From f3b0a42a218162ff55b504cbc4512d8dd398ec2f Mon Sep 17 00:00:00 2001 From: diegoasfmravpp Date: Thu, 27 Mar 2025 21:20:21 -0500 Subject: [PATCH 01/99] gg diagram for dynamic limits --- testing/test_gg_diagram.py | 152 +++++++++++++++++++++++++++++++++++++ 1 file changed, 152 insertions(+) create mode 100644 testing/test_gg_diagram.py diff --git a/testing/test_gg_diagram.py b/testing/test_gg_diagram.py new file mode 100644 index 000000000..3fb85b38e --- /dev/null +++ b/testing/test_gg_diagram.py @@ -0,0 +1,152 @@ +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 + +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 = [] + + with open(filename, 'r') as f: + for line in 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("speed") + # Only add if all fields are available + if None not in (t, acceleration, heading_rate, speed): + times.append(t) + accelerations.append(acceleration) + heading_rates.append(heading_rate) + speeds.append(speed) + return (np.array(times), np.array(accelerations), np.array(heading_rates), + np.array(speeds)) + +def parse_tracker_csv(filename): + """ + Parses the pure pursuit tracker log file and extracts the following data: + - vehicle time (from column index 18) + - Crosstrack error (from column index 20) + - 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[:, 18] + cte = data[:, 20] + x_actual, y_actual = data[:, 2], data[:, 5] + x_desired, y_desired = data[:, 11], data[:, 14] + return vehicle_time, cte, x_actual, y_actual, x_desired, y_desired + +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 compute_gs(times, xs, ys): + print(times) + print(xs) + xtimes, vxs = compute_derivative(times, xs) + ytimes, vys = compute_derivative(times, ys) + axtimes, axs = compute_derivative(times[1:], vxs) + aytimes, ays = compute_derivative(times[1:], vys) + g = 9.81 + longitudinal_gs = axs / g + lateral_gs = ays / g + return longitudinal_gs, lateral_gs + +def plot_position(axis, x_actual, y_actual, x_desired, y_desired, 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) + # safety_scores = np.vectorize(compute_safety_factor)(position_error, safe_thresh, unsafe_thresh) + + 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.scatter(y_actual, x_actual, c=safety_scores, cmap=CMAP, vmin=0, vmax=1, edgecolors="black") + + axis.set_xlabel("Y Position (m)") + axis.set_ylabel("X Position (m)") + axis.set_title("Vehicle Position vs. Desired Position") + axis.legend() + axis.grid(True) + +def plot_gg_diagram(axis, longitudinal_gs, lateral_gs): + """Plots gg diagram""" + # Plot G-G diagram + axis.scatter(longitudinal_gs, lateral_gs, alpha=0.5, label="Data Points") + + # Draw friction ellipse (assuming ยต = 1.0) + mu = 1.0 + theta = np.linspace(0, 2 * np.pi, 100) + axis.plot(mu * np.cos(theta), mu * np.sin(theta), 'r', label="Theoretical Limit") + + 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 from Acceleration & Yaw Rate") + 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, "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, accelerations, heading_rates, speeds = parse_behavior_log(behavior_file) + time_jerk, jerk = compute_derivative(times, accelerations) + time_heading_acc, heading_acc = compute_derivative(times, heading_rates) + + # Pure pursuit tracker file exists: parse and plot all metrics + if os.path.exists(tracker_file): + vehicle_time, cte, x_actual, y_actual, x_desired, y_desired = parse_tracker_csv(tracker_file) + + longitudinal_gs, lateral_gs = compute_gs(vehicle_time, x_actual, y_actual) + # print(longitudinal_gs) + fig, axs = plt.subplots(1, 2, figsize=(12, 4)) + plot_gg_diagram(axs[0], longitudinal_gs, lateral_gs) + plot_position(axs[1], x_actual, y_actual, x_desired, y_desired) + 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.") From ea92375d812de52009ebe06170ec6d28e89b8728 Mon Sep 17 00:00:00 2001 From: diegoasfmravpp Date: Fri, 28 Mar 2025 19:07:52 -0500 Subject: [PATCH 02/99] speed and accel plots --- testing/test_gg_diagram.py | 52 ++++++++++++++++++++++++++------------ 1 file changed, 36 insertions(+), 16 deletions(-) diff --git a/testing/test_gg_diagram.py b/testing/test_gg_diagram.py index 3fb85b38e..12ebb2646 100644 --- a/testing/test_gg_diagram.py +++ b/testing/test_gg_diagram.py @@ -48,8 +48,7 @@ def parse_behavior_log(filename): def parse_tracker_csv(filename): """ Parses the pure pursuit tracker log file and extracts the following data: - - vehicle time (from column index 18) - - Crosstrack error (from column index 20) + - 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) @@ -57,11 +56,12 @@ def parse_tracker_csv(filename): """ data = np.genfromtxt(filename, delimiter=',', skip_header=1) - vehicle_time = data[:, 18] + vehicle_time = data[:, 19] cte = data[:, 20] x_actual, y_actual = data[:, 2], data[:, 5] x_desired, y_desired = data[:, 11], data[:, 14] - return vehicle_time, cte, x_actual, y_actual, x_desired, y_desired + speed_actual = data[:, -1] + return vehicle_time, cte, x_actual, y_actual, x_desired, y_desired, speed_actual def compute_derivative(times, values): """ @@ -74,16 +74,17 @@ def compute_derivative(times, values): return times[1:], derivative def compute_gs(times, xs, ys): - print(times) - print(xs) xtimes, vxs = compute_derivative(times, xs) ytimes, vys = compute_derivative(times, ys) - axtimes, axs = compute_derivative(times[1:], vxs) - aytimes, ays = compute_derivative(times[1:], vys) + vs = np.sqrt(vxs**2 + vys**2) + long_times, long_accels = compute_derivative(times[1:], vs) + psis = np.arctan2(vys, vxs) + yaw_rate_times, yaw_rates = compute_derivative(times[1:], psis) + lat_accels = yaw_rates * vs[1:] g = 9.81 - longitudinal_gs = axs / g - lateral_gs = ays / g - return longitudinal_gs, lateral_gs + longitudinal_gs = long_accels / g + lateral_gs = lat_accels / g + return longitudinal_gs, lateral_gs, vs, lat_accels, long_accels def plot_position(axis, x_actual, y_actual, x_desired, y_desired, safe_thresh=1, unsafe_thresh=2.5): """Plots vehicle actual and desired positions vs. time""" @@ -100,6 +101,23 @@ def plot_position(axis, x_actual, y_actual, x_desired, y_desired, safe_thresh=1, axis.legend() axis.grid(True) +def plot_speeds(axis, speed_actual, comptued_speed, time): + 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("current speed vs computed speed") + axis.legend() + axis.grid(True) + +def plot_accelerations(axis, accelerations, time): + axis.plot(time, accelerations, label='accelerationn') + axis.set_xlabel("time") + axis.set_ylabel("accel m/s^2") + axis.set_title("long accelerations") + axis.legend() + axis.grid(True) + def plot_gg_diagram(axis, longitudinal_gs, lateral_gs): """Plots gg diagram""" # Plot G-G diagram @@ -139,13 +157,15 @@ def plot_gg_diagram(axis, longitudinal_gs, lateral_gs): # Pure pursuit tracker file exists: parse and plot all metrics if os.path.exists(tracker_file): - vehicle_time, cte, x_actual, y_actual, x_desired, y_desired = parse_tracker_csv(tracker_file) + vehicle_time, cte, x_actual, y_actual, x_desired, y_desired, speed_actual = parse_tracker_csv(tracker_file) - longitudinal_gs, lateral_gs = compute_gs(vehicle_time, x_actual, y_actual) + longitudinal_gs, lateral_gs, calculated_speed, lat_accels, long_accels = compute_gs(vehicle_time, x_actual, y_actual) # print(longitudinal_gs) - fig, axs = plt.subplots(1, 2, figsize=(12, 4)) - plot_gg_diagram(axs[0], longitudinal_gs, lateral_gs) - plot_position(axs[1], x_actual, y_actual, x_desired, y_desired) + fig, axs = plt.subplots(2, 2, figsize=(12, 4)) + 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[1:], calculated_speed, vehicle_time[1:]) + plot_accelerations(axs[1, 1], long_accels, vehicle_time[2:]) plt.show() # Pure pursuit tracker file is missing: plot only behavior.json metrics else: From b6e87ed5abc85a56d14f671f0d7736075dd1087c Mon Sep 17 00:00:00 2001 From: diegoasfmravpp Date: Mon, 31 Mar 2025 11:26:08 -0500 Subject: [PATCH 03/99] 50m route and launch file --- GEMstack/knowledge/routes/forward_50m.csv | 51 ++++++++++++++ launch/dash_fixed_route.yaml | 81 +++++++++++++++++++++++ 2 files changed, 132 insertions(+) create mode 100644 GEMstack/knowledge/routes/forward_50m.csv create mode 100644 launch/dash_fixed_route.yaml diff --git a/GEMstack/knowledge/routes/forward_50m.csv b/GEMstack/knowledge/routes/forward_50m.csv new file mode 100644 index 000000000..6ecc0a99a --- /dev/null +++ b/GEMstack/knowledge/routes/forward_50m.csv @@ -0,0 +1,51 @@ +0.0,0,0 +1.0,0,0 +2.0,0,0 +3.0,0,0 +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 \ No newline at end of file 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 From ec4bfa729f83f012dab0dfab9fbbefd53d46e6c6 Mon Sep 17 00:00:00 2001 From: diegoasfmravpp Date: Mon, 31 Mar 2025 11:29:50 -0500 Subject: [PATCH 04/99] braking at route end for pp --- GEMstack/onboard/planning/pure_pursuit.py | 12 ++++++++++++ 1 file changed, 12 insertions(+) diff --git a/GEMstack/onboard/planning/pure_pursuit.py b/GEMstack/onboard/planning/pure_pursuit.py index e4b6f4f4e..24f78751a 100644 --- a/GEMstack/onboard/planning/pure_pursuit.py +++ b/GEMstack/onboard/planning/pure_pursuit.py @@ -167,6 +167,18 @@ def compute(self, state : VehicleState, component : Component = None): desired_speed *= np.exp(-abs(ct_error)*0.4) 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) if component is not None: component.debug('curr pt',(curr_x,curr_y)) From c4428807a15b208cfc055807050a598b5e22a9a1 Mon Sep 17 00:00:00 2001 From: cat Date: Mon, 31 Mar 2025 12:45:44 -0500 Subject: [PATCH 05/99] launch control added --- GEMstack/knowledge/defaults/current.yaml | 12 +++++++++++ GEMstack/knowledge/vehicle/gem_e4.yaml | 2 +- GEMstack/onboard/interface/gem_hardware.py | 23 ++++++++++++++++++++++ GEMstack/onboard/planning/pure_pursuit.py | 10 ++++++++++ 4 files changed, 46 insertions(+), 1 deletion(-) diff --git a/GEMstack/knowledge/defaults/current.yaml b/GEMstack/knowledge/defaults/current.yaml index c886288be..8954a1802 100644 --- a/GEMstack/knowledge/defaults/current.yaml +++ b/GEMstack/knowledge/defaults/current.yaml @@ -16,10 +16,22 @@ control: lookahead_scale: 3.0 crosstrack_gain: 1.0 desired_speed: trajectory + launch_control: 1 # to enable racing features put launch_control to 1 