory: Trajectory): + """ + Per control cycle: + 1) Set the path/trajectory + 2) Compute (acceleration, front wheel angle) + 3) Convert front wheel angle to steering wheel angle (if necessary) + 4) Send command to the vehicle + """ + # path to trajectory if racing enabled + # if self.desired_speed_source in ['racing']: ## conditional needed for no racing + # self.stanley.set_racing_path(trajectory) + # else: + # self.stanley.set_path(trajectory) + self.stanley.set_path(trajectory) + accel, f_delta = self.stanley.compute(vehicle, self) + + # If your low-level interface expects steering wheel angle: + steering_angle = front2steer(f_delta) + steering_angle = np.clip( + steering_angle, + settings.get('vehicle.geometry.min_steering_angle', -0.5), + settings.get('vehicle.geometry.max_steering_angle', 0.5) + ) + + cmd = self.vehicle_interface.simple_command(accel, steering_angle, vehicle) + + if self.enable_launch_control: + print("launch control active") + if not hasattr(self,'_launch_start_time'): + self._launch_start_time = rospy.get_time() + elapsed = rospy.get_time() - self._launch_start_time + if elapsed < self.stage_duration: + cmd.accelerator_pedal_position = 0.0 + cmd.brake_pedal_position = 1.0 + elif elapsed < 2 * self.stage_duration: + cmd.accelerator_pedal_position = 1.0 + cmd.brake_pedal_position = 1.0 + elif elapsed < 3 * self.stage_duration: + cmd.accelerator_pedal_position = 1.0 + cmd.brake_pedal_position = 0.0 + else: + self.enable_launch_control = False + + + self.vehicle_interface.send_command(cmd) + + def healthy(self): + """Optional: check if the controller has a valid path.""" + return self.stanley.path is not None diff --git a/GEMstack/onboard/planning/velocity_profile.py b/GEMstack/onboard/planning/velocity_profile.py new file mode 100644 index 000000000..2b13242fe --- /dev/null +++ b/GEMstack/onboard/planning/velocity_profile.py @@ -0,0 +1,281 @@ +import numpy as np +import sys +import os +import matplotlib.pyplot as plt +from matplotlib.collections import LineCollection +from scipy.signal import savgol_filter + +# from ..stanley import normalise_angle +from ...knowledge.vehicle import dynamics +from ...utils import settings + +# from ..mathutils import transforms,collisions + + +def parse_route_csv(filename): + """ + Parses the pure pursuit tracker log file and extracts the following data: + - vehicle time (from column index 19) + - X position actual (from column index 2) + - Y position actual (from column index 5) + - X position desired (from column index 11) + - Y position desired (from column index 14) + """ + + data = np.genfromtxt(filename, delimiter=',', skip_header=1) + x_desired = data[:, 0] + y_desired = data[:, 1] + return x_desired, y_desired + +def moving_average(data, window_size=9): + """ + Simple moving average smoother for 1D array. + Pads edges by repeating border values. + """ + pad = window_size // 2 + padded = np.pad(data, (pad, pad), mode='edge') + smoothed = np.convolve(padded, np.ones(window_size) / window_size, mode='valid') + return smoothed + +def compute_curvature_by_distance(xs, ys, ds, spacing=2.0): + """ + Computes curvature using 3-point method with approximately equal distance on both sides. + spacing: desired distance (in meters) from center point to side points. + """ + xs = np.array(xs) + ys = np.array(ys) + N = len(xs) + kappa = np.zeros(N) + + # Compute cumulative distances + s = np.insert(np.cumsum(ds), 0, 0) + + for i in range(N): + # Find index j before i such that s[i] - s[j] ≈ spacing + j = i + while j > 0 and (s[i] - s[j]) < spacing: + j -= 1 + + # Find index k after i such that s[k] - s[i] ≈ spacing + k = i + while k < N - 1 and (s[k] - s[i]) < spacing: + k += 1 + + if j == i or k == i or j < 0 or k >= N: + kappa[i] = 0 + continue + + # Points: P1 (j), P2 (i), P3 (k) + x1, y1 = xs[j], ys[j] + x2, y2 = xs[i], ys[i] + x3, y3 = xs[k], ys[k] + + # Triangle side lengths + a = np.hypot(x2 - x1, y2 - y1) + b = np.hypot(x3 - x2, y3 - y2) + c = np.hypot(x1 - x3, y1 - y3) + s_tri = (a + b + c) / 2 + + # Heron’s formula for area + area = np.sqrt(max(s_tri * (s_tri - a) * (s_tri - b) * (s_tri - c), 0)) + denom = a * b * c + + if area > 1e-6 and denom > 1e-6: + radius = (a * b * c) / (4 * area) + kappa[i] = 1 / radius + else: + kappa[i] = 0 + + kappa[np.abs(kappa) < 1e-2] = 0 + + return kappa + +def lateral_speed_limit(kappa, ay_max, v_max): + v_lat = np.sqrt(np.maximum(ay_max / (np.abs(kappa) + 1e-8), 0)) + return np.minimum(v_lat, v_max) + +def limit_ax_for_friction_ellipse(v, kappa, ax_limit, ay_max): + # Compute a_y at current v + ay = v**2 * kappa + ay_ratio = ay / ay_max + # print(ay_ratio) + ay_ratio = np.clip(ay_ratio, -1.0, 1.0) + # Remaining fraction for ax + ax_ratio = np.sqrt(np.maximum(1.0 - ay_ratio**2, 0.0)) + return ax_limit * ax_ratio + +def apply_trail_braking(ds, v_lat, kappa, ax_max, ax_min, ay_max, max_iter=2, tol=1e-3): + N = len(ds) + v_profile = v_lat.copy() + v_profile[0] = 0.0 + forward_vs = v_lat.copy() + backward_vs = v_lat.copy() + + for index, iteration in enumerate(range(max_iter)): + v_old = v_profile.copy() + + # Forward (accelerating out of curves) + for i in range(1, N): + ax_limit = limit_ax_for_friction_ellipse(v_profile[i-1], kappa[i-1], ax_max, ay_max) + ax_limit = np.clip(ax_limit, ax_min, ax_max) + v_allowed = np.sqrt(v_profile[i-1]**2 + 2 * ax_limit * ds[i-1]) + v_profile[i] = min(v_profile[i], v_allowed) + forward_vs[i] = v_allowed + + + # Backward (trail braking into corners) + for i in range(N - 1, 0, -1): + ax_limit = limit_ax_for_friction_ellipse(v_profile[i], kappa[i], abs(ax_min), ay_max) + arg = v_profile[i]**2 + 2 * ax_limit * ds[i] + v_allowed = np.sqrt(max(arg,0.0)) + v_profile[i-1] = min(v_profile[i-1], v_allowed) + + backward_vs[i-1] = v_allowed + + # for i in range(N - 2, -1, -1): + # ax_limit = limit_ax_for_friction_ellipse(v_profile[i+1], kappa[i+1], abs(ax_min), ay_max) + # arg = v_profile[i+1]**2 + 2 * ax_limit * ds[i] + # # print("v_profile{i+1}: " + str(v_profile[i+1])) + # # print("ax_limit: " + str(ax_limit)) + # # print("arg: " + str(arg)) + # v_allowed = np.sqrt(max(arg,0.0)) + # v_profile[i] = min(v_profile[i], v_allowed) + + # # v_profile[i] = alpha * v_profile[i] + (1 - alpha) * v_allowed + + # backward_vs[i] = v_allowed + + + # --- Check convergence --- + if np.allclose(v_profile, v_old, atol=tol): + print("converged in " + str(iteration) + " iterations") + break + + return v_profile, forward_vs, backward_vs, v_lat + +def compute_time_profile(xs, ys, v_profile): + xs = np.array(xs) + ys = np.array(ys) + v_profile = np.array(v_profile) + + dx = np.diff(xs) + dy = np.diff(ys) + ds = np.hypot(dx, dy) # segment distances + + # Use average speed between points to estimate time between them + v_mid = (v_profile[:-1] + v_profile[1:]) / 2 + v_mid = np.clip(v_mid, 0.1, None) # Avoid divide-by-zero + + dt = ds / v_mid + t = np.insert(np.cumsum(dt), 0, 0.0) # cumulative time starting from 0 + + return t + +def plot_speed_profile_gradient(fig, axis, xs, ys, speeds, cmap='jet'): + xs = np.array(xs) + ys = np.array(ys) + speeds = np.array(speeds) + + # Build segments between points + points = np.array([xs, ys]).T.reshape(-1, 1, 2) + segments = np.concatenate([points[:-1], points[1:]], axis=1) + # segments = [np.column_stack([xs, ysi]) for ysi in ys.T] + + # Create line collection + lc = LineCollection(segments, cmap=cmap, linewidth=2) + lc.set_array(speeds[:-1]) # color values + lc.set_linewidth(2) + + # fig, ax = plt.subplots(figsize=(8, 6)) + line = axis.add_collection(lc) + fig.colorbar(line, ax=axis, label='Speed (m/s)') + axis.set_xlim(xs.min(), xs.max()) + axis.set_ylim(ys.min(), ys.max()) + axis.set_aspect('equal', adjustable='box') + axis.set_title('Speed Profile Along Path') + axis.set_xlabel('X [m]') + axis.set_ylabel('Y [m]') + plt.grid(True) + +def plot_x_y(axis, x, y, x_label, y_label): + axis.plot(x, y)#, label='Actual') + axis.set_xlabel(x_label) + axis.set_ylabel(y_label) + axis.grid(True) + +def compute_velocity_profile(points): + + v_max = settings.get('vehicle.limits.max_speed') + ax_max = settings.get('vehicle.limits.max_longitudinal_acceleration') + ax_min = settings.get('vehicle.limits.min_longitudinal_acceleration') + ay_max = settings.get('vehicle.limits.max_lateral_acceleration') + + points = np.array(points) + # print(points) + xs, ys = points[:,0], points [:,1] + # print(xs) + + dx = np.diff(xs) + dy = np.diff(ys) + ds = np.hypot(dx, dy) + ds = np.append(ds, ds[-1]) + + kappa = compute_curvature_by_distance(xs,ys, ds) + + v_lat = lateral_speed_limit(kappa, ay_max, v_max) + v_profile, forward_vs, backward_vs, v_lat = apply_trail_braking(ds, v_lat, kappa, ax_max, ax_min, ay_max) + + v_profile = savgol_filter(v_profile, window_length=9, polyorder=3) + + t = compute_time_profile(xs, ys, v_profile) + + return t, v_profile + + + +if __name__=='__main__': + if len(sys.argv) != 2: + print("Usage: python velocity_profile.py ") + sys.exit(1) + + path_file = sys.argv[1] + + # if behavior.json doesn't exist, print error and exit + if not os.path.exists(path_file): + print("Error: route file not found.") + sys.exit(1) + + xs, ys = parse_route_csv(path_file) + + points = list(zip(xs,ys)) + + t, v_profile = compute_velocity_profile(points) + + # # max long accel: 2.0769700074721493 + # # min long accel: -2.6197231578072313 + # # max lat accel: 3.3754426456004567 + + fig, axs = plt.subplots(2, 2, figsize=(12, 8)) + + dv = np.diff(v_profile) + dt = np.diff(t) + + a = dv/dt + + plot_x_y(axs[0, 0], t, v_profile, "t", "v") + plot_x_y(axs[0, 1], t[:-1], a, "t", "a") + # plot_x_y(axs[1, 0], xs, ys, "x", "y") + # plot_x_y(axs[1, 1], t, forward_vs, "t", "forward & backward vs") + # plot_x_y(axs[1, 1], t, backward_vs, "t", "forward & backward vs") + plot_x_y(axs[1, 1], t, xs, "t", "x & y") + plot_x_y(axs[1, 1], t, ys, "t", "x & y") + # plt.show() + + plot_speed_profile_gradient(fig, axs[1, 0], xs, ys, v_profile) + + plt.tight_layout() + plt.show() + + + + diff --git a/GEMstack/scripts/__init__.py b/GEMstack/scripts/__init__.py new file mode 100644 index 000000000..e69de29bb diff --git a/GEMstack/scripts/convert_to_rosbag.py b/GEMstack/scripts/convert_to_rosbag.py new file mode 100644 index 000000000..791ef6e0a --- /dev/null +++ b/GEMstack/scripts/convert_to_rosbag.py @@ -0,0 +1,171 @@ +#!/usr/bin/env python3 + +import os +import rosbag +import cv2 +import numpy as np +from cv_bridge import CvBridge +from sensor_msgs.msg import Image, PointCloud2 +import sensor_msgs.point_cloud2 as pc2 +import glob +from datetime import datetime +import time +import rospy +import std_msgs.msg +import argparse + +def get_matching_files(dir): + """Get files that have corresponding data in all three formats""" + # Get sorted lists of files + png_files = sorted(glob.glob(os.path.join(dir, 'color*.png'))) + tif_files = sorted(glob.glob(os.path.join(dir, 'depth*.tif'))) + npz_files = sorted(glob.glob(os.path.join(dir, 'lidar*.npz'))) + + print(f"Found {len(png_files)} PNG files") + print(f"Found {len(tif_files)} TIF files") + print(f"Found {len(npz_files)} NPZ files") + + # Extract numbers from filenames + def get_number(filename): + return int(''.join(filter(str.isdigit, os.path.basename(filename)))) + + # Create dictionaries with numbers as keys + png_dict = {get_number(f): f for f in png_files} + tif_dict = {get_number(f): f for f in tif_files} + npz_dict = {get_number(f): f for f in npz_files} + + # Find common numbers + common_numbers = set(png_dict.keys()) & set(tif_dict.keys()) & set(npz_dict.keys()) + print(f"\nFound {len(common_numbers)} matching frame numbers") + + # Get matching files in sorted order + common_numbers = sorted(common_numbers) + matching_pngs = [png_dict[n] for n in common_numbers] + matching_tifs = [tif_dict[n] for n in common_numbers] + matching_npzs = [npz_dict[n] for n in common_numbers] + + return matching_pngs, matching_tifs, matching_npzs + +def create_rosbag_from_data( + dir, + output_bag_path, + frame_interval +): + # Initialize CV bridge + bridge = CvBridge() + + # Initialize ROS node + rospy.init_node('bag_creator', anonymous=True) + + # Get matching files + png_files, tif_files, npz_files = get_matching_files(dir) + + print(f"Found {len(png_files)} matching files in all three formats") + + if len(png_files) == 0: + raise ValueError("No matching files found!") + + # Create a new bag file + with rosbag.Bag(output_bag_path, 'w') as bag: + # Start time for the messages + start_time = rospy.Time.from_sec(time.time()) + message_count = 0 + + for idx, (png_file, tif_file, npz_file) in enumerate(zip(png_files, tif_files, npz_files)): + # Calculate timestamp for this frame + timestamp = rospy.Time.from_sec(start_time.to_sec() + idx * (1/frame_interval)) + + try: + # Process PNG image + png_img = cv2.imread(png_file) + if png_img is not None: + png_msg = bridge.cv2_to_imgmsg(png_img, encoding="bgr8") + png_msg.header.stamp = timestamp + png_msg.header.frame_id = "camera_rgb" + bag.write('/camera/rgb/image_raw', png_msg, timestamp) + message_count += 1 + else: + print(f"Warning: Could not read PNG file: {png_file}") + + # Process TIF image + tif_img = cv2.imread(tif_file, -1) # -1 to preserve original depth + if tif_img is not None: + tif_msg = bridge.cv2_to_imgmsg(tif_img, encoding="passthrough") + tif_msg.header.stamp = timestamp + tif_msg.header.frame_id = "camera_depth" + bag.write('/camera/depth/image_raw', tif_msg, timestamp) + message_count += 1 + else: + print(f"Warning: Could not read TIF file: {tif_file}") + + # Process pointcloud NPZ + pc_data = np.load(npz_file) + points = pc_data['arr_0'] # Using 'arr_0' based on the provided files' + + # Create pointcloud message + header = std_msgs.msg.Header() + header.stamp = timestamp + header.frame_id = "velodyne" + + fields = [ + pc2.PointField('x', 0, pc2.PointField.FLOAT32, 1), + pc2.PointField('y', 4, pc2.PointField.FLOAT32, 1), + pc2.PointField('z', 8, pc2.PointField.FLOAT32, 1) + ] + + pc_msg = pc2.create_cloud(header, fields, points) + bag.write('/velodyne_points', pc_msg, timestamp) + message_count += 1 + + except Exception as e: + print(f"Error processing frame {idx}: {str(e)}") + continue + + if idx % 10 == 0: + print(f"Processed {idx} frames") + + print(f"Total messages written to bag: {message_count}") + +if __name__ == "__main__": + #This initializes the parser and sets the parameters that the user will be asked to provide in the terminal + parser = argparse.ArgumentParser( + description='A script to convert data gathered by cameras and lidar sensors to ros .bag messages' + ) + + parser.add_argument( + 'files_directory', type = str, + help = 'The path to the directory with all the rgb images, depth maps, and point clouds. The file formats must be PNG, TIF, and NPZ, respectively' + ) + + parser.add_argument( + 'output_bag', type = str, + help = 'The path to the directory where the bag file will be saved' + ) + + parser.add_argument( + 'rate', type = int, + help = 'The rate at which the data is collected in Hz' + ) + args = parser.parse_args() + directory = args.files_directory + output_bag = args.output_bag + rate = args.rate + # Example directories below: + #directory = "/home/username/host/CS588/GEMstack/data/data_sample/data/" + #output_bag = "/home/username/host/CS588/GEMstack/data/data_sample/data/output.bag" + + try: + create_rosbag_from_data( + directory, + output_bag, + rate + ) + print("Successfully created ROS bag file!") + + # Verify bag contents + print("\nBag file contents:") + info_cmd = f"rosbag info {output_bag}" + os.system(info_cmd) + + except Exception as e: + print(f"Error creating ROS bag: {str(e)}") diff --git a/GEMstack/scripts/visualization.py b/GEMstack/scripts/visualization.py new file mode 100644 index 000000000..3ff9dada7 --- /dev/null +++ b/GEMstack/scripts/visualization.py @@ -0,0 +1,191 @@ +import json +import os +import time +from klampt import vis +from klampt.model.trajectory import Trajectory +import matplotlib.pyplot as plt +from ..onboard.visualization.klampt_visualization import KlamptVisualization +from ..onboard.visualization.mpl_visualization import MPLVisualization + +LOG_DIR = "logs" +BEHAVIOR_FILE = "behavior.json" + +def select_log_folder(): + log_folders = [f for f in os.listdir(LOG_DIR) if os.path.isdir(os.path.join(LOG_DIR, f))] + if not log_folders: + print("\033[91mNo log folders found.\033[0m") + return None + + print("\n\033[94mAvailable log folders:\033[0m") + for idx, folder in enumerate(log_folders): + print(f"{idx + 1}. {folder}") + + while True: + try: + choice = int(input("\n\033[93mEnter the number of the log folder to use:\033[0m ")) - 1 + if 0 <= choice < len(log_folders): + return os.path.join(LOG_DIR, log_folders[choice]) + print("\033[91mInvalid selection. Please enter a valid number.\033[0m") + except ValueError: + print("\033[91mPlease enter a number.\033[0m") + +def select_visualizer(): + print("\n\033[94mChoose a visualization method:\033[0m") + print("1. Klampt (3D visualization)") + print("2. MPL (Matplotlib 2D visualization)") + + while True: + try: + choice = int(input("\n\033[93mEnter 1 or 2:\033[0m ")) + if choice in [1, 2]: + return choice + print("\033[91mInvalid selection. Please enter 1 or 2.\033[0m") + except ValueError: + print("\033[91mPlease enter a valid number.\033[0m") + +# Load and extract pedestrian and vehicle data +def extract_behavior_data(log_dir): + behavior_path = os.path.join(log_dir, BEHAVIOR_FILE) + if not os.path.exists(behavior_path): + print(f"\033[91mError: {behavior_path} not found.\033[0m") + return None, None, None, None, None, None, None, None + + with open(behavior_path, "r") as f: + data = [json.loads(line) for line in f] + + pedestrian_paths = {} + pedestrian_times = {} + vehicle_path = [] + vehicle_times = [] + speeds = [] + accelerators = [] + brakes = [] + steering_angles = [] + + for entry in data: + time_stamp = entry.get("time", 0) + + # Extract pedestrian data + if "agents" in entry: + for agent_id, agent in entry["agents"].items(): + agent_data = agent.get("data", {}) + if agent_data.get("type") == 3: # Type 3 = pedestrian + pose = agent_data.get("pose", {}) + x, y = pose.get("x", 0), pose.get("y", 0) + + if agent_id not in pedestrian_paths: + pedestrian_paths[agent_id] = [] + pedestrian_times[agent_id] = [] + + pedestrian_paths[agent_id].append((x, y)) + pedestrian_times[agent_id].append(time_stamp) + + # Extract vehicle data + if "vehicle" in entry: + vehicle_data = entry["vehicle"].get("data", {}) + pose = vehicle_data.get("pose", {}) + x, y = pose.get("x", 0), pose.get("y", 0) + + vehicle_path.append((x, y)) + vehicle_times.append(time_stamp) + speeds.append(vehicle_data.get("v", 0)) + accelerators.append(vehicle_data.get("accelerator_pedal_position", 0)) + brakes.append(vehicle_data.get("brake_pedal_position", 0)) + steering_angles.append(vehicle_data.get("steering_wheel_angle", 0)) + + return pedestrian_paths, pedestrian_times, vehicle_path, vehicle_times, speeds, accelerators, brakes, steering_angles + +# Klampt 3D Visualization +def visualize_with_klampt(pedestrian_paths, pedestrian_times, vehicle_path): + """Uses Klampt to visualize pedestrian and vehicle paths.""" + vis.init("PyQt6") + vis.setWindowTitle("Pedestrian and Vehicle Path Visualization") + + klampt_vis = KlamptVisualization(vehicle_interface=None, rate=20.0) + + for agent_id, path in pedestrian_paths.items(): + if len(path) < 2: + continue + + times = pedestrian_times[agent_id] + path_3d = [[float(x), float(y), 0.0] for x, y in path] + + trajectory = Trajectory(times, path_3d) + vis.add(agent_id, trajectory, color=(0, 1, 0, 1), width=2) + + # if vehicle_path: + # vehicle_x, vehicle_y = zip(*vehicle_path) + # vehicle_tuples = [[float(x), float(y), 0.0] for x, y in zip(vehicle_x, vehicle_y)] + # vis.add("Vehicle Path", vehicle_tuples, color=(1, 0, 0, 1), width=2) + + klampt_vis.initialize() + vis.show() + + while vis.shown(): + time.sleep(0.05) + + klampt_vis.cleanup() + vis.kill() + +# MPL 2D Visualization +def visualize_with_mpl(pedestrian_paths, pedestrian_times, vehicle_path, vehicle_data): + vis = MPLVisualization(rate=10.0) + vis.initialize() + + fig, axs = vis.fig, vis.axs + axs[0].clear() + axs[1].clear() + + # Left Plot: Pedestrian & Vehicle Trajectories + axs[0].set_xlabel("X Position") + axs[0].set_ylabel("Y Position") + axs[0].set_title("Pedestrian & Vehicle Trajectories") + + for agent_id, path in pedestrian_paths.items(): + path_x, path_y = zip(*path) + axs[0].plot(path_x, path_y, linestyle='-', marker='o', label=f"Pedestrian {agent_id}") + + # if vehicle_path: + # vehicle_x, vehicle_y = zip(*vehicle_path) + # axs[0].plot(vehicle_x, vehicle_y, linestyle='-', marker='s', color='red', label="Vehicle Path") + + axs[0].legend() + + # Right Plot: Vehicle Controls Over Time + times, speeds, accelerators, brakes, steering_angles = vehicle_data + axs[1].set_xlabel("Time (s)") + axs[1].set_title("Vehicle Controls Over Time") + + axs[1].plot(times, speeds, label="Speed (m/s)", color="blue") + axs[1].plot(times, accelerators, label="Accelerator (%)", color="green") + axs[1].plot(times, brakes, label="Brake (%)", color="red") + axs[1].plot(times, steering_angles, label="Steering Angle", color="purple") + axs[1].legend() + + fig.canvas.draw_idle() + fig.canvas.flush_events() + plt.show(block=True) + + vis.cleanup() + +# Main Execution +if __name__ == "__main__": + visualizer_choice = select_visualizer() + selected_log_folder = select_log_folder() + + if selected_log_folder: + print(f"\n\033[94mLoading behavior data from:\033[0m {selected_log_folder}") + data = extract_behavior_data(selected_log_folder) + + pedestrian_paths, pedestrian_times, vehicle_path, vehicle_times, speeds, accelerators, brakes, steering_angles = data + vehicle_data = (vehicle_times, speeds, accelerators, brakes, steering_angles) + + if pedestrian_paths or vehicle_path: + if visualizer_choice == 1: + print("\033[92mUsing Klampt for visualization...\033[0m") + visualize_with_klampt(pedestrian_paths, pedestrian_times, vehicle_path) + else: + print("\033[92mUsing MPL (Matplotlib) for visualization...\033[0m") + visualize_with_mpl(pedestrian_paths, pedestrian_times, vehicle_path, vehicle_data) + else: + print("\033[91mNo pedestrian or vehicle data found.\033[0m") diff --git a/GEMstack/state/agent.py b/GEMstack/state/agent.py index 757805837..12149b937 100644 --- a/GEMstack/state/agent.py +++ b/GEMstack/state/agent.py @@ -11,6 +11,7 @@ class AgentEnum(Enum): LARGE_TRUCK = 2 PEDESTRIAN = 3 BICYCLIST = 4 + CONE = 5 class AgentActivityEnum(Enum): diff --git a/GEMstack/state/relations.py b/GEMstack/state/relations.py index 465d4e657..c24e1bc22 100644 --- a/GEMstack/state/relations.py +++ b/GEMstack/state/relations.py @@ -23,6 +23,9 @@ class EntityRelation: type : EntityRelationEnum obj1 : str # Named object in the scene. '' indicates ego-vehicle obj2 : str # Named object in the scene. '' indicates ego-vehicle + yield_dist : float # Distance at which obj1 yields to obj2 + yield_speed : float # Speed at which obj1 yields to obj2 + yield_decel : float # Deceleration at which obj1 yields to obj2 class EntityRelationGraph: diff --git a/GEMstack/state/trajectory.py b/GEMstack/state/trajectory.py index d7a57db00..6e7232118 100644 --- a/GEMstack/state/trajectory.py +++ b/GEMstack/state/trajectory.py @@ -4,7 +4,11 @@ from ..mathutils import transforms,collisions from .physical_object import ObjectFrameEnum, convert_point import math +import numpy as np from typing import List,Tuple,Optional,Union +from ..onboard.planning.velocity_profile import compute_velocity_profile +from scipy.interpolate import splprep, splrep, splev + @dataclass @register @@ -79,6 +83,15 @@ def arc_length_parameterize(self, speed = 1.0) -> Trajectory: times.append(times[-1] + d/speed) return Trajectory(frame=self.frame,points=points,times=times) + def racing_velocity_profile(self) -> Trajectory: + """Returns a timed trajectory with max velocity profile parametrized by path radius""" + times = [0.0] + # print(self.points) + points = self.points + # print(points) + times, velocities = compute_velocity_profile(points) + return Trajectory(frame=self.frame,points=points,times=times, velocities=velocities) + def closest_point(self, x : List[float], edges = True) -> Tuple[float,float]: """Returns the closest point on the path to the given point. If edges=False, only computes the distances to the vertices, not the @@ -162,6 +175,99 @@ def trim(self, start : float, end : float) -> Path: s = self.eval(start) e = self.eval(end) return replace(self,points=[s]+self.points[sind+1:eind]+[e]) + + + def fit_curve_radius(self, vehicle_position: List[float], n_points: int) -> float: + """ + Calculates the curve radius over the next 3 intervals and returns the largest. + + Args: + vehicle_position: Current position of the vehicle [x, y, ...] + n_points: Number of points to sample ahead. Must be >= 5 to allow 3 intervals. + + Returns: + float: Min radius among 3 consecutive 3-point intervals. Returns float('inf') if not enough data. + """ + _, closest_point_idx_float = self.closest_point(vehicle_position) + closest_point_idx = int(math.ceil(closest_point_idx_float)) + + # Require at least 5 points to form 3 overlapping triplets + total_needed = max(n_points, 5) + end_idx = min(closest_point_idx + total_needed, len(self.points)) + + if end_idx - closest_point_idx < 5: + return float('0') + + # Get the next chunk of points + points_to_check = self.points[closest_point_idx:end_idx] + + # Convert to 2D + points_2d = [[p[0], p[1]] for p in points_to_check] + + radii = [] + for i in range(len(points_2d) - 2): # Slide a window of 3 + triplet = points_2d[i:i+3] + try: + _, _, r = self._fit_circle_to_points(triplet) + radii.append(r) + except: + radii.append(float('inf')) # Treat failed fits as straight line + + return min(radii) if radii else float('0') + + def _fit_circle_to_points(self, points: List[List[float]]) -> Tuple[float, float, float]: + """ + Approximates a circle from a set of 2D points using the circumcircle of the first three points. + + Args: + points: List of [x, y] coordinates. Must contain at least 3 points. + + Returns: + Tuple[float, float, float]: Center coordinates (h, k) and radius r + """ + if len(points) < 3: + raise ValueError("At least 3 points are required to fit a circle") + + p1, p2, p3 = points[0], points[1], points[2] + + # Build matrices for determinant calculation + def det(matrix): + return np.linalg.det(np.array(matrix)) + + A = [ + [p1[0], p1[1], 1], + [p2[0], p2[1], 1], + [p3[0], p3[1], 1] + ] + D = det(A) + if abs(D) < 1e-10: + raise ValueError("Points are collinear or nearly collinear") + + a = p1[0]**2 + p1[1]**2 + b = p2[0]**2 + p2[1]**2 + c = p3[0]**2 + p3[1]**2 + + M11 = [ + [a, p1[1], 1], + [b, p2[1], 1], + [c, p3[1], 1] + ] + M12 = [ + [a, p1[0], 1], + [b, p2[0], 1], + [c, p3[0], 1] + ] + M13 = [ + [a, p1[0], p1[1]], + [b, p2[0], p2[1]], + [c, p3[0], p3[1]] + ] + + h = 0.5 * det(M11) / D + k = -0.5 * det(M12) / D + r = math.sqrt(h**2 + k**2 + det(M13) / D) + + return h, k, r @dataclass @@ -169,6 +275,7 @@ def trim(self, start : float, end : float) -> Path: class Trajectory(Path): """A timed, piecewise linear path.""" times : List[float] + velocities : Optional[List[float]] = None def domain(self) -> Tuple[float,float]: """Returns the time parameter domain""" @@ -285,7 +392,25 @@ def compute_headings(path : Path, smoothed = False) -> Path: estimate good tangent vectors. """ if smoothed: - raise NotImplementedError("Smoothing not done yet") + # raise NotImplementedError("Smoothing not done yet") + points = np.array(path.points) + x = points[:, 0] + y = points[:, 1] + + dx = np.diff(x) + dy = np.diff(y) + ds = np.hypot(dx, dy) + s = np.insert(np.cumsum(ds), 0, 0) + + tck_x = splrep(s, x, s=0.5) + tck_y = splrep(s, y, s=0.5) + + s_fine = np.linspace(0, s[-1], 200) + x_smooth = splev(s_fine, tck_x) + y_smooth = splev(s_fine, tck_y) + + path.points = np.vstack((x_smooth, y_smooth)).T + if len(path.points) < 2: raise ValueError("Path must have at least 2 points") derivs = [] diff --git a/GEMstack/utils/analysis.py b/GEMstack/utils/analysis.py new file mode 100644 index 000000000..0a354a6ca --- /dev/null +++ b/GEMstack/utils/analysis.py @@ -0,0 +1,153 @@ +""" +Log Analysis Tool + +This program allows users to analyze CSV files stored in log directories. Users can: +- Select a log directory from the `./logs` folder. +- Choose a CSV file within the selected directory. +- Select specific columns to analyze. +- Choose an analysis method such as MSE, RMS, Mean, or Standard Deviation. +- Define a custom lambda function for analysis. +- Save the results in the default log directory or specify a custom path. + +Usage: +1. Run the script: `python ./GEMstack/utils/analysis.py` +2. Follow the prompts to: + - Select a log directory. + - Choose a CSV file to analyze. + - Select the columns for analysis. + - Pick a predefined analysis method or define a custom lambda function. + - Save the results. + +Output: +- The analysis results are saved in CSV format, with column names included, in the chosen directory. + +""" + +import os +import pandas as pd +import numpy as np +from datetime import datetime + +def list_log_directories(): + logs_path = "./logs" + if not os.path.exists(logs_path): + print("Logs directory does not exist.") + return [] + + directories = [d for d in os.listdir(logs_path) if os.path.isdir(os.path.join(logs_path, d))] + return directories + +def choose_directory(directories): + if not directories: + print("No log directories found.") + return None + + print("Available log directories:") + for i, dir_name in enumerate(directories): + print(f"{i + 1}. {dir_name}") + + choice = int(input("Select a directory by number: ")) - 1 + if 0 <= choice < len(directories): + return os.path.join("./logs", directories[choice]) + else: + print("Invalid choice.") + return None + +def choose_csv_file(log_dir): + files = [f for f in os.listdir(log_dir) if f.endswith(".csv")] + if not files: + print("No CSV files found in the selected directory.") + return None + + print("Available CSV files:") + for i, file in enumerate(files): + print(f"{i + 1}. {file}") + + choice = int(input("Select a CSV file by number: ")) - 1 + if 0 <= choice < len(files): + return os.path.join(log_dir, files[choice]) + else: + print("Invalid choice.") + return None + +def load_csv(csv_path): + if not os.path.exists(csv_path): + print("CSV file not found.") + return None + + df = pd.read_csv(csv_path) + print("CSV file loaded successfully.") + print("Available columns:", list(df.columns)) + return df + +def choose_columns(df): + selected_columns = input("Enter column names to analyze (comma separated): ").split(',') + selected_columns = [col.strip() for col in selected_columns if col.strip() in df.columns] + if not selected_columns: + print("No valid columns selected.") + return None + return df[selected_columns] + +def analyze_data(df, log_dir): + methods = { + "1": ("Mean Squared Error (MSE)", lambda x: np.mean(np.square(x))), + "2": ("Root