From edfc9753e3028aaec525e31f412d18ce01399078 Mon Sep 17 00:00:00 2001 From: Dazhen Chen Date: Fri, 7 Feb 2025 01:19:26 +0000 Subject: [PATCH 1/3] hw1.3 --- .../knowledge/defaults/computation_graph.yaml | 3 +++ homework/blink.py | 16 ++++++++-------- homework/blink_launch.yaml | 4 ++-- 3 files changed, 13 insertions(+), 10 deletions(-) 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/homework/blink.py b/homework/blink.py index 0ea73aa2c..b8b07c697 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, inputs): """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 inputs.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 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' From dfbafe25b991993ea9cf9dd286ca5e088009f81b Mon Sep 17 00:00:00 2001 From: Dazhen Chen Date: Wed, 12 Feb 2025 22:10:58 +0000 Subject: [PATCH 2/3] finalize hw1.3 --- GEMstack/onboard/planning/blink_component.py | 3 +++ homework/blink.py | 8 ++++---- 2 files changed, 7 insertions(+), 4 deletions(-) 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/homework/blink.py b/homework/blink.py index b8b07c697..89de04639 100644 --- a/homework/blink.py +++ b/homework/blink.py @@ -47,14 +47,14 @@ def cleanup(self): def get_dir_distress(self): pass - def update(self, inputs): + 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 inputs.intent.intent == "HALTING": + 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: @@ -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" From 67eab1649b2d479d9bfdb9459de373f25c02c9c3 Mon Sep 17 00:00:00 2001 From: Mikayel Aramyan <115953604+mikayel2@users.noreply.github.com> Date: Thu, 13 Feb 2025 21:23:00 -0600 Subject: [PATCH 3/3] Fine tuning tracking and comfort level, comfort index added as a metric --- GEMstack/knowledge/defaults/current.yaml | 4 +- GEMstack/onboard/planning/pure_pursuit.py | 2 +- .../PurePursuitTrajectoryTracker_debug.csv | 3242 ++++++++ .../behavior.json | 6605 +++++++++++++++++ .../meta.yaml | 19 + .../plots/accel.png | Bin 0 -> 256695 bytes .../plots/cte.png | Bin 0 -> 256033 bytes .../plots/error_v.png | Bin 0 -> 247998 bytes .../plots/error_x.png | Bin 0 -> 229730 bytes .../plots/error_y.png | Bin 0 -> 209620 bytes .../plots/front_wheel_angle.png | Bin 0 -> 229255 bytes .../plots/v_vs_vd.png | Bin 0 -> 385738 bytes .../plots/x_vs_xd.png | Bin 0 -> 344059 bytes .../plots/y_vs_yd.png | Bin 0 -> 309408 bytes .../settings.yaml | 325 + tuning logs/Parameter Tuning.xlsx | Bin 0 -> 37174 bytes tuning logs/log_plot.py | 26 +- 17 files changed, 10219 insertions(+), 4 deletions(-) create mode 100644 tuning logs/2025-02-13_21-10-39 (fine tuning)/PurePursuitTrajectoryTracker_debug.csv create mode 100644 tuning logs/2025-02-13_21-10-39 (fine tuning)/behavior.json create mode 100644 tuning logs/2025-02-13_21-10-39 (fine tuning)/meta.yaml create mode 100644 tuning logs/2025-02-13_21-10-39 (fine tuning)/plots/accel.png create mode 100644 tuning logs/2025-02-13_21-10-39 (fine tuning)/plots/cte.png create mode 100644 tuning logs/2025-02-13_21-10-39 (fine tuning)/plots/error_v.png create mode 100644 tuning logs/2025-02-13_21-10-39 (fine tuning)/plots/error_x.png create mode 100644 tuning logs/2025-02-13_21-10-39 (fine tuning)/plots/error_y.png create mode 100644 tuning logs/2025-02-13_21-10-39 (fine tuning)/plots/front_wheel_angle.png create mode 100644 tuning logs/2025-02-13_21-10-39 (fine tuning)/plots/v_vs_vd.png create mode 100644 tuning logs/2025-02-13_21-10-39 (fine tuning)/plots/x_vs_xd.png create mode 100644 tuning logs/2025-02-13_21-10-39 (fine tuning)/plots/y_vs_yd.png create mode 100644 tuning logs/2025-02-13_21-10-39 (fine tuning)/settings.yaml create mode 100644 tuning logs/Parameter Tuning.xlsx 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/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/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) 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 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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 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