longitudinal_control: pid_p: 1.0 pid_i: 0.1 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: 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/onboard/interface/gem_hardware.py b/GEMstack/onboard/interface/gem_hardware.py index 836d7ef71..50c01b258 100644 --- a/GEMstack/onboard/interface/gem_hardware.py +++ b/GEMstack/onboard/interface/gem_hardware.py @@ -100,6 +100,13 @@ def __init__(self): /pacmod/as_rx/wiper_cmd """ + # Launch Control Timing + # 0 - 5 Seconds 100% brake 0% throttle + # 5 - 6 Seconds 100% brake 100% throttle + # 6 - 7 Seconds 0% brake 100% throttle + # TODO add option launch control + self.start_time = rospy.get_time() + #TODO: publish TwistStamped to /front_radar/front_radar/vehicle_motion to get better radar tracks #subscribers should go last because the callback might be called before the object is initialized @@ -316,6 +323,22 @@ def send_command(self, command : GEMVehicleCommand): self.accel_cmd.enable = True self.accel_cmd.clear = False self.accel_cmd.ignore = False + + # Launch control + currTime = rospy.get_time() - self.start_time + if currTime < 5: + self.brake_cmd.f64_cmd = maxbrake + self.accel_cmd.f64_cmd = 0 + elif currTime < 6: + self.brake_cmd.f64_cmd = maxbrake + self.accel_cmd.f64_cmd = maxacc + elif currTime < 10: + self.brake_cmd.f64_cmd = 0 + self.accel_cmd.f64_cmd = maxacc + + # self.brake_cmd.f64_cmd = maxbrake + # self.accel_cmd.f64_cmd = 0 + self.gear_cmd.ui16_cmd = PacmodCmd.SHIFT_FORWARD self.gear_cmd.enable = True diff --git a/GEMstack/onboard/planning/pure_pursuit.py b/GEMstack/onboard/planning/pure_pursuit.py index 24f78751a..05e5a95ed 100644 --- a/GEMstack/onboard/planning/pure_pursuit.py +++ b/GEMstack/onboard/planning/pure_pursuit.py @@ -19,6 +19,7 @@ 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 @@ -180,6 +181,15 @@ def compute(self, state : VehicleState, component : Component = None): output_accel = self.pid_speed.advance(e = desired_speed - speed, t = t, feedforward_term=feedforward_accel) + + + if self.launch_control: + if t < 4: + output_accel = self.max_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) From eb283375eb887579e7ce695c4a4537e0e8aad59d Mon Sep 17 00:00:00 2001 From: diegoasfmravpp Date: Mon, 31 Mar 2025 18:52:51 -0500 Subject: [PATCH 06/99] plotting changes --- testing/test_gg_diagram.py | 31 +++++++++++++++++++++---------- 1 file changed, 21 insertions(+), 10 deletions(-) diff --git a/testing/test_gg_diagram.py b/testing/test_gg_diagram.py index 12ebb2646..bef6900d8 100644 --- a/testing/test_gg_diagram.py +++ b/testing/test_gg_diagram.py @@ -73,14 +73,21 @@ def compute_derivative(times, values): derivative = dv / dt return times[1:], derivative -def compute_gs(times, xs, ys): - xtimes, vxs = compute_derivative(times, xs) - ytimes, vys = compute_derivative(times, ys) +def compute_gs(times, xs, ys, speeds): + # xtimes, vxs = compute_derivative(times, xs) + # ytimes, vys = compute_derivative(times, ys) + vxs = np.gradient(xs, times) + vys = np.gradient(ys, times) vs = np.sqrt(vxs**2 + vys**2) - long_times, long_accels = compute_derivative(times[1:], vs) + # print(speeds) + # vs = speeds + # long_times, long_accels = compute_derivative(times[1:], vs) + long_accels = np.gradient(vs, times) psis = np.arctan2(vys, vxs) - yaw_rate_times, yaw_rates = compute_derivative(times[1:], psis) - lat_accels = yaw_rates * vs[1:] + # yaw_rate_times, yaw_rates = compute_derivative(times[1:], psis) + yaw_rates = np.gradient(psis, times) + # lat_accels = yaw_rates * vs[1:] + lat_accels = yaw_rates * vs g = 9.81 longitudinal_gs = long_accels / g lateral_gs = lat_accels / g @@ -159,13 +166,17 @@ def plot_gg_diagram(axis, longitudinal_gs, lateral_gs): if os.path.exists(tracker_file): vehicle_time, cte, x_actual, y_actual, x_desired, y_desired, speed_actual = parse_tracker_csv(tracker_file) - longitudinal_gs, lateral_gs, calculated_speed, lat_accels, long_accels = compute_gs(vehicle_time, x_actual, y_actual) + longitudinal_gs, lateral_gs, calculated_speed, lat_accels, long_accels = compute_gs(vehicle_time, x_actual, y_actual, speed_actual) # print(longitudinal_gs) - fig, axs = plt.subplots(2, 2, figsize=(12, 4)) + 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[1:], calculated_speed, vehicle_time[1:]) - plot_accelerations(axs[1, 1], long_accels, vehicle_time[2:]) + # plot_speeds(axs[1, 0], speed_actual[1:], calculated_speed, vehicle_time[1:]) + plot_speeds(axs[1, 0], speed_actual, calculated_speed, vehicle_time) + + # plot_accelerations(axs[1, 1], long_accels, vehicle_time[2:]) + plot_accelerations(axs[1, 1], long_accels, vehicle_time) + plt.show() # Pure pursuit tracker file is missing: plot only behavior.json metrics else: From c302b057575a18261f3902b95efacf8f04ee3186 Mon Sep 17 00:00:00 2001 From: alo-20 <80276790+alo-20@users.noreply.github.com> Date: Tue, 1 Apr 2025 15:55:05 -0500 Subject: [PATCH 07/99] Add 65m and right turn routes --- GEMstack/knowledge/routes/forward_65m.csv | 66 +++++++++++++++++++++++ GEMstack/knowledge/routes/turn_right.csv | 21 ++++++++ 2 files changed, 87 insertions(+) create mode 100644 GEMstack/knowledge/routes/forward_65m.csv create mode 100644 GEMstack/knowledge/routes/turn_right.csv diff --git a/GEMstack/knowledge/routes/forward_65m.csv b/GEMstack/knowledge/routes/forward_65m.csv new file mode 100644 index 000000000..ee345b68a --- /dev/null +++ b/GEMstack/knowledge/routes/forward_65m.csv @@ -0,0 +1,66 @@ +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 diff --git a/GEMstack/knowledge/routes/turn_right.csv b/GEMstack/knowledge/routes/turn_right.csv new file mode 100644 index 000000000..7ec523657 --- /dev/null +++ b/GEMstack/knowledge/routes/turn_right.csv @@ -0,0 +1,21 @@ +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 +10,-1,0 +10,-2,0 +10,-3,0 +10,-4,0 +10,-5,0 +10,-6,0 +10,-7,0 +10,-8,0 +10,-9,0 +10,-10,0 From 0f71fd3113c9675167e259cc086cb1c4bf38c8be Mon Sep 17 00:00:00 2001 From: cat Date: Mon, 7 Apr 2025 14:38:40 -0500 Subject: [PATCH 08/99] modify fit_curve_radius in trajectory.py to use the min (tighest) turn radius of the next 3 segments of 3 points --- GEMstack/state/trajectory.py | 93 ++++++++++++++++++++++++++++++++++++ 1 file changed, 93 insertions(+) diff --git a/GEMstack/state/trajectory.py b/GEMstack/state/trajectory.py index d7a57db00..cf449102b 100644 --- a/GEMstack/state/trajectory.py +++ b/GEMstack/state/trajectory.py @@ -162,6 +162,99 @@ 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 From bd9800d047e7d4d82ecc5e571854c902125a7608 Mon Sep 17 00:00:00 2001 From: cat Date: Thu, 3 Apr 2025 12:56:29 -0500 Subject: [PATCH 09/99] add better right turn paths --- GEMstack/knowledge/routes/turn_right2.csv | 28 +++++++++++++++ .../knowledge/routes/turn_right_wider.csv | 34 +++++++++++++++++++ 2 files changed, 62 insertions(+) create mode 100644 GEMstack/knowledge/routes/turn_right2.csv create mode 100644 GEMstack/knowledge/routes/turn_right_wider.csv diff --git 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 From 3d1ed53ee6b46055d92fd5a29c67df39a0a4e88d Mon Sep 17 00:00:00 2001 From: diegoasfmravpp Date: Sat, 5 Apr 2025 15:26:29 -0500 Subject: [PATCH 10/99] phone accel data --- testing/phone_accels.csv | 7507 ++++++++++++++++++++++++++++++++++++ testing/test_gg_diagram.py | 22 +- 2 files changed, 7512 insertions(+), 17 deletions(-) create mode 100644 testing/phone_accels.csv diff --git a/testing/phone_accels.csv b/testing/phone_accels.csv new file mode 100644 index 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speeds.append(speed) - return (np.array(times), np.array(accelerations), np.array(heading_rates), - np.array(speeds)) + # speeds.append(speed) + return (np.array(times), np.array(accelerations), np.array(heading_rates)) def parse_tracker_csv(filename): """ @@ -74,19 +73,13 @@ def compute_derivative(times, values): return times[1:], derivative def compute_gs(times, xs, ys, speeds): - # xtimes, vxs = compute_derivative(times, xs) - # ytimes, vys = compute_derivative(times, ys) vxs = np.gradient(xs, times) vys = np.gradient(ys, times) vs = np.sqrt(vxs**2 + vys**2) - # print(speeds) - # vs = speeds - # long_times, long_accels = compute_derivative(times[1:], vs) + long_accels = np.gradient(vs, times) psis = np.arctan2(vys, vxs) - # yaw_rate_times, yaw_rates = compute_derivative(times[1:], psis) yaw_rates = np.gradient(psis, times) - # lat_accels = yaw_rates * vs[1:] lat_accels = yaw_rates * vs g = 9.81 longitudinal_gs = long_accels / g @@ -96,11 +89,9 @@ def compute_gs(times, xs, ys, speeds): def plot_position(axis, x_actual, y_actual, x_desired, y_desired, 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) - # safety_scores = np.vectorize(compute_safety_factor)(position_error, safe_thresh, unsafe_thresh) 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.scatter(y_actual, x_actual, c=safety_scores, cmap=CMAP, vmin=0, vmax=1, edgecolors="black") axis.set_xlabel("Y Position (m)") axis.set_ylabel("X Position (m)") @@ -118,7 +109,7 @@ def plot_speeds(axis, speed_actual, comptued_speed, time): axis.grid(True) def plot_accelerations(axis, accelerations, time): - axis.plot(time, accelerations, label='accelerationn') + axis.plot(time, accelerations, linestyle='--',label='accelerationn') axis.set_xlabel("time") axis.set_ylabel("accel m/s^2") axis.set_title("long accelerations") @@ -158,7 +149,7 @@ def plot_gg_diagram(axis, longitudinal_gs, lateral_gs): sys.exit(1) # Parse behavior log file and compute metrics - times, accelerations, heading_rates, speeds = parse_behavior_log(behavior_file) + times, 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) @@ -167,14 +158,11 @@ def plot_gg_diagram(axis, longitudinal_gs, lateral_gs): vehicle_time, cte, x_actual, y_actual, x_desired, y_desired, speed_actual = parse_tracker_csv(tracker_file) longitudinal_gs, lateral_gs, calculated_speed, lat_accels, long_accels = compute_gs(vehicle_time, x_actual, y_actual, speed_actual) - # print(longitudinal_gs) 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[1:], calculated_speed, vehicle_time[1:]) plot_speeds(axs[1, 0], speed_actual, calculated_speed, vehicle_time) - # plot_accelerations(axs[1, 1], long_accels, vehicle_time[2:]) plot_accelerations(axs[1, 1], long_accels, vehicle_time) plt.show() From f0a0eb0003676944aac77c69f791b0daf00e80de Mon Sep 17 00:00:00 2001 From: Avery Plote Date: Mon, 7 Apr 2025 13:22:53 -0400 Subject: [PATCH 11/99] add methods in trajectory.py to calculate upcoming turn radius --- GEMstack/onboard/planning/pure_pursuit.py | 8 ++++++++ 1 file changed, 8 insertions(+) diff --git a/GEMstack/onboard/planning/pure_pursuit.py b/GEMstack/onboard/planning/pure_pursuit.py index 05e5a95ed..983120ca2 100644 --- a/GEMstack/onboard/planning/pure_pursuit.py +++ b/GEMstack/onboard/planning/pure_pursuit.py @@ -39,6 +39,7 @@ def __init__(self, lookahead = None, lookahead_scale = None, crosstrack_gain = N self.current_path_parameter = 0.0 self.current_traj_parameter = 0.0 self.t_last = None + print("desired speed source is:", self.desired_speed_source) def set_path(self, path : Path): if path == self.path_arg: @@ -163,6 +164,13 @@ 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': + print("this ran") + # get radius of the upcoming curve_points + curve_points = 5 + curve_radius = self.trajectory.