Mean Square (RMS)", lambda x: np.sqrt(np.mean(np.square(x)))), + "3": ("Mean", np.mean), + "4": ("Standard Deviation", np.std), + "5": ("Custom Lambda Function", None) + } + + print("Available analysis methods:") + for key, (name, _) in methods.items(): + print(f"{key}. {name}") + + choice = input("Select a method by number: ") + if choice in methods: + if choice == "5": + function_str = input("Enter a lambda function (e.g., lambda x: np.max(x) - np.min(x)): ").strip() + try: + func = eval(function_str, {"np": np}) + result = df.apply(func) + except Exception as e: + print(f"Invalid function: {e}") + return + else: + method_name, method_func = methods[choice] + print(f"Applying {method_name}...") + result = df.apply(method_func) + + print("Analysis result:") + print(result.to_string(header=True, index=True)) + + save_path = input("Enter a path to save the result (press Enter to save in the chosen log directory): ") + if not save_path: + timestamp = datetime.now().strftime("%Y-%m-%d_%H-%M-%S") + save_path = os.path.join(log_dir, f"analysis_result_{timestamp}.csv") + + result.to_frame().T.to_csv(save_path, index=False, header=True) + print(f"Analysis result saved to {save_path}") + else: + print("Invalid choice.") + +def main(): + directories = list_log_directories() + log_dir = choose_directory(directories) + if not log_dir: + return + + csv_path = choose_csv_file(log_dir) + if not csv_path: + return + + df = load_csv(csv_path) + if df is None: + return + + df_selected = choose_columns(df) + if df_selected is None: + return + + analyze_data(df_selected, log_dir) + +if __name__ == "__main__": + main() diff --git a/GEMstack/utils/generate_circle.py b/GEMstack/utils/generate_circle.py new file mode 100644 index 000000000..bc09cf195 --- /dev/null +++ b/GEMstack/utils/generate_circle.py @@ -0,0 +1,19 @@ +import numpy as np +import pandas as pd + +# Parameters +radius = 20 # radius of the circle in meters +num_points = 100 # number of points around the circle + +# Generate angles from 0 to 2π +angles = np.linspace(0, 2 * np.pi, num_points, endpoint=False) + +# Compute x and y coordinates +x = radius * np.cos(angles) +y = radius * np.sin(angles) + +# Create a DataFrame +circle_df = pd.DataFrame({'x': x, 'y': y}) + +# Save to CSV +circle_df.to_csv('circle_points.csv', index=False) \ No newline at end of file diff --git a/GEMstack/utils/generate_figure8.py b/GEMstack/utils/generate_figure8.py new file mode 100644 index 000000000..d93d778f5 --- /dev/null +++ b/GEMstack/utils/generate_figure8.py @@ -0,0 +1,28 @@ +import numpy as np +import pandas as pd + +# Parameters +radius_left = 10 # Radius scaling on the left side +radius_right = 20 # Radius scaling on the right side +num_points = 200 # Total number of points +rotation_angle_deg = -45 # Rotation angle in degrees + +# Convert degrees to radians +theta = np.radians(rotation_angle_deg) + +# Generate parametric figure-8 (lemniscate-style) +t = np.linspace(-np.pi/2, 3*np.pi/2, num_points) +x = np.sin(t) +y = np.sin(t) * np.cos(t) + +# Apply asymmetric scaling +x_scaled = np.where(x < 0, x * radius_left, x * radius_right) +y_scaled = np.where(x < 0, y * radius_left, y * radius_right) + +# Apply rotation +x_rotated = x_scaled * np.cos(theta) - y_scaled * np.sin(theta) +y_rotated = x_scaled * np.sin(theta) + y_scaled * np.cos(theta) + +# Create DataFrame and save +figure8_df = pd.DataFrame({'x': x_rotated, 'y': y_rotated}) +figure8_df.to_csv('../GEMstack/GEMstack/knowledge/routes/figure8.csv', index=False) \ No newline at end of file diff --git a/GEMstack/utils/klampt_visualization.py b/GEMstack/utils/klampt_visualization.py index 063f690c7..6347b33c2 100644 --- a/GEMstack/utils/klampt_visualization.py +++ b/GEMstack/utils/klampt_visualization.py @@ -16,6 +16,7 @@ AgentEnum.BICYCLIST : (0,0,1,1), AgentEnum.MEDIUM_TRUCK : (1,0,1,1), AgentEnum.LARGE_TRUCK : (0,1,1,1), + AgentEnum.CONE : (0,1,0,1), None: (0.7,0.7,0.7,1), } diff --git a/GEMstack/utils/log_plot.py b/GEMstack/utils/log_plot.py new file mode 100644 index 000000000..e2b11753f --- /dev/null +++ b/GEMstack/utils/log_plot.py @@ -0,0 +1,148 @@ +import matplotlib.pyplot as plt +import pandas as pd +import os +import numpy as np + +# Most of the code in this file is copied from ./tuning_logs/log_plot.py by Mikayel Aramyan (mikayel2) + +def create_plot(t, actual, desired, xlabel, ylabel, title, legend, save_path=None): + plt.figure() + plt.plot(t, actual) + plt.plot(t, desired) + overshoot = np.max(np.array(actual) - np.array(desired)) + rmse = np.sqrt(np.mean((np.array(actual) - np.array(desired))**2)) + print(f'{title} - Maximum Overshoot: {overshoot}, RMSE: {rmse}') + plt.xlabel(xlabel) + plt.ylabel(ylabel) + plt.title(f'{title} (Max Overshoot: {overshoot:.2f}, RMSE: {rmse:.2f})') + plt.legend(legend) + plt.grid(True) + if save_path: + plt.savefig(save_path, dpi=600) + plt.close() + +def create_error_plot(t, error, xlabel, ylabel, title, save_path=None): + plt.figure() + plt.plot(t, error) + plt.xlabel(xlabel) + plt.ylabel(ylabel) + plt.title(title) + plt.grid(True) + if save_path: + plt.savefig(save_path, dpi=600) + plt.close() + +def main(log_folder): + if log_folder is None: + return + df = pd.read_csv(log_folder + '/PurePursuitTrajectoryTracker_debug.csv') + save_figures =True + + plots_folder = os.path.join(log_folder, 'plots') + os.makedirs(plots_folder, exist_ok=True) + + t = df['curr pt[0] vehicle time'].tolist() + x = df['curr pt[0]'].tolist() + y = df['curr pt[1]'].tolist() + v = df['current speed (m/s)'].tolist() + yaw = df['current yaw (rad)'].tolist() + + xd = df['desired pt[0]'].tolist() + yd = df['desired pt[1]'].tolist() + vd = df['desired speed (m/s)'].tolist() + yawd = df['desired yaw (rad)'].tolist() + + cte = df['crosstrack error'].tolist() + front_wheel_angle = df['front wheel angle (rad)'].tolist() + accel = df['output accel (m/s^2)'].tolist() + + + + rmse_cte = np.sqrt(np.mean(np.array(cte)**2)) + print(f'RMSE (cte): {rmse_cte}') + + max_accel_error = np.max((np.array(accel) - 1.0)**2) + print(f'Maximum (acceleration - 1.0)^2: {max_accel_error}') + + rms_forward_acceleration = np.sqrt(np.mean(np.array(accel)**2)) + print(f'RMS of Acceleration: {rms_forward_acceleration}') + + dt = np.mean(np.diff(t)) + jerk = np.gradient(np.array(accel), dt) + rms_jerk = np.sqrt(np.mean(jerk**2)) + print(f'RMS of Jerk: {rms_jerk}') + + speed_error = np.array(v) - np.array(vd) + rms_speed_error = np.sqrt(np.mean(speed_error**2)) + print(f'RMS of Speed Error: {rms_speed_error}') + + angular_velocity = np.gradient(front_wheel_angle, dt) + angular_acceleration = np.gradient(angular_velocity, dt) + angular_jerk = np.gradient(angular_acceleration, dt) + rms_angular_acceleration = np.sqrt(np.mean(angular_acceleration**2)) + rms_angular_jerk = np.sqrt(np.mean(angular_jerk**2)) + print(f'RMS of Angular Acceleration: {rms_angular_acceleration}') + print(f'RMS of Angular Jerk: {rms_angular_jerk}') + + yaw_error = np.array(yaw) - np.array(yawd) + rms_yaw_error = np.sqrt(np.mean(yaw_error**2)) + print(f'RMS of Yaw Error: {rms_yaw_error}') + + w1, w2, w3 = 0.5, 0.3, 0.2 + comfort_index = w1 * rms_forward_acceleration + w2 * rms_jerk + w3 * rms_speed_error + print(f'===== Comfort Index: {comfort_index:.2f} =====') + + w1, w2, w3, w4, w5, w6, w7 = 0.2, 0.1, 0.15, 0.2, 0.15, 0.2, 0.1 + safety_index = (w1 * rmse_cte + w2 * rms_angular_jerk + w3 * rms_angular_acceleration + + w4 * rms_forward_acceleration + w5 * rms_jerk + w6 * rms_speed_error + + w7 * rms_yaw_error) + print(f'===== Safety Index: {safety_index:.2f} =====') + + create_plot(t, y, yd, '$t$ (s)', '$y(t)$, $y_{d}(t)$ (m)', 'Actual and Desired y', ['Actual $y(t)$', 'Desired $y_{d}(t)$'], os.path.join(plots_folder, 'y_vs_yd.png') if save_figures else None) + create_error_plot(t, np.array(y) - np.array(yd), '$t$ (s)', 'Error in $y(t)$ (m)', 'Error between Actual and Desired $y(t)$', os.path.join(plots_folder, 'error_y.png') if save_figures else None) + + create_plot(t, x, xd, '$t$ (s)', '$x(t)$, $x_{d}(t)$ (m)', 'Actual and Desired x', ['Actual $x(t)$', 'Desired $x_{d}(t)$'], os.path.join(plots_folder, 'x_vs_xd.png') if save_figures else None) + create_error_plot(t, np.array(x) - np.array(xd), '$t$ (s)', 'Error in $x(t)$ (m)', 'Error between Actual and Desired $x(t)$', os.path.join(plots_folder, 'error_x.png') if save_figures else None) + + create_plot(t, v, vd, '$t$ (s)', '$v(t)$, $v_{d}(t)$ (m/s)', 'Actual and Desired v', ['Actual $v(t)$', 'Desired $v_{d}(t)$'], os.path.join(plots_folder, 'v_vs_vd.png') if save_figures else None) + create_error_plot(t, np.array(v) - np.array(vd), '$t$ (s)', 'Error in $v(t)$ (m/s)', 'Error between Actual and Desired $v(t)$', os.path.join(plots_folder, 'error_v.png') if save_figures else None) + + plt.figure() + plt.plot(t, cte) + rmse_cte = np.sqrt(np.mean(np.array(cte)**2)) + print(f'RMSE (cte): {rmse_cte}') + plt.xlabel('$t$ (s)') + plt.ylabel('Crosstrack Error (m)') + plt.title(f'Crosstrack Error over Time (RMSE: {rmse_cte:.2f})') + plt.grid(True) + if save_figures: + plt.savefig(os.path.join(plots_folder, 'cte.png'), dpi=600) + plt.close() + + plt.figure() + plt.plot(t, front_wheel_angle) + plt.xlabel('$t$ (s)') + plt.ylabel('Front Wheel Angle (rad)') + plt.title('Front Wheel Angle over Time') + plt.grid(True) + if save_figures: + plt.savefig(os.path.join(plots_folder, 'front_wheel_angle.png'), dpi=600) + plt.close() + + plt.figure() + plt.plot(t, accel) + plt.xlabel('$t$ (s)') + plt.ylabel('Acceleration (m/s^2)') + plt.title('Acceleration over Time') + plt.grid(True) + if save_figures: + plt.savefig(os.path.join(plots_folder, 'accel.png'), dpi=600) + plt.close() + + + + +if __name__ == '__main__': + # Change this to the log folder you want to plot if running this script manually + log_folder = '2025-02-13_21-10-39' + main(log_folder) diff --git a/HOMEWORK.md b/HOMEWORK.md new file mode 100644 index 000000000..e5bbe7b9d --- /dev/null +++ b/HOMEWORK.md @@ -0,0 +1,194 @@ +# CS 588 Phase 1 Homework + +Due date: 2/24 + +**Overall objective**: work together in large teams to create a nontrivial integrated behavior on the vehicle. The target behavior will be to drive along a predefined track, and slowing down for pedestrians that would otherwise be hit if the vehicle continues at normal speed. The vehicle should stop when necessary. + +**Skills**: Familiarization with GEMstack repo, Git branches and pull requests, lab and equipment logistics, inter-team communication. + +**On-board development**: If you are working on the GEM vehicle, your work will go into the `cs588_groupX/` folder. We recommend that before you start, you +a) Ensure that your GEMstack repository is on the correct branch. cd into `cs588_groupX/GEMstack` and run `git status`. It should show that you are on the `s2025_groupX` branch. +b) Get the latest updates to the course stack. To do so, run `git pull` and `git merge s2025`. + +When you are done, commit your development of this component and launch files to your group's branch. **DO NOT** set the global git authentication on the vehicle to your account. The easiest way to do this is: +a) Log onto Github under your account name. [Create a Github Personal Access Token](https://docs.github.com/en/authentication/keeping-your-account-and-data-secure/managing-your-personal-access-tokens#creating-a-personal-access-token-classic). To reduce the chance of mischief, choose the "Only select repositories" option and set the access token just to push to this repository. Open the "Repository permissions" and change the "Contents" access to "Read and write" +b) When your token is generated, copy the token and keep it somewhere safe. +c) Commit your changes to your branch. +d) Run "git push". In "Username" put your Github username, and in "Password" use the token that you copied in step b). This should now be reflected in your branch. + +When you are creating a pull request to the `s2025_teamX` branch of GEMstack, you can do this through the Github webpage. You can also use the hub command line tool: https://hub.github.com/. Ensure that this shows up in the `s2025_teamX` branch's Pull Requests tab. + +**Quality-of-life tips** +- By default, the log folder is shown after each run. If this is annoying, change the launch file to read `after: show_log_folder: False`. +- Each component can generate CSV files that collect fast streaming data for later analysis. Use `self.debug(item,value)` or `self.debug_event(label)` in your component's initialize(), update(), or cleanup() functions. These will be stored in LOG_FOLDER/COMPONENT_debug.csv. +- Find all magic constants in your code. Move them into the `GEMstack/knowledge/defaults/current.yaml` file under appropriate sub-keys. + + +**To submit**: ensure your group's work is merged into the `s2025_teamA` or `s2025_teamB` branches (as appropriate) with appropriately logged PRs. We will review your team's branch history. Your group will submit some evidence of its component working, and if successful your team will submit an integrated video of the behavior working. These may be posted to Slack or Clickup. + + +## Group Leads + +- Decide on a good day of the week and time for group meetings. +- Discuss and decide on Github pull request procedures for your team's branches. +- Discuss and decide on project management and communication features for your team (e.g., Slack / Clickup). +- Lead your group and team with clear expectations to prepare work in time for integration. Don't leave this to the last minute! Suggest establishing an internal deadline of 2/17 for all technical pieces. +- Keep track of team members' efforts, especially if their contributions are not apparent through branch commit history. At the end of this phase you will be reporting on your members' contributions, so if they are not listed in PRs and you have little to say about their work, they will receive low individual scores for this assignment. Note that they will be reporting on your leadership as well, so remember to treat your group fairly. +- Gather sufficient evidence (e.g., videos of partial system tests or simulation tests, or a report with text and figures) that your group has succeeded in its objectives. +- Decide which group on your team will test the integrated behavior. Have them report results, and capture a video of successful runs. + + +## Control & Dynamics Group +- Starter code is provided in the `homework/` folder in your group's branch. +- All members must complete safety lookout training; at least two must complete safety driver training. + +Part 1: + +1. Flash a distress signal to the vehicle via ROS. Modify the `blink.py` program to print messages from some of the "/pacmod/parsed_tx/X" topics (at least 2). For each topic, you will need to create a ROS subscriber. Read the documentation on https://github.com/astuff/pacmod2 to figure out which message types to use and extract printable data from these messages. + + Now, create a publisher for the "/pacmod/as_rx/turn_cmd" topic. You will then flash a "distress signal" corresponding to left turn signal for 2 seconds, right turn signal for 2s, and then turn signals off for 2s. This will then repeat forever until you press Ctrl+C. + + To run your code on the vehicle, you will launch the sensors and drive-by-wire system, then enable Pacmod control via the joystick. (Please do not try to operate the vehicle with the joystick!) Then, run your program with `python3 blink.py`. After you are done, you should disable Pacmod control via the joystick. + +2. Adapt `blink.py` to run the behavior in the GEMstack executor. Copy blink_launch.yaml to `GEMstack/launch`. Copy `blink_component.py` to `GEMstack/onboard/planning/` and make your edits there. + + Replicate your sensor printing and distress signal code in the BlinkDistress class in blink_component.py. You will need to adapt your code from using ROS subscribers / publishers to using the `GEMVehicleInterface` and `GEMVehicleReading` objects provided in the template code. Opening the GEMstack folder in the VSCode IDE will help you find the documentation for these classes. + + Run your code in simulation first. (If you are running on the vehicle, first open one terminal window and run `roscore`. Keep this running.) Then, in the GEMstack folder, run `python3 main.py --variant=sim launch/blink_launch.yaml`. You should see your blinking sequence in a 3D visualization window. Use Ctrl+C to quit. + + Now, run your code on the real vehicle. Enable Pacmod control as before, then run `python3 main.py launch/blink_launch.yaml`. + +3. Adapt your code so the distress signal runs on GEMstack as a `signaling` component, and blinks the distress signal only when the `AllState.intent.intent=HALTING` flag is set. You will need to modify the computation graph in `GEMstack/knowledge/defaults` to add the `signaling` component, and modify launch files so your class is no longer listed under `trajectory_tracking`. +4. Use Git to create a pull request, and have your PR approved to the `s2025_teamX` branch. + +Part 2: +1. Tune the low-level controller (currently `PurePursuit`) to track the trajectory `AllState.trajectory` produced by the Planning group as accurately as possible. You may tune steering, acceleration/braking, the tracking strategies, or all three. +2. Decide on an appropriate tracking quality metric with the Infra team. +3. Report on what you tuned and how the tracking accuracy metric was improved. +4. Move all magic constants to an appropriate settings file, and have your pull request approved. +5. Integrate as necessary. + + +## State estimation & Calibration Group + +- Have at least one team member complete safety lookout & driver training. + +Part 1: + +1. You will be using both the Oak RGB-D camera and the Ouster top lidar to estimate the 3D positions of pedestrians relative to the vehicle frame. Because the stereo depth estimate is not as accurate as the lidar, we will be using the image to detect objects and the lidar to measure their 3D extent. The first step of this process is to associate points in the camera with points in the lidar, which requires an understanding of projection and relative pose (extrinsics) calibration. +2. You will first need to capture a calibration dataset consisting of paired images and lidar scans. Write code to capture paired scans and take several snapshots of interesting scenes. You should save images as standard image files, and save lidar scans as numpy arrays or PCD files. Store these to a directory named GEMstack/data/SOMETHING where "SOMETHING" is a descriptive name of your dataset. In the main GEMstack folder we had a GEM e2 program `python3 GEMstack/offboard/calibration/capture_lidar_zed.py data/SOMETHING` that could capture these files. Create a similar program `capture_ouster_oak.py` that reads from the appropriate ROS topics. +3. Use the `CameraInfo` message to obtain the intrinsics of the camera (http://docs.ros.org/en/noetic/api/sensor_msgs/html/msg/CameraInfo.html) from the `/oak/rgb/camera_info` ROS topic. You may use the image_geometry module (https://docs.ros.org/en/api/image_geometry/html/python/) to project points in the camera frame to the image. A camera frame is defined with the z axis pointing forward, x pointing right, and y pointing down. The important values of this message are the fx, fy, cx ,and cy intrinsic parameter terms. You can store these values to disk or read them live in your code. +4. We do not have the relative transform `T_toplidar^frontcamera` that converts points from the top lidar (Ouster) frame to the Oak frame. Create a way to calibrate this transform. Specifically, if you have a dataset of paired image, point cloud pairs `(image^t,point_cloud^t)`, you should observe that the points belonging to some object in the point cloud are mapped directly to those pixels in the image. Specifically, if `image_pt` is an image pixel belonging to point pt in the point cloud, then we should observe the relation "image_pt = project(T_toplidar^frontcamera * pt, oak_intrinsics)" + + To obtain this matrix you may use manual calibration if you need to, or you could use a more sophisticated method. + + For manual calibration, you can modify the GEM e2 code `python3 GEMstack/offboard/calibration/klampt_show_lidar_zed.py data/SOMETHING` to visualize the stored point clouds from the front camera and the lidar. You can see why the forward depth estimates are quite poor. + + Automated methods could use a detection method to obtain a distinctive shape like a sphere or a square (e.g., a face of the foam cubes) in the Zed image, paired with the same shape in the lidar point cloud. An optimization would ensure that all lidar points belonging to the shape are projected to its projection in the image. You can also match the stereo and lidar point clouds using a dynamically-associated registration method like ICP. + + +Part 2: + +1. Now we will perform absolute calibration of vehicle height, rear axle center, and sensors, i.e., the vehicle frame. The vehicle frame is centered at the rear axle center, with x pointing forward, y pointing to the left, and z pointing up. We want the transforms `T_frontcamera^vehicle` and `T_toplidar^vehicle`. + + - A flat ground and walls are good references for the pitch/roll of the sensors. Using the lidar point cloud, calibrate the rotation component of this transform. Also, use the height of the ground to determine the z above ground. + - Using distinctive shapes (e.g., the foam cubes), create a dataset in which you set up objects on the centerline of the vehicle. Use these to calibrate the yaw and the horizontal offset of the lidar. + - Measure the height of the rear axle over the ground. Use this to figure out the z above the rear axle center. + +2. Combine all of these measurements to establish `T_toplidar^vehicle`. Use your result in Step 1 to compute `T_frontcamera^vehicle` as well. Store these calibrations into the files referenced by `GEMstack/knowledge/calibration/gem_e4.yaml`. Name your calibrations meaningfully -- specifying which vehicle and what type of calibration you are performing -- and include the time and data of the calibration in your files. +3. Put your offline calibration code in the `GEMstack/offboard/calibration/` directory and write a README with a description of the method that you used, and instructions about how to use it. Describe the results of your calibration steps 1 and 2 in this file. + + DO NOT commit data files used in calibration. Put your datasets in the `data` directory, named appropriately. Files in this directory will not be committed to the repo. + +4. Use Git to create a pull request to the `s2025_teamX` branch, and have your PR approved. +5. Integrate as necessary. + + +## Perception Group + +- Starter code is provided in the `homework/` folder in your group's branch. +- Have at least one team member complete safety lookout & driver training. +- Many of your team members should plan to work on the vehicle, at least in the early stages of the assignment. Plan to coordinate with the Infra team to enable a method for working offline. + +Part 1: +1. Use an object detector to identify a pedestrian from the front camera. Implement the function `detect_people(img)` in `person_detector.py` to return a list of bounding boxes of people in an image. This is a function that inputs OpenCV images and returns a list of (x,y,w,h) image boxes that contain people. To run it, call `person_detector.py IMAGE` where IMAGE is an image file. You may download images from the internet or take your own. If you have a webcam, you can run `person_detector.py webcam` to run the live detector. + + I suggest using the YOLOv8 package (https://github.com/ultralytics/ultralytics) and choosing one of its pretrained models, such as `yolov8n.pt`. Follow the basic tutorials for running the detector. The ID of people is 0, and you can examine the Result object to extract out the boxes that have that ID. +2. Refactor your detector to work with GEMstack. Move your detector logic into a GEMstack Component defined in `pedestrian_detection.py`. The provided code will turn your boxes into a dictionary of `AgentState` objects. Read the documentation of the `AgentState` class to see what data should be stored there. For now, you will put temporary values for most of these fields. + + Specifically you should: + + 1. Implement the `PedestrianDetector2D` component to call your detection function in `image_callback(img)`. Your model should be loaded once in the component's `initialize()` method. + 2. Move your pretrained model to `GEMstack/knowledge/detection`. + 3. Move the Python code to `GEMstack/onboard/perception` where the launch file can find them. + 4. Make sure that your code can find the pretrained model in the `knowledge` directory. + 5. Using the detector-only variant of the launch file `python3 main.py --variant=detector_only pedestrian_detection.yaml`, test your code on the real vehicle. You will need to run "source ~/demo_ws/devel/setup.bash" and "roslaunch basic_launch sensor_init.launch" in another terminal, and run the same "source ..." command before running GEMstack code. + 6. Have a group member(s) walk in front of the Zed camera and observe the printouts. + 7. Finally, tune the rate at which you run your component to obtain the highest framerate possible. + +3. Use Git to create a pull request to `s2025_teamX`, and have your PR approved. + +Part 2: +1. Fuse detections with depth (`front_depth` sensor), multiple cameras, and/or LIDAR (`top_lidar` sensor) to reduce errors and place agents in their 3D locations in the scene. Use the sensor calibration from the Calibration group. Look at the lidar readings near the center of the detection, and use those to estimate a region of interest in the point cloud. Then, fit the center and dimensions of the object to the points in the point cloud that you associate with the pedestrian. Finally, put the estimated center and dimensions of the pedestrian into the "pose" and "dimensions" attributes, making sure to respect the vehicle's coordinate convention. +2. If the Infra team has worked quickly enough, you should be able to work offline, replaying from ROS bags. It is a good idea to coordinate with them. +3. Provide your results in a `PedestrianDetector` component and provide this to the Planning group. + +Part 3: +1. Keep track of `AgentState` objects as the vehicle moves and when they disappear out of the field of view. +2. Track pedestrians over time to fill out the "velocity" attribute and to give them relatively consistent names over time. + - number pedestrian IDs as "ped1", "ped2", etc. so that if you detect that a single pedestrian has moved across your field of view, you consistently output "ped1" as the agent's ID. + - keep track of the detected pedestrians on the prior frame to estimate the velocity of each pedestrian. Make sure to store 3D previous detections in the START frame. For each current detection, examine whether the box of the new detection overlaps any prior detection. If so, this begins a "track" detection in which you a) keep the last ID, and b) estimate the pedestrian's velocity in the CURRENT frame. The reported velocity should NOT be relative to the vehicle's velocity. If this is a new pedestrian, increment the pedestrian ID and output zero velocity for this frame. + + If you wish to use more sophisticated trackers, e.g., Hungarian algorithm, velocity prediction, etc, you may do so. + +3. Make sure this works while the vehicle is moving. For example, if the pedestrian is staying still but the vehicle is moving, their reported velocity remains relatively close to 0. Provide these results to the Planning group. +4. Integrate as necessary. + + +## Planning Group + +- Have at least one team member complete safety lookout & driver training. + +Part 1: +1. We will introduce two new components that operate on the output of a `PedestrianDetector2D` / `PedestrianDetector` model produced by the perception team: + + - Logic in the `PedestrianYielder` component in `pedestrian_yield_logic.py`. + - A planner in the `YieldTrajectoryPlanner` component in `longitudinal_planning.py`. + + Move these files to `GEMstack/onboard/planning` where launch files can find them. + +3. For the planning logic, you will implement a braking strategy in `longitudinal_plan_brake()`, and implement a trapezoidal velocity profile strategy in `longitudinal_plan()`. + + You will first do your development using a unit test script, then in simulation. Run `test_longitudinal_planning.py` from the main GEMstack folder to plot the results of your methods. Using the launch file `python3 main.py --variant=fake_sim pedestrian_detection.yaml`, you will receive perfect knowledge about the pedestrian. Test to make sure this produces reasonable behavior in the simulation. It should slow and stop at a safe distance when a pedestrian is detected, and then resume slowly when the pedestrian disappears. +4. Run on the vehicle using `--variant fake_real`. This will use a "fake" detector that will just report pedestrians at some point. Work with the Control and Dynamics team to ensure that reasonable behavior results. +5. Use Git to create a pull request, and have your PR approved. + +Part 2: +1. Use collision detection to determine the distance to collision and use that to determine whether to begin to brake. + + - Determine the lookahead distance that you would need to avoid collision at the current velocity and desired braking deceleration. + - For many steps along the route up to that distance, determine whether the vehicle would be likely to hit (more precisely, get sufficiently close) to the pedestrian. Use a 1m lateral distance and 3m longitudinal distance buffer in your vehicle geometry. + - For the distance-to-collision you determine above, use the longitudinal planner to determine your desired acceleration. + + Determine how quickly you can run your planner. If it is too slow (<5Hz), try using the vehicle-pedestrian distance to dynamically determine your collision checking resolution. + +2. Modify the `PedestrianYielder` so that it selects a subset of pedestrians for which the above calculations should be performed. +3. Adapt the motion planner to slow gently for distant crossing pedestrians to boost rate of progress after the pedestrian crosses the vehicle's route. Use the Perception group's estimated velocity for each pedestrian. +4. Using the `--variant real_real` will run on the real vehicle using trajectory predictions from the Perception group. +5. Integrate as necessary. + + +## Infra Group +- Have at least one team member complete safety lookout & driver training. + +Part 1: +1. Develop a systematic method for saving camera data for the Calibration and Vision groups. Work closely with them to figure out a method to test their methods from logged data. +2. Write documentation for this method, detailing usage and performance issues. +3. Use Git to create a pull request