diff --git a/GEMstack/knowledge/defaults/computation_graph.yaml b/GEMstack/knowledge/defaults/computation_graph.yaml index d7a606326..b6d5c92f7 100644 --- a/GEMstack/knowledge/defaults/computation_graph.yaml +++ b/GEMstack/knowledge/defaults/computation_graph.yaml @@ -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 149080f58..12a9f55c5 100644 --- a/GEMstack/knowledge/defaults/current.yaml +++ b/GEMstack/knowledge/defaults/current.yaml @@ -13,12 +13,12 @@ control: brake_speed : 2.0 pure_pursuit: lookahead: 2.0 - lookahead_scale: 3.0 + lookahead_scale: 2.0 crosstrack_gain: 0.5 desired_speed: trajectory longitudinal_control: pid_p: 1.0 - pid_i: 0.1 + pid_i: 0.05 pid_d: 0.0 #configure the simulator, if using diff --git a/GEMstack/onboard/planning/blink_component.py b/GEMstack/onboard/planning/blink_component.py index 4415c0c82..9ee6a9164 100644 --- a/GEMstack/onboard/planning/blink_component.py +++ b/GEMstack/onboard/planning/blink_component.py @@ -38,6 +38,9 @@ def update(self): # 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. + + #if Allstate.intent.intent == "HALTING" : + #return current_time = time.time() if current_time - self.last_update_time >= 2: # Change signal every 2 seconds if self.turn_state == TURN_OFF: diff --git a/GEMstack/onboard/planning/pure_pursuit.py b/GEMstack/onboard/planning/pure_pursuit.py index 48c0b7dfd..37ee25c39 100644 --- a/GEMstack/onboard/planning/pure_pursuit.py +++ b/GEMstack/onboard/planning/pure_pursuit.py @@ -164,7 +164,7 @@ def compute(self, state : VehicleState, component : Component = None): print("Feedforward accel: " + str(feedforward_accel) + " m/s^2") else: #decay speed when crosstrack error is high - desired_speed *= np.exp(-abs(ct_error)*1.0) + desired_speed *= np.exp(-abs(ct_error)*0.8) if desired_speed > self.speed_limit: desired_speed = self.speed_limit output_accel = self.pid_speed.advance(e = desired_speed - speed, t = t, feedforward_term=feedforward_accel) diff --git a/homework/blink.py b/homework/blink.py index 0ea73aa2c..89de04639 100644 --- a/homework/blink.py +++ b/homework/blink.py @@ -6,7 +6,6 @@ TURN_NONE = 1 TURN_LEFT = 2 TURN_HAZARD = 3 -TURN_AROUND = 4 # For message format, see # https://github.com/astuff/astuff_sensor_msgs/blob/3.3.0/pacmod_msgs/msg/PacmodCmd.msg @@ -48,19 +47,20 @@ def cleanup(self): def get_dir_distress(self): pass - def update(self): + def update(self, Allstate): """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 + if Allstate.intent.intent == "HALTING": + 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 @@ -97,7 +97,7 @@ def accel_callback(self, msg): rospy.loginfo(f"Output: {msg.output} (Final Output to Vehicle)") rospy.loginfo("---------------------------\n") -def run_ros_loop(node): +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. @@ -111,7 +111,7 @@ def run_ros_loop(node): termination_reason = "undetermined" try: while not rospy.is_shutdown() and not node.done() and node.healthy(): - node.update() + node.update(node, Allstate) rate.sleep() if node.done(): termination_reason = "Node done" diff --git a/homework/blink_launch.yaml b/homework/blink_launch.yaml index 41174f692..0b17ac054 100644 --- a/homework/blink_launch.yaml +++ b/homework/blink_launch.yaml @@ -9,14 +9,14 @@ recovery: state_estimation : GNSSStateEstimator perception_normalization : StandardPerceptionNormalizer planning: - trajectory_tracking : blink_component.BlinkDistress + 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: - trajectory_tracking : blink_component.BlinkDistress + signaling: blink_component.BlinkDistress log: # Specify the top-level folder to save the log files. Default is 'logs' folder : 'logs' 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 (m/s) vehicle time,desired speed (m/s),feedforward accel (m/s^2) 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"data": {"speed": 0.15617815060290963, "gear": 1, "accelerator_pedal_position": 0, "brake_pedal_position": 0.5, "steering_wheel_angle": -0.7819960724935259, "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": 1739502706.3790224} +{"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": -0.5993594869400297, "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": 0.1361781506029096, "gear": 1, "accelerator_pedal_position": 0, "brake_pedal_position": 0.5, "steering_wheel_angle": -0.7819960724935259, "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": 1739502706.3990223} +{"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": -0.5993594869400297, "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": 0.1161781506029096, "gear": 1, "accelerator_pedal_position": 0, "brake_pedal_position": 0.5, "steering_wheel_angle": -0.7819960724935259, "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": 1739502706.4190223} +{"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": -0.5993594869400297, "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": 0.09617815060290962, "gear": 1, "accelerator_pedal_position": 0, "brake_pedal_position": 0.5, "steering_wheel_angle": -0.7819960724935259, "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": 1739502706.4390223} +{"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": -0.5993594869400297, "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": 0.07617815060290963, "gear": 1, "accelerator_pedal_position": 0, "brake_pedal_position": 0.5, "steering_wheel_angle": -0.7819960724935259, "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": 1739502706.4590223} +{"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": -0.5993594869400297, "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": 0.05617815060290963, "gear": 1, "accelerator_pedal_position": 0, "brake_pedal_position": 0.5, "steering_wheel_angle": -0.7819960724935259, "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": 1739502706.4790223} +{"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": -0.5993594869400297, "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": 0.036178150602909624, "gear": 1, "accelerator_pedal_position": 0, "brake_pedal_position": 0.5, "steering_wheel_angle": -0.7819960724935259, "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": 1739502706.4990222} +{"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": -0.5993594869400297, "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": 0.01617815060290962, "gear": 1, "accelerator_pedal_position": 0, "brake_pedal_position": 0.5, "steering_wheel_angle": -0.7819960724935259, "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": 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 index f2b45822b..46dedbb05 100644 --- a/tuning logs/log_plot.py +++ b/tuning logs/log_plot.py @@ -29,7 +29,7 @@ def create_error_plot(t, error, xlabel, ylabel, title, save_path=None): plt.savefig(save_path, dpi=600) def main(): - log_folder = '2025-02-09_16-51-29' + log_folder = '2025-02-13_21-10-39' df = pd.read_csv(log_folder + '/PurePursuitTrajectoryTracker_debug.csv') save_figures =True @@ -51,6 +51,27 @@ def main(): 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}') + + 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) @@ -91,5 +112,8 @@ def main(): plt.show() + + + if __name__ == '__main__': main()