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 + else: #decay speed when crosstrack error is high desired_speed *= np.exp(-abs(ct_error)*0.4) From c1a3983ea9b624a53e0456c6ef1f809ecc337feb Mon Sep 17 00:00:00 2001 From: cat Date: Mon, 7 Apr 2025 14:05:58 -0500 Subject: [PATCH 12/99] add logic in pure_pursuit to set speed based on curve radius. Change curve radius calculation in trajectory.py. Add generate_circle.py to generate circle paths and add circle paths in knowledge/routes. --- GEMstack/knowledge/defaults/current.yaml | 8 +- GEMstack/knowledge/routes/circle_10m_rad.csv | 100 +++++++++++++++++++ GEMstack/knowledge/routes/circle_20m_rad.csv | 100 +++++++++++++++++++ GEMstack/knowledge/routes/circle_5m_rad.csv | 100 +++++++++++++++++++ GEMstack/onboard/planning/pure_pursuit.py | 20 +++- GEMstack/state/trajectory.py | 1 + GEMstack/utils/generate_circle.py | 19 ++++ 7 files changed, 339 insertions(+), 9 deletions(-) create mode 100644 GEMstack/knowledge/routes/circle_10m_rad.csv create mode 100644 GEMstack/knowledge/routes/circle_20m_rad.csv create mode 100644 GEMstack/knowledge/routes/circle_5m_rad.csv create mode 100644 GEMstack/utils/generate_circle.py diff --git a/GEMstack/knowledge/defaults/current.yaml b/GEMstack/knowledge/defaults/current.yaml index 8954a1802..15764fb01 100644 --- a/GEMstack/knowledge/defaults/current.yaml +++ b/GEMstack/knowledge/defaults/current.yaml @@ -13,10 +13,10 @@ control: brake_speed : 2.0 pure_pursuit: lookahead: 2.0 - lookahead_scale: 3.0 - crosstrack_gain: 1.0 - desired_speed: trajectory - launch_control: 1 # to enable racing features put launch_control to 1 + lookahead_scale: 2.0 + crosstrack_gain: 0.3 + desired_speed: racing + launch_control: 0 # to enable racing features put launch_control to 1 longitudinal_control: pid_p: 1.0 pid_i: 0.1 diff --git a/GEMstack/knowledge/routes/circle_10m_rad.csv b/GEMstack/knowledge/routes/circle_10m_rad.csv new file mode 100644 index 000000000..6c1c629e6 --- /dev/null +++ b/GEMstack/knowledge/routes/circle_10m_rad.csv @@ -0,0 +1,100 @@ +10.0,0.0 +9.980267284282716,0.6279051952931337 +9.921147013144777,1.2533323356430426 +9.822872507286887,1.8738131458572465 +9.685831611286313,2.4868988716485485 +9.510565162951536,3.0901699437494745 +9.297764858882513,3.68124552684678 +9.048270524660193,4.257792915650727 +8.763066800438635,4.817536741017153 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b/GEMstack/onboard/planning/pure_pursuit.py @@ -39,7 +39,6 @@ def __init__(self, lookahead = None, lookahead_scale = None, crosstrack_gain = N self.current_path_parameter = 0.0 self.current_traj_parameter = 0.0 self.t_last = None - print("desired speed source is:", self.desired_speed_source) def set_path(self, path : Path): if path == self.path_arg: @@ -92,6 +91,7 @@ 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)) @@ -165,12 +165,22 @@ def compute(self, state : VehicleState, component : Component = None): 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': - print("this ran") # get radius of the upcoming curve_points - curve_points = 5 - curve_radius = self.trajectory.fit_curve_radius((curr_x,curr_y), 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 else: #decay speed when crosstrack error is high desired_speed *= np.exp(-abs(ct_error)*0.4) diff --git a/GEMstack/state/trajectory.py b/GEMstack/state/trajectory.py index cf449102b..faf3fb401 100644 --- a/GEMstack/state/trajectory.py +++ b/GEMstack/state/trajectory.py @@ -4,6 +4,7 @@ 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 @dataclass 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 2ฯ€ +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 From 9fd3cd02b146e92e35321be672f4245d29c87013 Mon Sep 17 00:00:00 2001 From: diegoasfmravpp Date: Mon, 7 Apr 2025 14:14:22 -0500 Subject: [PATCH 13/99] gg data switched to json --- testing/test_gg_diagram.py | 103 +++++++++++++++++++++++++------------ 1 file changed, 69 insertions(+), 34 deletions(-) diff --git a/testing/test_gg_diagram.py b/testing/test_gg_diagram.py index 2b592d517..628330993 100644 --- a/testing/test_gg_diagram.py +++ b/testing/test_gg_diagram.py @@ -21,6 +21,8 @@ def parse_behavior_log(filename): accelerations = [] heading_rates = [] speeds = [] + xs = [] + ys = [] with open(filename, 'r') as f: for line in f: @@ -35,14 +37,25 @@ def parse_behavior_log(filename): vehicle_data = entry["vehicle"].get("data", {}) acceleration = vehicle_data.get("acceleration") heading_rate = vehicle_data.get("heading_rate") - speed = vehicle_data.get("speed") + 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") # Only add if all fields are available - if None not in (t, acceleration, heading_rate, speed): + 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) - return (np.array(times), np.array(accelerations), np.array(heading_rates)) + 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): """ @@ -72,23 +85,33 @@ def compute_derivative(times, values): derivative = dv / dt return times[1:], derivative -def compute_gs(times, xs, ys, speeds): - vxs = np.gradient(xs, times) - vys = np.gradient(ys, times) - vs = np.sqrt(vxs**2 + vys**2) - - long_accels = np.gradient(vs, times) - psis = np.arctan2(vys, vxs) - yaw_rates = np.gradient(psis, times) - lat_accels = yaw_rates * vs +def compute_gs(accelerations, heading_rates, speeds): + # vxs = np.gradient(xs, times) + # vys = np.gradient(ys, times) + # # 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 = np.where(vs < 1e-6, 0, vs) + # valid_mask = vs > 1e-6 # small threshold to avoid float noise + # vs = vs[valid_mask] + # times = times[valid_mask] + + # long_accels = np.gradient(vs, times) + # psis = np.arctan2(vys, vxs) + # yaw_rates = np.gradient(psis[valid_mask], times) + lat_accels = heading_rates * speeds g = 9.81 - longitudinal_gs = long_accels / g + longitudinal_gs = accelerations / g lateral_gs = lat_accels / g - return longitudinal_gs, lateral_gs, vs, lat_accels, long_accels + + return longitudinal_gs, lateral_gs#s, vs, lat_accels, long_accels, times, valid_mask def plot_position(axis, x_actual, y_actual, x_desired, y_desired, 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) + # 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') @@ -99,8 +122,9 @@ def plot_position(axis, x_actual, y_actual, x_desired, y_desired, safe_thresh=1, axis.legend() axis.grid(True) -def plot_speeds(axis, speed_actual, comptued_speed, time): - axis.plot(time, comptued_speed, label='computed speed') +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") @@ -149,23 +173,34 @@ def plot_gg_diagram(axis, longitudinal_gs, lateral_gs): sys.exit(1) # Parse behavior log file and compute metrics - times, accelerations, heading_rates = parse_behavior_log(behavior_file) + 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) - # Pure pursuit tracker file exists: parse and plot all metrics - if os.path.exists(tracker_file): - vehicle_time, cte, x_actual, y_actual, x_desired, y_desired, speed_actual = parse_tracker_csv(tracker_file) + longitudinal_gs, lateral_gs = compute_gs(accelerations, heading_rates, speeds) + + vehicle_time, cte, x_actual, y_actual, x_desired, y_desired, speed_actual = parse_tracker_csv(tracker_file) + + + fig, axs = plt.subplots(2, 2) + plot_gg_diagram(axs[0, 0], longitudinal_gs, lateral_gs) + plot_position(axs[0, 1], xs, ys, x_desired, y_desired) + plot_speeds(axs[1, 0], times, speeds) + plot_accelerations(axs[1, 1], accelerations, times) + 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 = 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, calculated_speed, vehicle_time) - - plot_accelerations(axs[1, 1], long_accels, vehicle_time) - - 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.") + # 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.") 