to `s2025_teamX`, and have your PR approved. + +Part 2: +1. Develop a visualizer for rapidly plotting detected pedestrian trajectories from log data (e.g., matplotlib). +2. Work with the Control & Dynamics team to test the integrated system. +3. Develop metrics for pedestrian safety and passenger comfort. Analyze logs from tests. +4. Integrate as necessary. + diff --git a/README.md b/README.md index 51f26e290..b7d69edd7 100644 --- a/README.md +++ b/README.md @@ -11,25 +11,124 @@ GEMstack uses Python 3.7+ and ROS Noetic. (It is possible to do some offline and simulation work without ROS, but it is highly recommended to install it if you are working on any onboard behavior or training for rosbag files.) You should also have the following Python dependencies installed, which you can install from this folder using `pip install -r requirements.txt`: - -- numpy -- scipy -- matplotlib -- opencv-python -- torch -- klampt -- shapely -- dacite -- pyyaml +- GEMstack Dependencies + - numpy + - scipy + - matplotlib + - opencv-python + - torch + - klampt==0.9.2 + - shapely + - dacite + - pyyaml +- Perception Dependencies + - ultralytics In order to interface with the actual GEM e2 vehicle, you will need [PACMOD2](https://github.com/astuff/pacmod2) - Autonomoustuff's low level interface to vehicle. You will also need Autonomoustuff's [sensor message packages](https://github.com/astuff/astuff_sensor_msgs). The onboard computer uses Ubuntu 20.04 with Python 3.8, CUDA 11.6, and NVIDIA driver 515, so to minimize compatibility issues you should ensure that these are installed on your development system. -From a fresh Ubuntu 20.04 with ROS Noetic and [CUDA 11.6 installed](https://gist.github.com/ksopyla/bf74e8ce2683460d8de6e0dc389fc7f5), you can install these dependencies by running `setup/setup_this_machine.sh` from the top-level GEMstack folder. +## Running the stack on Ubuntu 20.04 without Docker +### Checking CUDA Version + +Before proceeding, check your Nvidia Driver and supported CUDA version: +```bash +nvidia-smi +``` +This will show your NVIDIA driver version and the maximum supported CUDA version. Make sure you have CUDA 11.8 or 12+ installed. + +From Ubuntu 20.04 install [CUDA 11.6](https://gist.github.com/ksopyla/bf74e8ce2683460d8de6e0dc389fc7f5) or [CUDA 12+](https://gist.github.com/ksopyla/ee744bf013c83e4aa3fc525634d893c9) based on your current Nvidia Driver versio. + +To check the currently installed CUDA version: +```bash +nvcc --version +``` +you can install the dependencies or GEMstack by running `setup/setup_this_machine.sh` from the top-level GEMstack folder. + +## Running the stack on Ubuntu 20.04 or 22.04 with Docker +> [!NOTE] +> Make sure to check the Nvidia Driver and supported CUDA version before proceeding by following the steps in the previous section. + +## Prerequisites +- Docker (In Linux - Make sure to follow the post-installation steps from [here](https://docs.docker.com/engine/install/linux-postinstall/)) +- Nvidia Container Toolkit + +Try running the sample workload from the [NVIDIA Container Toolkit](https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/latest/sample-workload.html) to check if your system is compatible. -To build a Docker container with all these prerequisites, you can use the provided Dockerfile by running `docker build -t gem_stack setup/`. For GPU support you will need the NVidia Container Runtime (run `setup/get_nvidia_container.sh` from this directory to install, or see [this tutorial](https://collabnix.com/introducing-new-docker-cli-api-support-for-nvidia-gpus-under-docker-engine-19-03-0-beta-release/) to install) and run `docker run -it --gpus all gem_stack /bin/bash`. +```bash +sudo docker run --rm --runtime=nvidia --gpus all ubuntu nvidia-smi +``` +You should see the nvidia-smi output similar to [this](https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/latest/sample-workload.html#:~:text=all%20ubuntu%20nvidia%2Dsmi-,Your%20output%20should%20resemble%20the%20following%20output%3A,-%2B%2D%2D%2D%2D%2D%2D%2D%2D%2D%2D%2D%2D%2D%2D%2D%2D%2D%2D%2D%2D%2D%2D%2D%2D%2D%2D%2D%2D%2D%2D%2D%2D%2D%2D%2D%2D%2D%2D%2D%2D%2D%2D%2D%2D%2D%2D%2D%2D%2D%2D%2D%2D%2D%2D%2D%2D%2D%2D%2D%2D%2D%2D%2D%2D%2D%2D%2D%2D%2D%2D%2D%2D%2D%2D%2D%2D%2D%2B%0A%7C%20NVIDIA%2DSMI%20535.86.10). + +If you see the output, you are good to go. Otherwise, you will need to install the Docker and NVidia Container Toolkit by following the instructions. +- For **Docker**, follow the instructions [here](https://docs.docker.com/engine/install/ubuntu/#install-using-the-repository). + +- For **Nvidia Container Toolkit**, run `setup/get_nvidia_container.sh` from this directory to install, or see [this](https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/latest/install-guide.html) for more details. + +## Running the stack on Ubuntu 20.04 without Docker +### Checking CUDA Version + +Before proceeding, check your Nvidia Driver and supported CUDA version: +```bash +nvidia-smi +``` +This will show your NVIDIA driver version and the maximum supported CUDA version. Make sure you have CUDA 11.8 or 12+ installed. + +From Ubuntu 20.04 install [CUDA 11.6](https://gist.github.com/ksopyla/bf74e8ce2683460d8de6e0dc389fc7f5) or [CUDA 12+](https://gist.github.com/ksopyla/ee744bf013c83e4aa3fc525634d893c9) based on your current Nvidia Driver versio. + +To check the currently installed CUDA version: +```bash +nvcc --version +``` +you can install the dependencies or GEMstack by running `setup/setup_this_machine.sh` from the top-level GEMstack folder. +## Running the stack on Ubuntu 20.04 or 22.04 with Docker +> [!NOTE] +> Make sure to check the Nvidia Driver and supported CUDA version before proceeding by following the steps in the previous section. +For GPU support you will need the NVidia Container Toolkit (run `setup/get_nvidia_container.sh` from this directory to install, or see [this](https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/latest/install-guide.html) for more details). + +## Building the Docker image + +To build a Docker image with all these prerequisites, you can use the provided Dockerfile by running. + +```bash +bash setup/build_docker_image.sh +``` + +## Running the Docker container + +To run the container, you can use the provided Docker Compose file by running. +> [!NOTE] +> If you want to open multiple terminals to run the container, you can use the same command. It will automatically start a new terminal inside the same container. +```bash +bash run_docker_container.sh +``` +## Usage Tips and Instructions + +### Using Host Volume + +You can use the host volume under the container's home directory inside the `` folder. This allows you to build and run files that are on the host machine. For example, if you have a file on the host machine at `/home//project`, you can access it inside the container at `/home//host/project`. + +### Using Dev Containers Extension in VSCode + +To have a good developer environment inside the Docker container, you can use the Dev Containers extension in VSCode. Follow these steps: + +1. Install the Dev Containers extension in VSCode. +2. Open the cloned repository in VSCode. +3. Press `ctrl+shift+p`(or select the remote explorer icon from the left bar) and select `Dev-Containers: Attach to Running Container...`. +4. Select the container name `gem_stack-container`. +5. Once attached, Select `File->Open Folder...`. +6. Select the folder/workspace you want to open in the container. + +This will set up the development environment inside the Docker container, allowing you to use VSCode features seamlessly. + +## Stopping the Docker container + +To stop the container, you can use the provided stop script by running. + +```bash +bash stop_docker_container.sh +``` ## In this folder diff --git a/data/.gitignore b/data/.gitignore old mode 100644 new mode 100755 diff --git a/data/README.md b/data/README.md old mode 100644 new mode 100755 diff --git a/homework/blink.py b/homework/blink.py new file mode 100644 index 000000000..b83d3c49c --- /dev/null +++ b/homework/blink.py @@ -0,0 +1,130 @@ +import rospy +from std_msgs.msg import String, Bool, Float32, Float64 +from pacmod_msgs.msg import PositionWithSpeed, PacmodCmd, SystemRptInt, SystemRptFloat, VehicleSpeedRpt + +TURN_RIGHT = 0 +TURN_NONE = 1 +TURN_LEFT = 2 +TURN_HAZARD = 3 +# For message format, see +# https://github.com/astuff/astuff_sensor_msgs/blob/3.3.0/pacmod_msgs/msg/PacmodCmd.msg + +class BlinkDistress: + """Your control loop code should go here. You will use ROS and Pacmod messages + to communicate with drive-by-wire system to control the vehicle's turn signals. + """ + def __init__(self): + # TODO: Initialize your publishers and subscribers here + + # When you create a subscriber to a /pacmod/parsed_tx/X topic, you will need to provide a callback function. + # You will want this callback to be a BlinkDistress method, such as print_X(self, msg). msg will have a + # ROS message type, and you can find out what this is by either reading the documentation or running + # "rostopic info /pacmod/parsed_tx/X" on the command line. + # check update file good + + self.turn_blink_pub = rospy.Publisher('/pacmod/as_rx/turn_cmd', PacmodCmd, queue_size=1) + # Define blink cmd + self.turn_cmd = PacmodCmd() + + # Subscribers to /pacmod/parsed_tx/X (at least 2) + self.speed_sub = rospy.Subscriber("/pacmod/parsed_tx/vehicle_speed_rpt", VehicleSpeedRpt, self.speed_callback) + self.accel_sub = rospy.Subscriber("/pacmod/parsed_tx/accel_rpt", SystemRptFloat, self.accel_callback) + + pass + + def rate(self): + """Requested update frequency, in Hz""" + return 0.5 + + def initialize(self): + """Run first""" + pass + + def cleanup(self): + """Run last""" + pass + + def get_dir_distress(self): + pass + + def update(self): + """Run in a loop""" + # TODO: Implement your control loop here + # You will need to publish a PacmodCmd() to /pacmod/as_rx/turn_cmd. Read the documentation to see + # what the data in the message indicates. + #self.turn_cmd = PacmodCmd() + # TODO change to actual direction in Part 2 + + if self.turn_cmd.ui16_cmd == TURN_NONE: + self.turn_cmd.ui16_cmd = TURN_LEFT + elif self.turn_cmd.ui16_cmd == TURN_LEFT: + self.turn_cmd.ui16_cmd = TURN_RIGHT + else: + self.turn_cmd.ui16_cmd = TURN_NONE + self.turn_blink_pub.publish(self.turn_cmd) + + pass + + def healthy(self): + """Returns True if the element is in a stable state.""" + return True + + def done(self): + """Return True if you want to exit.""" + return False + + def speed_callback(self, msg): + """Callback for /pacmod/parsed_tx/vehicle_speed_rpt""" + rospy.loginfo(f"Vehicle Speed: {msg.vehicle_speed} m/s | Valid: {msg.vehicle_speed_valid}") + + def accel_callback(self, msg): + """Callback for /pacmod/parsed_tx/accel_rpt""" + rospy.loginfo("--- Acceleration Report ---") + rospy.loginfo(f"Header Timestamp: {msg.header.stamp.to_sec()}") + + # Boolean status flags + rospy.loginfo(f"Enabled: {msg.enabled}") + rospy.loginfo(f"Override Active: {msg.override_active}") + rospy.loginfo(f"Command Output Fault: {msg.command_output_fault}") + rospy.loginfo(f"Input Output Fault: {msg.input_output_fault}") + rospy.loginfo(f"Output Reported Fault: {msg.output_reported_fault}") + rospy.loginfo(f"PACMod Fault: {msg.pacmod_fault}") + rospy.loginfo(f"Vehicle Fault: {msg.vehicle_fault}") + + # Float values + rospy.loginfo(f"Manual Input: {msg.manual_input} (Driver Input)") + rospy.loginfo(f"Command: {msg.command} (Requested Acceleration)") + rospy.loginfo(f"Output: {msg.output} (Final Output to Vehicle)") + rospy.loginfo("---------------------------\n") + +def run_ros_loop(node, Allstate): + """Executes the event loop of a node using ROS. `node` should support + rate(), initialize(), cleanup(), update(), and done(). You should not modify + this code. + """ + #intializes the node. We use disable_signals so that the end() function can be called when Ctrl+C is issued. + #See http://wiki.ros.org/rospy/Overview/Initialization%20and%20Shutdown + rospy.init_node(node.__class__.__name__, disable_signals=True) + + node.initialize() + rate = rospy.Rate(node.rate()) + termination_reason = "undetermined" + try: + while not rospy.is_shutdown() and not node.done() and node.healthy(): + node.update(node, Allstate) + rate.sleep() + if node.done(): + termination_reason = "Node done" + if not node.healthy(): + termination_reason = "Node in unhealthy state" + except KeyboardInterrupt: + termination_reason = "Killed by user" + except Exception as e: + termination_reason = "Exception "+str(e) + raise + finally: + node.cleanup() + rospy.signal_shutdown(termination_reason) + +if __name__ == '__main__': + run_ros_loop(BlinkDistress()) \ No newline at end of file diff --git a/homework/blink_component.py b/homework/blink_component.py new file mode 100644 index 000000000..18fb41c6b --- /dev/null +++ b/homework/blink_component.py @@ -0,0 +1,39 @@ +from ..component import Component +from ..interface.gem import GEMInterface,GEMVehicleCommand,GEMVehicleReading + + +class BlinkDistress(Component): + """Your control loop code should go here. You will use GEMVehicleCommand + to communicate with drive-by-wire system to control the vehicle's turn signals. + """ + def __init__(self, vehicle_interface : GEMInterface): + self.vehicle_interface = vehicle_interface + self.command = None + + def rate(self): + """Requested update frequency, in Hz""" + return 0.5 + + def initialize(self): + """Run first""" + pass + + def cleanup(self): + """Run last""" + pass + + def update(self): + """Run in a loop""" + # we need to set up a GEMVehicleCommand which encapsulates all commands that will be + # sent to the drive-by-wire system, simultaneously. To avoid doing arbitrary things + # to the vehicle, let's maintain the current values (e.g., accelerator, brake pedal, + # steering angle) from its current readings. + command = self.vehicle_interface.command_from_reading() + # TODO: alter command to execute turn signals, then uncomment line below to send + # the command to vehicle + # self.vehicle_interface.send_command(command) + + def healthy(self): + """Returns True if the element is in a stable state.""" + return True + diff --git a/homework/longitudinal_planning.py b/homework/longitudinal_planning.py new file mode 100644 index 000000000..c3f3bf737 --- /dev/null +++ b/homework/longitudinal_planning.py @@ -0,0 +1,93 @@ +from typing import List +from ..component import Component +from ...state import AllState, VehicleState, EntityRelation, EntityRelationEnum, Path, Trajectory, Route, ObjectFrameEnum +from ...utils import serialization +from ...mathutils.transforms import vector_madd + +def longitudinal_plan(path : Path, acceleration : float, deceleration : float, max_speed : float, current_speed : float) -> Trajectory: + """Generates a longitudinal trajectory for a path with a + trapezoidal velocity profile. + + 1. accelerates from current speed toward max speed + 2. travel along max speed + 3. if at any point you can't brake before hitting the end of the path, + decelerate with accel = -deceleration until velocity goes to 0. + """ + path_normalized = path.arc_length_parameterize() + #TODO: actually do something to points and times + points = [p for p in path_normalized.points] + times = [t for t in path_normalized.times] + trajectory = Trajectory(path.frame,points,times) + return trajectory + + +def longitudinal_brake(path : Path, deceleration : float, current_speed : float) -> Trajectory: + """Generates a longitudinal trajectory for braking along a path.""" + path_normalized = path.arc_length_parameterize() + #TODO: actually do something to points and times + points = [p for p in path_normalized.points] + times = [t for t in path_normalized.times] + trajectory = Trajectory(path.frame,points,times) + return trajectory + + +class YieldTrajectoryPlanner(Component): + """Follows the given route. Brakes if you have to yield or + you are at the end of the route, otherwise accelerates to + the desired speed. + """ + def __init__(self): + self.route_progress = None + self.t_last = None + self.acceleration = 0.5 + self.desired_speed = 1.0 + self.deceleration = 2.0 + + def state_inputs(self): + return ['all'] + + def state_outputs(self) -> List[str]: + return ['trajectory'] + + def rate(self): + return 10.0 + + def update(self, state : AllState): + vehicle = state.vehicle # type: VehicleState + route = state.route # type: Route + t = state.t + + if self.t_last is None: + self.t_last = t + dt = t - self.t_last + + curr_x = vehicle.pose.x + curr_y = vehicle.pose.y + curr_v = vehicle.v + + #figure out where we are on the route + if self.route_progress is None: + self.route_progress = 0.0 + closest_dist,closest_parameter = state.route.closest_point_local((curr_x,curr_y),[self.route_progress-5.0,self.route_progress+5.0]) + self.route_progress = closest_parameter + + #extract out a 10m segment of the route + route_with_lookahead = route.trim(closest_parameter,closest_parameter+10.0) + + #parse the relations indicated + should_brake = False + for r in state.relations: + if r.type == EntityRelationEnum.YIELD and r.obj1 == '': + #yielding to something, brake + should_brake = True + should_accelerate = (not should_brake and curr_v < self.desired_speed) + + #choose whether to accelerate, brake, or keep at current velocity + if should_accelerate: + traj = longitudinal_plan(route_with_lookahead, self.acceleration, self.deceleration, self.desired_speed, curr_v) + elif should_brake: + traj = longitudinal_brake(route_with_lookahead, self.deceleration, curr_v) + else: + traj = longitudinal_plan(route_with_lookahead, 0.0, self.deceleration, self.desired_speed, curr_v) + + return traj diff --git a/homework/pedestrian_detection.py b/homework/pedestrian_detection.py new file mode 100644 index 000000000..3134b1e35 --- /dev/null +++ b/homework/pedestrian_detection.py @@ -0,0 +1,84 @@ +from ...state import AllState,VehicleState,ObjectPose,ObjectFrameEnum,AgentState,AgentEnum,AgentActivityEnum +from ..interface.gem import GEMInterface +from ..component import Component +#from ultralytics import YOLO +#import cv2 +from typing import Dict + +def box_to_fake_agent(box): + """Creates a fake agent state from an (x,y,w,h) bounding box. + + The location and size are pretty much meaningless since this is just giving a 2D location. + """ + x,y,w,h = box + pose = ObjectPose(t=0,x=x+w/2,y=y+h/2,z=0,yaw=0,pitch=0,roll=0,frame=ObjectFrameEnum.CURRENT) + dims = (w,h,0) + return AgentState(pose=pose,dimensions=dims,outline=None,type=AgentEnum.PEDESTRIAN,activity=AgentActivityEnum.MOVING,velocity=(0,0,0),yaw_rate=0) + + +class PedestrianDetector2D(Component): + """Detects pedestrians.""" + def __init__(self,vehicle_interface : GEMInterface): + self.vehicle_interface = vehicle_interface + #self.detector = YOLO('../../knowledge/detection/yolov8n.pt') + self.last_person_boxes = [] + + def rate(self): + return 4.0 + + def state_inputs(self): + return ['vehicle'] + + def state_outputs(self): + return ['agents'] + + def initialize(self): + #tell the vehicle to use image_callback whenever 'front_camera' gets a reading, and it expects images of type cv2.Mat + #self.vehicle_interface.subscribe_sensor('front_camera',self.image_callback,cv2.Mat) + pass + + #def image_callback(self, image : cv2.Mat): + # detection_result = self.detector(image) + # self.last_person_boxes = [] + # #uncomment if you want to debug the detector... + # #for bb in self.last_person_boxes: + # # x,y,w,h = bb + # # cv2.rectangle(image, (int(x-w/2), int(y-h/2)), (int(x+w/2), int(y+h/2)), (255, 0, 255), 3) + # #cv2.imwrite("pedestrian_detections.png",image) + + def update(self, vehicle : VehicleState) -> Dict[str,AgentState]: + res = {} + for i,b in enumerate(self.last_person_boxes): + x,y,w,h = b + res['pedestrian'+str(i)] = box_to_fake_agent(b) + if len(res) > 0: + print("Detected",len(res),"pedestrians") + return res + + +class FakePedestrianDetector2D(Component): + """Triggers a pedestrian detection at some random time ranges""" + def __init__(self,vehicle_interface : GEMInterface): + self.vehicle_interface = vehicle_interface + self.times = [(5.0,20.0),(30.0,35.0)] + self.t_start = None + + def rate(self): + return 4.0 + + def state_inputs(self): + return ['vehicle'] + + def state_outputs(self): + return ['agents'] + + def update(self, vehicle : VehicleState) -> Dict[str,AgentState]: + if self.t_start is None: + self.t_start = self.vehicle_interface.time() + t = self.vehicle_interface.time() - self.t_start + res = {} + for times in self.times: + if t >= times[0] and t <= times[1]: + res['pedestrian0'] = box_to_fake_agent((0,0,0,0)) + print("Detected a pedestrian") + return res diff --git a/homework/pedestrian_detection.yaml b/homework/pedestrian_detection.yaml new file mode 100644 index 000000000..0fffa89fc --- /dev/null +++ b/homework/pedestrian_detection.yaml @@ -0,0 +1,97 @@ +description: "Run the yielding trajectory planner on the real vehicle with real perception" +mode: hardware +vehicle_interface: gem_hardware.GEMHardwareInterface +mission_execution: StandardExecutor + +# Recovery behavior after a component failure +recovery: + planning: + trajectory_tracking : recovery.StopTrajectoryTracker + +# Driving behavior for the GEM vehicle. Runs real pedestrian perception, yield planner, but does not send commands to real vehicle. +drive: + perception: + state_estimation : GNSSStateEstimator + agent_detection : pedestrian_detection.PedestrianDetector2D + perception_normalization : StandardPerceptionNormalizer + planning: + relations_estimation: pedestrian_yield_logic.PedestrianYielder + route_planning: + type: StaticRoutePlanner + args: [!relative_path '../GEMstack/knowledge/routes/forward_15m.csv','start'] + motion_planning: longitudinal_planning.YieldTrajectoryPlanner + trajectory_tracking: + type: pure_pursuit.PurePursuitTrajectoryTracker + print: False + + +log: + # Specify the top-level folder to save the log files. Default is 'logs' + #folder : 'logs' + # If prefix is specified, then the log folder will be named with the prefix followed by the date and time. Default no prefix + #prefix : 'fixed_route_' + # If suffix is specified, then logs will output to folder/prefix+suffix. Default uses date and time as the suffix + #suffix : 'test3' + # Specify which ros topics to record to vehicle.bag. Default records nothing. This records the "standard" ROS topics. + ros_topics : + # Specify options to pass to rosbag record. Default is no options. + #rosbag_options : '--split --size=1024' + # If True, then record all readings / commands of the vehicle interface. Default False + vehicle_interface : True + # Specify which components to record to behavior.json. Default records nothing + components : ['state_estimation','agent_detection','motion_planning'] + # Specify which components of state to record to state.json. Default records nothing + #state: ['all'] + # Specify the rate in Hz at which to record state to state.json. Default records at the pipeline's rate + #state_rate: 10 +replay: # Add items here to set certain topics / inputs to be replayed from logs + # Specify which log folder to replay from + log: + ros_topics : [] + components : [] + +#usually can keep this constant +computation_graph: !include "../GEMstack/knowledge/defaults/computation_graph.yaml" + +variants: + detector_only: + run: + description: "Run the pedestrian detection code" + drive: + planning: + trajectory_tracking: + real_sim: + run: + description: "Run the pedestrian detection code with real detection and fake simulation" + mode: hardware + vehicle_interface: + type: gem_mixed.GEMRealSensorsWithSimMotionInterface + args: + scene: !relative_path '../scenes/xyhead_demo.yaml' + mission_execution: StandardExecutor + require_engaged: False + visualization: !include "klampt_visualization.yaml" + drive: + perception: + state_estimation : OmniscientStateEstimator + + + fake_real: + run: + description: "Run the yielding trajectory planner on the real vehicle with faked perception" + drive: + perception: + agent_detection : pedestrian_detection.FakePedestrianDetector2D + + fake_sim: + run: + description: "Run the yielding trajectory planner in simulation with faked perception" + mode: simulation + vehicle_interface: + type: gem_simulator.GEMDoubleIntegratorSimulationInterface + args: + scene: !relative_path '../scenes/xyhead_demo.yaml' + visualization: !include "klampt_visualization.yaml" + drive: + perception: + state_estimation : OmniscientStateEstimator diff --git a/homework/pedestrian_yield_logic.py b/homework/pedestrian_yield_logic.py new file mode 100644 index 000000000..2567c0093 --- /dev/null +++ b/homework/pedestrian_yield_logic.py @@ -0,0 +1,22 @@ +from ...state import AgentState,AgentEnum,EntityRelation,EntityRelationEnum +from ..component import Component +from typing import List,Dict + +class PedestrianYielder(Component): + """Yields for all pedestrians in the scene. + + Result is stored in the relations graph. + """ + def rate(self): + return None + def state_inputs(self): + return ['agents'] + def state_outputs(self): + return ['relations'] + def update(self,agents : Dict[str,AgentState]) -> List[EntityRelation]: + res = [] + for n,a in agents.items(): + if a.type == AgentEnum.PEDESTRIAN: + #relation: ego-vehicle yields to pedestrian + res.append(EntityRelation(type=EntityRelationEnum.YIELDING,obj1='',obj2=n)) + return res diff --git a/homework/person_detector.py b/homework/person_detector.py new file mode 100644 index 000000000..8f4fa3588 --- /dev/null +++ b/homework/person_detector.py @@ -0,0 +1,48 @@ +#from ultralytics import YOLO +import cv2 +import sys + +def person_detector(img : cv2.Mat): + #TODO: implement me to produce a list of (x,y,w,h) bounding boxes of people in the image + return [] + +def main(fn): + image = cv2.imread(fn) + bboxes = person_detector(image) + print("Detected",len(bboxes),"people") + for bb in bboxes: + x,y,w,h = bb + if not isinstance(x,(int,float)) or not isinstance(y,(int,float)) or not isinstance(w,(int,float)) or not isinstance(h,(int,float)): + print("WARNING: make sure to return Python numbers rather than PyTorch Tensors") + print("Corner",(x,y),"size",(w,h)) + cv2.rectangle(image, (int(x-w/2), int(y-h/2)), (int(x+w/2), int(y+h/2)), (255, 0, 255), 3) + cv2.imshow('Results', image) + cv2.waitKey(0) + +def main_webcam(): + cap = cv2.VideoCapture(0) + cap.set(3, 640) + cap.set(4, 480) + + print("Press space to exit") + while True: + _, image = cap.read() + + bboxes = person_detector(image) + for bb in bboxes: + x,y,w,h = bb + cv2.rectangle(image, (int(x-w/2), int(y-h/2)), (int(x+w/2), int(y+h/2)), (255, 0, 255), 3) + + cv2.imshow('Person detection', image) + if cv2.waitKey(1) & 0xFF == ord(' '): + break + + cap.release() + + +if __name__ == '__main__': + fn = sys.argv[1] + if fn != 'webcam': + main(fn) + else: + main_webcam() \ No newline at end of file diff --git a/homework/test_longitudinal_plan.py b/homework/test_longitudinal_plan.py new file mode 100644 index 000000000..400f34fea --- /dev/null +++ b/homework/test_longitudinal_plan.py @@ -0,0 +1,80 @@ +#needed to import GEMstack from top level directory +import sys +import os +sys.path.append(os.getcwd()) + +from GEMstack.state import Path, ObjectFrameEnum +from GEMstack.onboard.planning.longitudinal_planning import longitudinal_plan,longitudinal_brake +import matplotlib.pyplot as plt + +def test_longitudinal_planning(): + test_path = Path(ObjectFrameEnum.START,[(0,0),(1,0),(2,0),(3,0),(4,0),(5,0),(6,0)]) + test_path2 = Path(ObjectFrameEnum.START,[(5,0),(6,1),(7,2),(9,4)]) + + test_traj = longitudinal_brake(test_path, 2.0, 0.0) + assert (t1 < t2 for (t1,t2) in zip(test_traj.times[:-1],test_traj.times[1:]) ) + plt.plot(test_traj.times,[p[0] for p in test_traj.points]) + plt.title("Braking from 0 m/s (should just stay still)") + plt.xlabel('time') + plt.ylabel('position') + plt.show() + + test_traj = longitudinal_brake(test_path, 2.0, 2.0) + assert (t1 < t2 for (t1,t2) in zip(test_traj.times[:-1],test_traj.times[1:]) ) + plt.plot(test_traj.times,[p[0] for p in test_traj.points]) + plt.title("Braking from 2 m/s") + plt.xlabel('time') + plt.ylabel('position') + plt.show() + + test_traj = longitudinal_plan(test_path, 1.0, 2.0, 3.0, 0.0) + assert (t1 < t2 for (t1,t2) in zip(test_traj.times[:-1],test_traj.times[1:]) ) + plt.plot(test_traj.times,[p[0] for p in test_traj.points]) + plt.title("Accelerating from 0 m/s") + plt.xlabel('time') + plt.ylabel('position') + plt.show() + + + test_traj = longitudinal_plan(test_path, 1.0, 2.0, 3.0, 2.0) + assert (t1 < t2 for (t1,t2) in zip(test_traj.times[:-1],test_traj.times[1:]) ) + plt.plot(test_traj.times,[p[0] for p in test_traj.points]) + plt.title("Accelerating from 2 m/s") + plt.xlabel('time') + plt.ylabel('position') + plt.show() + + test_traj = longitudinal_plan(test_path, 0.0, 2.0, 3.0, 3.1) + assert (t1 < t2 for (t1,t2) in zip(test_traj.times[:-1],test_traj.times[1:]) ) + plt.plot(test_traj.times,[p[0] for p in test_traj.points]) + plt.title("Keeping constant velocity at 3.1 m/s") + plt.xlabel('time') + plt.ylabel('position') + plt.show() + + test_traj = longitudinal_plan(test_path, 2.0, 2.0, 20.0, 10.0) + assert (t1 < t2 for (t1,t2) in zip(test_traj.times[:-1],test_traj.times[1:]) ) + plt.plot(test_traj.times,[p[0] for p in test_traj.points]) + plt.title("Too little time to stop, starting at 10 m/s") + plt.xlabel('time') + plt.ylabel('position') + plt.show() + + test_traj = longitudinal_brake(test_path, 2.0, 10.0) + plt.plot(test_traj.times,[p[0] for p in test_traj.points]) + plt.title("Too little time to stop, braking at 10 m/s") + plt.xlabel('time') + plt.ylabel('position') + plt.show() + + test_traj = longitudinal_plan(test_path2, 1.0, 2.0, 3.0, 0.0) + plt.plot(test_traj.times,[p[0] for p in test_traj.points]) + plt.title("Nonuniform planning") + plt.xlabel('time') + plt.ylabel('position') + plt.show() + + + +if __name__ == '__main__': + test_longitudinal_planning() diff --git a/launch/blink_launch.yaml b/launch/blink_launch.yaml new file mode 100644 index 000000000..ab28ae31a --- /dev/null +++ b/launch/blink_launch.yaml @@ -0,0 +1,68 @@ +description: "Launch just the blink distress code" +mode: hardware +vehicle_interface: gem_hardware.GEMHardwareInterface +mission_execution: StandardExecutor +require_engaged: False +# Recovery behavior after a component failure +recovery: + perception: + state_estimation : GNSSStateEstimator + perception_normalization : StandardPerceptionNormalizer + planning: + driving_logic: driving_logic_component.DrivingLogic + signaling: blink_component.BlinkDistress +# Driving behavior for the GEM vehicle. Runs perception and planner but doesn't execute anything (no controller). +drive: + perception: + state_estimation : GNSSStateEstimator + perception_normalization : StandardPerceptionNormalizer + planning: + driving_logic: driving_logic_component.DrivingLogic + signaling: blink_component.BlinkDistress +log: + # Specify the top-level folder to save the log files. Default is 'logs' + folder : 'logs' + # If prefix is specified, then the log folder will be named with the prefix followed by the date and time. Default no prefix + prefix : 'hw1_' + # If suffix is specified, then logs will output to folder/prefix+suffix. Default uses date and time as the suffix + #suffix : 'test3' + # Specify which ros topics to record to vehicle.bag. + #ros_topics : ['/pacmod/as_rx/turn_cmd','/pacmod/as_tx/turn_rpt'] + # Specify options to pass to rosbag record. Default is no options. + #rosbag_options : '--split --size=1024' + # If True, then record all readings / commands of the vehicle interface. Default False + vehicle_interface : True + # Specify which components to record to behavior.json. Default records nothing + components : [] + # Specify which components of state to record to state.json. Default records nothing + #state: ['all'] + # Specify the rate in Hz at which to record state to state.json. Default records at the pipeline's rate + #state_rate: 10 + # If True, then make plots of the recorded data specifically from PurePursuitTrajectoryTracker_debug.csv and report metrics. Default False + #auto_plot : True +replay: # Add items here to set certain topics / inputs to be replayed from logs + # Specify which log folder to replay from + log: + ros_topics : [] + components : [] + +#usually can keep this constant +computation_graph: !include "../GEMstack/knowledge/defaults/computation_graph.yaml" + +variants: + sim: + run: + description: "Runs the distress signal, but in simulation" + mode: simulation + vehicle_interface: + type: gem_simulator.GEMDoubleIntegratorSimulationInterface + args: + scene: !relative_path '../scenes/xyhead_demo.yaml' + require_engaged: False + visualization: !include "klampt_visualization.yaml" + recovery: + perception: + state_estimation : OmniscientStateEstimator + drive: + perception: + state_estimation : OmniscientStateEstimator diff --git a/launch/dash_fixed_route.yaml b/launch/dash_fixed_route.yaml new file mode 100644 index 000000000..09bf44c48 --- /dev/null +++ b/launch/dash_fixed_route.yaml @@ -0,0 +1,81 @@ +description: "Drive the GEM vehicle along a fixed route (currently xyhead_highbay_backlot_p.csv)" +mode: hardware +vehicle_interface: gem_hardware.GEMHardwareInterface +mission_execution: StandardExecutor +# Recovery behavior after a component failure +recovery: + planning: + trajectory_tracking: + type: recovery.StopTrajectoryTracker + print: False +# Driving behavior for the GEM vehicle following a fixed route +drive: + perception: + state_estimation : GNSSStateEstimator + perception_normalization : StandardPerceptionNormalizer + planning: + route_planning: + type: StaticRoutePlanner + args: [!relative_path '../GEMstack/knowledge/routes/forward_50m.csv'] + motion_planning: + type: RouteToTrajectoryPlanner + args: [null] #desired speed in m/s. If null, this will keep the route untimed for the trajectory tracker + trajectory_tracking: + type: pure_pursuit.PurePursuitTrajectoryTracker + args: {desired_speed: 2.5} #approximately 5mph + print: False +log: + # Specify the top-level folder to save the log files. Default is 'logs' + #folder : 'logs' + # If prefix is specified, then the log folder will be named with the prefix followed by the date and time. Default no prefix + #prefix : 'fixed_route_' + # If suffix is specified, then logs will output to folder/prefix+suffix. Default uses date and time as the suffix + #suffix : 'test3' + # Specify which ros topics to record to vehicle.bag. Default records nothing. This records the "standard" ROS topics. + ros_topics : [] + # Specify options to pass to rosbag record. Default is no options. + #rosbag_options : '--split --size=1024' + # If True, then record all readings / commands of the vehicle interface. Default False + vehicle_interface : True + # Specify which components to record to behavior.json. Default records nothing + components : ['state_estimation','trajectory_tracking'] + # Specify which components of state to record to state.json. Default records nothing + #state: ['all'] + # Specify the rate in Hz at which to record state to state.json. Default records at the pipeline's rate + #state_rate: 10 + # If True, then make plots of the recorded data specifically from PurePursuitTrajectoryTracker_debug.csv and report metrics. Default False + #auto_plot : True +replay: # Add items here to set certain topics / inputs to be replayed from logs + # Specify which log folder to replay from + log: + # For replaying sensor data, try !include "../knowledge/defaults/standard_sensor_ros_topics.yaml" + ros_topics : [] + components : [] + +#usually can keep this constant +computation_graph: !include "../GEMstack/knowledge/defaults/computation_graph.yaml" + +after: + show_log_folder: True #set to false to avoid showing the log folder + +#on load, variants will overload the settings structure +variants: + #sim variant doesn't execute on the real vehicle + #real variant executes on the real robot + sim: + run: + mode: simulation + vehicle_interface: + type: gem_simulator.GEMDoubleIntegratorSimulationInterface + args: + scene: !relative_path '../scenes/xyhead_demo.yaml' + + drive: + perception: + state_estimation : OmniscientStateEstimator + agent_detection : OmniscientAgentDetector + visualization: !include "klampt_visualization.yaml" + #visualization: !include "mpl_visualization.yaml" + log_ros: + log: + ros_topics : !include "../GEMstack/knowledge/defaults/standard_ros_topics.yaml" \ No newline at end of file diff --git a/launch/fixed_route.yaml b/launch/fixed_route.yaml index c05de8ff7..af3e62199 100644 --- a/launch/fixed_route.yaml +++ b/launch/fixed_route.yaml @@ -16,14 +16,16 @@ drive: planning: route_planning: type: StaticRoutePlanner - args: [!relative_path '../GEMstack/knowledge/routes/xyhead_highbay_backlot_p.csv'] + args: [!relative_path '../GEMstack/knowledge/routes/xyhead_highbay_backlot_oval.csv'] motion_planning: type: RouteToTrajectoryPlanner args: [null] #desired speed in m/s. If null, this will keep the route untimed for the trajectory tracker trajectory_tracking: - type: pure_pursuit.PurePursuitTrajectoryTracker - args: {desired_speed: 2.5} #approximately 5mph - print: False + #type: pure_pursuit.PurePursuitTrajectoryTracker # to use pure pursuit comment below + type: stanley.StanleyTrajectoryTracker # to use stanley comment above + # args: {desired_speed: 10} #approximately 5mph comment when racing + print: True + log: # Specify the top-level folder to save the log files. Default is 'logs' #folder : 'logs' @@ -43,6 +45,8 @@ log: #state: ['all'] # Specify the rate in Hz at which to record state to state.json. Default records at the pipeline's rate #state_rate: 10 + # If True, then make plots of the recorded data specifically from PurePursuitTrajectoryTracker_debug.csv and report metrics. Default False + #auto_plot : True replay: # Add items here to set certain topics / inputs to be replayed from logs # Specify which log folder to replay from log: @@ -76,4 +80,4 @@ variants: #visualization: !include "mpl_visualization.yaml" log_ros: log: - ros_topics : !include "../GEMstack/knowledge/defaults/standard_ros_topics.yaml" \ No newline at end of file + ros_topics : !include "../GEMstack/knowledge/defaults/standard_ros_topics.yaml" diff --git a/launch/gather_data.yaml b/launch/gather_data.yaml index 4f3d03d4c..e04e8337d 100644 --- a/launch/gather_data.yaml +++ b/launch/gather_data.yaml @@ -37,6 +37,8 @@ log: #state: ['all'] # Specify the rate in Hz at which to record state to state.json. Default records at the pipeline's rate #state_rate: 10 + # If True, then make plots of the recorded data specifically from PurePursuitTrajectoryTracker_debug.csv and report metrics. Default False + #auto_plot : True replay: # Add items here to set certain topics / inputs to be replayed from logs # Specify which log folder to replay from log: diff --git a/launch/launch_all.sh b/launch/launch_all.sh new file mode 100644 index 000000000..c75fbecc9 --- /dev/null +++ b/launch/launch_all.sh @@ -0,0 +1,24 @@ +#!/bin/bash +<< COMMENTOUT +########## +- This script opens three new tabs in GNOME Terminal. +- Each tab will change to the GEMstack directory, source the ROS environment, and then run the specified command. + +- Run these commands at each tab: +cd ~/catkin_ws/src/GEMstack +source ~/catkin_ws/devel/setup.bash && roslaunch basic_launch sensor_init.launch +source ~/catkin_ws/devel/setup.bash && roslaunch basic_launch dbw_joystick.launch +source ~/catkin_ws/devel/setup.bash && python3 main.py --variant=fake_real launch/pedestrian_detection.yaml + +- If you don't want to detect virtual pedestrian, run this command instead: +source ~/catkin_ws/devel/setup.bash && python3 main.py launch/pedestrian_detection.yaml + +- If roscore cannot run, run this command to kill all roscore: +killall -9 roscore rosmaster +########## +COMMENTOUT + +cd ~/catkin_ws/src/GEMstack +gnome-terminal --tab -- bash -c "source ~/catkin_ws/devel/setup.bash && roslaunch basic_launch sensor_init.launch; exec bash" +gnome-terminal --tab -- bash -c "source ~/catkin_ws/devel/setup.bash && roslaunch basic_launch dbw_joystick.launch; exec bash" +gnome-terminal --tab -- bash -c "source ~/catkin_ws/devel/setup.bash && python3 main.py --variant=fake_real launch/pedestrian_detection.yaml; exec bash" \ No newline at end of file diff --git a/launch/pedestrian_detection.yaml b/launch/pedestrian_detection.yaml new file mode 100644 index 000000000..4b59cc3a3 --- /dev/null +++ b/launch/pedestrian_detection.yaml @@ -0,0 +1,119 @@ +description: "Run the yielding trajectory planner on the real vehicle with real perception" +mode: hardware +vehicle_interface: gem_hardware.GEMHardwareInterface +mission_execution: StandardExecutor + +# Recovery behavior after a component failure +recovery: + planning: + trajectory_tracking : recovery.StopTrajectoryTracker + +# Driving behavior for the GEM vehicle. Runs real pedestrian perception, yield planner, but does not send commands to real vehicle. +drive: + perception: + state_estimation : GNSSStateEstimator + agent_detection : pedestrian_detection.PedestrianDetector2D + perception_normalization : StandardPerceptionNormalizer + planning: + relations_estimation: + type: pedestrian_yield_logic.PedestrianYielder + args: + mode: 'real' + params: { + 'yielder': 'expert', # 'expert', 'analytic', or 'simulation' + 'planner': 'milestone', # 'milestone', 'dt', or 'dx' + 'desired_speed': 1.0, # m/s, 1.5 m/s seems max speed? Feb24 + 'acceleration': 0.75 # m/s2, 0.5 is not enough to start moving. Feb24 + } + route_planning: + type: StaticRoutePlanner + args: [!relative_path '../GEMstack/knowledge/routes/forward_15m.csv','start'] + motion_planning: longitudinal_planning.YieldTrajectoryPlanner + trajectory_tracking: + type: pure_pursuit.PurePursuitTrajectoryTracker + print: False + + +log: + # Specify the top-level folder to save the log files. Default is 'logs' + #folder : 'logs' + # If prefix is specified, then the log folder will be named with the prefix followed by the date and time. Default no prefix + #prefix : 'fixed_route_' + # If suffix is specified, then logs will output to folder/prefix+suffix. Default uses date and time as the suffix + #suffix : 'test3' + # Specify which ros topics to record to vehicle.bag. Default records nothing. This records the "standard" ROS topics. + ros_topics : + # Specify options to pass to rosbag record. Default is no options. + #rosbag_options : '--split --size=1024' + # If True, then record all readings / commands of the vehicle interface. Default False + vehicle_interface : True + # Specify which components to record to behavior.json. Default records nothing + components : ['state_estimation','agent_detection','motion_planning'] + # Specify which components of state to record to state.json. Default records nothing + #state: ['all'] + # Specify the rate in Hz at which to record state to state.json. Default records at the pipeline's rate + #state_rate: 10 + # If True, then make plots of the recorded data specifically from PurePursuitTrajectoryTracker_debug.csv and report metrics. Default False + #auto_plot : True +replay: # Add items here to set certain topics / inputs to be replayed from logs + # Specify which log folder to replay from + log: + ros_topics : [] + components : [] + +#usually can keep this constant +computation_graph: !include "../GEMstack/knowledge/defaults/computation_graph.yaml" + +variants: + detector_only: + run: + description: "Run the pedestrian detection code" + drive: + planning: + trajectory_tracking: + real_sim: + run: + description: "Run the pedestrian detection code with real detection and fake simulation" + mode: hardware + vehicle_interface: + type: gem_mixed.GEMRealSensorsWithSimMotionInterface + args: + scene: !relative_path '../scenes/xyhead_demo.yaml' + mission_execution: StandardExecutor + require_engaged: False + visualization: !include "klampt_visualization.yaml" + drive: + perception: + state_estimation : OmniscientStateEstimator + planning: + relations_estimation: + type: pedestrian_yield_logic.PedestrianYielder + args: + mode: 'sim' + + fake_real: + run: + description: "Run the yielding trajectory planner on the real vehicle with faked perception" + drive: + perception: + agent_detection : pedestrian_detection.FakePedestrianDetector2D + + fake_sim: + run: + description: "Run the yielding trajectory planner in simulation with faked perception" + mode: simulation + vehicle_interface: + type: gem_simulator.GEMDoubleIntegratorSimulationInterface + args: + scene: !relative_path '../scenes/xyhead_demo.yaml' + visualization: !include "klampt_visualization.yaml" + drive: + perception: + # agent_detection : pedestrian_detection.FakePedestrianDetector2D + agent_detection : OmniscientAgentDetector #this option reads agents from the simulator + state_estimation : OmniscientStateEstimator + planning: + relations_estimation: + type: pedestrian_yield_logic.PedestrianYielder + args: + mode: 'sim' \ No newline at end of file diff --git a/launch/planner_sim.yaml b/launch/planner_sim.yaml new file mode 100644 index 000000000..7eebe7d90 --- /dev/null +++ b/launch/planner_sim.yaml @@ -0,0 +1,83 @@ +description: "Drive the GEM vehicle along a fixed route (currently xyhead_highbay_backlot_p.csv)" +mode: hardware +vehicle_interface: gem_hardware.GEMHardwareInterface +mission_execution: StandardExecutor +# Recovery behavior after a component failure +recovery: + planning: + trajectory_tracking: + type: recovery.StopTrajectoryTracker + print: False +# Driving behavior for the GEM vehicle following a fixed route +drive: + perception: + state_estimation : GNSSStateEstimator + perception_normalization : StandardPerceptionNormalizer + planning: + route_planning: + type: StaticRoutePlanner + args: [!relative_path '../GEMstack/knowledge/routes/racing_circle.csv'] # [Option] slalom.csv / racing_circle.csv + motion_planning: + type: racing_planning.SlalomTrajectoryPlanner + # args: [null] #desired speed in m/s. If null, this will keep the route untimed for the trajectory tracker + trajectory_tracking: + type: pure_pursuit.PurePursuitTrajectoryTracker # to use pure pursuit comment below + # type: stanley.StanleyTrajectoryTracker # to use stanley comment above + args: {desired_speed: 10} #approximately 5mph + print: True + +log: + # Specify the top-level folder to save the log files. Default is 'logs' + #folder : 'logs' + # If prefix is specified, then the log folder will be named with the prefix followed by the date and time. Default no prefix + #prefix : 'fixed_route_' + # If suffix is specified, then logs will output to folder/prefix+suffix. Default uses date and time as the suffix + #suffix : 'test3' + # Specify which ros topics to record to vehicle.bag. Default records nothing. This records the "standard" ROS topics. + ros_topics : [] + # Specify options to pass to rosbag record. Default is no options. + #rosbag_options : '--split --size=1024' + # If True, then record all readings / commands of the vehicle interface. Default False + vehicle_interface : True + # Specify which components to record to behavior.json. Default records nothing + components : ['state_estimation','trajectory_tracking'] + # Specify which components of state to record to state.json. Default records nothing + #state: ['all'] + # Specify the rate in Hz at which to record state to state.json. Default records at the pipeline's rate + #state_rate: 10 + # If True, then make plots of the recorded data specifically from PurePursuitTrajectoryTracker_debug.csv and report metrics. Default False + #auto_plot : True +replay: # Add items here to set certain topics / inputs to be replayed from logs + # Specify which log folder to replay from + log: + # For replaying sensor data, try !include "../knowledge/defaults/standard_sensor_ros_topics.yaml" + ros_topics : [] + components : [] + +#usually can keep this constant +computation_graph: !include "../GEMstack/knowledge/defaults/computation_graph.yaml" + +after: + show_log_folder: True #set to false to avoid showing the log folder + +#on load, variants will overload the settings structure +variants: + #sim variant doesn't execute on the real vehicle + #real variant executes on the real robot + sim: + run: + mode: simulation + vehicle_interface: + type: gem_simulator.GEMDoubleIntegratorSimulationInterface + args: + scene: !relative_path '../scenes/racing_sim_circle.yaml' # [Option] racing_sim_slalom.yaml / racing_sim_circle.yaml + + drive: + perception: + state_estimation : OmniscientStateEstimator + agent_detection : OmniscientAgentDetector + visualization: !include "klampt_visualization.yaml" + #visualization: !include "mpl_visualization.yaml" + log_ros: + log: + ros_topics : !include "../GEMstack/knowledge/defaults/standard_ros_topics.yaml" diff --git a/launch/racing_fixed_slalom.yaml b/launch/racing_fixed_slalom.yaml new file mode 100644 index 000000000..2b40d51d2 --- /dev/null +++ b/launch/racing_fixed_slalom.yaml @@ -0,0 +1,82 @@ +description: "Drive the GEM vehicle along a fixed route (currently xyhead_highbay_backlot_p.csv)" +mode: hardware +vehicle_interface: gem_hardware.GEMHardwareInterface +mission_execution: StandardExecutor +# Recovery behavior after a component failure +recovery: + planning: + trajectory_tracking: + type: recovery.StopTrajectoryTracker + print: False +# Driving behavior for the GEM vehicle following a fixed route +drive: + perception: + state_estimation : GNSSStateEstimator + perception_normalization : StandardPerceptionNormalizer + planning: + route_planning: + type: StaticRoutePlanner + args: [!relative_path '../GEMstack/knowledge/routes/turn_right2.csv'] + motion_planning: + type: racing_planning.SlalomTrajectoryPlanner + trajectory_tracking: + #type: pure_pursuit.PurePursuitTrajectoryTracker # to use pure pursuit comment below + type: stanley.StanleyTrajectoryTracker # to use stanley comment above + args: {desired_speed: 10} #approximately 5mph + print: True + +log: + # Specify the top-level folder to save the log files. Default is 'logs' + #folder : 'logs' + # If prefix is specified, then the log folder will be named with the prefix followed by the date and time. Default no prefix + #prefix : 'fixed_route_' + # If suffix is specified, then logs will output to folder/prefix+suffix. Default uses date and time as the suffix + #suffix : 'test3' + # Specify which ros topics to record to vehicle.bag. Default records nothing. This records the "standard" ROS topics. + ros_topics : [] + # Specify options to pass to rosbag record. Default is no options. + #rosbag_options : '--split --size=1024' + # If True, then record all readings / commands of the vehicle interface. Default False + vehicle_interface : True + # Specify which components to record to behavior.json. Default records nothing + components : ['state_estimation','trajectory_tracking'] + # Specify which components of state to record to state.json. Default records nothing + #state: ['all'] + # Specify the rate in Hz at which to record state to state.json. Default records at the pipeline's rate + #state_rate: 10 + # If True, then make plots of the recorded data specifically from PurePursuitTrajectoryTracker_debug.csv and report metrics. Default False + #auto_plot : True +replay: # Add items here to set certain topics / inputs to be replayed from logs + # Specify which log folder to replay from + log: + # For replaying sensor data, try !include "../knowledge/defaults/standard_sensor_ros_topics.yaml" + ros_topics : [] + components : [] + +#usually can keep this constant +computation_graph: !include "../GEMstack/knowledge/defaults/computation_graph.yaml" + +after: + show_log_folder: True #set to false to avoid showing the log folder + +#on load, variants will overload the settings structure +variants: + #sim variant doesn't execute on the real vehicle + #real variant executes on the real robot + sim: + run: + mode: simulation + vehicle_interface: + type: gem_simulator.GEMDoubleIntegratorSimulationInterface + args: + scene: !relative_path '../scenes/racing_sim_slalom.yaml' + + drive: + perception: + state_estimation : OmniscientStateEstimator + agent_detection : OmniscientAgentDetector + visualization: !include "klampt_visualization.yaml" + #visualization: !include "mpl_visualization.yaml" + log_ros: + log: + ros_topics : !include "../GEMstack/knowledge/defaults/standard_ros_topics.yaml" diff --git a/launch/racing_fixed_slalom_online.yaml b/launch/racing_fixed_slalom_online.yaml new file mode 100644 index 000000000..0f92e056d --- /dev/null +++ b/launch/racing_fixed_slalom_online.yaml @@ -0,0 +1,82 @@ +description: "Drive the GEM vehicle along a fixed route (currently xyhead_highbay_backlot_p.csv)" +mode: hardware +vehicle_interface: gem_hardware.GEMHardwareInterface +mission_execution: StandardExecutor +# Recovery behavior after a component failure +recovery: + planning: + trajectory_tracking: + type: recovery.StopTrajectoryTracker + print: False +# Driving behavior for the GEM vehicle following a fixed route +drive: + perception: + state_estimation : GNSSStateEstimator + perception_normalization : StandardPerceptionNormalizer + planning: + route_planning: + type: StaticRoutePlanner + args: [!relative_path '../GEMstack/knowledge/routes/turn_right2.csv'] + motion_planning: + type: racing_planning_online.SlalomTrajectoryPlanner + trajectory_tracking: + #type: pure_pursuit.PurePursuitTrajectoryTracker # to use pure pursuit comment below + type: stanley.StanleyTrajectoryTracker # to use stanley comment above + args: {desired_speed: 10} #approximately 5mph + print: True + +log: + # Specify the top-level folder to save the log files. Default is 'logs' + #folder : 'logs' + # If prefix is specified, then the log folder will be named with the prefix followed by the date and time. Default no prefix + #prefix : 'fixed_route_' + # If suffix is specified, then logs will output to folder/prefix+suffix. Default uses date and time as the suffix + #suffix : 'test3' + # Specify which ros topics to record to vehicle.bag. Default records nothing. This records the "standard" ROS topics. + ros_topics : [] + # Specify options to pass to rosbag record. Default is no options. + #rosbag_options : '--split --size=1024' + # If True, then record all readings / commands of the vehicle interface. Default False + vehicle_interface : True + # Specify which components to record to behavior.json. Default records nothing + components : ['state_estimation','trajectory_tracking'] + # Specify which components of state to record to state.json. Default records nothing + #state: ['all'] + # Specify the rate in Hz at which to record state to state.json. Default records at the pipeline's rate + #state_rate: 10 + # If True, then make plots of the recorded data specifically from PurePursuitTrajectoryTracker_debug.csv and report metrics. Default False + #auto_plot : True +replay: # Add items here to set certain topics / inputs to be replayed from logs + # Specify which log folder to replay from + log: + # For replaying sensor data, try !include "../knowledge/defaults/standard_sensor_ros_topics.yaml" + ros_topics : [] + components : [] + +#usually can keep this constant +computation_graph: !include "../GEMstack/knowledge/defaults/computation_graph.yaml" + +after: + show_log_folder: True #set to false to avoid showing the log folder + +#on load, variants will overload the settings structure +variants: + #sim variant doesn't execute on the real vehicle + #real variant executes on the real robot + sim: + run: + mode: simulation + vehicle_interface: + type: gem_simulator.GEMDoubleIntegratorSimulationInterface + args: + scene: !relative_path '../scenes/racing_sim_slalom.yaml' + + drive: + perception: + state_estimation : OmniscientStateEstimator + agent_detection : OmniscientAgentDetector + visualization: !include "klampt_visualization.yaml" + #visualization: !include "mpl_visualization.yaml" + log_ros: + log: + ros_topics : !include "../GEMstack/knowledge/defaults/standard_ros_topics.yaml" diff --git a/requirements.txt b/requirements.txt index 94db8ba43..58a232ad5 100644 --- a/requirements.txt +++ b/requirements.txt @@ -4,6 +4,11 @@ scipy matplotlib torch shapely -klampt +klampt==0.9.2 pyyaml dacite + +# Perception +ultralytics +open3d +sklearn diff --git a/run_docker_container.sh b/run_docker_container.sh new file mode 100644 index 000000000..c987a9016 --- /dev/null +++ b/run_docker_container.sh @@ -0,0 +1,8 @@ +#!/bin/bash +# Check if container is already running +if [ "$(docker ps -q -f name=gem_stack-container)" ]; then + docker exec -it gem_stack-container bash +else + docker compose -f setup/docker-compose.yaml up -d + docker exec -it gem_stack-container bash +fi \ No newline at end of file diff --git a/scenes/racing_sim_circle.yaml b/scenes/racing_sim_circle.yaml new file mode 100644 index 000000000..b64345db5 --- /dev/null +++ b/scenes/racing_sim_circle.yaml @@ -0,0 +1,34 @@ +# vehicle_state: [-5.0, 20.0, 1.6, 0.0, 0.0] # [x, y, yaw, v, front_wheel_angle] +vehicle_state: [0.0, 0.0, 0.0, 0.0, 0.0] # [x, y, yaw, v, front_wheel_angle] +agents: + cone1: + type: pedestrian + position: [0.0, 70.0] + nominal_velocity: 0.0 + target: [0.0, 70.0] + # target: [10.0,10.0] + behavior: loop + + cone2: + type: pedestrian + position: [30.0, 70.0] + nominal_velocity: 0.0 + target: [30.0, 70.0] + # target: [10.0,10.0] + behavior: loop + + cone3: + type: pedestrian + position: [30.0, 0.0] + nominal_velocity: 0.0 + target: [30.0, 0.0] + # target: [10.0,10.0] + behavior: loop + + cone4: + type: pedestrian + position: [0.0, 0.0] + nominal_velocity: 0.0 + target: [0.0, 0.0] + # target: [10.0,10.0] + behavior: loop diff --git a/scenes/racing_sim_slalom.yaml b/scenes/racing_sim_slalom.yaml new file mode 100644 index 000000000..6065b0dbb --- /dev/null +++ b/scenes/racing_sim_slalom.yaml @@ -0,0 +1,33 @@ +vehicle_state: [0.0, 0.0, 0.0, 0.0, 0.0] # [x, y, yaw, v, front_wheel_angle] +agents: + cone1: + type: cone + position: [10.0, 0.0] + nominal_velocity: 0.0 + target: [10.0, 0.0] + # target: [10.0,10.0] + behavior: stationary + + cone2: + type: cone + position: [30.0, 1.0] + nominal_velocity: 0.0 + target: [30.0, 1.0] + # target: [10.0,10.0] + behavior: stationary + + cone3: + type: cone + position: [50.0, 0.0] + nominal_velocity: 0.0 + target: [50.0, 0.0] + # target: [10.0,10.0] + behavior: stationary + + cone4: + type: cone + position: [70.0, 1.0] + nominal_velocity: 0.0 + target: [70.0, 1.0] + # target: [10.0,10.0] + behavior: stationary diff --git a/scenes/xyhead_demo.yaml b/scenes/xyhead_demo.yaml index c6d97477a..2aa1059ed 100644 --- a/scenes/xyhead_demo.yaml +++ b/scenes/xyhead_demo.yaml @@ -3,7 +3,15 @@ agents: ped1: type: pedestrian position: [15.0, 2.0] + # position: [10.0, 2.0] nominal_velocity: 0.5 target: [15.0,10.0] + # target: [10.0,10.0] behavior: loop - \ No newline at end of file + + # ped2: + # type: pedestrian + # position: [15.0, 0.0] + # nominal_velocity: 0.25 + # target: [15.0,10.0] + # behavior: loop diff --git a/setup/Dockerfile b/setup/Dockerfile.cuda11.8 similarity index 54% rename from setup/Dockerfile rename to setup/Dockerfile.cuda11.8 index b35c3b85d..8c299bf15 100644 --- a/setup/Dockerfile +++ b/setup/Dockerfile.cuda11.8 @@ -1,7 +1,28 @@ FROM nvidia/cuda:11.8.0-cudnn8-devel-ubuntu20.04 + +ARG USER_UID=1000 +ARG USER_GID=1000 +ARG USER=$(whoami) + +ENV DEBIAN_FRONTEND=noninteractive + #use bash instead of sh -RUN rm /bin/sh && ln -s /bin/bash /bin/sh +SHELL ["/bin/bash", "-c"] + RUN apt-get update && apt-get install -y git python3 python3-pip wget zstd + +# Set time zone non-interactively +ENV TZ=America/Chicago +RUN ln -fs /usr/share/zoneinfo/$TZ /etc/localtime \ + && echo $TZ > /etc/timezone \ + && apt-get update && apt-get install -y tzdata \ + && rm -rf /var/lib/apt/lists/* + +# install Zed SDK +RUN wget https://download.stereolabs.com/zedsdk/4.0/cu118/ubuntu20 -O zed_sdk.run +RUN chmod +x zed_sdk.run +RUN ./zed_sdk.run -- silent + # Install ROS Noetic RUN apt-get update && apt-get install -y lsb-release gnupg2 RUN sh -c 'echo "deb http://packages.ros.org/ros/ubuntu focal main" > /etc/apt/sources.list.d/ros-latest.list' @@ -13,19 +34,18 @@ RUN apt-get install -y python3-rosdep python3-rosinstall python3-rosinstall-gene RUN rosdep init RUN rosdep update -#Install Cuda 11.8 -#RUN wget https://developer.download.nvidia.com/compute/cuda/repos/ubuntu2004/x86_64/cuda-ubuntu2004.pin -#RUN sudo mv cuda-ubuntu2004.pin /etc/apt/preferences.d/cuda-repository-pin-600 -##add public keys -#RUN sudo apt-key adv --fetch-keys https://developer.download.nvidia.com/compute/cuda/repos/ubuntu2004/x86_64/3bf863cc.pub -#RUN sudo add-apt-repository "deb http://developer.download.nvidia.com/compute/cuda/repos/ubuntu2004/x86_64/ /" -#RUN install cuda-toolkit-11-8 +ARG USER +ARG USER_UID +ARG USER_GID +# Create user more safely +RUN groupadd -g ${USER_GID} ${USER} || groupmod -n ${USER} $(getent group ${USER_GID} | cut -d: -f1) +RUN useradd -l -m -u ${USER_UID} -g ${USER_GID} ${USER} || usermod -l ${USER} -m -u ${USER_UID} -g ${USER_GID} $(getent passwd ${USER_UID} | cut -d: -f1) +RUN echo "${USER} ALL=(ALL) NOPASSWD:ALL" >> /etc/sudoers -# install Zed SDK -RUN wget https://download.stereolabs.com/zedsdk/4.0/cu118/ubuntu20 -O zed_sdk.run -RUN chmod +x zed_sdk.run -RUN ./zed_sdk.run -- silent +# Fix permissions for Python packages +RUN chown -R ${USER}:${USER} /usr/local/lib/python3.8/dist-packages/ \ + && chmod -R u+rw /usr/local/lib/python3.8/dist-packages/ # create ROS Catkin workspace RUN mkdir -p /catkin_ws/src @@ -42,8 +62,23 @@ RUN cd /catkin_ws/src && git clone https://github.com/ros-perception/radar_msgs. RUN source /opt/ros/noetic/setup.bash && cd /catkin_ws && rosdep install --from-paths src --ignore-src -r -y RUN source /opt/ros/noetic/setup.bash && cd /catkin_ws && catkin_make -DCMAKE_BUILD_TYPE=Release -# install GEMstack Python dependencies -RUN git clone https://github.com/krishauser/GEMstack.git -RUN cd GEMstack && pip3 install -r requirements.txt +# Copy requirements.txt from host (now relative to parent directory) +COPY requirements.txt /tmp/requirements.txt + +# Install Python dependencies +RUN pip3 install -r /tmp/requirements.txt + + +# Install other Dependencies +RUN apt-get install -y ros-noetic-septentrio-gnss-driver + +USER ${USER} + +# Add ROS and GEMstack paths to bashrc +RUN echo "source /opt/ros/noetic/setup.bash" >> /home/${USER}/.bashrc +RUN echo "source /catkin_ws/devel/setup.bash" >> /home/${USER}/.bashrc + +# BASE END CONFIG +WORKDIR /home/${USER} -RUN echo /catkin_ws/devel/setup.sh +ENTRYPOINT ["/bin/bash"] \ No newline at end of file diff --git a/setup/Dockerfile.cuda12 b/setup/Dockerfile.cuda12 new file mode 100644 index 000000000..81e2c262e --- /dev/null +++ b/setup/Dockerfile.cuda12 @@ -0,0 +1,84 @@ +FROM nvidia/cuda:12.0.0-cudnn8-devel-ubuntu20.04 + +ARG USER_UID=1000 +ARG USER_GID=1000 +ARG USER=$(whoami) + +ENV DEBIAN_FRONTEND=noninteractive + +#use bash instead of sh +SHELL ["/bin/bash", "-c"] + +RUN apt-get update && apt-get install -y git python3 python3-pip wget zstd + +# Set time zone non-interactively +ENV TZ=America/Chicago +RUN ln -fs /usr/share/zoneinfo/$TZ /etc/localtime \ + && echo $TZ > /etc/timezone \ + && apt-get update && apt-get install -y tzdata \ + && rm -rf /var/lib/apt/lists/* + +# install Zed SDK +RUN wget https://stereolabs.sfo2.cdn.digitaloceanspaces.com/zedsdk/4.2/ZED_SDK_Ubuntu20_cuda12.1_v4.2.4.zstd.run -O zed_sdk.run +RUN chmod +x zed_sdk.run +RUN ./zed_sdk.run -- silent + +# Install ROS Noetic +RUN apt-get update && apt-get install -y lsb-release gnupg2 +RUN sh -c 'echo "deb http://packages.ros.org/ros/ubuntu focal main" > /etc/apt/sources.list.d/ros-latest.list' +RUN wget https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc +RUN apt-key add ros.asc +RUN apt-get update +RUN DEBIAN_FRONTEND=noninteractive apt-get install -y ros-noetic-desktop +RUN apt-get install -y python3-rosdep python3-rosinstall python3-rosinstall-generator python3-wstool build-essential python3-catkin-tools +RUN rosdep init +RUN rosdep update + +ARG USER +ARG USER_UID +ARG USER_GID + +# Create user more safely +RUN groupadd -g ${USER_GID} ${USER} || groupmod -n ${USER} $(getent group ${USER_GID} | cut -d: -f1) +RUN useradd -l -m -u ${USER_UID} -g ${USER_GID} ${USER} || usermod -l ${USER} -m -u ${USER_UID} -g ${USER_GID} $(getent passwd ${USER_UID} | cut -d: -f1) +RUN echo "${USER} ALL=(ALL) NOPASSWD:ALL" >> /etc/sudoers + +# Fix permissions for Python packages +RUN chown -R ${USER}:${USER} /usr/local/lib/python3.8/dist-packages/ \ + && chmod -R u+rw /usr/local/lib/python3.8/dist-packages/ + +# create ROS Catkin workspace +RUN mkdir -p /catkin_ws/src + +# install ROS dependencies and packages +RUN cd /catkin_ws/src && git clone https://github.com/krishauser/POLARIS_GEM_e2.git +RUN cd /catkin_ws/src && git clone --recurse-submodules https://github.com/stereolabs/zed-ros-wrapper.git +RUN cd /catkin_ws/src && git clone https://github.com/astuff/pacmod2.git + #for some reason the ibeo messages don't work? +RUN cd /catkin_ws/src && git clone https://github.com/astuff/astuff_sensor_msgs.git && rm -rf astuff_sensor_msgs/ibeo_msgs +RUN cd /catkin_ws/src && git clone https://github.com/ros-perception/radar_msgs.git \ + && cd radar_msgs && git checkout noetic + +RUN source /opt/ros/noetic/setup.bash && cd /catkin_ws && rosdep install --from-paths src --ignore-src -r -y +RUN source /opt/ros/noetic/setup.bash && cd /catkin_ws && catkin_make -DCMAKE_BUILD_TYPE=Release + +# Copy requirements.txt from host (now relative to parent directory) +COPY requirements.txt /tmp/requirements.txt + +# Install Python dependencies +RUN pip3 install -r /tmp/requirements.txt + + +# Install other Dependencies +RUN apt-get install -y ros-noetic-septentrio-gnss-driver + +USER ${USER} + +# Add ROS and GEMstack paths to bashrc +RUN echo "source /opt/ros/noetic/setup.bash" >> /home/${USER}/.bashrc +RUN echo "source /catkin_ws/devel/setup.bash" >> /home/${USER}/.bashrc + +# BASE END CONFIG +WORKDIR /home/${USER} + +ENTRYPOINT ["/bin/bash"] \ No newline at end of file diff --git a/setup/build_docker_image.sh b/setup/build_docker_image.sh new file mode 100644 index 000000000..0852f27ab --- /dev/null +++ b/setup/build_docker_image.sh @@ -0,0 +1,22 @@ +#!