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3*np.pi/2, num_points) + +# Parametric figure-8 (lemniscate-like), with asymmetric lobes +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) + +# Create DataFrame and save +figure8_df = pd.DataFrame({'x': x_scaled, 'y': y_scaled}) +figure8_df.to_csv('/home/hbst/RACING/GEMstack/GEMstack/knowledge/routes/figure8_points.csv', index=False) \ No newline at end of file From d9322e1e74489a90db69c00fcf0763b3c06ae490 Mon Sep 17 00:00:00 2001 From: cat Date: Mon, 7 Apr 2025 14:42:44 -0500 Subject: [PATCH 15/99] update generate figure8 and figure8 path --- GEMstack/knowledge/routes/figure8.csv | 400 +++++++++++++------------- GEMstack/utils/generate_figure8.py | 22 +- 2 files changed, 214 insertions(+), 208 deletions(-) diff --git a/GEMstack/knowledge/routes/figure8.csv b/GEMstack/knowledge/routes/figure8.csv index cf7e03b08..a19aedcd8 100644 --- 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b/GEMstack/utils/generate_figure8.py index e2d994396..d93d778f5 100644 --- a/GEMstack/utils/generate_figure8.py +++ b/GEMstack/utils/generate_figure8.py @@ -2,14 +2,16 @@ 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 +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 -# Generate t values from -ฯ€/2 to 3ฯ€/2 to make a full loop -t = np.linspace(-np.pi/2, 3*np.pi/2, num_points) +# Convert degrees to radians +theta = np.radians(rotation_angle_deg) -# Parametric figure-8 (lemniscate-like), with asymmetric lobes +# 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) @@ -17,6 +19,10 @@ 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_scaled, 'y': y_scaled}) -figure8_df.to_csv('/home/hbst/RACING/GEMstack/GEMstack/knowledge/routes/figure8_points.csv', index=False) \ No newline at end of file +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 From 026056bde1b7b217751c559794dcc5aa6ac60c05 Mon Sep 17 00:00:00 2001 From: GEM e4 user Date: Mon, 7 Apr 2025 16:40:04 -0500 Subject: [PATCH 16/99] gg logs and launch control tests --- GEMstack/knowledge/defaults/current.yaml | 2 +- GEMstack/onboard/interface/gem_hardware.py | 2 +- GEMstack/onboard/planning/pure_pursuit.py | 16 +- testing/racing_logs/gg_data/behavior.json | 6974 +++++++++++++++++ testing/racing_logs/gg_data/meta.yaml | 19 + testing/racing_logs/gg_data/settings.yaml | 300 + .../PurePursuitTrajectoryTracker_debug.csv | 857 ++ .../racing_logs/launch_control/behavior.json | 1030 +++ testing/racing_logs/launch_control/meta.yaml | 19 + .../racing_logs/launch_control/settings.yaml | 325 + .../PurePursuitTrajectoryTracker_debug.csv | 767 ++ .../launch_control_2/behavior.json | 922 +++ .../racing_logs/launch_control_2/meta.yaml | 19 + .../launch_control_2/settings.yaml | 327 + .../manual_launch_control/behavior.json | 236 + .../manual_launch_control/meta.yaml | 19 + .../manual_launch_control/settings.yaml | 300 + testing/test_gg_diagram.py | 8 +- 18 files changed, 12128 insertions(+), 14 deletions(-) create mode 100644 testing/racing_logs/gg_data/behavior.json create mode 100644 testing/racing_logs/gg_data/meta.yaml create mode 100644 testing/racing_logs/gg_data/settings.yaml create mode 100644 testing/racing_logs/launch_control/PurePursuitTrajectoryTracker_debug.csv create mode 100644 testing/racing_logs/launch_control/behavior.json create mode 100644 testing/racing_logs/launch_control/meta.yaml create mode 100644 testing/racing_logs/launch_control/settings.yaml create mode 100644 testing/racing_logs/launch_control_2/PurePursuitTrajectoryTracker_debug.csv create mode 100644 testing/racing_logs/launch_control_2/behavior.json create mode 100644 testing/racing_logs/launch_control_2/meta.yaml create mode 100644 testing/racing_logs/launch_control_2/settings.yaml create mode 100644 testing/racing_logs/manual_launch_control/behavior.json create mode 100644 testing/racing_logs/manual_launch_control/meta.yaml create mode 100644 testing/racing_logs/manual_launch_control/settings.yaml diff --git a/GEMstack/knowledge/defaults/current.yaml b/GEMstack/knowledge/defaults/current.yaml index 15764fb01..13425c201 100644 --- a/GEMstack/knowledge/defaults/current.yaml +++ b/GEMstack/knowledge/defaults/current.yaml @@ -15,7 +15,7 @@ control: lookahead: 2.0 lookahead_scale: 2.0 crosstrack_gain: 0.3 - desired_speed: racing + desired_speed: trajectory #racing launch_control: 0 # to enable racing features put launch_control to 1 longitudinal_control: pid_p: 1.0 diff --git a/GEMstack/onboard/interface/gem_hardware.py b/GEMstack/onboard/interface/gem_hardware.py index 50c01b258..2fb335f48 100644 --- a/GEMstack/onboard/interface/gem_hardware.py +++ b/GEMstack/onboard/interface/gem_hardware.py @@ -312,7 +312,7 @@ 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("**************************") diff --git a/GEMstack/onboard/planning/pure_pursuit.py b/GEMstack/onboard/planning/pure_pursuit.py index d88cb13fa..827996add 100644 --- a/GEMstack/onboard/planning/pure_pursuit.py +++ b/GEMstack/onboard/planning/pure_pursuit.py @@ -188,14 +188,14 @@ def compute(self, state : VehicleState, component : Component = None): 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 + # # # 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) diff --git 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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/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 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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"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": 1744060585.456467} +{"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": 1.0062922214487287e-18, "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": 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 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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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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"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_gg_diagram.py b/testing/test_gg_diagram.py index 628330993..caf9654e5 100644 --- a/testing/test_gg_diagram.py +++ b/testing/test_gg_diagram.py @@ -109,11 +109,11 @@ def compute_gs(accelerations, heading_rates, speeds): return longitudinal_gs, lateral_gs#s, vs, lat_accels, long_accels, times, valid_mask -def plot_position(axis, x_actual, y_actual, x_desired, y_desired, safe_thresh=1, unsafe_thresh=2.5): +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_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)") @@ -179,12 +179,12 @@ def plot_gg_diagram(axis, longitudinal_gs, lateral_gs): longitudinal_gs, lateral_gs = compute_gs(accelerations, heading_rates, speeds) - vehicle_time, cte, x_actual, y_actual, x_desired, y_desired, speed_actual = parse_tracker_csv(tracker_file) + #vehicle_time, cte, x_actual, y_actual, x_desired, y_desired, speed_actual = parse_tracker_csv(tracker_file) fig, axs = plt.subplots(2, 2) 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], xs, ys)#, x_desired, y_desired) plot_speeds(axs[1, 0], times, speeds) plot_accelerations(axs[1, 1], accelerations, times) plt.show() From 27653c4d83462251f79cc372029c711d691a79ad Mon Sep 17 00:00:00 2001 From: cat Date: Mon, 7 Apr 2025 17:57:06 -0500 Subject: [PATCH 17/99] pp speeds --- GEMstack/mathutils/transforms.py | 2 +- GEMstack/onboard/planning/pure_pursuit.py | 21 +++++++++++---------- launch/fixed_route.yaml | 6 +++--- testing/test_gg_diagram.py | 11 +++++++++-- 4 files changed, 24 insertions(+), 16 deletions(-) diff --git a/GEMstack/mathutils/transforms.py b/GEMstack/mathutils/transforms.py index 7a5a7a8dd..a72f9c141 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/onboard/planning/pure_pursuit.py b/GEMstack/onboard/planning/pure_pursuit.py index 827996add..81d000e70 100644 --- a/GEMstack/onboard/planning/pure_pursuit.py +++ b/GEMstack/onboard/planning/pure_pursuit.py @@ -171,16 +171,17 @@ def compute(self, state : VehicleState, component : Component = None): 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 + #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) diff --git a/launch/fixed_route.yaml b/launch/fixed_route.yaml index 40e6b9a73..aff287f74 100644 --- a/launch/fixed_route.yaml +++ b/launch/fixed_route.yaml @@ -16,14 +16,14 @@ drive: planning: route_planning: type: StaticRoutePlanner - args: [!relative_path '../GEMstack/knowledge/routes/xyhead_highbay_backlot_p.csv'] + args: [!relative_path '../GEMstack/knowledge/routes/turn_right2.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 + args: {desired_speed: 10} #approximately 5mph + print: True log: # Specify the top-level folder to save the log files. Default is 'logs' #folder : 'logs' diff --git a/testing/test_gg_diagram.py b/testing/test_gg_diagram.py index caf9654e5..80b59e27a 100644 --- a/testing/test_gg_diagram.py +++ b/testing/test_gg_diagram.py @@ -8,6 +8,7 @@ import json import matplotlib.pyplot as plt import numpy as np +from GEMstack.mathutils.transforms import lat_lon_to_xy def parse_behavior_log(filename): """ @@ -23,9 +24,11 @@ def parse_behavior_log(filename): speeds = [] xs = [] ys = [] + ref_lat = 0.0 + ref_long = 0.0 with open(filename, 'r') as f: - for line in f: + for idx, line in enumerate(f): try: entry = json.loads(line) except json.JSONDecodeError: @@ -43,6 +46,10 @@ def parse_behavior_log(filename): frame = vehicle_data["pose"].get("frame") x = vehicle_data["pose"].get("x") y = vehicle_data["pose"].get("y") + if idx == 0: + ref_lat = x + ref_long = y + x, y = lat_lon_to_xy(x,y,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) @@ -143,7 +150,7 @@ def plot_accelerations(axis, accelerations, time): def plot_gg_diagram(axis, longitudinal_gs, lateral_gs): """Plots gg diagram""" # Plot G-G diagram - axis.scatter(longitudinal_gs, lateral_gs, alpha=0.5, label="Data Points") + axis.scatter(lateral_gs, longitudinal_gs, alpha=0.5, label="Data Points") # Draw friction ellipse (assuming ยต = 1.0) mu = 1.0 From 6ee28df14821f37310300568025e0b2d153ffe91 Mon Sep 17 00:00:00 2001 From: diegoasfmravpp Date: Tue, 8 Apr 2025 00:50:12 -0500 Subject: [PATCH 18/99] fixed gg plot --- testing/racing_logs/gg_data/gg_diagram.png | Bin 0 -> 1101872 bytes testing/test_gg_diagram.py | 167 ++++++++++++++++----- 2 files changed, 126 insertions(+), 41 deletions(-) create mode 100644 testing/racing_logs/gg_data/gg_diagram.png 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 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z|7jHUp}xUp=ZKCdGx&uYAoRyjJoEjlDm>gWL|TMmQk~9jW3%;8Fex{N;DMITBlpRat#I4-;}0Dv=zZlE zZKugtgqMzJNwIrgS}xg&yuk0%q!J3SR4Qt+zdi%tS)TB)l=lT2`8h3iZoVBBL7UC=!y_vs2^MCefUP1#b_I{9sSC!YGpD zbxdi)o^cktiI2J9CWyJPEu8-5HU|6Q~GU+Gi*Z``E$zdh3b+c*9{ybZo(Xv}yG Wn>dr62M6g?+OKl7Nn5e=*Z%`40Azju literal 0 HcmV?d00001 diff --git a/testing/test_gg_diagram.py b/testing/test_gg_diagram.py index 80b59e27a..f31dcfbda 100644 --- a/testing/test_gg_diagram.py +++ b/testing/test_gg_diagram.py @@ -8,7 +8,30 @@ import json import matplotlib.pyplot as plt import numpy as np -from GEMstack.mathutils.transforms import lat_lon_to_xy +# 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): """ @@ -47,9 +70,9 @@ def parse_behavior_log(filename): x = vehicle_data["pose"].get("x") y = vehicle_data["pose"].get("y") if idx == 0: - ref_lat = x - ref_long = y - x, y = lat_lon_to_xy(x,y,ref_lat,ref_long) + 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) @@ -92,59 +115,106 @@ def compute_derivative(times, values): derivative = dv / dt return times[1:], derivative -def compute_gs(accelerations, heading_rates, speeds): +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) - # # 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 = np.where(vs < 1e-6, 0, vs) - # valid_mask = vs > 1e-6 # small threshold to avoid float noise - # vs = vs[valid_mask] - # times = times[valid_mask] - - # long_accels = np.gradient(vs, times) - # psis = np.arctan2(vys, vxs) - # yaw_rates = np.gradient(psis[valid_mask], times) - lat_accels = heading_rates * speeds + 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 = accelerations / g + longitudinal_gs = long_accels / g lateral_gs = lat_accels / g - return longitudinal_gs, lateral_gs#s, vs, lat_accels, long_accels, times, valid_mask + 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.