/bin/bash + +echo "Select CUDA version:" +echo "1) CUDA 11.8" +echo "2) CUDA 12+" +read -p "Enter choice [1-2]: " choice + +case $choice in + 1) + DOCKERFILE=setup/Dockerfile.cuda11.8 + ;; + 2) + DOCKERFILE=setup/Dockerfile.cuda12 + ;; + *) + echo "Invalid choice" + exit 1 + ;; +esac + +export DOCKERFILE +UID=$(id -u) GID=$(id -g) docker compose -f setup/docker-compose.yaml build \ No newline at end of file diff --git a/setup/docker-compose.yaml b/setup/docker-compose.yaml new file mode 100644 index 000000000..d0b745c9e --- /dev/null +++ b/setup/docker-compose.yaml @@ -0,0 +1,44 @@ +version: '3.9' + +services: + gem-stack-ubuntu-20.04-CUDA: + image: gem_stack + container_name: gem_stack-container + build: + context: .. + dockerfile: ${DOCKERFILE:-setup/Dockerfile.cuda11.8} # Default to cuda11.8 if not specified + args: + USER: ${USER} + USER_UID: ${UID:-1000} # Pass host UID + USER_GID: ${GID:-1000} # Pass host GID + stdin_open: true + tty: true + volumes: + - "/etc/group:/etc/group:ro" + - "/etc/passwd:/etc/passwd:ro" + - "/etc/shadow:/etc/shadow:ro" + - "/etc/sudoers.d:/etc/sudoers.d:ro" + - "~:/home/${USER}/host" + - "/tmp/.X11-unix:/tmp/.X11-unix:rw" + - "/run/user/${UID}/bus:/run/user/${UID}/bus:ro" + - "/tmp/runtime-${USER}:/tmp/runtime-${USER}:rw" + environment: + - DISPLAY=${DISPLAY} + - XDG_RUNTIME_DIR=/tmp/runtime-${USER} + - DBUS_SYSTEM_BUS_ADDRESS=unix:path=/var/run/dbus/system_bus_socket + - DBUS_SESSION_BUS_ADDRESS=unix:path=/run/user/${UID}/bus + - NVIDIA_DRIVER_CAPABILITIES=all + - NVIDIA_VISIBLE_DEVICES=all + # - LIBGL_ALWAYS_SOFTWARE=1 # Uncomment if you want to use software rendering (No GPU) + network_mode: host + ipc: host + user: "${USER}:${USER}" + # Un-Comment the following lines if you want to use Nvidia GPU + runtime: nvidia + deploy: + resources: + reservations: + devices: + - driver: nvidia + count: all # alternatively, use `count: all` for all GPUs + capabilities: [gpu] diff --git a/setup/get_nvidia_container.sh b/setup/get_nvidia_container.sh index 466b1989e..4f738e2c8 100755 --- a/setup/get_nvidia_container.sh +++ b/setup/get_nvidia_container.sh @@ -1,9 +1,14 @@ #!/bin/bash -curl -s -L https://nvidia.github.io/nvidia-container-runtime/gpgkey | \ - sudo apt-key add - -distribution=$(. /etc/os-release;echo $ID$VERSION_ID) -curl -s -L https://nvidia.github.io/nvidia-container-runtime/$distribution/nvidia-container-runtime.list | \ - sudo tee /etc/apt/sources.list.d/nvidia-container-runtime.list +curl -fsSL https://nvidia.github.io/libnvidia-container/gpgkey | sudo gpg --dearmor -o /usr/share/keyrings/nvidia-container-toolkit-keyring.gpg \ + && curl -s -L https://nvidia.github.io/libnvidia-container/stable/deb/nvidia-container-toolkit.list | \ + sed 's#deb https://#deb [signed-by=/usr/share/keyrings/nvidia-container-toolkit-keyring.gpg] https://#g' | \ + sudo tee /etc/apt/sources.list.d/nvidia-container-toolkit.list + +sed -i -e '/experimental/ s/^#//g' /etc/apt/sources.list.d/nvidia-container-toolkit.list + sudo apt-get update -sudo apt-get install nvidia-container-runtime \ No newline at end of file +sudo apt-get install -y nvidia-container-toolkit + +sudo nvidia-ctk runtime configure --runtime=docker +sudo systemctl restart docker \ No newline at end of file diff --git a/setup/setup_this_machine.sh b/setup/setup_this_machine.sh index e30b3aa23..00da094c9 100755 --- a/setup/setup_this_machine.sh +++ b/setup/setup_this_machine.sh @@ -1,30 +1,68 @@ #!/bin/bash sudo apt update -sudo apt-get install git python3 python3-pip wget zstd +sudo apt-get install -y git python3 python3-pip wget zstd + +if [ ! -f /opt/ros/noetic/setup.bash ]; then + echo "ROS Noetic not found. Installing ROS Noetic..." + sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list' + wget https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc + sudo apt-key add ros.asc + sudo apt update + sudo DEBIAN_FRONTEND=noninteractive apt install -y ros-noetic-desktop + sudo apt install -y python3-rosdep python3-rosinstall python3-rosinstall-generator python3-wstool build-essential python3-catkin-tools + sudo rosdep init + rosdep update +fi source /opt/ros/noetic/setup.bash #install Zed SDK -wget https://download.stereolabs.com/zedsdk/4.0/cu121/ubuntu20 -O ZED_SDK_Ubuntu20_cuda11.8_v4.0.8.zstd.run -chmod +x ZED_SDK_Ubuntu20_cuda11.8_v4.0.8.zstd.run -./ZED_SDK_Ubuntu20_cuda11.8_v4.0.8.zstd.run -- silent +echo "Select CUDA version:" +echo "1) CUDA 11.8" +echo "2) CUDA 12+" +read -p "Enter choice [1-2]: " choice + +case $choice in + 1) + wget https://download.stereolabs.com/zedsdk/4.0/cu118/ubuntu20 -O zed_sdk.run + ;; + 2) + wget https://stereolabs.sfo2.cdn.digitaloceanspaces.com/zedsdk/4.2/ZED_SDK_Ubuntu20_cuda12.1_v4.2.4.zstd.run -O zed_sdk.run + ;; + *) + echo "Invalid choice" + exit 1 + ;; +esac + +chmod +x zed_sdk.run +./zed_sdk.run -- silent #create ROS Catkin workspace -mkdir catkin_ws -mkdir catkin_ws/src +mkdir -p ~/catkin_ws/src + +# Store current working directory +CURRENT_DIR=$(pwd) #install ROS dependencies and packages -cd catkin_ws/src +cd ~/catkin_ws/src git clone https://github.com/krishauser/POLARIS_GEM_e2.git git clone https://github.com/astuff/pacmod2.git -git clone https://github.com/astuff/astuff_sensor_msgs.git -git clone https://github.com/ros-perception/radar_msgs.git -cd radar_msgs; git checkout noetic; cd .. +git clone https://github.com/astuff/astuff_sensor_msgs.git && rm -rf astuff_sensor_msgs/ibeo_msgs +git clone https://github.com/ros-perception/radar_msgs.git && cd radar_msgs; git checkout noetic; cd .. + +# Remove the ibeo_msgs folder so it is not included +rm -rf astuff_sensor_msgs/ibeo_msgs cd .. #back to catkin_ws +rosdep update rosdep install --from-paths src --ignore-src -r -y catkin_make -DCMAKE_BUILD_TYPE=Release source devel/setup.bash -cd .. #back to GEMstack +cd $CURRENT_DIR +cd .. #install GEMstack Python dependencies -python3 -m pip install -r requirements.txt \ No newline at end of file +python3 -m pip install -r requirements.txt + +#install other dependencies +sudo apt-get install -y ros-noetic-septentrio-gnss-driver \ No newline at end of file diff --git a/stop_docker_container.sh b/stop_docker_container.sh new file mode 100644 index 000000000..1b1bad2c8 --- /dev/null +++ b/stop_docker_container.sh @@ -0,0 +1,3 @@ +#! /bin/bash + +docker compose -f setup/docker-compose.yaml down \ No newline at end of file diff --git a/testing/phone_accels.csv b/testing/phone_accels.csv new file mode 100644 index 000000000..d204a9682 --- /dev/null +++ b/testing/phone_accels.csv @@ -0,0 +1,7507 @@ +Time (s),Linear Acceleration x (m/s^2),Linear 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1744059913.929336} +{"vehicle_interface_command": null, "vehicle_interface_reading": {"type": "GEMVehicleReading", "data": {"speed": 2.88, "gear": 0, "accelerator_pedal_position": 0.0, "brake_pedal_position": 0.0, "steering_wheel_angle": -11.059, "left_turn_signal": false, "right_turn_signal": false, "headlights_on": false, "horn_on": false, "wiper_level": 0, "battery_level": null, "fuel_level": null, "driving_range": null}}, "time": 1744059913.929336} diff --git a/testing/racing_logs/gg_data/gg_diagram.png b/testing/racing_logs/gg_data/gg_diagram.png new file mode 100644 index 000000000..13dec50b3 Binary files /dev/null and b/testing/racing_logs/gg_data/gg_diagram.png differ diff --git a/testing/racing_logs/gg_data/meta.yaml b/testing/racing_logs/gg_data/meta.yaml new file mode 100644 index 000000000..cbcb3b97e --- /dev/null +++ b/testing/racing_logs/gg_data/meta.yaml @@ -0,0 +1,19 @@ +events: +- description: Ctrl+C pressed, switching to recovery mode + time: 1744059914.022588 + vehicle_time: 1744059913.929336 +- description: Mission execution ended + time: 1744059914.02777 + vehicle_time: 1744059913.929336 +exit_reason: normal exit +git_branch: racing +git_commit_id: 2e36aeb7a55246289008a8f0a7de7f84bdbec5e6 +pipelines: +- name: drive + time: 1744059565.4285564 + vehicle_time: 1744059565.3283975 +- name: recovery + time: 1744059914.0236647 + vehicle_time: 1744059913.929336 +start_time: 1744059565.3068607 +start_time_human_readable: '2025-04-07 15:59:25' diff --git a/testing/racing_logs/gg_data/settings.yaml b/testing/racing_logs/gg_data/settings.yaml new file mode 100644 index 000000000..7edac7f70 --- /dev/null +++ b/testing/racing_logs/gg_data/settings.yaml @@ -0,0 +1,300 @@ +control: + longitudinal_control: + pid_d: 0.0 + pid_i: 0.03 + pid_p: 0.8 + pure_pursuit: + crosstrack_gain: 0.3 + desired_speed: racing + launch_control: 0 + lookahead: 2.0 + lookahead_scale: 2.0 + recovery: + brake_amount: 0.5 + brake_speed: 2.0 +model_predictive_controller: + dt: 0.1 + lookahead: 20 +planning: + longitudinal_plan: + acceleration: 0.5 + deceleration: 2.0 + desired_speed: 1.0 + max_deceleration: 6.0 + min_deceleration: 0.5 + mode: real + planner: dt + yield_deceleration: 0.5 + yielder: expert +run: + computation_graph: + components: + - state_estimation: + inputs: [] + outputs: + - vehicle + - roadgraph_update: + inputs: + - vehicle + outputs: + - roadgraph + - obstacle_detection: + inputs: + - vehicle + outputs: + - obstacles + - agent_detection: + inputs: + - vehicle + outputs: + - agents + - lane_detection: + inputs: + - vehicle + - roadgraph + outputs: + - vehicle_lane + - sign_detection: + inputs: + - vehicle + - roadgraph + outputs: + - roadgraph.signs + - environment_detection: + inputs: + - vehicle + outputs: + - environment + - intent_estimation: + inputs: + - vehicle + - roadgraph + - agents + outputs: + - agent_intents + - relations_estimation: + inputs: + - all + outputs: + - relations + - predicate_evaluation: + inputs: + - vehicle + - roadgraph + - agents + - obstacles + outputs: + - predicates + - perception_normalization: + inputs: + - all + outputs: [] + - mission_execution: + inputs: [] + outputs: + - mission + - route_planning: + inputs: + - vehicle + - roadgraph + - mission + outputs: + - route + - driving_logic: + inputs: + - all + outputs: + - intent + - motion_planning: + inputs: + - all + outputs: + - trajectory + - trajectory_tracking: + inputs: + - vehicle + - trajectory + outputs: [] + - signaling: + inputs: + - intent + outputs: [] + description: Gather data from the GEM vehicle as the operator is driving it manually + drive: + perception: + perception_normalization: StandardPerceptionNormalizer + state_estimation: GNSSStateEstimator + planning: + motion_planning: RouteToTrajectoryPlanner + route_planning: + args: + - GEMstack/knowledge/routes/xyhead_highbay_backlot_p.csv + type: StaticRoutePlanner + log: + components: + - state_estimation + ros_topics: [] + vehicle_interface: true + mission_execution: StandardExecutor + mode: hardware + name: launch/gather_data.yaml + recovery: + planning: + trajectory_tracking: recovery.StopTrajectoryTracker + replay: + components: [] + log: null + ros_topics: [] + require_engaged: false + variants: + log_ros: + run: + log: + ros_topics: + - /game_control/joy + - /front_radar/front_radar/objects + - /front_radar/front_radar/radar_tracks + - /lidar1/velodyne_points + - /novatel/inspva + - /novatel/imu + - /novatel/bestpos + - /zed2/zed_node/depth/camera_info + - /zed2/zed_node/depth/depth_registered + - /zed2/zed_node/rgb/camera_info + - /zed2/zed_node/rgb/image_rect_color + - /zed2/zed_node/imu/data + - /zed2/zed_node/imu/data_raw + - /zed2/zed_node/imu/mag + - /pacmod/as_rx/enable + - /pacmod/as_rx/accel_cmd + - /pacmod/as_rx/brake_cmd + - /pacmod/as_rx/shift_cmd + - /pacmod/as_rx/steer_cmd + - /pacmod/as_rx/turn_cmd + - /pacmod/as_rx/turn_signal_cmd + - /pacmod/as_rx/vehicle_speed_cmd + - /pacmod/as_tx/enable + - /pacmod/as_tx/global_rpt + - /pacmod/as_tx/accel_rpt + - /pacmod/as_tx/brake_rpt + - /pacmod/as_tx/shift_rpt + - /pacmod/as_tx/steer_rpt + - /pacmod/as_tx/turn_rpt + - /pacmod/as_tx/vehicle_speed_rpt + vehicle_interface: gem_hardware.GEMHardwareInterface +simulator: + dt: 0.01 + gnss_emulator: + dt: 0.05 + real_time_multiplier: 1.0 +vehicle: + calibration: + calibration_date: '2025-02-25' + front_camera: + center_position: + - 1.75864913 + - 0.01238124 + - 1.54408419 + reference: rear_axle_center + rotation: + - - 0.00349517 + - -0.03239524 + - 0.99946903 + - - -0.99996547 + - 0.00742285 + - 0.0037375 + - - -0.00753999 + - -0.99944757 + - -0.03236817 + gnss_location: + - 1.1 + - 0 + - 1.62 + gnss_yaw: 0.0 + rear_axle_height: 0.2794 + reference: rear_axle_center + top_lidar: + position: + - 1.1 + - 0.03773044170906172 + - 1.9525244316515322 + reference: rear_axle_center + rotation: + - - 0.99941328 + - 0.02547416 + - 0.02289458 + - - -0.02530855 + - 0.99965159 + - -0.00749488 + - - -0.02307753 + - 0.00691106 + - 0.99970979 + control_defaults: + accelerator_pedal_speed: 3.0 + brake_pedal_speed: 3.0 + steering_wheel_speed: 4.0 + dynamics: + acceleration_deadband: 0.1 + acceleration_model: hang_v1 + accelerator_active_range: + - 0.2 + - 1.0 + aerodynamic_drag_coefficient: 0.01 + brake_active_range: + - 0.5 + - 1 + gravity: 9.81 + internal_dry_deceleration: 0.2 + internal_viscous_deceleration: 0.05 + lateral_friction: 1.0 + longitudinal_friction: 1.0 + mass: 700.0 + max_accelerator_acceleration: + - 0.0 + - 5.0 + max_accelerator_acceleration_reverse: 2.5 + max_accelerator_power: + - 0.0 + - 5000.0 + max_accelerator_power_reverse: 5000.0 + max_brake_deceleration: 8.0 + pedal_mapping_function: linear + velocity_scaling_factor: 0.0 + enable_through_joystick: true + geometry: + bounds: + - - -0.35 + - 2.85 + - - -0.85 + - 0.85 + - - 0 + - 2.5 + height: 2.5 + length: 3.2 + max_steering_angle: 11.0 + max_wheel_angle: 0.6108 + min_steering_angle: -11.0 + min_wheel_angle: -0.6108 + urdf_model: /home/gem/racing2/src/GEMstack/GEMstack/knowledge/vehicle/model/gem_e4.urdf + wheel_radius: 0.33 + wheelbase: 2.56 + width: 1.7 + limits: + max_acceleration: 3.0 + max_accelerator_pedal: 1.0 + max_brake_pedal: 1.0 + max_deceleration: 5.0 + max_reverse_speed: 2.5 + max_speed: 10.0 + max_steering_rate: 4.0 + max_command_rate: 10.0 + max_gear: 1 + name: GEM + num_wiper_settings: 1 + sensors: + ros_topics: + front_camera: /oak/rgb/image_raw + front_depth: /oak/stereo/image_raw + gnss: /septentrio_gnss/insnavgeod + top_lidar: /ouster/points + version: e4 diff --git a/testing/racing_logs/launch_control/PurePursuitTrajectoryTracker_debug.csv b/testing/racing_logs/launch_control/PurePursuitTrajectoryTracker_debug.csv new file mode 100644 index 000000000..aea52ecf3 --- /dev/null +++ b/testing/racing_logs/launch_control/PurePursuitTrajectoryTracker_debug.csv @@ -0,0 +1,857 @@ +curr pt[0] time,curr pt[0] vehicle time,curr pt[0],curr pt[1] time,curr pt[1] vehicle time,curr pt[1],curr param 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"horn_on": false, "wiper_level": 0, "battery_level": null, "fuel_level": null, "driving_range": null}}, "time": 1744060585.456467} diff --git a/testing/racing_logs/launch_control/meta.yaml b/testing/racing_logs/launch_control/meta.yaml new file mode 100644 index 000000000..0dc126406 --- /dev/null +++ b/testing/racing_logs/launch_control/meta.yaml @@ -0,0 +1,19 @@ +events: +- description: Ctrl+C pressed, switching to recovery mode + time: 1744060585.4767659 + vehicle_time: 1744060585.476444 +- description: Mission execution ended + time: 1744060585.481435 + vehicle_time: 1744060585.476444 +exit_reason: normal exit +git_branch: racing +git_commit_id: 2e36aeb7a55246289008a8f0a7de7f84bdbec5e6 +pipelines: +- name: drive + time: 1744060568.3554397 + vehicle_time: 1744060568.2552168 +- name: recovery + time: 1744060585.4778304 + vehicle_time: 1744060585.476444 +start_time: 1744060568.2330396 +start_time_human_readable: '2025-04-07 16:16:08' diff --git a/testing/racing_logs/launch_control/settings.yaml b/testing/racing_logs/launch_control/settings.yaml new file mode 100644 index 000000000..d41e50bb8 --- /dev/null +++ b/testing/racing_logs/launch_control/settings.yaml @@ -0,0 +1,325 @@ +control: + longitudinal_control: + pid_d: 0.0 + pid_i: 0.03 + pid_p: 0.8 + pure_pursuit: + crosstrack_gain: 0.3 + desired_speed: racing + launch_control: 0 + lookahead: 2.0 + lookahead_scale: 2.0 + recovery: + brake_amount: 0.5 + brake_speed: 2.0 +model_predictive_controller: + dt: 0.1 + lookahead: 20 +planning: + longitudinal_plan: + acceleration: 0.5 + deceleration: 2.0 + desired_speed: 1.0 + max_deceleration: 6.0 + min_deceleration: 0.5 + mode: real + planner: dt + yield_deceleration: 0.5 + yielder: expert +run: + after: + show_log_folder: true + computation_graph: + components: + - state_estimation: + inputs: [] + outputs: + - vehicle + - roadgraph_update: + inputs: + - vehicle + outputs: + - roadgraph + - obstacle_detection: + inputs: + - vehicle + outputs: + - obstacles + - agent_detection: + inputs: + - vehicle + outputs: + - agents + - lane_detection: + inputs: + - vehicle + - roadgraph + outputs: + - vehicle_lane + - sign_detection: + inputs: + - vehicle + - roadgraph + outputs: + - roadgraph.signs + - environment_detection: + inputs: + - vehicle + outputs: + - environment + - intent_estimation: + inputs: + - vehicle + - roadgraph + - agents + outputs: + - agent_intents + - relations_estimation: + inputs: + - all + outputs: + - relations + - predicate_evaluation: + inputs: + - vehicle + - roadgraph + - agents + - obstacles + outputs: + - predicates + - perception_normalization: + inputs: + - all + outputs: [] + - mission_execution: + inputs: [] + outputs: + - mission + - route_planning: + inputs: + - vehicle + - roadgraph + - mission + outputs: + - route + - driving_logic: + inputs: + - all + outputs: + - intent + - motion_planning: + inputs: + - all + outputs: + - trajectory + - trajectory_tracking: + inputs: + - vehicle + - trajectory + outputs: [] + - signaling: + inputs: + - intent + outputs: [] + description: Drive the GEM vehicle along a fixed route (currently xyhead_highbay_backlot_p.csv) + drive: + perception: + perception_normalization: StandardPerceptionNormalizer + state_estimation: GNSSStateEstimator + planning: + motion_planning: + args: + - null + type: RouteToTrajectoryPlanner + route_planning: + args: + - GEMstack/knowledge/routes/forward_15m.csv + type: StaticRoutePlanner + trajectory_tracking: + print: false + type: pure_pursuit.PurePursuitTrajectoryTracker + log: + components: + - state_estimation + - trajectory_tracking + ros_topics: [] + vehicle_interface: true + mission_execution: StandardExecutor + mode: hardware + name: launch/fixed_route.yaml + recovery: + planning: + trajectory_tracking: + print: false + type: recovery.StopTrajectoryTracker + replay: + components: [] + log: null + ros_topics: [] + variants: + log_ros: + log: + ros_topics: + - /game_control/joy + - /front_radar/front_radar/objects + - /front_radar/front_radar/radar_tracks + - /lidar1/velodyne_points + - /novatel/inspva + - /novatel/imu + - /novatel/bestpos + - /zed2/zed_node/depth/camera_info + - /zed2/zed_node/depth/depth_registered + - /zed2/zed_node/rgb/camera_info + - /zed2/zed_node/rgb/image_rect_color + - /zed2/zed_node/imu/data + - /zed2/zed_node/imu/data_raw + - /zed2/zed_node/imu/mag + - /pacmod/as_rx/enable + - /pacmod/as_rx/accel_cmd + - /pacmod/as_rx/brake_cmd + - /pacmod/as_rx/shift_cmd + - /pacmod/as_rx/steer_cmd + - /pacmod/as_rx/turn_cmd + - /pacmod/as_rx/turn_signal_cmd + - /pacmod/as_rx/vehicle_speed_cmd + - /pacmod/as_tx/enable + - /pacmod/as_tx/global_rpt + - /pacmod/as_tx/accel_rpt + - /pacmod/as_tx/brake_rpt + - /pacmod/as_tx/shift_rpt + - /pacmod/as_tx/steer_rpt + - /pacmod/as_tx/turn_rpt + - /pacmod/as_tx/vehicle_speed_rpt + sim: + run: + drive: + perception: + agent_detection: OmniscientAgentDetector + state_estimation: OmniscientStateEstimator + mode: simulation + vehicle_interface: + args: + scene: scenes/xyhead_demo.yaml + type: gem_simulator.GEMDoubleIntegratorSimulationInterface + visualization: + args: + rate: 20 + save_as: null + type: klampt_visualization.KlamptVisualization + vehicle_interface: gem_hardware.GEMHardwareInterface +simulator: + dt: 0.01 + gnss_emulator: + dt: 0.05 + real_time_multiplier: 1.0 +vehicle: + calibration: + calibration_date: '2025-02-25' + front_camera: + center_position: + - 1.75864913 + - 0.01238124 + - 1.54408419 + reference: rear_axle_center + rotation: + - - 0.00349517 + - -0.03239524 + - 0.99946903 + - - -0.99996547 + - 0.00742285 + - 0.0037375 + - - -0.00753999 + - -0.99944757 + - -0.03236817 + gnss_location: + - 1.1 + - 0 + - 1.62 + gnss_yaw: 0.0 + rear_axle_height: 0.2794 + reference: rear_axle_center + top_lidar: + position: + - 1.1 + - 0.03773044170906172 + - 1.9525244316515322 + reference: rear_axle_center + rotation: + - - 0.99941328 + - 0.02547416 + - 0.02289458 + - - -0.02530855 + - 0.99965159 + - -0.00749488 + - - -0.02307753 + - 0.00691106 + - 0.99970979 + control_defaults: + accelerator_pedal_speed: 3.0 + brake_pedal_speed: 3.0 + steering_wheel_speed: 4.0 + dynamics: + acceleration_deadband: 0.1 + acceleration_model: hang_v1 + accelerator_active_range: + - 0.2 + - 1.0 + aerodynamic_drag_coefficient: 0.01 + brake_active_range: + - 0.5 + - 1 + gravity: 9.81 + internal_dry_deceleration: 0.2 + internal_viscous_deceleration: 0.05 + lateral_friction: 1.0 + longitudinal_friction: 1.0 + mass: 700.0 + max_accelerator_acceleration: + - 0.0 + - 5.0 + max_accelerator_acceleration_reverse: 2.5 + max_accelerator_power: + - 0.0 + - 5000.0 + max_accelerator_power_reverse: 5000.0 + max_brake_deceleration: 8.0 + pedal_mapping_function: linear + velocity_scaling_factor: 0.0 + enable_through_joystick: true + geometry: + bounds: + - - -0.35 + - 2.85 + - - -0.85 + - 0.85 + - - 0 + - 2.5 + height: 2.5 + length: 3.2 + max_steering_angle: 11.0 + max_wheel_angle: 0.6108 + min_steering_angle: -11.0 + min_wheel_angle: -0.6108 + urdf_model: /home/gem/racing2/src/GEMstack/GEMstack/knowledge/vehicle/model/gem_e4.urdf + wheel_radius: 0.33 + wheelbase: 2.56 + width: 1.7 + limits: + max_acceleration: 3.0 + max_accelerator_pedal: 1.0 + max_brake_pedal: 1.0 + max_deceleration: 5.0 + max_reverse_speed: 2.5 + max_speed: 10.0 + max_steering_rate: 4.0 + max_command_rate: 10.0 + max_gear: 1 + name: GEM + num_wiper_settings: 1 + sensors: + ros_topics: + front_camera: /oak/rgb/image_raw + front_depth: /oak/stereo/image_raw + gnss: /septentrio_gnss/insnavgeod + top_lidar: /ouster/points + version: e4 diff --git a/testing/racing_logs/launch_control_2/PurePursuitTrajectoryTracker_debug.csv b/testing/racing_logs/launch_control_2/PurePursuitTrajectoryTracker_debug.csv new file mode 100644 index 000000000..294df95a3 --- /dev/null +++ b/testing/racing_logs/launch_control_2/PurePursuitTrajectoryTracker_debug.csv @@ -0,0 +1,767 @@ +curr pt[0] time,curr pt[0] vehicle time,curr 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-88.23557012375828, "y": 40.0927999908247, "z": 202.89403647309567, "yaw": 2.792526766781833, "pitch": -349065850.39886594, "roll": -349065850.39886594}, "v": 28284271247.461903, "accelerator_pedal_position": 0.0, "brake_pedal_position": 0.0, "acceleration": -3.1552178162215614, "steering_wheel_angle": 0.0, "front_wheel_angle": 0.0, "heading_rate": 0.0, "gear": 0, "left_turn_indicator": false, "right_turn_indicator": false, "headlights_on": false, "horn_on": false, "wiper_level": 0}}, "time": 1744061321.033869} +{"vehicle_interface_command": {"type": "GEMVehicleCommand", "data": {"gear": 1, "accelerator_pedal_position": 0, "accelerator_pedal_speed": 3.0, "brake_pedal_position": 0.8, "brake_pedal_speed": 3.0, "steering_wheel_angle": 9.420609246831919e-19, "steering_wheel_speed": 4.0, "left_turn_signal": false, "right_turn_signal": false, "headlights_on": false, "horn_on": false, "wiper_level": 0}}, "vehicle_interface_reading": {"type": "GEMVehicleReading", "data": {"speed": 0.0, "gear": 0, "accelerator_pedal_position": 0.0, "brake_pedal_position": 0.0, "steering_wheel_angle": 0.0, "left_turn_signal": false, "right_turn_signal": false, "headlights_on": false, "horn_on": false, "wiper_level": 0, "battery_level": null, "fuel_level": null, "driving_range": null}}, "time": 1744061321.033869} diff --git a/testing/racing_logs/launch_control_2/meta.yaml b/testing/racing_logs/launch_control_2/meta.yaml new file mode 100644 index 000000000..4c05a311f --- /dev/null +++ b/testing/racing_logs/launch_control_2/meta.yaml @@ -0,0 +1,19 @@ +events: +- description: Ctrl+C pressed, switching to recovery mode + time: 1744061321.035963 + vehicle_time: 1744061321.033869 +- description: Mission execution ended + time: 1744061321.042774 + vehicle_time: 1744061321.033869 +exit_reason: normal exit +git_branch: racing +git_commit_id: 2e36aeb7a55246289008a8f0a7de7f84bdbec5e6 +pipelines: +- name: drive + time: 1744061305.7325842 + vehicle_time: 1744061305.6323853 +- name: recovery + time: 1744061321.0373304 + vehicle_time: 1744061321.033869 +start_time: 1744061305.618194 +start_time_human_readable: '2025-04-07 16:28:25' diff --git a/testing/racing_logs/launch_control_2/settings.yaml b/testing/racing_logs/launch_control_2/settings.yaml new file mode 100644 index 000000000..b5981eb6c --- /dev/null +++ b/testing/racing_logs/launch_control_2/settings.yaml @@ -0,0 +1,327 @@ +control: + longitudinal_control: + pid_d: 0.0 + pid_i: 0.03 + pid_p: 0.8 + pure_pursuit: + crosstrack_gain: 0.3 + desired_speed: trajectory + launch_control: 0 + lookahead: 2.0 + lookahead_scale: 2.0 + recovery: + brake_amount: 0.5 + brake_speed: 2.0 +model_predictive_controller: + dt: 0.1 + lookahead: 20 +planning: + longitudinal_plan: + acceleration: 0.5 + deceleration: 2.0 + desired_speed: 1.0 + max_deceleration: 6.0 + min_deceleration: 0.5 + mode: real + planner: dt + yield_deceleration: 0.5 + yielder: expert +run: + after: + show_log_folder: true + computation_graph: + components: + - state_estimation: + inputs: [] + outputs: + - vehicle + - roadgraph_update: + inputs: + - vehicle + outputs: + - roadgraph + - obstacle_detection: + inputs: + - vehicle + outputs: + - obstacles + - agent_detection: + inputs: + - vehicle + outputs: + - agents + - lane_detection: + inputs: + - vehicle + - roadgraph + outputs: + - vehicle_lane + - sign_detection: + inputs: + - vehicle + - roadgraph + outputs: + - roadgraph.signs + - environment_detection: + inputs: + - vehicle + outputs: + - environment + - intent_estimation: + inputs: + - vehicle + - roadgraph + - agents + outputs: + - agent_intents + - relations_estimation: + inputs: + - all + outputs: + - relations + - predicate_evaluation: + inputs: + - vehicle + - roadgraph + - agents + - obstacles + outputs: + - predicates + - perception_normalization: + inputs: + - all + outputs: [] + - mission_execution: + inputs: [] + outputs: + - mission + - route_planning: + inputs: + - vehicle + - roadgraph + - mission + outputs: + - route + - driving_logic: + inputs: + - all + outputs: + - intent + - motion_planning: + inputs: + - all + outputs: + - trajectory + - trajectory_tracking: + inputs: + - vehicle + - trajectory + outputs: [] + - signaling: + inputs: + - intent + outputs: [] + description: Drive the GEM vehicle along a fixed route (currently xyhead_highbay_backlot_p.csv) + drive: + perception: + perception_normalization: StandardPerceptionNormalizer + state_estimation: GNSSStateEstimator + planning: + motion_planning: + args: + - null + type: RouteToTrajectoryPlanner + route_planning: + args: + - GEMstack/knowledge/routes/xyhead_highbay_backlot_p.csv + type: StaticRoutePlanner + trajectory_tracking: + args: + desired_speed: 2.5 + print: false + type: pure_pursuit.PurePursuitTrajectoryTracker + log: + components: + - state_estimation + - trajectory_tracking + ros_topics: [] + vehicle_interface: true + mission_execution: StandardExecutor + mode: hardware + name: launch/fixed_route.yaml + recovery: + planning: + trajectory_tracking: + print: false + type: recovery.StopTrajectoryTracker + replay: + components: [] + log: null + ros_topics: [] + variants: + log_ros: + log: + ros_topics: + - /game_control/joy + - /front_radar/front_radar/objects + - /front_radar/front_radar/radar_tracks + - /lidar1/velodyne_points + - /novatel/inspva + - /novatel/imu + - /novatel/bestpos + - /zed2/zed_node/depth/camera_info + - /zed2/zed_node/depth/depth_registered + - /zed2/zed_node/rgb/camera_info + - /zed2/zed_node/rgb/image_rect_color + - /zed2/zed_node/imu/data + - /zed2/zed_node/imu/data_raw + - /zed2/zed_node/imu/mag + - /pacmod/as_rx/enable + - /pacmod/as_rx/accel_cmd + - /pacmod/as_rx/brake_cmd + - /pacmod/as_rx/shift_cmd + - /pacmod/as_rx/steer_cmd + - /pacmod/as_rx/turn_cmd + - /pacmod/as_rx/turn_signal_cmd + - /pacmod/as_rx/vehicle_speed_cmd + - /pacmod/as_tx/enable + - /pacmod/as_tx/global_rpt + - /pacmod/as_tx/accel_rpt + - /pacmod/as_tx/brake_rpt + - /pacmod/as_tx/shift_rpt + - /pacmod/as_tx/steer_rpt + - /pacmod/as_tx/turn_rpt + - /pacmod/as_tx/vehicle_speed_rpt + sim: + run: + drive: + perception: + agent_detection: OmniscientAgentDetector + state_estimation: OmniscientStateEstimator + mode: simulation + vehicle_interface: + args: + scene: scenes/xyhead_demo.yaml + type: gem_simulator.GEMDoubleIntegratorSimulationInterface + visualization: + args: + rate: 20 + save_as: null + type: klampt_visualization.KlamptVisualization + vehicle_interface: gem_hardware.GEMHardwareInterface +simulator: + dt: 0.01 + gnss_emulator: + dt: 0.05 + real_time_multiplier: 1.0 +vehicle: + calibration: + calibration_date: '2025-02-25' + front_camera: + center_position: + - 1.75864913 + - 0.01238124 + - 1.54408419 + reference: rear_axle_center + rotation: + - - 0.00349517 + - -0.03239524 + - 0.99946903 + - - -0.99996547 + - 0.00742285 + - 0.0037375 + - - -0.00753999 + - -0.99944757 + - -0.03236817 + gnss_location: + - 1.1 + - 0 + - 1.62 + gnss_yaw: 0.0 + rear_axle_height: 0.2794 + reference: rear_axle_center + top_lidar: + position: + - 1.1 + - 0.03773044170906172 + - 1.9525244316515322 + reference: rear_axle_center + rotation: + - - 0.99941328 + - 0.02547416 + - 0.02289458 + - - -0.02530855 + - 0.99965159 + - -0.00749488 + - - -0.02307753 + - 0.00691106 + - 0.99970979 + control_defaults: + accelerator_pedal_speed: 3.0 + brake_pedal_speed: 3.0 + steering_wheel_speed: 4.0 + dynamics: + acceleration_deadband: 0.1 + acceleration_model: hang_v1 + accelerator_active_range: + - 0.2 + - 1.0 + aerodynamic_drag_coefficient: 0.01 + brake_active_range: + - 0.5 + - 1 + gravity: 9.81 + internal_dry_deceleration: 0.2 + internal_viscous_deceleration: 0.05 + lateral_friction: 1.0 + longitudinal_friction: 1.0 + mass: 700.0 + max_accelerator_acceleration: + - 0.0 + - 5.0 + max_accelerator_acceleration_reverse: 2.5 + max_accelerator_power: + - 0.0 + - 5000.0 + max_accelerator_power_reverse: 5000.0 + max_brake_deceleration: 8.0 + pedal_mapping_function: linear + velocity_scaling_factor: 0.0 + enable_through_joystick: true + geometry: + bounds: + - - -0.35 + - 2.85 + - - -0.85 + - 0.85 + - - 0 + - 2.5 + height: 2.5 + length: 3.2 + max_steering_angle: 11.0 + max_wheel_angle: 0.6108 + min_steering_angle: -11.0 + min_wheel_angle: -0.6108 + urdf_model: /home/gem/racing2/src/GEMstack/GEMstack/knowledge/vehicle/model/gem_e4.urdf + wheel_radius: 0.33 + wheelbase: 2.56 + width: 1.7 + limits: + max_acceleration: 3.0 + max_accelerator_pedal: 1.0 + max_brake_pedal: 1.0 + max_deceleration: 5.0 + max_reverse_speed: 2.5 + max_speed: 10.0 + max_steering_rate: 4.0 + max_command_rate: 10.0 + max_gear: 1 + name: GEM + num_wiper_settings: 1 + sensors: + ros_topics: + front_camera: /oak/rgb/image_raw + front_depth: /oak/stereo/image_raw + gnss: /septentrio_gnss/insnavgeod + top_lidar: /ouster/points + version: e4 diff --git a/testing/racing_logs/manual_launch_control/behavior.json b/testing/racing_logs/manual_launch_control/behavior.json new file mode 100644 index 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"accelerator_pedal_position": 0.0, "brake_pedal_position": 0.0, "steering_wheel_angle": -0.041, "left_turn_signal": false, "right_turn_signal": false, "headlights_on": false, "horn_on": false, "wiper_level": 0, "battery_level": null, "fuel_level": null, "driving_range": null}}, "time": 1744061258.1644652} +{"vehicle": {"type": "VehicleState", "data": {"pose": {"frame": 2, "t": 1744061258.2645996, "x": -88.23570648373578, "y": 40.09279150391881, "z": 203.17853758950818, "yaw": 2.792526766781833, "pitch": -349065850.39886594, "roll": -349065850.39886594}, "v": 28284271247.461903, "accelerator_pedal_position": 0.0, "brake_pedal_position": 0.0, "acceleration": -3.1552178162215614, "steering_wheel_angle": -0.041, "front_wheel_angle": -0.0018839055326036736, "heading_rate": -0.0, "gear": 0, "left_turn_indicator": false, "right_turn_indicator": false, "headlights_on": false, "horn_on": false, "wiper_level": 0}}, "time": 1744061258.2645006} +{"vehicle_interface_command": null, "vehicle_interface_reading": {"type": "GEMVehicleReading", "data": {"speed": 0.0, "gear": 0, "accelerator_pedal_position": 0.0, "brake_pedal_position": 0.0, "steering_wheel_angle": -0.041, "left_turn_signal": false, "right_turn_signal": false, "headlights_on": false, "horn_on": false, "wiper_level": 0, "battery_level": null, "fuel_level": null, "driving_range": null}}, "time": 1744061258.2645006} diff --git a/testing/racing_logs/manual_launch_control/meta.yaml b/testing/racing_logs/manual_launch_control/meta.yaml new file mode 100644 index 000000000..ff8f42a7c --- /dev/null +++ b/testing/racing_logs/manual_launch_control/meta.yaml @@ -0,0 +1,19 @@ +events: +- description: Ctrl+C pressed, switching to recovery mode + time: 1744061258.339312 + vehicle_time: 1744061258.2645006 +- description: Mission execution ended + time: 1744061258.3477583 + vehicle_time: 1744061258.2645006 +exit_reason: normal exit +git_branch: racing +git_commit_id: 2e36aeb7a55246289008a8f0a7de7f84bdbec5e6 +pipelines: +- name: drive + time: 1744061246.6633348 + vehicle_time: 1744061246.563198 +- name: recovery + time: 1744061258.3413317 + vehicle_time: 1744061258.2645006 +start_time: 1744061246.5398777 +start_time_human_readable: '2025-04-07 16:27:26' diff --git a/testing/racing_logs/manual_launch_control/settings.yaml b/testing/racing_logs/manual_launch_control/settings.yaml new file mode 100644 index 000000000..2c14a1d17 --- /dev/null +++ b/testing/racing_logs/manual_launch_control/settings.yaml @@ -0,0 +1,300 @@ +control: + longitudinal_control: + pid_d: 0.0 + pid_i: 0.03 + pid_p: 0.8 + pure_pursuit: + crosstrack_gain: 0.3 + desired_speed: trajectory + launch_control: 0 + lookahead: 2.0 + lookahead_scale: 2.0 + recovery: + brake_amount: 0.5 + brake_speed: 2.0 +model_predictive_controller: + dt: 0.1 + lookahead: 20 +planning: + longitudinal_plan: + acceleration: 0.5 + deceleration: 2.0 + desired_speed: 1.0 + max_deceleration: 6.0 + min_deceleration: 0.5 + mode: real + planner: dt + yield_deceleration: 0.5 + yielder: expert +run: + computation_graph: + components: + - state_estimation: + inputs: [] + outputs: + - vehicle + - roadgraph_update: + inputs: + - vehicle + outputs: + - roadgraph + - obstacle_detection: + inputs: + - vehicle + outputs: + - obstacles + - agent_detection: + inputs: + - vehicle + outputs: + - agents + - lane_detection: + inputs: + - vehicle + - roadgraph + outputs: + - vehicle_lane + - sign_detection: + inputs: + - vehicle + - roadgraph + outputs: + - roadgraph.signs + - environment_detection: + inputs: + - vehicle + outputs: + - environment + - intent_estimation: + inputs: + - vehicle + - roadgraph + - agents + outputs: + - agent_intents + - relations_estimation: + inputs: + - all + outputs: + - relations + - predicate_evaluation: + inputs: + - vehicle + - roadgraph + - agents + - obstacles + outputs: + - predicates + - perception_normalization: + inputs: + - all + outputs: [] + - mission_execution: + inputs: [] + outputs: + - mission + - route_planning: + inputs: + - vehicle + - roadgraph + - mission + outputs: + - route + - driving_logic: + inputs: + - all + outputs: + - intent + - motion_planning: + inputs: + - all + outputs: + - trajectory + - trajectory_tracking: + inputs: + - vehicle + - trajectory + outputs: [] + - signaling: + inputs: + - intent + outputs: [] + description: Gather data from the GEM vehicle as the operator is driving it manually + drive: + perception: + perception_normalization: StandardPerceptionNormalizer + state_estimation: GNSSStateEstimator + planning: + motion_planning: RouteToTrajectoryPlanner + route_planning: + args: + - GEMstack/knowledge/routes/xyhead_highbay_backlot_p.csv + type: StaticRoutePlanner + log: + components: + - state_estimation + ros_topics: [] + vehicle_interface: true + mission_execution: StandardExecutor + mode: hardware + name: launch/gather_data.yaml + recovery: + planning: + trajectory_tracking: recovery.StopTrajectoryTracker + replay: + components: [] + log: null + ros_topics: [] + require_engaged: false + variants: + log_ros: + run: + log: + ros_topics: + - /game_control/joy + - /front_radar/front_radar/objects + - /front_radar/front_radar/radar_tracks + - /lidar1/velodyne_points + - /novatel/inspva + - /novatel/imu + - /novatel/bestpos + - /zed2/zed_node/depth/camera_info + - /zed2/zed_node/depth/depth_registered + - /zed2/zed_node/rgb/camera_info + - /zed2/zed_node/rgb/image_rect_color + - /zed2/zed_node/imu/data + - /zed2/zed_node/imu/data_raw + - /zed2/zed_node/imu/mag + - /pacmod/as_rx/enable + - /pacmod/as_rx/accel_cmd + - /pacmod/as_rx/brake_cmd + - /pacmod/as_rx/shift_cmd + - /pacmod/as_rx/steer_cmd + - /pacmod/as_rx/turn_cmd + - /pacmod/as_rx/turn_signal_cmd + - /pacmod/as_rx/vehicle_speed_cmd + - /pacmod/as_tx/enable + - /pacmod/as_tx/global_rpt + - /pacmod/as_tx/accel_rpt + - /pacmod/as_tx/brake_rpt + - /pacmod/as_tx/shift_rpt + - /pacmod/as_tx/steer_rpt + - /pacmod/as_tx/turn_rpt + - /pacmod/as_tx/vehicle_speed_rpt + vehicle_interface: gem_hardware.GEMHardwareInterface +simulator: + dt: 0.01 + gnss_emulator: + dt: 0.05 + real_time_multiplier: 1.0 +vehicle: + calibration: + calibration_date: '2025-02-25' + front_camera: + center_position: + - 1.75864913 + - 0.01238124 + - 1.54408419 + reference: rear_axle_center + rotation: + - - 0.00349517 + - -0.03239524 + - 0.99946903 + - - -0.99996547 + - 0.00742285 + - 0.0037375 + - - -0.00753999 + - -0.99944757 + - -0.03236817 + gnss_location: + - 1.1 + - 0 + - 1.62 + gnss_yaw: 0.0 + rear_axle_height: 0.2794 + reference: rear_axle_center + top_lidar: + position: + - 1.1 + - 0.03773044170906172 + - 1.9525244316515322 + reference: rear_axle_center + rotation: + - - 0.99941328 + - 0.02547416 + - 0.02289458 + - - -0.02530855 + - 0.99965159 + - -0.00749488 + - - -0.02307753 + - 0.00691106 + - 0.99970979 + control_defaults: + accelerator_pedal_speed: 3.0 + brake_pedal_speed: 3.0 + steering_wheel_speed: 4.0 + dynamics: + acceleration_deadband: 0.1 + acceleration_model: hang_v1 + accelerator_active_range: + - 0.2 + - 1.0 + aerodynamic_drag_coefficient: 0.01 + brake_active_range: + - 0.5 + - 1 + gravity: 9.81 + internal_dry_deceleration: 0.2 + internal_viscous_deceleration: 0.05 + lateral_friction: 1.0 + longitudinal_friction: 1.0 + mass: 700.0 + max_accelerator_acceleration: + - 0.0 + - 5.0 + max_accelerator_acceleration_reverse: 2.5 + max_accelerator_power: + - 0.0 + - 5000.0 + max_accelerator_power_reverse: 5000.0 + max_brake_deceleration: 8.0 + pedal_mapping_function: linear + velocity_scaling_factor: 0.0 + enable_through_joystick: true + geometry: + bounds: + - - -0.35 + - 2.85 + - - -0.85 + - 0.85 + - - 0 + - 2.5 + height: 2.5 + length: 3.2 + max_steering_angle: 11.0 + max_wheel_angle: 0.6108 + min_steering_angle: -11.0 + min_wheel_angle: -0.6108 + urdf_model: /home/gem/racing2/src/GEMstack/GEMstack/knowledge/vehicle/model/gem_e4.urdf + wheel_radius: 0.33 + wheelbase: 2.56 + width: 1.7 + limits: + max_acceleration: 3.0 + max_accelerator_pedal: 1.0 + max_brake_pedal: 1.0 + max_deceleration: 5.0 + max_reverse_speed: 2.5 + max_speed: 10.0 + max_steering_rate: 4.0 + max_command_rate: 10.0 + max_gear: 1 + name: GEM + num_wiper_settings: 1 + sensors: + ros_topics: + front_camera: /oak/rgb/image_raw + front_depth: /oak/stereo/image_raw + gnss: /septentrio_gnss/insnavgeod + top_lidar: /ouster/points + version: e4 diff --git a/testing/test_collision_detection.py b/testing/test_collision_detection.py new file mode 100644 index 000000000..fe3b6ff9d --- /dev/null +++ b/testing/test_collision_detection.py @@ -0,0 +1,35 @@ +#needed to import GEMstack from top level directory +import sys +import os +sys.path.append(os.getcwd()) +import time + +import numpy as np +import matplotlib.pyplot as plt +import matplotlib.patches as patches +import math + +from GEMstack.onboard.planning.pedestrian_yield_logic import CollisionDetector + +if __name__ == "__main__": + # Vehicle parameters. x, y, theta (angle in radians) + x1, y1, t1 = 4.0, 5.0, 0 + # Pedestrian parameters. x, y, theta (angle in radians) + x2, y2, t2 = 15.0, 2.1, 0 + # Velocity vectors: [vx, vy] + v1 = [1.0, 0] # Vehicle speed vector + v2 = [0, 0.5] # Pedestrian speed vector + # Total simulation time + total_time = 10.0 + + desired_speed = 0.5 + acceleration = -0.5 + + # Create and run the simulation. + start_time = time.time() + # Simulate with the above parameters: Whether to hit without decelerating + sim = CollisionDetector(x1, y1, t1, x2, y2, t2, v1, v2, total_time, desired_speed, acceleration) + + collision_distance = sim.run(is_displayed=True) + print(f"Collision distance: {collision_distance}") + # print(f"Simulation took {time.time() - start_time:.3f} seconds.") \ No newline at end of file diff --git a/testing/test_gg_diagram.py b/testing/test_gg_diagram.py new file mode 100644 index 000000000..160286d3d --- /dev/null +++ b/testing/test_gg_diagram.py @@ -0,0 +1,309 @@ +import numpy as np +import matplotlib.pyplot as plt + +import sys +import os +sys.path.append(os.getcwd()) + +import json +import matplotlib.pyplot as plt +import numpy as np +# from GEMstack.mathutils.transforms import lat_lon_to_xy + +from pyproj import Proj, Transformer +from scipy.spatial import ConvexHull + +def latlon_to_xy(latitudes, longitudes, origin_lat, origin_lon): + """ + Converts lat/lon to local X/Y coordinates in meters using a local ENU projection. + + latitudes, longitudes: arrays of GPS coordinates + origin_lat, origin_lon: reference point (usually the first point) + + Returns: xs, ys (in meters, relative to origin) + """ + # WGS84 to ENU local projection (east-north-up) + transformer = Transformer.from_crs( + "epsg:4326", # WGS84 lat/lon + f"+proj=tmerc +lat_0={origin_lat} +lon_0={origin_lon} +k=1 +x_0=0 +y_0=0 +ellps=WGS84", + always_xy=True + ) + + xs, ys = transformer.transform(longitudes, latitudes) + return xs, ys + + +def parse_behavior_log(filename): + """ + Parses the behavior log file and extracts the following data: + - vehicle time + - vehicle acceleration + - vehicle heading rate + - speed + """ + times = [] + accelerations = [] + heading_rates = [] + speeds = [] + xs = [] + ys = [] + ref_lat = 0.0 + ref_long = 0.0 + + with open(filename, 'r') as f: + for idx, line in enumerate(f): + try: + entry = json.loads(line) + except json.JSONDecodeError: + print(f"Skipping invalid JSON line: {line.strip()}") + continue + # Process vehicle state data + if "vehicle" in entry: + t = entry.get("time") + vehicle_data = entry["vehicle"].get("data", {}) + acceleration = vehicle_data.get("acceleration") + heading_rate = vehicle_data.get("heading_rate") + speed = vehicle_data.get("v") + # print(speed) + # pose_data = vehicle_data["pose"].get("pose") + frame = vehicle_data["pose"].get("frame") + x = vehicle_data["pose"].get("x") + y = vehicle_data["pose"].get("y") + if idx == 0: + ref_lat = y + ref_long = x + x, y = latlon_to_xy(y,x,ref_lat,ref_long) + # Only add if all fields are available + if None not in (t, acceleration, heading_rate, speed) and frame != 3: + times.append(t) + accelerations.append(acceleration) + heading_rates.append(heading_rate) + speeds.append(speed) + + xs.append(x) + + ys.append(y) + # print(len(speeds)) + # print(len(times)) + return np.array(times), np.array(xs), np.array(ys), np.array(speeds), np.array(accelerations), np.array(heading_rates) + +def parse_tracker_csv(filename): + """ + Parses the pure pursuit tracker log file and extracts the following data: + - vehicle time (from column index 19) + - X position actual (from column index 2) + - Y position actual (from column index 5) + - X position desired (from column index 11) + - Y position desired (from column index 14) + """ + + data = np.genfromtxt(filename, delimiter=',', skip_header=1) + vehicle_time = data[:, 19] + cte = data[:, 20] + x_actual, y_actual = data[:, 2], data[:, 5] + # x_desired, y_desired = data[:, 11], data[:, 14] ### PP + x_desired, y_desired = data[:, 8], data[:, 11] #Stanley + speed_actual = data[:, -1] + des_speed = data[:, -13] + return vehicle_time, cte, x_actual, y_actual, x_desired, y_desired, speed_actual, des_speed + +def compute_derivative(times, values): + """ + Computes the derivative of array with respect to time. + Returns the time array and derivative values. + """ + dt = np.diff(times) + dv = np.diff(values) + derivative = dv / dt + return times[1:], derivative + +def moving_average(data, window_size=5): + """ + Simple moving average smoother for 1D array. + Pads edges by repeating border values. + """ + pad = window_size // 2 + padded = np.pad(data, (pad, pad), mode='edge') + smoothed = np.convolve(padded, np.ones(window_size) / window_size, mode='valid') + return smoothed + +def remove_duplicate_positions(times, xs, ys): + """ + Removes consecutive duplicate (x, y) points. + Keeps only unique steps in position. + """ + xs = np.array(xs) + ys = np.array(ys) + times = np.array(times) + + # Compute deltas + dx = np.diff(xs) + dy = np.diff(ys) + + # Find where movement occurs + moved = (dx != 0) | (dy != 0) + + # Always keep the first point + keep_idx = np.insert(moved, 0, True) + + return times[keep_idx], xs[keep_idx], ys[keep_idx] + +def compute_gs(times, xs, ys, speeds, accelerations, heading_rates): + # vxs = np.gradient(xs, times) + # vys = np.gradient(ys, times) + times = times - times[0] + dx = np.diff(xs) + dy = np.diff(ys) + dt = np.diff(times) + + vxs = dx/dt + vys = dy/dt + vs = np.sqrt(vxs**2 + vys**2) + + vs = moving_average(vs, window_size=7) + + valid_mask = vs > 1e-6 # small threshold to avoid float noise + vs = vs[valid_mask] + times = times[:-1] + times = times[valid_mask] + + long_accels = np.gradient(vs, times) + + accel_valid_mask = np.abs(long_accels) < 5 + + psis = np.arctan2(vys, vxs) + psis = psis[valid_mask] + psi_mask = psis > 1e-6 + psis = psis[psi_mask] + times = times[psi_mask] + vs = vs[psi_mask] + long_accels = long_accels[psi_mask] + + yaw_rates = np.gradient(psis, times) + + lat_accels = yaw_rates * vs + g = 9.81 + longitudinal_gs = long_accels / g + lateral_gs = lat_accels / g + + print("max long accel: " + str(np.max(long_accels))) + print("min long accel: " + str(np.min(long_accels))) + print("max lat accel: " + str(np.max(lat_accels))) + + + return longitudinal_gs, lateral_gs, vs, lat_accels, long_accels, times, valid_mask + +def plot_position(axis, x_actual, y_actual, x_desired=None, y_desired=None, safe_thresh=1, unsafe_thresh=2.5): + """Plots vehicle actual and desired positions vs. time""" + # position_error = np.sqrt((x_desired - x_actual) ** 2 + (y_desired - y_actual) ** 2) + + axis.plot(y_desired, x_desired, linestyle='--', color='blue', label='Desired') + axis.plot(y_actual, x_actual, color="black", linewidth=0.8, alpha=0.5, label='Actual') + + axis.set_xlabel("Y Position (m)") + axis.set_ylabel("X Position (m)") + axis.set_title("GEM Position") + axis.legend() + axis.grid(True) + +def plot_speeds(axis, time, speed_actual, comptued_speed = None): + if comptued_speed is not None: + axis.plot(time, comptued_speed, label='computed speed') + axis.plot(time, speed_actual, linestyle="--")#, label='current speed') + axis.set_xlabel("time") + axis.set_ylabel("speed m/s") + axis.set_title("GEM Speed") + # axis.legend() + axis.grid(True) + +def plot_accelerations(axis, accelerations, time): + axis.plot(time, accelerations, linestyle='--')#,label='acceleration') + axis.set_xlabel("time") + axis.set_ylabel("accel m/s^2") + axis.set_title("GEM Accelerations") + # axis.legend() + axis.grid(True) + +def plot_gg_diagram(axis, longitudinal_gs, lateral_gs): + """Plots gg diagram""" + # Plot G-G diagram + axis.scatter(lateral_gs, longitudinal_gs, alpha=0.5, label="Data Points") + + # draw op envelope + gy_full = np.concatenate([longitudinal_gs, longitudinal_gs]) + gx_full = np.concatenate([lateral_gs, -lateral_gs]) + + points = np.vstack((gx_full, gy_full)).T + hull = ConvexHull(points) + for simplex in hull.simplices: + axis.plot(points[simplex, 0], points[simplex, 1], 'r-') + axis.fill(points[hull.vertices, 0], points[hull.vertices, 1], + 'r', alpha=0.1, label='Operating Envelope') + + axis.axhline(0, color='black', linewidth=0.8) + axis.axvline(0, color='black', linewidth=0.8) + axis.set_xlabel("Lateral Acceleration (g)") + axis.set_ylabel("Longitudinal Acceleration (g)") + axis.set_title("G-G Diagram and Operating Envelope") + axis.legend() + axis.grid() + + + +if __name__=='__main__': + if len(sys.argv) != 2: + print("Usage: python test_comfort_metrics.py ") + sys.exit(1) + + log_dir = sys.argv[1] + behavior_file = os.path.join(log_dir, "behavior.json") + tracker_file = os.path.join(log_dir, "StanleyTrajectoryTracker_debug.csv") + # tracker_file = os.path.join(log_dir, "PurePursuitTrajectoryTracker_debug.csv") + + # if behavior.json doesn't exist, print error and exit + if not os.path.exists(behavior_file): + print("Error: behavior.json file is missing in log folder.") + sys.exit(1) + + # Parse behavior log file and compute metrics + times, xs, ys, speeds, accelerations, heading_rates = parse_behavior_log(behavior_file) + time_jerk, jerk = compute_derivative(times, accelerations) + time_heading_acc, heading_acc = compute_derivative(times, heading_rates) + + times, xs, ys = remove_duplicate_positions(times, xs, ys) + longitudinal_gs, lateral_gs, vs, lat_accels, long_accels, times, valid_mask = compute_gs(times, xs, ys, speeds, accelerations, heading_rates) + + vehicle_time, cte, x_actual, y_actual, x_desired, y_desired, speed_actual, des_speed = parse_tracker_csv(tracker_file) + + fig, axs = plt.subplots(2, 2, figsize=(12, 8)) + plot_gg_diagram(axs[0, 0], longitudinal_gs, lateral_gs) + # plot_position(axs[0, 1], xs, ys) #, x_desired, y_desired) + plot_position(axs[0, 1], x_actual, y_actual, x_desired, y_desired) + # plot_speeds(axs[1, 0], times, vs) + plot_speeds(axs[1, 0], vehicle_time, des_speed, speed_actual) + + plot_accelerations(axs[1, 1], long_accels, times) + plt.tight_layout() + name = "gg_diagram.png" + file_path = os.path.join(log_dir, name) + + plt.savefig(file_path, dpi=300, format='png') + print(f"Plots saved as {name}") + + plt.show() + + # # Pure pursuit tracker file exists: parse and plot all metrics + # if os.path.exists(tracker_file): + + # longitudinal_gs, lateral_gs, calculated_speed, lat_accels, long_accels, times, valid_mask = compute_gs(vehicle_time, x_actual, y_actual, speed_actual) + # fig, axs = plt.subplots(2, 2) + # plot_gg_diagram(axs[0, 0], longitudinal_gs, lateral_gs) + # plot_position(axs[0, 1], x_actual, y_actual, x_desired, y_desired) + # plot_speeds(axs[1, 0], speed_actual[valid_mask], calculated_speed, times) + + # plot_accelerations(axs[1, 1], long_accels, times) + + # plt.show() + # # Pure pursuit tracker file is missing: plot only behavior.json metrics + # else: + # print("Tracker file is missing. Skipping cross track error and vehicle position plots.") diff --git a/testing/test_longitudinal_plan.py b/testing/test_longitudinal_plan.py new file mode 100644 index 000000000..78896e893 --- /dev/null +++ b/testing/test_longitudinal_plan.py @@ -0,0 +1,132 @@ +#needed to import GEMstack from top level directory +import sys +import os +sys.path.append(os.getcwd()) + +from GEMstack.state import Path, ObjectFrameEnum +from GEMstack.onboard.planning.longitudinal_planning import longitudinal_plan,longitudinal_brake +import matplotlib.pyplot as plt + + +mode = "milestone" # milestone, dt, dx + + +def test_longitudinal_planning(): + test_path = Path(ObjectFrameEnum.START,[(0,0),(1,0),(2,0),(3,0),(4,0),(5,0),(6,0)]) + test_path2 = Path(ObjectFrameEnum.START,[(5,0),(6,1),(7,2),(9,4)]) + + test_traj = longitudinal_brake(test_path, 2.0, 0.0) + assert (t1 < t2 for (t1,t2) in zip(test_traj.times[:-1],test_traj.times[1:]) ) + plt.plot(test_traj.times,[p[0] for p in test_traj.points]) + plt.title("Braking from 0 m/s (should just stay still)") + plt.xlabel('time') + plt.ylabel('position') + plt.show() + + plt.plot(test_traj.times,[v for v in test_traj.velocities]) + plt.title("Braking from 0 m/s (should just stay still)") + plt.xlabel('time') + plt.ylabel('velocity') + plt.show() + + test_traj = longitudinal_brake(test_path, 2.0, 2.0) + assert (t1 < t2 for (t1,t2) in zip(test_traj.times[:-1],test_traj.times[1:]) ) + plt.plot(test_traj.times,[p[0] for p in test_traj.points]) + plt.title("Braking from 2 m/s") + plt.xlabel('time') + plt.ylabel('position') + plt.show() + + plt.plot(test_traj.times,[v for v in test_traj.velocities]) + plt.title("Braking from 2 m/s") + plt.xlabel('time') + plt.ylabel('velocity') + plt.show() + + test_traj = longitudinal_plan(test_path, 1.1, 2.0, 3.0, 0.0, mode) + assert (t1 < t2 for (t1,t2) in zip(test_traj.times[:-1],test_traj.times[1:]) ) + plt.plot(test_traj.times,[p[0] for p in test_traj.points]) + plt.title("Accelerating from 0 m/s") + plt.xlabel('time') + plt.ylabel('position') + plt.show() + + plt.plot(test_traj.times,[v for v in test_traj.velocities]) + plt.title("Accelerating from 0 m/s") + plt.xlabel('time') + plt.ylabel('velocity') + plt.show() + + + test_traj = longitudinal_plan(test_path, 1.0, 2.0, 3.0, 2.0, mode) + assert (t1 < t2 for (t1,t2) in zip(test_traj.times[:-1],test_traj.times[1:]) ) + plt.plot(test_traj.times,[p[0] for p in test_traj.points]) + plt.title("Accelerating from 2 m/s") + plt.xlabel('time') + plt.ylabel('position') + plt.show() + + plt.plot(test_traj.times,[v for v in test_traj.velocities]) + plt.title("Accelerating from 2 m/s") + plt.xlabel('time') + plt.ylabel('velocity') + plt.show() + + + test_traj = longitudinal_plan(test_path, 0.0, 2.0, 3.0, 3.1, mode) + assert (t1 < t2 for (t1,t2) in zip(test_traj.times[:-1],test_traj.times[1:]) ) + plt.plot(test_traj.times,[p[0] for p in test_traj.points]) + plt.title("Keeping constant velocity at 3.1 m/s") + plt.xlabel('time') + plt.ylabel('position') + plt.show() + + plt.plot(test_traj.times,[v for v in test_traj.velocities]) + plt.title("Keeping constant velocity at 3.1 m/s") + plt.xlabel('time') + plt.ylabel('velocity') + plt.show() + + test_traj = longitudinal_plan(test_path, 2.0, 2.0, 20.0, 10.0, mode) + assert (t1 < t2 for (t1,t2) in zip(test_traj.times[:-1],test_traj.times[1:]) ) + plt.plot(test_traj.times,[p[0] for p in test_traj.points]) + plt.title("Too little time to stop, starting at 10 m/s") + plt.xlabel('time') + plt.ylabel('position') + plt.show() + + plt.plot(test_traj.times,[v for v in test_traj.velocities]) + plt.title("Too little time to stop, starting at 10 m/s") + plt.xlabel('time') + plt.ylabel('velocity') + plt.show() + + test_traj = longitudinal_brake(test_path, 2.0, 10.0) + plt.plot(test_traj.times,[p[0] for p in test_traj.points]) + plt.title("Too little time to stop, braking at 10 m/s") + plt.xlabel('time') + plt.ylabel('position') + plt.show() + + plt.plot(test_traj.times,[v for v in test_traj.velocities]) + plt.title("Too little time to stop, braking at 10 m/s") + plt.xlabel('time') + plt.ylabel('velocity') + plt.show() + + test_traj = longitudinal_plan(test_path2, 1.0, 2.0, 3.0, 0.0, mode) + plt.plot(test_traj.times,[p[0] for p in test_traj.points]) + plt.title("Nonuniform planning") + plt.xlabel('time') + plt.ylabel('position') + plt.show() + + plt.plot(test_traj.times,[v for v in test_traj.velocities]) + plt.title("Nonuniform planning") + plt.xlabel('time') + plt.ylabel('velocity') + plt.show() + + +if __name__ == '__main__': + test_longitudinal_planning() diff --git a/testing/test_yield_logic_analyic.ipynb b/testing/test_yield_logic_analyic.ipynb new file mode 100644 index 000000000..1c81ff742 --- /dev/null +++ b/testing/test_yield_logic_analyic.ipynb @@ -0,0 +1,603 @@ +{ + "cells": [ + { + "cell_type": "code", + "execution_count": 18, + "metadata": {}, + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "v1 84.8528137423857\n", + "a1x [0.1]\n", + "v1 84.8528137423857\n", + "P1 7.0710678118654755\n", + "t_c 0.07276090201378733\n", + "P1_new [4.36538941 4.36565412]\n", + "P2_new [5.0727609 5.0727609]\n", + "distance 1.0001871939422702\n", + "a1x [0.1]\n", + "v1 84.8528137423857\n", + "P1 7.0710678118654755\n", + "t_c 0.07276090201378733\n", + "P1_new [4.36538941 4.36565412]\n", + "P2_new [5.0727609 5.0727609]\n", + "distance 1.0001871939422702\n", + "a1x [0.1]\n", + "v1 84.8528137423857\n", + "P1 7.0710678118654755\n", + "t_c 0.07276090201378733\n", + "P1_new [4.36538941 4.36565412]\n", + "P2_new [5.0727609 5.0727609]\n", + "distance 1.0001871939422702\n", + "a1x [0.10000001]\n", + "v1 84.8528137423857\n", + "P1 7.0710678118654755\n", + "t_c 0.07276090201378733\n", + "P1_new [4.36538941 4.36565412]\n", + "P2_new [5.0727609 5.0727609]\n", + "distance 1.0001871939701665\n", + "a1x [0.001]\n", + "v1 84.8528137423857\n", + "P1 7.0710678118654755\n", + "t_c 0.07276090201378733\n", + "P1_new [4.36565147 4.36565412]\n", + "P2_new [5.0727609 5.0727609]\n", + "distance 1.0000018717660313\n", + "a1x [0.001]\n", + "v1 84.8528137423857\n", + "P1 7.0710678118654755\n", + "t_c 0.07276090201378733\n", + "P1_new [4.36565147 4.36565412]\n", + "P2_new [5.0727609 5.0727609]\n", + "distance 1.0000018717660313\n", + "a1x [0.00100001]\n", + "v1 84.8528137423857\n", + "P1 7.0710678118654755\n", + "t_c 0.07276090201378733\n", + "P1_new [4.36565147 4.36565412]\n", + "P2_new [5.0727609 5.0727609]\n", + "distance 1.0000018717939232\n", + "Optimal Deceleration (Braking): 0.0010000000000002507\n" + ] + } + ], + "source": [ + "import numpy as np\n", + "from scipy.optimize import minimize\n", + "\n", + "def distance(P1, P2):\n", + " \"\"\" Compute Euclidean distance between two points \"\"\"\n", + " return np.linalg.norm(P1 - P2)\n", + "\n", + "def objective(a1):\n", + " \"\"\" Objective function: minimize deceleration a1 \"\"\"\n", + " return a1 # Minimize braking force\n", + "\n", + "def detect_collision(P1, P2, V1, V2, r1, r2):\n", + " \"\"\" Detects if a collision will occur with the given object and return deceleration to avoid it.