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("Vehicle Position vs. Desired Position") - axis.legend() + 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.plot(time, speed_actual, linestyle="--")#, label='current speed') axis.set_xlabel("time") axis.set_ylabel("speed m/s") - axis.set_title("current speed vs computed speed") - axis.legend() + axis.set_title("GEM Speed") + # axis.legend() axis.grid(True) def plot_accelerations(axis, accelerations, time): - axis.plot(time, accelerations, linestyle='--',label='accelerationn') + axis.plot(time, accelerations, linestyle='--')#,label='acceleration') axis.set_xlabel("time") axis.set_ylabel("accel m/s^2") - axis.set_title("long accelerations") - axis.legend() + axis.set_title("GEM Accelerations") + # axis.legend() axis.grid(True) def plot_gg_diagram(axis, longitudinal_gs, lateral_gs): @@ -152,19 +222,27 @@ def plot_gg_diagram(axis, longitudinal_gs, lateral_gs): # Plot G-G diagram axis.scatter(lateral_gs, longitudinal_gs, alpha=0.5, label="Data Points") - # Draw friction ellipse (assuming ยต = 1.0) - mu = 1.0 - theta = np.linspace(0, 2 * np.pi, 100) - axis.plot(mu * np.cos(theta), mu * np.sin(theta), 'r', label="Theoretical Limit") + # 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 from Acceleration & Yaw Rate") + 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 ") @@ -184,16 +262,23 @@ def plot_gg_diagram(axis, longitudinal_gs, lateral_gs): time_jerk, jerk = compute_derivative(times, accelerations) time_heading_acc, heading_acc = compute_derivative(times, heading_rates) - longitudinal_gs, lateral_gs = compute_gs(accelerations, heading_rates, speeds) + 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 = parse_tracker_csv(tracker_file) - - fig, axs = plt.subplots(2, 2) + 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_speeds(axs[1, 0], times, speeds) - plot_accelerations(axs[1, 1], accelerations, times) + plot_speeds(axs[1, 0], times, vs) + 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 From ac1031a5a68b64031adc417f40cc0a6ce16690c2 Mon Sep 17 00:00:00 2001 From: diegoasfmravpp Date: Mon, 14 Apr 2025 18:43:18 -0500 Subject: [PATCH 19/99] velocity profile based on existing route --- GEMstack/onboard/planning/velocity_profile.py | 261 ++++++++++++++++++ testing/racing_logs/gg_data/gg_diagram.png | Bin 1101872 -> 1100595 bytes testing/test_gg_diagram.py | 5 + 3 files changed, 266 insertions(+) create mode 100644 GEMstack/onboard/planning/velocity_profile.py diff --git a/GEMstack/onboard/planning/velocity_profile.py b/GEMstack/onboard/planning/velocity_profile.py new file mode 100644 index 000000000..d861c78dd --- /dev/null +++ b/GEMstack/onboard/planning/velocity_profile.py @@ -0,0 +1,261 @@ +import numpy as np +import sys +import os +import matplotlib.pyplot as plt +from matplotlib.collections import LineCollection +from scipy.signal import savgol_filter + +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] โ‰ˆ 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] โ‰ˆ 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 + + # Heronโ€™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) + +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) + # print(xs) + ay_max = 3.3 + v_max = 9 + ax_max = 2.07 + ax_min = -2.61 + + # max long accel: 2.0769700074721493 + # min long accel: -2.6197231578072313 + # max lat accel: 3.3754426456004567 + + 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 = moving_average(v_profile, 11) + v_profile = savgol_filter(v_profile, window_length=9, polyorder=3) + + + fig, axs = plt.subplots(2, 2, figsize=(12, 8)) + + t = compute_time_profile(xs, ys, v_profile) + + 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/testing/racing_logs/gg_data/gg_diagram.png b/testing/racing_logs/gg_data/gg_diagram.png index 0176f4ada6278c6bd2a430884e92e997c17ddace..13dec50b30d7b9095eb3a4d25ad09d6cfa5b0dd6 100644 GIT binary patch literal 1100595 zcmeFZhga3t)-Ftp#x7A&5e1Bj(ybsJqXGf~(gg&hOPAgu8U;lKr7BfL>ZVBVprRtZ 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z|7jHUp}xUp=ZKCdGx&uYAoRyjJoEjlDm>gWL|TMmQk~9jW3%;8Fex{N;DMITBlpRat#I4-;}0Dv=zZlE zZKugtgqMzJNwIrgS}xg&yuk0%q!J3SR4Qt+zdi%tS)TB)l=lT2`8h3iZoVBBL7UC=!y_vs2^MCefUP1#b_I{9sSC!YGpD zbxdi)o^cktiI2J9CWyJPEu8-5HU|6Q~GU+Gi*Z``E$zdh3b+c*9{ybZo(Xv}yG Wn>dr62M6g?+OKl7Nn5e=*Z%`40Azju diff --git a/testing/test_gg_diagram.py b/testing/test_gg_diagram.py index f31dcfbda..a66b658d0 100644 --- a/testing/test_gg_diagram.py +++ b/testing/test_gg_diagram.py @@ -184,6 +184,11 @@ def compute_gs(times, xs, ys, speeds, accelerations, heading_rates): 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): From ff0a847e797b99faac50e86140396c44e6f3c2bf Mon Sep 17 00:00:00 2001 From: laneccolin <70817487+laneccolin@users.noreply.github.com> Date: Tue, 15 Apr 2025 16:07:57 -0500 Subject: [PATCH 20/99] Add files via upload --- GEMstack/onboard/planning/stanley.py | 312 +++++++++++++++++++++++++++ 1 file changed, 312 insertions(+) create mode 100644 GEMstack/onboard/planning/stanley.py diff --git a/GEMstack/onboard/planning/stanley.py b/GEMstack/onboard/planning/stanley.py new file mode 100644 index 000000000..19efbfbf4 --- /dev/null +++ b/GEMstack/onboard/planning/stanley.py @@ -0,0 +1,312 @@ +import numpy as np +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) + + # 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 _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) + 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 + + if self.trajectory and self.desired_speed_source in ['path', 'trajectory']: + 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: + 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 + + deriv = self.trajectory.eval_derivative(current_trajectory_time) + 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). + 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) + + 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 + + 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 + """ + 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) + 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 From a1eb720c9eb31bef7d6ac8a0bd367293743804b6 Mon Sep 17 00:00:00 2001 From: laneccolin <70817487+laneccolin@users.noreply.github.com> Date: Tue, 15 Apr 2025 16:11:26 -0500 Subject: [PATCH 21/99] Update fixed_route.yaml --- launch/fixed_route.yaml | 7 +++++-- 1 file changed, 5 insertions(+), 2 deletions(-) diff --git a/launch/fixed_route.yaml b/launch/fixed_route.yaml index aff287f74..0e8bc24b4 100644 --- a/launch/fixed_route.yaml +++ b/launch/fixed_route.yaml @@ -21,9 +21,12 @@ drive: 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 + #type: pure_pursuit.PurePursuitTrajectoryTracker + type: stanley.StanleyTrajectoryTracker + args: {desired_speed: 10} #approximately 5mph print: True + log: # Specify the top-level folder to save the log files. Default is 'logs' #folder : 'logs' @@ -85,4 +88,4 @@ 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" From de1aa0408f64b6b01b09ba41c47e26b956e6277b Mon Sep 17 00:00:00 2001 From: laneccolin <70817487+laneccolin@users.noreply.github.com> Date: Tue, 15 Apr 2025 16:12:32 -0500 Subject: [PATCH 22/99] Update fixed_route.yaml --- launch/fixed_route.yaml | 5 ++--- 1 file changed, 2 insertions(+), 3 deletions(-) diff --git a/launch/fixed_route.yaml b/launch/fixed_route.yaml index 0e8bc24b4..68b9d45ee 100644 --- a/launch/fixed_route.yaml +++ b/launch/fixed_route.yaml @@ -21,9 +21,8 @@ drive: 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 - type: stanley.StanleyTrajectoryTracker - + #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 From edc92b5609e91b76c8acd7c78e8c516c1b3ad110 Mon Sep 17 00:00:00 2001 From: laneccolin <70817487+laneccolin@users.noreply.github.com> Date: Tue, 15 Apr 2025 17:00:19 -0500 Subject: [PATCH 23/99] Update current.yaml --- GEMstack/knowledge/defaults/current.yaml | 90 ++++++++++++------------ 1 file changed, 45 insertions(+), 45 deletions(-) diff --git a/GEMstack/knowledge/defaults/current.yaml b/GEMstack/knowledge/defaults/current.yaml index 13425c201..778b171db 100644 --- a/GEMstack/knowledge/defaults/current.yaml +++ b/GEMstack/knowledge/defaults/current.yaml @@ -1,46 +1,46 @@ # ********* 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: 2.0 - crosstrack_gain: 0.3 - desired_speed: trajectory #racing - launch_control: 0 # to enable racing features put launch_control to 1 - longitudinal_control: - pid_p: 1.0 - pid_i: 0.1 - 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: 0.1 #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: 0 # to enable racing features put launch_control to 1 + 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 From 31eb662b3b5787ebdd68e1e0ceb4460675db56b1 Mon Sep 17 00:00:00 2001 From: Adi Pillai <76452932+Adi9103@users.noreply.github.com> Date: Tue, 15 Apr 2025 17:55:51 -0500 Subject: [PATCH 24/99] changed launch ctrl to gem --- GEMstack/knowledge/defaults/current.yaml | 5 +++- GEMstack/onboard/interface/gem_hardware.py | 29 ++++++++++++++-------- GEMstack/onboard/planning/pure_pursuit.py | 7 +----- 3 files changed, 24 insertions(+), 17 deletions(-) diff --git a/GEMstack/knowledge/defaults/current.yaml b/GEMstack/knowledge/defaults/current.yaml index 778b171db..2454c9a47 100644 --- a/GEMstack/knowledge/defaults/current.yaml +++ b/GEMstack/knowledge/defaults/current.yaml @@ -16,7 +16,10 @@ lookahead_scale: 2.0 crosstrack_gain: 0.3 desired_speed: trajectory #racing - launch_control: 0 # to enable racing features put launch_control to 1 + launch_control: + enabled: false + stage_duration: 0.5 + longitudinal_control: pid_p: 0.8 pid_i: 0.03 diff --git a/GEMstack/onboard/interface/gem_hardware.py b/GEMstack/onboard/interface/gem_hardware.py index 2fb335f48..8148cc21a 100644 --- a/GEMstack/onboard/interface/gem_hardware.py +++ b/GEMstack/onboard/interface/gem_hardware.py @@ -324,17 +324,26 @@ def send_command(self, command : GEMVehicleCommand): self.accel_cmd.clear = False self.accel_cmd.ignore = False - # Launch control + enable_launch_control = settings.get('control.launch_control.enable', False) + stage_duration = 0.5 currTime = rospy.get_time() - self.start_time - if currTime < 5: - self.brake_cmd.f64_cmd = maxbrake - self.accel_cmd.f64_cmd = 0 - elif currTime < 6: - self.brake_cmd.f64_cmd = maxbrake - self.accel_cmd.f64_cmd = maxacc - elif currTime < 10: - self.brake_cmd.f64_cmd = 0 - self.accel_cmd.f64_cmd = maxacc + + + # Launch control + if enable_launch_control: + total_stage_time = 3 * stage_duration + if currTime < total_stage_time: + if currTime < stage_duration: + self.brake_cmd.f64_cmd = maxbrake + self.accel_cmd.f64_cmd = 0 + elif currTime < 2 * stage_duration: + self.brake_cmd.f64_cmd = maxbrake + self.accel_cmd.f64_cmd = maxacc + else: + self.brake_cmd.f64_cmd = 0 + self.accel_cmd.f64_cmd = maxacc + else: + enable_launch_control = False # self.brake_cmd.f64_cmd = maxbrake # self.accel_cmd.f64_cmd = 0 diff --git a/GEMstack/onboard/planning/pure_pursuit.py b/GEMstack/onboard/planning/pure_pursuit.py index 81d000e70..e30a45c5e 100644 --- a/GEMstack/onboard/planning/pure_pursuit.py +++ b/GEMstack/onboard/planning/pure_pursuit.py @@ -19,7 +19,7 @@ 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') + # self.launch_control = settings.get('control.pure_pursuit.launch_control') if desired_speed is not None: self.desired_speed_source = desired_speed @@ -201,11 +201,6 @@ def compute(self, state : VehicleState, component : Component = None): output_accel = self.pid_speed.advance(e = desired_speed - speed, t = t, feedforward_term=feedforward_accel) - - if self.launch_control: - if t < 4: - output_accel = self.max_accel - # self.brake_cmd.f64_cmd = maxbrake # self.accel_cmd.f64_cmd = 0 From db2d83dfdad8f7b420d6e1584994260bad320e28 Mon Sep 17 00:00:00 2001 From: Shilan Date: Tue, 15 Apr 2025 22:23:23 -0500 Subject: [PATCH 25/99] initial trajectory generation and feasibility check functions --- GEMstack/onboard/planning/racing_planning.py | 192 +++++++++++++++++++ 1 file changed, 192 insertions(+) create mode 100644 GEMstack/onboard/planning/racing_planning.py diff --git a/GEMstack/onboard/planning/racing_planning.py b/GEMstack/onboard/planning/racing_planning.py new file mode 100644 index 000000000..4d30cbe4f --- /dev/null +++ b/GEMstack/onboard/planning/racing_planning.py @@ -0,0 +1,192 @@ +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 (ฯˆ)") + plt.ylabel("ฯˆ (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 (ฮต)", color='green') + plt.xlabel("Time Step") + plt.ylabel("ฮต (1/mยฒ)") + 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) From d23f1b5f53453d7653a936694fb3d79d817ec45a Mon Sep 17 00:00:00 2001 From: Hua-Ta Liang Date: Wed, 16 Apr 2025 02:30:38 -0500 Subject: [PATCH 26/99] Update waypoint generation and combine with trajectory planning --- GEMstack/onboard/planning/racing_planning.py | 468 ++++++++++++++---- .../planning/racing_planning_trajectory.py | 196 ++++++++ .../planning/racing_planning_waypoint.py | 256 ++++++++++ 3 files changed, 829 insertions(+), 91 deletions(-) create mode 100644 GEMstack/onboard/planning/racing_planning_trajectory.py create mode 100644 GEMstack/onboard/planning/racing_planning_waypoint.py diff --git a/GEMstack/onboard/planning/racing_planning.py b/GEMstack/onboard/planning/racing_planning.py index 4d30cbe4f..dc3271435 100644 --- a/GEMstack/onboard/planning/racing_planning.py +++ b/GEMstack/onboard/planning/racing_planning.py @@ -1,7 +1,143 @@ +# 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) + +# --------------------------------------------------------------------------- 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 = 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 +# --------------------------------------------------------------------------- Hua-Ta's Code END + +# --------------------------------------------------------------------------- Shilan's Code START def trajectory_generation(init_state, final_state, w_c=1.0, w_eps=1.0): N = 50 T = 0.1 @@ -62,67 +198,6 @@ def dynamics_constraints(x): 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 (ฯˆ)") - plt.ylabel("ฯˆ (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 (ฮต)", color='green') - plt.xlabel("Time Step") - plt.ylabel("ฮต (1/mยฒ)") - 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): """ @@ -159,34 +234,245 @@ def feasibility_check(trajectory, cone_map, car_width=2.0, safety_margin=0.3, v= feasible = len(collisions) == 0 return feasible, collisions, x_vals, y_vals +######################## +if __name__ == "__main__": + 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 (ฯˆ)") + plt.ylabel("ฯˆ (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 (ฮต)", color='green') + plt.xlabel("Time Step") + plt.ylabel("ฮต (1/mยฒ)") + 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) + ############# + ######################### + # --- 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 + +# ------------ 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') + + + # -------------------------- + ### 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 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) 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 (ฯˆ)") + plt.ylabel("ฯˆ (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 (ฮต)", color='green') + plt.xlabel("Time Step") + plt.ylabel("ฮต (1/mยฒ)") + 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') From 2cd8e832a405496040aa6543d8e910472a870866 Mon Sep 17 00:00:00 2001 From: diegoasfmravpp Date: Wed, 16 Apr 2025 16:56:21 -0500 Subject: [PATCH 27/99] integrating velocity profile into stanley --- GEMstack/knowledge/defaults/current.yaml | 7 ++- .../knowledge/vehicle/gem_e2_fast_limits.yaml | 4 +- GEMstack/onboard/planning/stanley.py | 24 ++++++- GEMstack/onboard/planning/velocity_profile.py | 62 ++++++++++++------- GEMstack/state/trajectory.py | 7 +++ 5 files changed, 79 insertions(+), 25 deletions(-) diff --git a/GEMstack/knowledge/defaults/current.yaml b/GEMstack/knowledge/defaults/current.yaml index 2454c9a47..5ad6b53d8 100644 --- a/GEMstack/knowledge/defaults/current.yaml +++ b/GEMstack/knowledge/defaults/current.yaml @@ -19,7 +19,12 @@ launch_control: enabled: false stage_duration: 0.5 - + # Stanley controller parameters (fine tune this) + stanley: + control_gain: 1.0 + softening_gain: 0.01 + desired_speed: trajectory # Speed reference source: can be "trajectory", "path", or a constant value + longitudinal_control: pid_p: 0.8 pid_i: 0.03 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/onboard/planning/stanley.py b/GEMstack/onboard/planning/stanley.py index 19efbfbf4..8d611c84d 100644 --- a/GEMstack/onboard/planning/stanley.py +++ b/GEMstack/onboard/planning/stanley.py @@ -113,6 +113,24 @@ def set_path(self, path: Path): 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") + 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) @@ -293,7 +311,11 @@ def update(self, vehicle: VehicleState, trajectory: Trajectory): 3) Convert front wheel angle to steering wheel angle (if necessary) 4) Send command to the vehicle """ - self.stanley.set_path(trajectory) + # path to trajectory if racing enabled + if True: ## conditional needed for no racing + self.stanley.set_racing_path(trajectory) + else: + self.stanley.set_path(trajectory) accel, f_delta = self.stanley.compute(vehicle, self) # If your low-level interface expects steering wheel angle: diff --git a/GEMstack/onboard/planning/velocity_profile.py b/GEMstack/onboard/planning/velocity_profile.py index d861c78dd..b88b0b8d5 100644 --- a/GEMstack/onboard/planning/velocity_profile.py +++ b/GEMstack/onboard/planning/velocity_profile.py @@ -5,6 +5,13 @@ 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: @@ -196,6 +203,34 @@ def plot_x_y(axis, x, y, x_label, y_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) + xs, ys = points[:,0], points [:,1] + + 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 ") @@ -209,34 +244,17 @@ def plot_x_y(axis, x, y, x_label, y_label): sys.exit(1) xs, ys = parse_route_csv(path_file) - # print(xs) - ay_max = 3.3 - v_max = 9 - ax_max = 2.07 - ax_min = -2.61 - - # max long accel: 2.0769700074721493 - # min long accel: -2.6197231578072313 - # max lat accel: 3.3754426456004567 - - 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) + points = list(zip(xs,ys)) - 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 = moving_average(v_profile, 11) - v_profile = savgol_filter(v_profile, window_length=9, polyorder=3) + 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)) - t = compute_time_profile(xs, ys, v_profile) - dv = np.diff(v_profile) dt = np.diff(t) diff --git a/GEMstack/state/trajectory.py b/GEMstack/state/trajectory.py index faf3fb401..3c9b39a1e 100644 --- a/GEMstack/state/trajectory.py +++ b/GEMstack/state/trajectory.py @@ -80,6 +80,13 @@ 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] + points = [self.points[0]] + 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 From a346cd34acf16a298dcadf7dfda6ca5c8c2d12a6 Mon Sep 17 00:00:00 2001 From: Shilan Date: Thu, 17 Apr 2025 06:31:13 -0500 Subject: [PATCH 28/99] trajectory generation can take x in state and speed is not fixed (so total travel distance can vary) --- GEMstack/onboard/planning/racing_planning.py | 408 ++++++++----------- 1 file changed, 162 insertions(+), 246 deletions(-) diff --git a/GEMstack/onboard/planning/racing_planning.py b/GEMstack/onboard/planning/racing_planning.py index dc3271435..33e8cfc40 100644 --- a/GEMstack/onboard/planning/racing_planning.py +++ b/GEMstack/onboard/planning/racing_planning.py @@ -9,194 +9,171 @@ 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: +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_tolerance=0.5): + 