\"\"\"\n", + " delta_p = P2 - P1\n", + " delta_v = V1 - V2\n", + "\n", + " # Normalize the vectors\n", + " norm_p = np.linalg.norm(delta_p)\n", + " norm_v = np.linalg.norm(delta_v)\n", + "\n", + " tol = 1e-6\n", + " # Avoid division by zero\n", + " if norm_p < tol or norm_v < tol:\n", + " return False\n", + "\n", + " unit_p = delta_p / norm_p # Normalized ΔP\n", + " unit_v = delta_v / norm_v # Normalized ΔV\n", + "\n", + " # Check if unit vectors are nearly identical\n", + " return np.allclose(unit_p, unit_v, atol=tol)\n", + "\n", + "def constraint_finite_difference(a1x, v1, v2, P1, P2, V1, V2, r1, r2):\n", + " \"\"\" Ensure Object 1 does not collide with Object 2 while braking \"\"\"\n", + "\n", + " print('a1x', a1x)\n", + " if a1x <= 0:\n", + " return -1 # Ensure positive deceleration\n", + " print('v1', v1)\n", + " print('P1', distance(P1, P2))\n", + " t_c = (distance(P1, P2) - (r1 + r2)) / (v1 - v2)\n", + " print('t_c', t_c)\n", + " P1_new = P1 + V1 * t_c - 0.5 * np.array([a1x[0], 0]) * t_c**2\n", + " P2_new = P2 + V2 * t_c # Object 2 continues normally\n", + " print('P1_new', P1_new)\n", + " print('P2_new', P2_new)\n", + " print('distance', distance(P1_new, P2_new))\n", + " # Ensure new positions do not result in a collision\n", + " return distance(P1_new, P2_new) - (r1 + r2)\n", + "\n", + "\n", + "# Example input\n", + "P1 = np.array([0, 0])\n", + "V1 = np.array([60, 60]) # Initial velocity of Object 1\n", + "P2 = np.array([5, 5])\n", + "V2 = np.array([1, 1]) # Velocity of Object 2\n", + "v1 = np.linalg.norm(V1) # Compute initial speed\n", + "v2 = np.linalg.norm(V2)\n", + "print('v1', v1)\n", + "r1 = 0.5 # Radius of Object 1\n", + "r2 = 0.5 # Radius of Object 2\n", + "\n", + "# Initial guess: a1\n", + "a1x0 = 0.1 # Start with a small deceleration\n", + "\n", + "# Bounds: (a1 in (0, 1] to ensure positive braking)\n", + "bounds = [(1e-3, 1)] # Prevent zero deceleration\n", + "\n", + "# Solve optimization problem\n", + "res = minimize(\n", + " objective, \n", + " a1x0, \n", + " bounds=bounds,\n", + " constraints={'type': 'ineq', 'fun': constraint_finite_difference, 'args': (v1, v2, P1, P2, V1, V2, r1, r2)}\n", + ")\n", + "\n", + "# Optimal deceleration\n", + "optimal_a1 = res.x[0]\n", + "print(\"Optimal Deceleration (Braking):\", optimal_a1)\n", + "\n", + "# # Compute braking duration based on optimal deceleration\n", + "# optimal_t_d = (s1 - (distance(P1, P2) / (distance(P1, P2) / (distance(P1, P2) / s1 + d_safe / s1)))) / optimal_a1\n", + "# print(\"Braking Duration (t_d):\", optimal_t_d)\n", + "\n", + "# # Compute new velocity after braking (only reducing speed, not direction)\n", + "# scaling_factor = 1 - (optimal_a1 * optimal_t_d / s1)\n", + "# V1_new = scaling_factor * V1\n", + "# print(\"New Velocity After Braking:\", V1_new)\n" + ] + }, + { + "cell_type": "code", + "execution_count": 8, + "metadata": {}, + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "7.0710678118654755\n" + ] + } + ], + "source": [ + "import math\n", + "print(math.sqrt(50))" + ] + }, + { + "cell_type": "code", + "execution_count": 11, + "metadata": {}, + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "2.146446609406726\n" + ] + } + ], + "source": [ + "\n", + "print((math.sqrt(50) - 1) / 2.8284271247461903)" + ] + }, + { + "cell_type": "code", + "execution_count": 24, + "metadata": {}, + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "Collision detected. Computing optimal braking force...\n", + "a1x [0.1]\n", + "a1x [0.1]\n", + "a1x [0.1]\n", + "a1x [0.10000001]\n", + "a1x [0.14386871]\n", + "a1x [0.10438687]\n", + "a1x [0.10438687]\n", + "a1x [0.10438689]\n", + "a1x [0.14369264]\n", + "a1x [0.10831745]\n", + "a1x [0.10831745]\n", + "a1x [0.10831746]\n", + "a1x [0.14355521]\n", + "a1x [0.11184122]\n", + "a1x [0.11184122]\n", + "a1x [0.11184124]\n", + "a1x [0.1434475]\n", + "a1x [0.11500185]\n", + "a1x [0.11500185]\n", + "a1x [0.11500187]\n", + "a1x [0.14336277]\n", + "a1x [0.11783794]\n", + "a1x [0.11783794]\n", + "a1x [0.11783796]\n", + "a1x [0.14329589]\n", + "a1x [0.12038374]\n", + "a1x [0.12038374]\n", + "a1x [0.12038375]\n", + "a1x [0.14324297]\n", + "a1x [0.12266966]\n", + "a1x [0.12266966]\n", + "a1x [0.12266968]\n", + "a1x [0.14320024]\n", + "a1x [0.12472272]\n", + "a1x [0.12472272]\n", + "a1x [0.12472273]\n", + "a1x [0.14318682]\n", + "a1x [0.12656913]\n", + "a1x [0.12656913]\n", + "a1x [0.12656914]\n", + "a1x [0.1431409]\n", + "a1x [0.12822631]\n", + "a1x [0.12822631]\n", + "a1x [0.12822632]\n", + "a1x [0.14311966]\n", + "a1x [0.12971564]\n", + "a1x [0.12971564]\n", + "a1x [0.12971566]\n", + "a1x [0.14310267]\n", + "a1x [0.13105435]\n", + "a1x [0.13105435]\n", + "a1x [0.13105436]\n", + "a1x [0.14308908]\n", + "a1x [0.13225782]\n", + "a1x [0.13225782]\n", + "a1x [0.13225783]\n", + "a1x [0.14307818]\n", + "a1x [0.13333985]\n", + "a1x [0.13333985]\n", + "a1x [0.13333987]\n", + "a1x [0.14306944]\n", + "a1x [0.13431281]\n", + "a1x [0.13431281]\n", + "a1x [0.13431283]\n", + "a1x [0.14306244]\n", + "a1x [0.13518778]\n", + "a1x [0.13518778]\n", + "a1x [0.13518779]\n", + "a1x [0.14305574]\n", + "a1x [0.13597457]\n", + "a1x [0.13597457]\n", + "a1x [0.13597459]\n", + "a1x [0.14305222]\n", + "a1x [0.13668234]\n", + "a1x [0.13668234]\n", + "a1x [0.13668235]\n", + "a1x [0.14304857]\n", + "a1x [0.13731896]\n", + "a1x [0.13731896]\n", + "a1x [0.13731898]\n", + "a1x [0.14304562]\n", + "a1x [0.13789163]\n", + "a1x [0.13789163]\n", + "a1x [0.13789164]\n", + "a1x [0.14304325]\n", + "a1x [0.13840679]\n", + "a1x [0.13840679]\n", + "a1x [0.1384068]\n", + "a1x [0.14304133]\n", + "a1x [0.13887024]\n", + "a1x [0.13887024]\n", + "a1x [0.13887026]\n", + "a1x [0.14303979]\n", + "a1x [0.1392872]\n", + "a1x [0.1392872]\n", + "a1x [0.13928721]\n", + "a1x [0.14303861]\n", + "a1x [0.13966234]\n", + "a1x [0.13966234]\n", + "a1x [0.13966235]\n", + "a1x [0.14303753]\n", + "a1x [0.13999986]\n", + "a1x [0.13999986]\n", + "a1x [0.13999987]\n", + "a1x [0.14303672]\n", + "a1x [0.14030354]\n", + "a1x [0.14030354]\n", + "a1x [0.14030356]\n", + "a1x [0.14303606]\n", + "a1x [0.1405768]\n", + "a1x [0.1405768]\n", + "a1x [0.14057681]\n", + "a1x [0.14303553]\n", + "a1x [0.14082267]\n", + "a1x [0.14082267]\n", + "a1x [0.14082268]\n", + "a1x [0.1430351]\n", + "a1x [0.14104391]\n", + "a1x [0.14104391]\n", + "a1x [0.14104393]\n", + "a1x [0.14303475]\n", + "a1x [0.141243]\n", + "a1x [0.141243]\n", + "a1x [0.14124301]\n", + "a1x [0.14303454]\n", + "a1x [0.14142215]\n", + "a1x [0.14142215]\n", + "a1x [0.14142217]\n", + "a1x [0.14303425]\n", + "a1x [0.14158336]\n", + "a1x [0.14158336]\n", + "a1x [0.14158338]\n", + "a1x [0.14303406]\n", + "a1x [0.14172843]\n", + "a1x [0.14172843]\n", + "a1x [0.14172845]\n", + "a1x [0.14303391]\n", + "a1x [0.14185898]\n", + "a1x [0.14185898]\n", + "a1x [0.14185899]\n", + "a1x [0.14303379]\n", + "a1x [0.14197646]\n", + "a1x [0.14197646]\n", + "a1x [0.14197648]\n", + "a1x [0.1430337]\n", + "a1x [0.14208218]\n", + "a1x [0.14208218]\n", + "a1x [0.1420822]\n", + "a1x [0.14303362]\n", + "a1x [0.14217733]\n", + "a1x [0.14217733]\n", + "a1x [0.14217734]\n", + "a1x [0.14303347]\n", + "a1x [0.14226294]\n", + "a1x [0.14226294]\n", + "a1x [0.14226296]\n", + "No feasible solution found. Consider adjusting parameters.\n" + ] + } + ], + "source": [ + "import numpy as np\n", + "from scipy.optimize import minimize\n", + "\n", + "def distance(P1, P2):\n", + " \"\"\" Compute Euclidean distance between two points \"\"\"\n", + " return np.linalg.norm(P1 - P2)\n", + "\n", + "def detect_collision(P1, P2, V1, V2, r1, r2):\n", + " \"\"\"\n", + " Checks if a collision is possible based on initial relative motion.\n", + " \"\"\"\n", + " delta_p = P2 - P1 # Displacement vector\n", + " delta_v = V2 - V1 # Relative velocity\n", + "\n", + " # Check if objects are moving toward each other\n", + " return np.dot(delta_p, delta_v) < 0\n", + "\n", + "def constraint_no_collision(a1x, P1, P2, V1, V2, r1, r2, t_final):\n", + " \"\"\"\n", + " Ensures that Object 1 does not collide with Object 2 during the movement.\n", + " \"\"\"\n", + "\n", + " # Simulate motion for multiple time steps\n", + " time_steps = np.linspace(0, t_final, num=100)\n", + " print('a1x', a1x)\n", + " for t in time_steps:\n", + " # Update Object 1's position (only decelerating in x-direction)\n", + " new_x = P1[0] + V1[0] * t - 0.5 * a1x[0] * t**2 # Apply braking in x direction\n", + " new_y = P1[1] + V1[1] * t # Y-direction remains unchanged\n", + " P1_new = np.array([new_x, new_y])\n", + "\n", + " # Update Object 2's position (continues moving)\n", + " P2_new = P2 + V2 * t\n", + "\n", + " # Check if collision occurs\n", + " if distance(P1_new, P2_new) < (r1 + r2):\n", + " return distance(P1_new, P2_new) - (r1 + r2) # Violation of collision constraint\n", + "\n", + " return distance(P1_new, P2_new) - (r1 + r2) # No collision\n", + "\n", + "def objective(a1x):\n", + " \"\"\" Objective function: minimize deceleration a1x \"\"\"\n", + " return a1x # Minimize braking force\n", + "\n", + "if __name__ == \"__main__\":\n", + " # Define initial conditions\n", + " P1 = np.array([0, 0]) # Initial position of Object 1\n", + " V1 = np.array([5, 2]) # Initial velocity of Object 1\n", + " P2 = np.array([10, 10]) # Initial position of Object 2\n", + " V2 = np.array([2, -1]) # Velocity of Object 2\n", + " r1, r2 = 1, 1 # Radii of the objects\n", + " t_final = 5 # Maximum time to check for collisions\n", + "\n", + " # Check if collision is even possible before optimization\n", + " if detect_collision(P1, P2, V1, V2, r1, r2):\n", + " print(\"Collision detected. Computing optimal braking force...\")\n", + "\n", + " # Initial guess for deceleration\n", + " a1x0 = [0.1] # Small initial deceleration\n", + "\n", + " # Bounds: a1x in [0, max] to ensure non-negative braking\n", + " bounds = [(0.0, 10000000)] # Prevents infinite braking\n", + "\n", + " # Solve optimization problem\n", + " res = minimize(\n", + " objective,\n", + " a1x0,\n", + " bounds=bounds,\n", + " constraints={'type': 'ineq', 'fun': constraint_no_collision, 'args': (P1, P2, V1, V2, r1, r2, t_final)},\n", + " method=\"SLSQP\"\n", + " )\n", + "\n", + " # Optimal deceleration\n", + " if res.success:\n", + " optimal_a1x = res.x[0]\n", + " print(f\"Optimal Deceleration in x-direction: {optimal_a1x:.4f}\")\n", + " else:\n", + " print(\"No feasible solution found. Consider adjusting parameters.\")\n", + " else:\n", + " print(\"No collision detected. No braking required.\")\n" + ] + }, + { + "cell_type": "code", + "execution_count": 35, + "metadata": {}, + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "Collision detected. Computing optimal braking force...\n", + "Estimated time to collision: 0.02 seconds\n", + "No feasible solution found. Consider adjusting parameters.\n" + ] + } + ], + "source": [ + "import numpy as np\n", + "from scipy.optimize import minimize\n", + "\n", + "def distance(P1, P2):\n", + " \"\"\" Compute Euclidean distance between two points \"\"\"\n", + " return np.linalg.norm(P1 - P2)\n", + "\n", + "def detect_collision(P1, P2, V1, V2, r1, r2):\n", + " \"\"\"\n", + " Checks if a collision is possible based on initial relative motion.\n", + " \"\"\"\n", + " delta_p = P2 - P1 # Displacement vector\n", + " delta_v = V2 - V1 # Relative velocity\n", + "\n", + " # Check if objects are moving toward each other\n", + " return np.dot(delta_p, delta_v) < 0\n", + "\n", + "def estimate_collision_time(P1, P2, V1, V2, r1, r2):\n", + " \"\"\"\n", + " Estimates the time of closest approach (if collision is possible).\n", + " \"\"\"\n", + " delta_p = P2 - P1\n", + " delta_v = V2 - V1\n", + "\n", + " if np.linalg.norm(delta_v) < 1e-6:\n", + " return np.inf # If objects have no relative velocity, they won't collide\n", + "\n", + " t_c = -np.dot(delta_p, delta_v) / np.linalg.norm(delta_v)**2\n", + "\n", + " if t_c < 0:\n", + " return np.inf # If t_c is negative, the objects were closer in the past\n", + "\n", + " return t_c\n", + "\n", + "def constraint_no_collision(a1x, P1, P2, V1, V2, r1, r2):\n", + " \"\"\"\n", + " Ensures Object 1 does not collide with Object 2 during movement.\n", + " \"\"\"\n", + "\n", + " # Estimate time of closest approach\n", + " # t_c = estimate_collision_time(P1, P2, V1, V2, r1, r2)\n", + " # if t_c == np.inf:\n", + " # return 1 # No collision risk\n", + "\n", + " # Simulate motion for multiple time steps up to t_c\n", + " time_steps = np.linspace(0, min(500, 5), num=10000) # Consider max 5 seconds\n", + "\n", + " for t in time_steps:\n", + " # Update Object 1's position (only decelerating in x-direction)\n", + " new_x = P1[0] + V1[0] * t - 0.5 * a1x[0] * t**2 # Apply braking in x direction\n", + " new_y = P1[1] + V1[1] * t # Y-direction remains unchanged\n", + " P1_new = np.array([new_x, new_y])\n", + "\n", + " # Update Object 2's position (continues moving)\n", + " P2_new = P2 + V2 * t\n", + "\n", + " # Check if collision occurs\n", + " d = distance(P1_new, P2_new) - (r1 + r2)\n", + "\n", + " if d < 0: # Collision detected\n", + " return d # Negative value signals violation\n", + "\n", + " return 1 # Constraint satisfied\n", + "\n", + "def objective(a1x):\n", + " \"\"\" Objective function: minimize deceleration a1x \"\"\"\n", + " return a1x # Minimize braking force\n", + "\n", + "if __name__ == \"__main__\":\n", + " # Define initial conditions\n", + " P1 = np.array([0, 0]) # Initial position of Object 1\n", + " V1 = np.array([500, 500]) # Initial velocity of Object 1\n", + " P2 = np.array([10, 10]) # Initial position of Object 2\n", + " V2 = np.array([1, 1]) # Velocity of Object 2\n", + " r1, r2 = 1, 1 # Radii of the objects\n", + "\n", + " # Check if a collision is even possible before optimization\n", + " if detect_collision(P1, P2, V1, V2, r1, r2):\n", + " print(\"Collision detected. Computing optimal braking force...\")\n", + "\n", + " # Estimate time to collision\n", + " t_final = estimate_collision_time(P1, P2, V1, V2, r1, r2)\n", + "\n", + " if t_final == np.inf:\n", + " print(\"No risk of collision. No braking required.\")\n", + " else:\n", + " print(f\"Estimated time to collision: {t_final:.2f} seconds\")\n", + "\n", + " # Initial guess for deceleration\n", + " a1x0 = [0.1] # Small initial deceleration\n", + "\n", + " # Bounds: a1x in [0, 50] to ensure non-negative braking\n", + " bounds = [(0.0, 50)] # Allow strong braking if needed\n", + "\n", + " # Solve optimization problem\n", + " res = minimize(\n", + " objective,\n", + " a1x0,\n", + " bounds=bounds,\n", + " constraints={'type': 'ineq', 'fun': constraint_no_collision, 'args': (P1, P2, V1, V2, r1, r2)},\n", + " method=\"SLSQP\"\n", + " )\n", + "\n", + " # Optimal deceleration\n", + " if res.success:\n", + " optimal_a1x = res.x[0]\n", + " print(f\"Optimal Deceleration in x-direction: {optimal_a1x:.4f}\")\n", + " else:\n", + " print(\"No feasible solution found. Consider adjusting parameters.\")\n", + " else:\n", + " print(\"No collision detected. No braking required.\")\n" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": {}, + "outputs": [], + "source": [] + } + ], + "metadata": { + "kernelspec": { + "display_name": "Python 3", + "language": "python", + "name": "python3" + }, + "language_info": { + "codemirror_mode": { + "name": "ipython", + "version": 3 + }, + "file_extension": ".py", + "mimetype": "text/x-python", + "name": "python", + "nbconvert_exporter": "python", + "pygments_lexer": "ipython3", + "version": "3.8.10" + } + }, + "nbformat": 4, + "nbformat_minor": 2 +} diff --git a/tuning logs/2025-02-09_15-47-37 (before tuning)/.~lock.PurePursuitTrajectoryTracker_debug.csv# b/tuning logs/2025-02-09_15-47-37 (before tuning)/.~lock.PurePursuitTrajectoryTracker_debug.csv# new file mode 100644 index 000000000..15ee4e380 --- /dev/null +++ b/tuning logs/2025-02-09_15-47-37 (before tuning)/.~lock.PurePursuitTrajectoryTracker_debug.csv# @@ -0,0 +1 @@ +,acrl,acrl,09.02.2025 15:48,file:///home/acrl/.config/libreoffice/4; \ No newline at end of file diff --git a/tuning logs/2025-02-09_15-47-37 (before tuning)/PurePursuitTrajectoryTracker_debug.csv b/tuning logs/2025-02-09_15-47-37 (before tuning)/PurePursuitTrajectoryTracker_debug.csv new file mode 100644 index 000000000..18c4a8214 --- /dev/null +++ b/tuning logs/2025-02-09_15-47-37 (before tuning)/PurePursuitTrajectoryTracker_debug.csv @@ -0,0 +1,3331 @@ +curr pt[0] time,curr pt[0] vehicle time,curr pt[0],curr pt[1] time,curr pt[1] vehicle time,curr pt[1],curr param time,curr param vehicle time,curr param,desired pt[0] time,desired pt[0] vehicle time,desired pt[0],desired pt[1] time,desired pt[1] vehicle time,desired pt[1],desired yaw (rad) time,desired yaw (rad) vehicle time,desired yaw (rad),crosstrack error time,crosstrack error vehicle time,crosstrack error,front wheel angle (rad) time,front wheel angle (rad) vehicle time,front wheel angle (rad),desired speed (m/s) time,desired speed (m/s) vehicle time,desired speed (m/s),feedforward accel (m/s^2) time,feedforward accel (m/s^2) vehicle time,feedforward accel (m/s^2),output accel (m/s^2) time,output accel (m/s^2) vehicle time,output accel (m/s^2),current yaw (rad) time,current yaw (rad) vehicle time,current yaw (rad),current speed (m/s) time,current speed (m/s) vehicle time,current speed (m/s) 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null, "fuel_level": null, "driving_range": null}}, "time": 1739137727.047492} +{"vehicle_interface_command": {"type": "GEMVehicleCommand", "data": {"gear": 1, "accelerator_pedal_position": 0.0, "accelerator_pedal_speed": 3.0, "brake_pedal_position": 0.5, "brake_pedal_speed": 2.0, "steering_wheel_angle": -1.7423921860564884, "steering_wheel_speed": 4.0, "left_turn_signal": false, "right_turn_signal": false, "headlights_on": false, "horn_on": false, "wiper_level": 0}}, "vehicle_interface_reading": {"type": "GEMVehicleReading", "data": {"speed": 0.019503882227072007, "gear": 1, "accelerator_pedal_position": 0, "brake_pedal_position": 0.5, "steering_wheel_angle": -0.9394474754289166, "left_turn_signal": false, "right_turn_signal": false, "headlights_on": false, "horn_on": false, "wiper_level": 0, "battery_level": null, "fuel_level": null, "driving_range": null}}, "time": 1739137727.067492} diff --git a/tuning logs/2025-02-09_15-47-37 (before tuning)/meta.yaml b/tuning logs/2025-02-09_15-47-37 (before tuning)/meta.yaml new file mode 100644 index 000000000..366338d63 --- /dev/null +++ b/tuning logs/2025-02-09_15-47-37 (before tuning)/meta.yaml @@ -0,0 +1,19 @@ +events: +- description: Ctrl+C pressed, switching to recovery mode + time: 1739137725.9564342 + vehicle_time: 1739137724.7274942 +- description: Mission execution ended + time: 1739137728.310681 + vehicle_time: 1739137727.067492 +exit_reason: normal exit +git_branch: A1_control +git_commit_id: a82b3af20db8a1737308910d5367b8987225d2da +pipelines: +- name: drive + time: 1739137658.1525254 + vehicle_time: 1739137657.2575586 +- name: recovery + time: 1739137725.958551 + vehicle_time: 1739137724.7274942 +start_time: 1739137657.9481173 +start_time_human_readable: '2025-02-09 15:47:37' diff --git a/tuning logs/2025-02-09_15-47-37 (before tuning)/plots/accel.png b/tuning logs/2025-02-09_15-47-37 (before tuning)/plots/accel.png new file mode 100644 index 000000000..82a1dfedb Binary files /dev/null and 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(before tuning)/plots/error_y.png b/tuning logs/2025-02-09_15-47-37 (before tuning)/plots/error_y.png new file mode 100644 index 000000000..ecc917c1e Binary files /dev/null and b/tuning logs/2025-02-09_15-47-37 (before tuning)/plots/error_y.png differ diff --git a/tuning logs/2025-02-09_15-47-37 (before tuning)/plots/front_wheel_angle.png b/tuning logs/2025-02-09_15-47-37 (before tuning)/plots/front_wheel_angle.png new file mode 100644 index 000000000..0a26b286f Binary files /dev/null and b/tuning logs/2025-02-09_15-47-37 (before tuning)/plots/front_wheel_angle.png differ diff --git a/tuning logs/2025-02-09_15-47-37 (before tuning)/plots/v_vs_vd.png b/tuning logs/2025-02-09_15-47-37 (before tuning)/plots/v_vs_vd.png new file mode 100644 index 000000000..35ee2a3df Binary files /dev/null and b/tuning logs/2025-02-09_15-47-37 (before tuning)/plots/v_vs_vd.png differ diff --git a/tuning logs/2025-02-09_15-47-37 (before tuning)/plots/x_vs_xd.png b/tuning logs/2025-02-09_15-47-37 (before tuning)/plots/x_vs_xd.png new file mode 100644 index 000000000..32bc49df3 Binary files /dev/null and b/tuning logs/2025-02-09_15-47-37 (before tuning)/plots/x_vs_xd.png differ diff --git a/tuning logs/2025-02-09_15-47-37 (before tuning)/plots/y_vs_yd.png b/tuning logs/2025-02-09_15-47-37 (before tuning)/plots/y_vs_yd.png new file mode 100644 index 000000000..c3696e0a5 Binary files /dev/null and b/tuning logs/2025-02-09_15-47-37 (before tuning)/plots/y_vs_yd.png differ diff --git a/tuning logs/2025-02-09_15-47-37 (before tuning)/settings.yaml b/tuning logs/2025-02-09_15-47-37 (before tuning)/settings.yaml new file mode 100644 index 000000000..780af3d3f --- /dev/null +++ b/tuning logs/2025-02-09_15-47-37 (before tuning)/settings.yaml @@ -0,0 +1,321 @@ +control: + longitudinal_control: + pid_d: 0.0 + pid_i: 0.1 + pid_p: 1.0 + pure_pursuit: + crosstrack_gain: 1.0 + desired_speed: trajectory + lookahead: 2.0 + lookahead_scale: 3.0 + recovery: + brake_amount: 0.5 + brake_speed: 2.0 +model_predictive_controller: + dt: 0.1 + lookahead: 20 +run: + after: + show_log_folder: true + computation_graph: + components: + - state_estimation: + inputs: [] + outputs: + - vehicle + - roadgraph_update: + inputs: + - vehicle + outputs: + - roadgraph + - obstacle_detection: + inputs: + - vehicle + outputs: + - obstacles + - agent_detection: + inputs: + - vehicle + outputs: + - agents + - lane_detection: + inputs: + - vehicle + - roadgraph + outputs: + - vehicle_lane + - sign_detection: + inputs: + - vehicle + - roadgraph + outputs: + - roadgraph.signs + - environment_detection: + inputs: + - vehicle + outputs: + - environment + - intent_estimation: + inputs: + - vehicle + - roadgraph + - agents + outputs: + - agent_intents + - relations_estimation: + inputs: + - vehicle + - roadgraph + - agents + - obstacles + outputs: + - relations + - predicate_evaluation: + inputs: + - vehicle + - roadgraph + - agents + - obstacles + outputs: + - predicates + - perception_normalization: + inputs: + - all + outputs: [] + - mission_execution: + inputs: [] + outputs: + - mission + - route_planning: + inputs: + - vehicle + - roadgraph + - mission + outputs: + - route + - driving_logic: + inputs: + - all + outputs: + - intent + - motion_planning: + inputs: + - all + outputs: + - trajectory + - trajectory_tracking: + inputs: + - vehicle + - trajectory + outputs: [] + description: Drive the GEM vehicle along a fixed route (currently xyhead_highbay_backlot_p.csv) + drive: + perception: + agent_detection: OmniscientAgentDetector + perception_normalization: StandardPerceptionNormalizer + state_estimation: OmniscientStateEstimator + planning: + motion_planning: + args: + - null + type: RouteToTrajectoryPlanner + route_planning: + args: + - GEMstack/knowledge/routes/xyhead_highbay_backlot_p.csv + type: StaticRoutePlanner + trajectory_tracking: + args: + desired_speed: 2.5 + print: false + type: pure_pursuit.PurePursuitTrajectoryTracker + log: + components: + - state_estimation + - trajectory_tracking + ros_topics: [] + vehicle_interface: true + mission_execution: StandardExecutor + mode: simulation + name: launch/fixed_route.yaml + recovery: + planning: + trajectory_tracking: + print: false + type: recovery.StopTrajectoryTracker + replay: + components: [] + log: null + ros_topics: [] + variants: + log_ros: + log: + ros_topics: + - /game_control/joy + - /front_radar/front_radar/objects + - /front_radar/front_radar/radar_tracks + - /lidar1/velodyne_points + - /novatel/inspva + - /novatel/imu + - /novatel/bestpos + - /zed2/zed_node/depth/camera_info + - /zed2/zed_node/depth/depth_registered + - /zed2/zed_node/rgb/camera_info + - /zed2/zed_node/rgb/image_rect_color + - /zed2/zed_node/imu/data + - /zed2/zed_node/imu/data_raw + - /zed2/zed_node/imu/mag + - /pacmod/as_rx/enable + - /pacmod/as_rx/accel_cmd + - /pacmod/as_rx/brake_cmd + - /pacmod/as_rx/shift_cmd + - /pacmod/as_rx/steer_cmd + - /pacmod/as_rx/turn_cmd + - /pacmod/as_rx/turn_signal_cmd + - /pacmod/as_rx/vehicle_speed_cmd + - /pacmod/as_tx/enable + - /pacmod/as_tx/global_rpt + - /pacmod/as_tx/accel_rpt + - /pacmod/as_tx/brake_rpt + - /pacmod/as_tx/shift_rpt + - /pacmod/as_tx/steer_rpt + - /pacmod/as_tx/turn_rpt + - /pacmod/as_tx/vehicle_speed_rpt + sim: + run: + drive: + perception: + agent_detection: OmniscientAgentDetector + state_estimation: OmniscientStateEstimator + mode: simulation + vehicle_interface: + args: + scene: scenes/xyhead_demo.yaml + type: gem_simulator.GEMDoubleIntegratorSimulationInterface + visualization: + args: + rate: 20 + save_as: null + type: klampt_visualization.KlamptVisualization + vehicle_interface: + args: + scene: scenes/xyhead_demo.yaml + type: gem_simulator.GEMDoubleIntegratorSimulationInterface + visualization: + args: + rate: 20 + save_as: null + type: klampt_visualization.KlamptVisualization +simulator: + dt: 0.01 + gnss_emulator: + dt: 0.1 + real_time_multiplier: 1.0 +variant: sim +vehicle: + calibration: + calibration_date: '2024-03-05' + front_camera: + center_position: + - 1.78 + - 0 + - 1.58 + reference: rear_axle_center + rotation: + - - 0 + - 0 + - 1 + - - -1 + - 0 + - 0 + - - 0 + - -1 + - 0 + gnss_location: + - 1.1 + - 0.1.62 + gnss_yaw: 0.0 + rear_axle_height: 0.33 + reference: rear_axle_center + top_lidar: + position: + - 1.1 + - 0 + - 2.03 + reference: rear_axle_center + rotation: + - - 1 + - 0 + - 0 + - - 0 + - 1 + - 0 + - - 0 + - 0 + - 1 + control_defaults: + accelerator_pedal_speed: 3.0 + brake_pedal_speed: 3.0 + steering_wheel_speed: 4.0 + dynamics: + acceleration_deadband: 0.1 + acceleration_model: kris_v1 + accelerator_active_range: + - 0.2 + - 1.0 + aerodynamic_drag_coefficient: 0.01 + brake_active_range: + - 0 + - 1 + gravity: 9.81 + internal_dry_deceleration: 0.2 + internal_viscous_deceleration: 0.05 + lateral_friction: 1.0 + longitudinal_friction: 1.0 + mass: 300.0 + max_accelerator_acceleration: + - 0.0 + - 5.0 + max_accelerator_acceleration_reverse: 2.5 + max_accelerator_power: + - 0.0 + - 10000.0 + max_accelerator_power_reverse: 10000.0 + max_brake_deceleration: 8.0 + enable_through_joystick: true + geometry: + bounds: + - - -0.35 + - 2.85 + - - -0.85 + - 0.85 + - - 0 + - 2.5 + height: 2.5 + length: 3.2 + max_steering_angle: 11.0 + max_wheel_angle: 0.6108 + min_steering_angle: -11.0 + min_wheel_angle: -0.6108 + urdf_model: /home/acrl/GEMstack/GEMstack/knowledge/vehicle/model/gem_e4.urdf + wheel_radius: 0.33 + wheelbase: 2.56 + width: 1.7 + limits: + max_acceleration: 1.0 + max_accelerator_pedal: 0.5 + max_brake_pedal: 0.5 + max_deceleration: 2.0 + max_reverse_speed: 0.25 + max_speed: 2.5 + max_steering_rate: 2.0 + max_command_rate: 10.0 + max_gear: 1 + name: GEM + num_wiper_settings: 1 + sensors: + ros_topics: + front_camera: /oak/rgb/image_raw + front_depth: /oak/stereo/image_raw + gnss: /septentrio_gnss/insnavgeod + top_lidar: /ouster/points + version: e4 diff --git a/tuning logs/2025-02-09_15-47-37--2025-02-13_21-10-39/plots/accel_comparison.png b/tuning 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logs/2025-02-09_15-47-37--2025-02-13_21-10-39/plots/error_x_comparison.png b/tuning logs/2025-02-09_15-47-37--2025-02-13_21-10-39/plots/error_x_comparison.png new file mode 100644 index 000000000..935ab205c Binary files /dev/null and b/tuning logs/2025-02-09_15-47-37--2025-02-13_21-10-39/plots/error_x_comparison.png differ diff --git a/tuning logs/2025-02-09_15-47-37--2025-02-13_21-10-39/plots/error_y_comparison.png b/tuning logs/2025-02-09_15-47-37--2025-02-13_21-10-39/plots/error_y_comparison.png new file mode 100644 index 000000000..3f696a2f0 Binary files /dev/null and b/tuning logs/2025-02-09_15-47-37--2025-02-13_21-10-39/plots/error_y_comparison.png differ diff --git a/tuning logs/2025-02-09_15-47-37--2025-02-13_21-10-39/plots/front_wheel_angle_comparison.png b/tuning logs/2025-02-09_15-47-37--2025-02-13_21-10-39/plots/front_wheel_angle_comparison.png new file mode 100644 index 000000000..04f098495 Binary files /dev/null and b/tuning logs/2025-02-09_15-47-37--2025-02-13_21-10-39/plots/front_wheel_angle_comparison.png differ diff --git a/tuning logs/2025-02-09_16-46-00 (after tuning cte = 0.5 (-50%), decay speed = 1.0 (+250%))/PurePursuitTrajectoryTracker_debug.csv b/tuning logs/2025-02-09_16-46-00 (after tuning cte = 0.5 (-50%), decay speed = 1.0 (+250%))/PurePursuitTrajectoryTracker_debug.csv new file mode 100644 index 000000000..b04f7e18f --- /dev/null +++ b/tuning logs/2025-02-09_16-46-00 (after tuning cte = 0.5 (-50%), decay speed = 1.0 (+250%))/PurePursuitTrajectoryTracker_debug.csv @@ -0,0 +1,3215 @@ +curr pt[0] time,curr pt[0] vehicle time,curr pt[0],curr pt[1] time,curr pt[1] vehicle time,curr pt[1],curr param time,curr param vehicle time,curr param,desired pt[0] time,desired pt[0] vehicle time,desired pt[0],desired pt[1] time,desired pt[1] vehicle time,desired pt[1],desired yaw (rad) time,desired yaw (rad) vehicle time,desired yaw (rad),crosstrack error time,crosstrack error vehicle time,crosstrack 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+{"vehicle_interface_command": {"type": "GEMVehicleCommand", "data": {"gear": 1, "accelerator_pedal_position": 0.0, "accelerator_pedal_speed": 3.0, "brake_pedal_position": 0.5, "brake_pedal_speed": 2.0, "steering_wheel_angle": -1.34586889543368, "steering_wheel_speed": 4.0, "left_turn_signal": false, "right_turn_signal": false, "headlights_on": false, "horn_on": false, "wiper_level": 0}}, "vehicle_interface_reading": {"type": "GEMVehicleReading", "data": {"speed": 0.024681401724776855, "gear": 1, "accelerator_pedal_position": 0, "brake_pedal_position": 0.5, "steering_wheel_angle": -0.5257749556326361, "left_turn_signal": false, "right_turn_signal": false, "headlights_on": false, "horn_on": false, "wiper_level": 0, "battery_level": null, "fuel_level": null, "driving_range": null}}, "time": 1739141226.611825} +{"vehicle_interface_command": {"type": "GEMVehicleCommand", "data": {"gear": 1, "accelerator_pedal_position": 