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_waypoint = 0.0 + if waypoint is not None: + waypoint_penalty_weight = 100.0 + # 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 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") -# return Trajectory(frame=path.frame, points=dense_points, times=times) + 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 (ฮต)", color="green") + plt.xlabel("Step") + plt.ylabel("ฮต (1/mยฒ)") + plt.grid(True) + plt.legend() -# --------------------------------------------------------------------------- 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 = 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) + plt.tight_layout() + plt.show() - # Flexible waypoint: go to the left of the cone - flex_wp1 = cone + offset * perpendicular_vector - flex_wps = [flex_wp1] +###### 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) - # 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 + # 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) - elif scenario == 'right': - cone = np.array(cone_position) + # Error + print("\nFinal State Errors:") + for k, e in final_error.items(): + print(f"{k}: {e:.6f}") - # Flexible waypoint: go to the right of the cone - flex_wp1 = cone - offset * perpendicular_vector - flex_wps = [flex_wp1] +###### 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) - # 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 + # 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) - else: - flex_wps = None - fixed_wp = None + # Error + print("\nFinal State Errors:") + for k, e in final_error.items(): + print(f"{k}: {e:.6f}") - 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 -# --------------------------------------------------------------------------- Hua-Ta's Code END - -# --------------------------------------------------------------------------- Shilan's Code START -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 feasibility_check(trajectory, cone_map, car_width=2.0, safety_margin=0.3, v=10.0, Lr=1.5, T=0.1): @@ -234,75 +211,14 @@ def feasibility_check(trajectory, cone_map, car_width=2.0, safety_margin=0.3, v= feasible = len(collisions) == 0 return feasible, collisions, x_vals, y_vals -######################## -if __name__ == "__main__": - 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 (ฯˆ)") - plt.ylabel("ฯˆ (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 (ฮต)", color='green') - plt.xlabel("Time Step") - plt.ylabel("ฮต (1/mยฒ)") - 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) - ############# - ######################### - # --- 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)) +# --- 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)] From 2067ac8f87f332c4c31d4cb37ef7f73e5c6d7394 Mon Sep 17 00:00:00 2001 From: cat Date: Thu, 17 Apr 2025 17:59:16 -0500 Subject: [PATCH 29/99] updated stanley + racing velocities, working sim --- GEMstack/knowledge/defaults/current.yaml | 2 +- GEMstack/onboard/planning/stanley.py | 21 ++- GEMstack/onboard/planning/velocity_profile.py | 2 + GEMstack/state/trajectory.py | 5 +- launch/fixed_route.yaml | 2 +- tuning logs/log_plot.py | 136 ++++++++++++++++++ 6 files changed, 160 insertions(+), 8 deletions(-) create mode 100644 tuning logs/log_plot.py diff --git a/GEMstack/knowledge/defaults/current.yaml b/GEMstack/knowledge/defaults/current.yaml index 5ad6b53d8..6460bbf7d 100644 --- a/GEMstack/knowledge/defaults/current.yaml +++ b/GEMstack/knowledge/defaults/current.yaml @@ -23,7 +23,7 @@ stanley: control_gain: 1.0 softening_gain: 0.01 - desired_speed: trajectory # Speed reference source: can be "trajectory", "path", or a constant value + desired_speed: racing # Speed reference source: can be "trajectory", "path", "racing" or a constant value longitudinal_control: pid_p: 0.8 diff --git a/GEMstack/onboard/planning/stanley.py b/GEMstack/onboard/planning/stanley.py index 8d611c84d..2f7b8f43f 100644 --- a/GEMstack/onboard/planning/stanley.py +++ b/GEMstack/onboard/planning/stanley.py @@ -124,7 +124,7 @@ def set_racing_path(self, path: Path): 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") + 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 @@ -194,8 +194,9 @@ def compute(self, state: VehicleState, component: Component = None): desired_speed = self.desired_speed feedforward_accel = 0.0 - - if self.trajectory and self.desired_speed_source in ['path', 'trajectory']: + 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: @@ -208,9 +209,15 @@ def compute(self, state: VehicleState, component: Component = None): 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) - desired_speed = min(np.linalg.norm(deriv), self.speed_limit) + + # 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 @@ -259,6 +266,9 @@ def compute(self, state: VehicleState, component: Component = None): 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 @@ -286,6 +296,7 @@ def __init__(self, vehicle_interface=None, **kwargs): """ self.stanley = Stanley(**kwargs) self.vehicle_interface = vehicle_interface + self.desired_speed_source = settings.get('control.stanley.desired_speed', 'path') def rate(self): """Control frequency in Hz.""" @@ -312,7 +323,7 @@ def update(self, vehicle: VehicleState, trajectory: Trajectory): 4) Send command to the vehicle """ # path to trajectory if racing enabled - if True: ## conditional needed for no racing + if self.desired_speed_source in ['racing']: ## conditional needed for no racing self.stanley.set_racing_path(trajectory) else: self.stanley.set_path(trajectory) diff --git a/GEMstack/onboard/planning/velocity_profile.py b/GEMstack/onboard/planning/velocity_profile.py index b88b0b8d5..2b13242fe 100644 --- a/GEMstack/onboard/planning/velocity_profile.py +++ b/GEMstack/onboard/planning/velocity_profile.py @@ -211,7 +211,9 @@ def compute_velocity_profile(points): 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) diff --git a/GEMstack/state/trajectory.py b/GEMstack/state/trajectory.py index 3c9b39a1e..c77523352 100644 --- a/GEMstack/state/trajectory.py +++ b/GEMstack/state/trajectory.py @@ -6,6 +6,7 @@ import math import numpy as np from typing import List,Tuple,Optional,Union +from ..onboard.planning.velocity_profile import compute_velocity_profile @dataclass @register @@ -83,7 +84,9 @@ def arc_length_parameterize(self, speed = 1.0) -> Trajectory: def racing_velocity_profile(self) -> Trajectory: """Returns a timed trajectory with max velocity profile parametrized by path radius""" times = [0.0] - points = [self.points[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) diff --git a/launch/fixed_route.yaml b/launch/fixed_route.yaml index 68b9d45ee..1b7d03b16 100644 --- a/launch/fixed_route.yaml +++ b/launch/fixed_route.yaml @@ -23,7 +23,7 @@ drive: 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 + # args: {desired_speed: 10} #approximately 5mph comment when racing print: True log: 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() From 3b96c70e502ca39814cf8a3f173f122aeb6ad7b1 Mon Sep 17 00:00:00 2001 From: cat Date: Thu, 17 Apr 2025 18:11:46 -0500 Subject: [PATCH 30/99] lower speed for high cte in racing --- GEMstack/onboard/planning/stanley.py | 7 +++++-- launch/fixed_route.yaml | 2 +- 2 files changed, 6 insertions(+), 3 deletions(-) diff --git a/GEMstack/onboard/planning/stanley.py b/GEMstack/onboard/planning/stanley.py index 2f7b8f43f..a3e82d2d5 100644 --- a/GEMstack/onboard/planning/stanley.py +++ b/GEMstack/onboard/planning/stanley.py @@ -231,8 +231,11 @@ def compute(self, state: VehicleState, component: Component = None): if desired_speed is None: desired_speed = 4.0 - # Cross-track-based slowdown (less aggressive than before). - desired_speed *= np.exp(-abs(cross_track_error) * 0.6) + # 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: diff --git a/launch/fixed_route.yaml b/launch/fixed_route.yaml index 1b7d03b16..c7f1dcb1e 100644 --- a/launch/fixed_route.yaml +++ b/launch/fixed_route.yaml @@ -16,7 +16,7 @@ drive: planning: route_planning: type: StaticRoutePlanner - args: [!relative_path '../GEMstack/knowledge/routes/turn_right2.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 From 17576ebae10577b8352ac620c1e03482d916d9bc Mon Sep 17 00:00:00 2001 From: Shilan Date: Fri, 18 Apr 2025 09:53:23 -0500 Subject: [PATCH 31/99] try to run in sim --- GEMstack/onboard/planning/racing_planning.py | 255 ++++++++++++++++++- launch/racing_fixed_slalom.yaml | 83 ++++++ 2 files changed, 337 insertions(+), 1 deletion(-) create mode 100644 launch/racing_fixed_slalom.yaml diff --git a/GEMstack/onboard/planning/racing_planning.py b/GEMstack/onboard/planning/racing_planning.py index 33e8cfc40..f4973ec87 100644 --- a/GEMstack/onboard/planning/racing_planning.py +++ b/GEMstack/onboard/planning/racing_planning.py @@ -5,11 +5,143 @@ # from ...mathutils.transforms import vector_madd # from ...mathutils.quadratic_equation import quad_root +from ...state.trajectory import Trajectory, compute_headings +from ...utils import settings + # ===== 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) + +# --------------------------------------------------------------------------- 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 = 10.0 # Radius for U-turn + offset = 5.0 # 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: 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] + flex_wps = [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 +# --------------------------------------------------------------------------- Hua-Ta's Code END + +# --------------------------------------------------------------------------- Shilan's Code START 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, @@ -389,6 +521,127 @@ def test_planning(case='slalom', test_loop=2): vehicle_state = drive(vehicle_state) if case == 'slalom': cones.pop(0) - test_planning(case='slalom', test_loop=2) + #test_planning(case='slalom', test_loop=2) + + +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() + +from ...state.trajectory import Trajectory, compute_headings + +def to_gemstack_trajectory(x_all, y_all, v_all, T=0.1): + t_vals = np.arange(len(x_all)) * T + headings = compute_headings(x_all, y_all) + points = [[x, y, h] for x, y, h in zip(x_all, y_all, headings)] + return Trajectory(points=points, times=t_vals) + +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, waypoint=flex_wp) + 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) diff --git a/launch/racing_fixed_slalom.yaml b/launch/racing_fixed_slalom.yaml new file mode 100644 index 000000000..98cd40315 --- /dev/null +++ b/launch/racing_fixed_slalom.