0.0, "accelerator_pedal_speed": 3.0, "brake_pedal_position": 0.5, "brake_pedal_speed": 2.0, "steering_wheel_angle": -1.34586889543368, "steering_wheel_speed": 4.0, "left_turn_signal": false, "right_turn_signal": false, "headlights_on": false, "horn_on": false, "wiper_level": 0}}, "vehicle_interface_reading": {"type": "GEMVehicleReading", "data": {"speed": 0.004681401724776855, "gear": 1, "accelerator_pedal_position": 0, "brake_pedal_position": 0.5, "steering_wheel_angle": -0.5257749556326361, "left_turn_signal": false, "right_turn_signal": false, "headlights_on": false, "horn_on": false, "wiper_level": 0, "battery_level": null, "fuel_level": null, "driving_range": null}}, "time": 1739141226.631825} diff --git a/tuning logs/2025-02-09_16-46-00 (after tuning cte = 0.5 (-50%), decay speed = 1.0 (+250%))/meta.yaml b/tuning logs/2025-02-09_16-46-00 (after tuning cte = 0.5 (-50%), decay speed = 1.0 (+250%))/meta.yaml new file mode 100644 index 000000000..3ff3d3616 --- /dev/null +++ b/tuning logs/2025-02-09_16-46-00 (after tuning cte = 0.5 (-50%), decay speed = 1.0 (+250%))/meta.yaml @@ -0,0 +1,19 @@ +events: +- description: Ctrl+C pressed, switching to recovery mode + time: 1739141225.7197251 + vehicle_time: 1739141224.441827 +- description: Mission execution ended + time: 1739141227.9349117 + vehicle_time: 1739141226.631825 +exit_reason: normal exit +git_branch: A1_control +git_commit_id: a82b3af20db8a1737308910d5367b8987225d2da +pipelines: +- name: drive + time: 1739141160.412679 + vehicle_time: 1739141159.401889 +- name: recovery + time: 1739141225.7228525 + vehicle_time: 1739141224.441827 +start_time: 1739141160.2082536 +start_time_human_readable: '2025-02-09 16:46:00' diff --git a/tuning logs/2025-02-09_16-46-00 (after tuning cte = 0.5 (-50%), decay speed = 1.0 (+250%))/plots/accel.png b/tuning logs/2025-02-09_16-46-00 (after tuning cte = 0.5 (-50%), decay speed = 1.0 (+250%))/plots/accel.png new file mode 100644 index 000000000..f62ddf9a2 Binary files /dev/null and b/tuning logs/2025-02-09_16-46-00 (after tuning cte = 0.5 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(+250%))/plots/error_x.png b/tuning logs/2025-02-09_16-46-00 (after tuning cte = 0.5 (-50%), decay speed = 1.0 (+250%))/plots/error_x.png new file mode 100644 index 000000000..f12e5c851 Binary files /dev/null and b/tuning logs/2025-02-09_16-46-00 (after tuning cte = 0.5 (-50%), decay speed = 1.0 (+250%))/plots/error_x.png differ diff --git a/tuning logs/2025-02-09_16-46-00 (after tuning cte = 0.5 (-50%), decay speed = 1.0 (+250%))/plots/error_y.png b/tuning logs/2025-02-09_16-46-00 (after tuning cte = 0.5 (-50%), decay speed = 1.0 (+250%))/plots/error_y.png new file mode 100644 index 000000000..640e1f6e1 Binary files /dev/null and b/tuning logs/2025-02-09_16-46-00 (after tuning cte = 0.5 (-50%), decay speed = 1.0 (+250%))/plots/error_y.png differ diff --git a/tuning logs/2025-02-09_16-46-00 (after tuning cte = 0.5 (-50%), decay speed = 1.0 (+250%))/plots/front_wheel_angle.png b/tuning logs/2025-02-09_16-46-00 (after tuning cte = 0.5 (-50%), decay speed = 1.0 (+250%))/plots/front_wheel_angle.png new file mode 100644 index 000000000..e116ce13e Binary files /dev/null and b/tuning logs/2025-02-09_16-46-00 (after tuning cte = 0.5 (-50%), decay speed = 1.0 (+250%))/plots/front_wheel_angle.png differ diff --git a/tuning logs/2025-02-09_16-46-00 (after tuning cte = 0.5 (-50%), decay speed = 1.0 (+250%))/plots/v_vs_vd.png b/tuning logs/2025-02-09_16-46-00 (after tuning cte = 0.5 (-50%), decay speed = 1.0 (+250%))/plots/v_vs_vd.png new file mode 100644 index 000000000..3918e47c7 Binary files /dev/null and b/tuning logs/2025-02-09_16-46-00 (after tuning cte = 0.5 (-50%), decay speed = 1.0 (+250%))/plots/v_vs_vd.png differ diff --git a/tuning logs/2025-02-09_16-46-00 (after tuning cte = 0.5 (-50%), decay speed = 1.0 (+250%))/plots/x_vs_xd.png b/tuning logs/2025-02-09_16-46-00 (after tuning cte = 0.5 (-50%), decay speed = 1.0 (+250%))/plots/x_vs_xd.png new file mode 100644 index 000000000..d8350820f Binary files /dev/null and b/tuning logs/2025-02-09_16-46-00 (after tuning cte = 0.5 (-50%), decay speed = 1.0 (+250%))/plots/x_vs_xd.png differ diff --git a/tuning logs/2025-02-09_16-46-00 (after tuning cte = 0.5 (-50%), decay speed = 1.0 (+250%))/plots/y_vs_yd.png b/tuning logs/2025-02-09_16-46-00 (after tuning cte = 0.5 (-50%), decay speed = 1.0 (+250%))/plots/y_vs_yd.png new file mode 100644 index 000000000..3e4b15508 Binary files /dev/null and b/tuning logs/2025-02-09_16-46-00 (after tuning cte = 0.5 (-50%), decay speed = 1.0 (+250%))/plots/y_vs_yd.png differ diff --git a/tuning logs/2025-02-09_16-46-00 (after tuning cte = 0.5 (-50%), decay speed = 1.0 (+250%))/settings.yaml b/tuning logs/2025-02-09_16-46-00 (after tuning cte = 0.5 (-50%), decay speed = 1.0 (+250%))/settings.yaml new file mode 100644 index 000000000..04ab68056 --- /dev/null +++ b/tuning logs/2025-02-09_16-46-00 (after tuning cte = 0.5 (-50%), decay speed = 1.0 (+250%))/settings.yaml @@ -0,0 +1,321 @@ +control: + longitudinal_control: + pid_d: 0.0 + pid_i: 0.1 + pid_p: 1.0 + pure_pursuit: + crosstrack_gain: 0.5 + desired_speed: trajectory + lookahead: 2.0 + lookahead_scale: 3.0 + recovery: + brake_amount: 0.5 + brake_speed: 2.0 +model_predictive_controller: + dt: 0.1 + lookahead: 20 +run: + after: + show_log_folder: true + computation_graph: + components: + - state_estimation: + inputs: [] + outputs: + - vehicle + - roadgraph_update: + inputs: + - vehicle + outputs: + - roadgraph + - obstacle_detection: + inputs: + - vehicle + outputs: + - obstacles + - agent_detection: + inputs: + - vehicle + outputs: + - agents + - lane_detection: + inputs: + - vehicle + - roadgraph + outputs: + - vehicle_lane + - sign_detection: + inputs: + - vehicle + - roadgraph + outputs: + - roadgraph.signs + - environment_detection: + inputs: + - vehicle + outputs: + - environment + - intent_estimation: + inputs: + - vehicle + - roadgraph + - agents + outputs: + - agent_intents + - relations_estimation: + inputs: + - vehicle + - roadgraph + - agents + - obstacles + outputs: + - relations + - predicate_evaluation: + inputs: + - vehicle + - roadgraph + - agents + - obstacles + outputs: + - predicates + - perception_normalization: + inputs: + - all + outputs: [] + - mission_execution: + inputs: [] + outputs: + - mission + - route_planning: + inputs: + - vehicle + - roadgraph + - mission + outputs: + - route + - driving_logic: + inputs: + - all + outputs: + - intent + - motion_planning: + inputs: + - all + outputs: + - trajectory + - trajectory_tracking: + inputs: + - vehicle + - trajectory + outputs: [] + description: Drive the GEM vehicle along a fixed route (currently xyhead_highbay_backlot_p.csv) + drive: + perception: + agent_detection: OmniscientAgentDetector + perception_normalization: StandardPerceptionNormalizer + state_estimation: OmniscientStateEstimator + planning: + motion_planning: + args: + - null + type: RouteToTrajectoryPlanner + route_planning: + args: + - GEMstack/knowledge/routes/xyhead_highbay_backlot_p.csv + type: StaticRoutePlanner + trajectory_tracking: + args: + desired_speed: 2.5 + print: false + type: pure_pursuit.PurePursuitTrajectoryTracker + log: + components: + - state_estimation + - trajectory_tracking + ros_topics: [] + vehicle_interface: true + mission_execution: StandardExecutor + mode: simulation + name: launch/fixed_route.yaml + recovery: + planning: + trajectory_tracking: + print: false + type: recovery.StopTrajectoryTracker + replay: + components: [] + log: null + ros_topics: [] + variants: + log_ros: + log: + ros_topics: + - /game_control/joy + - /front_radar/front_radar/objects + - /front_radar/front_radar/radar_tracks + - /lidar1/velodyne_points + - /novatel/inspva + - /novatel/imu + - /novatel/bestpos + - /zed2/zed_node/depth/camera_info + - /zed2/zed_node/depth/depth_registered + - /zed2/zed_node/rgb/camera_info + - /zed2/zed_node/rgb/image_rect_color + - /zed2/zed_node/imu/data + - /zed2/zed_node/imu/data_raw + - /zed2/zed_node/imu/mag + - /pacmod/as_rx/enable + - /pacmod/as_rx/accel_cmd + - /pacmod/as_rx/brake_cmd + - /pacmod/as_rx/shift_cmd + - /pacmod/as_rx/steer_cmd + - /pacmod/as_rx/turn_cmd + - /pacmod/as_rx/turn_signal_cmd + - /pacmod/as_rx/vehicle_speed_cmd + - /pacmod/as_tx/enable + - /pacmod/as_tx/global_rpt + - /pacmod/as_tx/accel_rpt + - /pacmod/as_tx/brake_rpt + - /pacmod/as_tx/shift_rpt + - /pacmod/as_tx/steer_rpt + - /pacmod/as_tx/turn_rpt + - /pacmod/as_tx/vehicle_speed_rpt + sim: + run: + drive: + perception: + agent_detection: OmniscientAgentDetector + state_estimation: OmniscientStateEstimator + mode: simulation + vehicle_interface: + args: + scene: scenes/xyhead_demo.yaml + type: gem_simulator.GEMDoubleIntegratorSimulationInterface + visualization: + args: + rate: 20 + save_as: null + type: klampt_visualization.KlamptVisualization + vehicle_interface: + args: + scene: scenes/xyhead_demo.yaml + type: gem_simulator.GEMDoubleIntegratorSimulationInterface + visualization: + args: + rate: 20 + save_as: null + type: klampt_visualization.KlamptVisualization +simulator: + dt: 0.01 + gnss_emulator: + dt: 0.1 + real_time_multiplier: 1.0 +variant: sim +vehicle: + calibration: + calibration_date: '2024-03-05' + front_camera: + center_position: + - 1.78 + - 0 + - 1.58 + reference: rear_axle_center + rotation: + - - 0 + - 0 + - 1 + - - -1 + - 0 + - 0 + - - 0 + - -1 + - 0 + gnss_location: + - 1.1 + - 0.1.62 + gnss_yaw: 0.0 + rear_axle_height: 0.33 + reference: rear_axle_center + top_lidar: + position: + - 1.1 + - 0 + - 2.03 + reference: rear_axle_center + rotation: + - - 1 + - 0 + - 0 + - - 0 + - 1 + - 0 + - - 0 + - 0 + - 1 + control_defaults: + accelerator_pedal_speed: 3.0 + brake_pedal_speed: 3.0 + steering_wheel_speed: 4.0 + dynamics: + acceleration_deadband: 0.1 + acceleration_model: kris_v1 + accelerator_active_range: + - 0.2 + - 1.0 + aerodynamic_drag_coefficient: 0.01 + brake_active_range: + - 0 + - 1 + gravity: 9.81 + internal_dry_deceleration: 0.2 + internal_viscous_deceleration: 0.05 + lateral_friction: 1.0 + longitudinal_friction: 1.0 + mass: 300.0 + max_accelerator_acceleration: + - 0.0 + - 5.0 + max_accelerator_acceleration_reverse: 2.5 + max_accelerator_power: + - 0.0 + - 10000.0 + max_accelerator_power_reverse: 10000.0 + max_brake_deceleration: 8.0 + enable_through_joystick: true + geometry: + bounds: + - - -0.35 + - 2.85 + - - -0.85 + - 0.85 + - - 0 + - 2.5 + height: 2.5 + length: 3.2 + max_steering_angle: 11.0 + max_wheel_angle: 0.6108 + min_steering_angle: -11.0 + min_wheel_angle: -0.6108 + urdf_model: /home/acrl/GEMstack/GEMstack/knowledge/vehicle/model/gem_e4.urdf + wheel_radius: 0.33 + wheelbase: 2.56 + width: 1.7 + limits: + max_acceleration: 1.0 + max_accelerator_pedal: 0.5 + max_brake_pedal: 0.5 + max_deceleration: 2.0 + max_reverse_speed: 0.25 + max_speed: 2.5 + max_steering_rate: 2.0 + max_command_rate: 10.0 + max_gear: 1 + name: GEM + num_wiper_settings: 1 + sensors: + ros_topics: + front_camera: /oak/rgb/image_raw + front_depth: /oak/stereo/image_raw + gnss: /septentrio_gnss/insnavgeod + top_lidar: /ouster/points + version: e4 diff --git a/tuning logs/2025-02-13_21-10-39 (fine tuning)/PurePursuitTrajectoryTracker_debug.csv b/tuning logs/2025-02-13_21-10-39 (fine tuning)/PurePursuitTrajectoryTracker_debug.csv new file mode 100644 index 000000000..e39604776 --- /dev/null +++ b/tuning logs/2025-02-13_21-10-39 (fine tuning)/PurePursuitTrajectoryTracker_debug.csv @@ -0,0 +1,3242 @@ +curr pt[0] time,curr pt[0] vehicle time,curr pt[0],curr pt[1] time,curr pt[1] vehicle time,curr pt[1],curr param time,curr param vehicle time,curr param,desired pt[0] time,desired pt[0] vehicle time,desired pt[0],desired pt[1] time,desired pt[1] vehicle time,desired pt[1],desired yaw (rad) time,desired yaw (rad) vehicle time,desired yaw (rad),crosstrack error time,crosstrack error vehicle time,crosstrack error,front wheel angle (rad) time,front wheel angle (rad) vehicle time,front wheel angle (rad),desired speed (m/s) time,desired speed 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false, "horn_on": false, "wiper_level": 0, "battery_level": null, "fuel_level": null, "driving_range": null}}, "time": 1739502706.5190222} diff --git a/tuning logs/2025-02-13_21-10-39 (fine tuning)/meta.yaml b/tuning logs/2025-02-13_21-10-39 (fine tuning)/meta.yaml new file mode 100644 index 000000000..0ead3dc69 --- /dev/null +++ b/tuning logs/2025-02-13_21-10-39 (fine tuning)/meta.yaml @@ -0,0 +1,19 @@ +events: +- description: Ctrl+C pressed, switching to recovery mode + time: 1739502705.4840224 + vehicle_time: 1739502704.3390243 +- description: Mission execution ended + time: 1739502707.669565 + vehicle_time: 1739502706.5190222 +exit_reason: normal exit +git_branch: A1_control +git_commit_id: b5cb190b3f6c6cf17344817eca71aa0a5d350394 +pipelines: +- name: drive + time: 1739502639.5759368 + vehicle_time: 1739502638.629087 +- name: recovery + time: 1739502705.4858768 + vehicle_time: 1739502704.3390243 +start_time: 1739502639.3786135 +start_time_human_readable: '2025-02-13 21:10:39' diff --git a/tuning logs/2025-02-13_21-10-39 (fine tuning)/plots/accel.png b/tuning logs/2025-02-13_21-10-39 (fine tuning)/plots/accel.png new file mode 100644 index 000000000..03e7e6dfe Binary files /dev/null and b/tuning logs/2025-02-13_21-10-39 (fine tuning)/plots/accel.png differ diff --git a/tuning logs/2025-02-13_21-10-39 (fine tuning)/plots/cte.png b/tuning logs/2025-02-13_21-10-39 (fine tuning)/plots/cte.png new file mode 100644 index 000000000..fedff63c4 Binary files /dev/null and b/tuning logs/2025-02-13_21-10-39 (fine tuning)/plots/cte.png differ diff --git a/tuning logs/2025-02-13_21-10-39 (fine tuning)/plots/error_v.png b/tuning logs/2025-02-13_21-10-39 (fine tuning)/plots/error_v.png new file mode 100644 index 000000000..31738f464 Binary files /dev/null and b/tuning logs/2025-02-13_21-10-39 (fine tuning)/plots/error_v.png differ diff --git a/tuning logs/2025-02-13_21-10-39 (fine tuning)/plots/error_x.png b/tuning logs/2025-02-13_21-10-39 (fine tuning)/plots/error_x.png new 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logs/2025-02-13_21-10-39 (fine tuning)/plots/v_vs_vd.png differ diff --git a/tuning logs/2025-02-13_21-10-39 (fine tuning)/plots/x_vs_xd.png b/tuning logs/2025-02-13_21-10-39 (fine tuning)/plots/x_vs_xd.png new file mode 100644 index 000000000..2b6a09c82 Binary files /dev/null and b/tuning logs/2025-02-13_21-10-39 (fine tuning)/plots/x_vs_xd.png differ diff --git a/tuning logs/2025-02-13_21-10-39 (fine tuning)/plots/y_vs_yd.png b/tuning logs/2025-02-13_21-10-39 (fine tuning)/plots/y_vs_yd.png new file mode 100644 index 000000000..7c60fae2e Binary files /dev/null and b/tuning logs/2025-02-13_21-10-39 (fine tuning)/plots/y_vs_yd.png differ diff --git a/tuning logs/2025-02-13_21-10-39 (fine tuning)/settings.yaml b/tuning logs/2025-02-13_21-10-39 (fine tuning)/settings.yaml new file mode 100644 index 000000000..281375c1c --- /dev/null +++ b/tuning logs/2025-02-13_21-10-39 (fine tuning)/settings.yaml @@ -0,0 +1,325 @@ +control: + longitudinal_control: + pid_d: 0.0 + pid_i: 0.05 + pid_p: 1.0 + pure_pursuit: + crosstrack_gain: 0.5 + desired_speed: trajectory + lookahead: 2.0 + lookahead_scale: 2.0 + recovery: + brake_amount: 0.5 + brake_speed: 2.0 +model_predictive_controller: + dt: 0.1 + lookahead: 20 +run: + after: + show_log_folder: true + computation_graph: + components: + - state_estimation: + inputs: [] + outputs: + - vehicle + - roadgraph_update: + inputs: + - vehicle + outputs: + - roadgraph + - obstacle_detection: + inputs: + - vehicle + outputs: + - obstacles + - agent_detection: + inputs: + - vehicle + outputs: + - agents + - lane_detection: + inputs: + - vehicle + - roadgraph + outputs: + - vehicle_lane + - sign_detection: + inputs: + - vehicle + - roadgraph + outputs: + - roadgraph.signs + - environment_detection: + inputs: + - vehicle + outputs: + - environment + - intent_estimation: + inputs: + - vehicle + - roadgraph + - agents + outputs: + - agent_intents + - relations_estimation: + inputs: + - vehicle + - roadgraph + - agents + - obstacles + outputs: + - relations + - predicate_evaluation: + inputs: + - vehicle + - roadgraph + - agents + - obstacles + outputs: + - predicates + - perception_normalization: + inputs: + - all + outputs: [] + - mission_execution: + inputs: [] + outputs: + - mission + - route_planning: + inputs: + - vehicle + - roadgraph + - mission + outputs: + - route + - driving_logic: + inputs: + - all + outputs: + - intent + - motion_planning: + inputs: + - all + outputs: + - trajectory + - trajectory_tracking: + inputs: + - vehicle + - trajectory + outputs: [] + - signaling: + inputs: + - intent + outputs: [] + description: Drive the GEM vehicle along a fixed route (currently xyhead_highbay_backlot_p.csv) + drive: + perception: + agent_detection: OmniscientAgentDetector + perception_normalization: StandardPerceptionNormalizer + state_estimation: OmniscientStateEstimator + planning: + motion_planning: + args: + - null + type: RouteToTrajectoryPlanner + route_planning: + args: + - GEMstack/knowledge/routes/xyhead_highbay_backlot_p.csv + type: StaticRoutePlanner + trajectory_tracking: + args: + desired_speed: 2.5 + print: false + type: pure_pursuit.PurePursuitTrajectoryTracker + log: + components: + - state_estimation + - trajectory_tracking + ros_topics: [] + vehicle_interface: true + mission_execution: StandardExecutor + mode: simulation + name: launch/fixed_route.yaml + recovery: + planning: + trajectory_tracking: + print: false + type: recovery.StopTrajectoryTracker + replay: + components: [] + log: null + ros_topics: [] + variants: + log_ros: + log: + ros_topics: + - /game_control/joy + - /front_radar/front_radar/objects + - /front_radar/front_radar/radar_tracks + - /lidar1/velodyne_points + - /novatel/inspva + - /novatel/imu + - /novatel/bestpos + - /zed2/zed_node/depth/camera_info + - /zed2/zed_node/depth/depth_registered + - /zed2/zed_node/rgb/camera_info + - /zed2/zed_node/rgb/image_rect_color + - /zed2/zed_node/imu/data + - /zed2/zed_node/imu/data_raw + - /zed2/zed_node/imu/mag + - /pacmod/as_rx/enable + - /pacmod/as_rx/accel_cmd + - /pacmod/as_rx/brake_cmd + - /pacmod/as_rx/shift_cmd + - /pacmod/as_rx/steer_cmd + - /pacmod/as_rx/turn_cmd + - /pacmod/as_rx/turn_signal_cmd + - /pacmod/as_rx/vehicle_speed_cmd + - /pacmod/as_tx/enable + - /pacmod/as_tx/global_rpt + - /pacmod/as_tx/accel_rpt + - /pacmod/as_tx/brake_rpt + - /pacmod/as_tx/shift_rpt + - /pacmod/as_tx/steer_rpt + - /pacmod/as_tx/turn_rpt + - /pacmod/as_tx/vehicle_speed_rpt + sim: + run: + drive: + perception: + agent_detection: OmniscientAgentDetector + state_estimation: OmniscientStateEstimator + mode: simulation + vehicle_interface: + args: + scene: scenes/xyhead_demo.yaml + type: gem_simulator.GEMDoubleIntegratorSimulationInterface + visualization: + args: + rate: 20 + save_as: null + type: klampt_visualization.KlamptVisualization + vehicle_interface: + args: + scene: scenes/xyhead_demo.yaml + type: gem_simulator.GEMDoubleIntegratorSimulationInterface + visualization: + args: + rate: 20 + save_as: null + type: klampt_visualization.KlamptVisualization +simulator: + dt: 0.01 + gnss_emulator: + dt: 0.1 + real_time_multiplier: 1.0 +variant: sim +vehicle: + calibration: + calibration_date: '2024-03-05' + front_camera: + center_position: + - 1.78 + - 0 + - 1.58 + reference: rear_axle_center + rotation: + - - 0 + - 0 + - 1 + - - -1 + - 0 + - 0 + - - 0 + - -1 + - 0 + gnss_location: + - 1.1 + - 0.1.62 + gnss_yaw: 0.0 + rear_axle_height: 0.33 + reference: rear_axle_center + top_lidar: + position: + - 1.1 + - 0 + - 2.03 + reference: rear_axle_center + rotation: + - - 1 + - 0 + - 0 + - - 0 + - 1 + - 0 + - - 0 + - 0 + - 1 + control_defaults: + accelerator_pedal_speed: 3.0 + brake_pedal_speed: 3.0 + steering_wheel_speed: 4.0 + dynamics: + acceleration_deadband: 0.1 + acceleration_model: kris_v1 + accelerator_active_range: + - 0.2 + - 1.0 + aerodynamic_drag_coefficient: 0.01 + brake_active_range: + - 0 + - 1 + gravity: 9.81 + internal_dry_deceleration: 0.2 + internal_viscous_deceleration: 0.05 + lateral_friction: 1.0 + longitudinal_friction: 1.0 + mass: 300.0 + max_accelerator_acceleration: + - 0.0 + - 5.0 + max_accelerator_acceleration_reverse: 2.5 + max_accelerator_power: + - 0.0 + - 10000.0 + max_accelerator_power_reverse: 10000.0 + max_brake_deceleration: 8.0 + enable_through_joystick: true + geometry: + bounds: + - - -0.35 + - 2.85 + - - -0.85 + - 0.85 + - - 0 + - 2.5 + height: 2.5 + length: 3.2 + max_steering_angle: 11.0 + max_wheel_angle: 0.6108 + min_steering_angle: -11.0 + min_wheel_angle: -0.6108 + urdf_model: /home/acrl/GEMstack/GEMstack/knowledge/vehicle/model/gem_e4.urdf + wheel_radius: 0.33 + wheelbase: 2.56 + width: 1.7 + limits: + max_acceleration: 1.0 + max_accelerator_pedal: 0.5 + max_brake_pedal: 0.5 + max_deceleration: 2.0 + max_reverse_speed: 0.25 + max_speed: 2.5 + max_steering_rate: 2.0 + max_command_rate: 10.0 + max_gear: 1 + name: GEM + num_wiper_settings: 1 + sensors: + ros_topics: + front_camera: /oak/rgb/image_raw + front_depth: /oak/stereo/image_raw + gnss: /septentrio_gnss/insnavgeod + top_lidar: /ouster/points + version: e4 diff --git a/tuning logs/Parameter Tuning.xlsx b/tuning logs/Parameter Tuning.xlsx new file mode 100644 index 000000000..7dd53d180 Binary files /dev/null and b/tuning logs/Parameter Tuning.xlsx differ diff --git a/tuning logs/log_plot.py b/tuning logs/log_plot.py new file mode 100644 index 000000000..8d3121069 --- /dev/null +++ b/tuning logs/log_plot.py @@ -0,0 +1,136 @@ +import matplotlib.pyplot as plt +import pandas as pd +import os +import numpy as np + +def create_plot(t, actual, desired, xlabel, ylabel, title, legend, save_path=None): + plt.figure() + plt.plot(t, actual) + plt.plot(t, desired) + overshoot = np.max(np.array(actual) - np.array(desired)) + rmse = np.sqrt(np.mean((np.array(actual) - np.array(desired))**2)) + print(f'{title} - Maximum Overshoot: {overshoot}, RMSE: {rmse}') + plt.xlabel(xlabel) + plt.ylabel(ylabel) + plt.title(f'{title} (Max Overshoot: {overshoot:.2f}, RMSE: {rmse:.2f})') + plt.legend(legend) + plt.grid(True) + if save_path: + plt.savefig(save_path, dpi=600) + +def create_error_plot(t, error, xlabel, ylabel, title, save_path=None): + plt.figure() + plt.plot(t, error) + plt.xlabel(xlabel) + plt.ylabel(ylabel) + plt.title(title) + plt.grid(True) + if save_path: + plt.savefig(save_path, dpi=600) + +def main(): + log_folder = '2025-04-17_17-44-12' + df = pd.read_csv(log_folder + '/StanleyTrajectoryTracker_debug.csv') + # df = pd.read_csv(log_folder + '/PurePursuitTrajectoryTracker_debug.csv') + save_figures =True + + plots_folder = os.path.join(log_folder, 'plots') + os.makedirs(plots_folder, exist_ok=True) + + # pure pursuit + # t = df['curr pt[0] vehicle time'].tolist() + # x = df['curr pt[0]'].tolist() + # y = df['curr pt[1]'].tolist() + # v = df['current speed (m/s)'].tolist() + # yaw = df['current yaw (rad)'].tolist() + + # xd = df['desired pt[0]'].tolist() + # yd = df['desired pt[1]'].tolist() + # vd = df['desired speed (m/s)'].tolist() + # yawd = df['desired yaw (rad)'].tolist() + + # cte = df['crosstrack error'].tolist() + # front_wheel_angle = df['front wheel angle (rad)'].tolist() + # accel = df['output accel (m/s^2)'].tolist() + + #stanley + t = df['curr pt[0] vehicle time'].tolist() + x = df['curr pt[0]'].tolist() + y = df['curr pt[1]'].tolist() + v = df['Stanley: current speed (m/s)'].tolist() + yaw = df['Stanley: current yaw (rad)'].tolist() + + xd = df['desired_x'].tolist() + yd = df['desired_y'].tolist() + vd = df['Stanley: desired_speed (m/s)'].tolist() + # yawd = df['Stanley: desired yaw (rad)'].tolist() + + cte = df['crosstrack error'].tolist() + # front_wheel_angle = df['Stanley: front wheel angle (rad)'].tolist() + accel = df['Stanley: output_accel (m/s^2)'].tolist() + + + rmse_cte = np.sqrt(np.mean(np.array(cte)**2)) + print(f'RMSE (cte): {rmse_cte}') + + max_accel_error = np.max((np.array(accel) - 1.0)**2) + print(f'Maximum (acceleration - 1.0)^2: {max_accel_error}') + + rms_forward_acceleration = np.sqrt(np.mean(np.array(accel)**2)) + print(f'RMS of Acceleration: {rms_forward_acceleration}') + + dt = np.mean(np.diff(t)) + jerk = np.gradient(np.array(accel), dt) + rms_jerk = np.sqrt(np.mean(jerk**2)) + print(f'RMS of Jerk: {rms_jerk}') + + w1, w2 = 0.7, 0.3 + comfort_index = w1 * rms_forward_acceleration + w2 * rms_jerk + print(f'Comfort Index: {comfort_index}') + + + create_plot(t, y, yd, '$t$ (s)', '$y(t)$, $y_{d}(t)$ (m)', 'Actual and Desired y', ['Actual $y(t)$', 'Desired $y_{d}(t)$'], os.path.join(plots_folder, 'y_vs_yd.png') if save_figures else None) + create_error_plot(t, np.array(y) - np.array(yd), '$t$ (s)', 'Error in $y(t)$ (m)', 'Error between Actual and Desired $y(t)$', os.path.join(plots_folder, 'error_y.png') if save_figures else None) + + create_plot(t, x, xd, '$t$ (s)', '$x(t)$, $x_{d}(t)$ (m)', 'Actual and Desired x', ['Actual $x(t)$', 'Desired $x_{d}(t)$'], os.path.join(plots_folder, 'x_vs_xd.png') if save_figures else None) + create_error_plot(t, np.array(x) - np.array(xd), '$t$ (s)', 'Error in $x(t)$ (m)', 'Error between Actual and Desired $x(t)$', os.path.join(plots_folder, 'error_x.png') if save_figures else None) + + create_plot(t, v, vd, '$t$ (s)', '$v(t)$, $v_{d}(t)$ (m/s)', 'Actual and Desired v', ['Actual $v(t)$', 'Desired $v_{d}(t)$'], os.path.join(plots_folder, 'v_vs_vd.png') if save_figures else None) + create_error_plot(t, np.array(v) - np.array(vd), '$t$ (s)', 'Error in $v(t)$ (m/s)', 'Error between Actual and Desired $v(t)$', os.path.join(plots_folder, 'error_v.png') if save_figures else None) + + plt.figure() + plt.plot(t, cte) + rmse_cte = np.sqrt(np.mean(np.array(cte)**2)) + print(f'RMSE (cte): {rmse_cte}') + plt.xlabel('$t$ (s)') + plt.ylabel('Crosstrack Error (m)') + plt.title(f'Crosstrack Error over Time (RMSE: {rmse_cte:.2f})') + plt.grid(True) + if save_figures: + plt.savefig(os.path.join(plots_folder, 'cte.png'), dpi=600) + + # plt.figure() + # plt.plot(t, front_wheel_angle) + # plt.xlabel('$t$ (s)') + # plt.ylabel('Front Wheel Angle (rad)') + # plt.title('Front Wheel Angle over Time') + # plt.grid(True) + # if save_figures: + # plt.savefig(os.path.join(plots_folder, 'front_wheel_angle.png'), dpi=600) + + plt.figure() + plt.plot(t, accel) + plt.xlabel('$t$ (s)') + plt.ylabel('Acceleration (m/s^2)') + plt.title('Acceleration over Time') + plt.grid(True) + if save_figures: + plt.savefig(os.path.join(plots_folder, 'accel.png'), dpi=600) + + plt.show() + + + + +if __name__ == '__main__': + main() diff --git a/tuning logs/log_plot_compare.py b/tuning logs/log_plot_compare.py new file mode 100644 index 000000000..9b60b233d --- /dev/null +++ b/tuning logs/log_plot_compare.py @@ -0,0 +1,67 @@ +import matplotlib.pyplot as plt +import pandas as pd +import os +import numpy as np + +def create_comparison_plot(t_base, data_base, t_tune, data_tune, xlabel, ylabel, title, legend, save_path=None): + plt.figure() + plt.plot(t_base, data_base, label=legend[0]) + plt.plot(t_tune, data_tune, label=legend[1]) + plt.xlabel(xlabel) + plt.ylabel(ylabel) + plt.title(title) + plt.legend() + plt.grid(True) + if save_path: + plt.savefig(save_path, dpi=600) + +def main(): + log_folder_base = '2025-02-09_15-47-37 (before tuning)' + log_folder_tune = '2025-02-13_21-10-39 (fine tuning)' + + df_base = pd.read_csv(log_folder_base + '/PurePursuitTrajectoryTracker_debug.csv') + df_tune = pd.read_csv(log_folder_tune + '/PurePursuitTrajectoryTracker_debug.csv') + + save_figures =True + + plots_folder = os.path.join(log_folder_base + '--' + log_folder_tune, 'plots') + os.makedirs(plots_folder, exist_ok=True) + + t_base = df_base['curr pt[0] vehicle time'].tolist() + x_base = df_base['curr pt[0]'].tolist() + y_base = df_base['curr pt[1]'].tolist() + v_base = df_base['current speed (m/s)'].tolist() + yaw_base = df_base['current yaw (rad)'].tolist() + xd_base = df_base['desired pt[0]'].tolist() + yd_base = df_base['desired pt[1]'].tolist() + vd_base = df_base['desired speed (m/s)'].tolist() + yawd_base = df_base['desired yaw (rad)'].tolist() + cte_base = df_base['crosstrack error'].tolist() + front_wheel_angle_base = df_base['front wheel angle (rad)'].tolist() + accel_base = df_base['output accel (m/s^2)'].tolist() + + t_tune = df_tune['curr pt[0] vehicle time'].tolist() + x_tune = df_tune['curr pt[0]'].tolist() + y_tune = df_tune['curr pt[1]'].tolist() + v_tune = df_tune['current speed (m/s)'].tolist() + yaw_tune = df_tune['current yaw (rad)'].tolist() + xd_tune = df_tune['desired pt[0]'].tolist() + yd_tune = df_tune['desired pt[1]'].tolist() + vd_tune = df_tune['desired speed (m/s)'].tolist() + yawd_tune = df_tune['desired yaw (rad)'].tolist() + cte_tune = df_tune['crosstrack error'].tolist() + front_wheel_angle_tune = df_tune['front wheel angle (rad)'].tolist() + accel_tune = df_tune['output accel (m/s^2)'].tolist() + + create_comparison_plot(t_base, np.array(x_base) - np.array(xd_base), t_tune, np.array(x_tune) - np.array(xd_tune), '$t$ (s)', 'Error in $x(t)$ (m)', 'Error in x Comparison', ['Baseline', 'Tuned'], os.path.join(plots_folder, 'error_x_comparison.png') if save_figures else None) + create_comparison_plot(t_base, np.array(y_base) - np.array(yd_base), t_tune, np.array(y_tune) - np.array(yd_tune), '$t$ (s)', 'Error in $y(t)$ (m)', 'Error in y Comparison', ['Baseline', 'Tuned'], os.path.join(plots_folder, 'error_y_comparison.png') if save_figures else None) + create_comparison_plot(t_base, np.array(v_base) - np.array(vd_base), t_tune, np.array(v_tune) - np.array(vd_tune), '$t$ (s)', 'Error in $v(t)$ (m/s)', 'Error in Speed Comparison', ['Baseline', 'Tuned'], os.path.join(plots_folder, 'error_v_comparison.png') if save_figures else None) + create_comparison_plot(t_base, cte_base, t_tune, cte_tune, '$t$ (s)', 'Crosstrack Error (m)', 'Crosstrack Error Comparison', ['Baseline', 'Tuned'], os.path.join(plots_folder, 'cte_comparison.png') if save_figures else None) + create_comparison_plot(t_base, front_wheel_angle_base, t_tune, front_wheel_angle_tune, '$t$ (s)', 'Front Wheel Angle (rad)', 'Front Wheel Angle Comparison', ['Baseline', 'Tuned'], os.path.join(plots_folder, 'front_wheel_angle_comparison.png') if save_figures else None) + create_comparison_plot(t_base, accel_base, t_tune, accel_tune, '$t$ (s)', 'Acceleration (m/s²)', 'Acceleration Comparison', ['Baseline', 'Tuned'], os.path.join(plots_folder, 'accel_comparison.png') if save_figures else None) + + plt.show() + + +if __name__ == '__main__': + main() diff --git a/tuning logs/pedestrain_detection_baseline--pedestrain_detection_tuned/plots/accel_comparison.png b/tuning logs/pedestrain_detection_baseline--pedestrain_detection_tuned/plots/accel_comparison.png new file mode 100644 index 000000000..32a8cf52c Binary files /dev/null and b/tuning logs/pedestrain_detection_baseline--pedestrain_detection_tuned/plots/accel_comparison.png differ diff --git a/tuning 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