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/turn_right2.csv'] + motion_planning: + type: racing_planning.plan_full_slalom_trajectory + 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/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" From 056c036d5906b96b40d706f1ed1f7fe8cc2b8d23 Mon Sep 17 00:00:00 2001 From: Adi Pillai <76452932+Adi9103@users.noreply.github.com> Date: Fri, 18 Apr 2025 09:56:30 -0500 Subject: [PATCH 32/99] moved logic --- GEMstack/onboard/interface/gem.py | 31 ++++++++++++- GEMstack/onboard/interface/gem_hardware.py | 53 +++++++++++++++------- GEMstack/onboard/planning/stanley.py | 10 +++- 3 files changed, 73 insertions(+), 21 deletions(-) diff --git a/GEMstack/onboard/interface/gem.py b/GEMstack/onboard/interface/gem.py index 9abcd1b6b..15bc6e0c4 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, brake_override: Optional[float] = None, launch_control: bool = False) -> GEMVehicleCommand: """" Returns a command according to a desired acceleration and steering angle @@ -145,7 +147,32 @@ 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) + stage_duration = settings.get('control.launch_control.stage_duration', 0.5) + + if launch_control and v < 0.1: + if not hasattr(self,'_launch_start_time'): + self._launch_start_time = self.time() + elapsed = self.time() - self._launch_start_time + if elapsed < stage_duration: + acc_pos = 0.0 + brake_pos = 1.0 + elif elapsed < 2 * stage_duration: + acc_pos = 1.0 + brake_pos = 1.0 + else: + acc_pos = 1.0 + brake_pos = 0.0 + else: + if hasattr(self, '_launch_start_time'): + del self._launch_start_time + if brake_override is not None: + acc_pos = np.clip(acceleration_mps2 / self.max_accel, 0.0, 1.0) + brake_pos = np.clip(brake_override, 0.0, 1.0) + else: + 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 8148cc21a..ce16c6ae3 100644 --- a/GEMstack/onboard/interface/gem_hardware.py +++ b/GEMstack/onboard/interface/gem_hardware.py @@ -301,6 +301,16 @@ 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("**************************") @@ -324,26 +334,35 @@ def send_command(self, command : GEMVehicleCommand): self.accel_cmd.clear = False self.accel_cmd.ignore = False - enable_launch_control = settings.get('control.launch_control.enable', False) - stage_duration = 0.5 - currTime = rospy.get_time() - self.start_time + # enable_launch_control = settings.get('control.launch_control.enable', False) + # stage_duration = 0.5 + # currTime = rospy.get_time() - self.start_time # Launch control - if enable_launch_control: - total_stage_time = 3 * stage_duration - if currTime < total_stage_time: - if currTime < stage_duration: - self.brake_cmd.f64_cmd = maxbrake - self.accel_cmd.f64_cmd = 0 - elif currTime < 2 * stage_duration: - self.brake_cmd.f64_cmd = maxbrake - self.accel_cmd.f64_cmd = maxacc - else: - self.brake_cmd.f64_cmd = 0 - self.accel_cmd.f64_cmd = maxacc - else: - enable_launch_control = False + # if enable_launch_control: + # total_stage_time = 3 * stage_duration + # if currTime < total_stage_time: + # if currTime < stage_duration: + # self.brake_cmd.f64_cmd = maxbrake + # self.accel_cmd.f64_cmd = 0 + # elif currTime < 2 * stage_duration: + # self.brake_cmd.f64_cmd = maxbrake + # self.accel_cmd.f64_cmd = maxacc + # else: + # self.brake_cmd.f64_cmd = 0 + # self.accel_cmd.f64_cmd = maxacc + # else: + # enable_launch_control = False + + # if command.launch_control and self.last_reading.speed == 0: + # self.brake_cmd.f64_cmd = command.brake_pedal_position + # self.accel_cmd.f64_cmd = command.accelerator_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.brake_cmd.f64_cmd = maxbrake # self.accel_cmd.f64_cmd = 0 diff --git a/GEMstack/onboard/planning/stanley.py b/GEMstack/onboard/planning/stanley.py index a3e82d2d5..24d6299ce 100644 --- a/GEMstack/onboard/planning/stanley.py +++ b/GEMstack/onboard/planning/stanley.py @@ -70,6 +70,10 @@ def __init__( i = settings.get('control.longitudinal_control.pid_i') self.pid_speed = PID(p, d, i, windup_limit=20) + 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 + # Speed source: numeric or derived from path/trajectory if desired_speed is not None: self.desired_speed_source = desired_speed @@ -144,6 +148,8 @@ def compute(self, state: VehicleState, component: Component = None): self.t_last = t dt = t - self.t_last + + # Current vehicle states curr_x = state.pose.x curr_y = state.pose.y @@ -331,6 +337,7 @@ def update(self, vehicle: VehicleState, trajectory: Trajectory): else: self.stanley.set_path(trajectory) accel, f_delta = self.stanley.compute(vehicle, self) + vehicle.flags.launch_control = self.stanley.enable_launch_control and vehicle.v < 0.01 # If your low-level interface expects steering wheel angle: steering_angle = front2steer(f_delta) @@ -339,8 +346,7 @@ def update(self, vehicle: VehicleState, trajectory: Trajectory): 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) + cmd = self.vehicle_interface.simple_command(accel, steering_angle, vehicle, launch_control=vehicle.flags.launch_control) self.vehicle_interface.send_command(cmd) def healthy(self): From b112fe0d4e912deca52c01d9a2cbacaec65b86c6 Mon Sep 17 00:00:00 2001 From: Shilan Date: Fri, 18 Apr 2025 10:48:26 -0500 Subject: [PATCH 33/99] try to run in simulation --- GEMstack/onboard/planning/racing_planning.py | 33 ++++++++++++++++++++ launch/racing_fixed_slalom.yaml | 3 +- 2 files changed, 34 insertions(+), 2 deletions(-) diff --git a/GEMstack/onboard/planning/racing_planning.py b/GEMstack/onboard/planning/racing_planning.py index f4973ec87..7c27c1cf0 100644 --- a/GEMstack/onboard/planning/racing_planning.py +++ b/GEMstack/onboard/planning/racing_planning.py @@ -645,3 +645,36 @@ def plan_full_slalom_trajectory(vehicle_state, cones): current_pos = np.array([x[-1], y[-1]]) return to_gemstack_trajectory(x_all, y_all, v_all) + +from ...state.trajectory import Trajectory +from ...state.vehicle import VehicleState +from ..component import Component + +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 diff --git a/launch/racing_fixed_slalom.yaml b/launch/racing_fixed_slalom.yaml index 98cd40315..0c47aa399 100644 --- a/launch/racing_fixed_slalom.yaml +++ b/launch/racing_fixed_slalom.yaml @@ -18,8 +18,7 @@ drive: type: StaticRoutePlanner args: [!relative_path '../GEMstack/knowledge/routes/turn_right2.csv'] motion_planning: - type: racing_planning.plan_full_slalom_trajectory - args: [null] #desired speed in m/s. If null, this will keep the route untimed for the trajectory tracker + type: racing_planning.SlalomTrajectoryPlanner trajectory_tracking: #type: pure_pursuit.PurePursuitTrajectoryTracker # to use pure pursuit comment below type: stanley.StanleyTrajectoryTracker # to use stanley comment above From bbdf9e009ecc2d4812bbb481e520b2695d2b78ff Mon Sep 17 00:00:00 2001 From: Adi Pillai <76452932+Adi9103@users.noreply.github.com> Date: Sat, 19 Apr 2025 16:46:13 -0500 Subject: [PATCH 34/99] updated launch_ctrl, added pure_pursuit --- GEMstack/onboard/planning/pure_pursuit.py | 8 +++++++- GEMstack/onboard/planning/stanley.py | 5 +++-- 2 files changed, 10 insertions(+), 3 deletions(-) diff --git a/GEMstack/onboard/planning/pure_pursuit.py b/GEMstack/onboard/planning/pure_pursuit.py index e30a45c5e..bf4686ffa 100644 --- a/GEMstack/onboard/planning/pure_pursuit.py +++ b/GEMstack/onboard/planning/pure_pursuit.py @@ -36,6 +36,10 @@ 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 @@ -246,7 +250,9 @@ 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)) + + launch_control = self.pure_pursuit.enable_launch_control and vehicle.v < 0.1 + self.vehicle_interface.send_command(self.vehicle_interface.simple_command(accel,steering_angle, vehicle, launch_control=launch_control)) def healthy(self): return self.pure_pursuit.path is not None \ No newline at end of file diff --git a/GEMstack/onboard/planning/stanley.py b/GEMstack/onboard/planning/stanley.py index 24d6299ce..673b75e52 100644 --- a/GEMstack/onboard/planning/stanley.py +++ b/GEMstack/onboard/planning/stanley.py @@ -337,7 +337,7 @@ def update(self, vehicle: VehicleState, trajectory: Trajectory): else: self.stanley.set_path(trajectory) accel, f_delta = self.stanley.compute(vehicle, self) - vehicle.flags.launch_control = self.stanley.enable_launch_control and vehicle.v < 0.01 + launch_control = self.stanley.enable_launch_control and vehicle.v < 0.01 # If your low-level interface expects steering wheel angle: steering_angle = front2steer(f_delta) @@ -346,7 +346,8 @@ def update(self, vehicle: VehicleState, trajectory: Trajectory): 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, launch_control=vehicle.flags.launch_control) + + cmd = self.vehicle_interface.simple_command(accel, steering_angle, vehicle, launch_control=launch_control) self.vehicle_interface.send_command(cmd) def healthy(self): From 35a5d1cfe457bcb99a2c60ec8b42de4f50d1a9ea Mon Sep 17 00:00:00 2001 From: Hua-Ta Liang Date: Wed, 23 Apr 2025 00:02:58 -0500 Subject: [PATCH 35/99] Update & fix simulation problem for planner --- GEMstack/onboard/planning/racing_planning.py | 347 +++++++++---------- launch/planner_sim.yaml | 83 +++++ scenes/racing_sim_slalom.yaml | 33 ++ 3 files changed, 284 insertions(+), 179 deletions(-) create mode 100644 launch/planner_sim.yaml create mode 100644 scenes/racing_sim_slalom.yaml diff --git a/GEMstack/onboard/planning/racing_planning.py b/GEMstack/onboard/planning/racing_planning.py index 7c27c1cf0..c5d2c936a 100644 --- a/GEMstack/onboard/planning/racing_planning.py +++ b/GEMstack/onboard/planning/racing_planning.py @@ -1,24 +1,15 @@ -# 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 +from ...state.trajectory import Trajectory +from ...state.vehicle import VehicleState +from ..component import Component -from ...state.trajectory import Trajectory, compute_headings -from ...utils import settings +from ...state.trajectory import Trajectory, compute_headings, Path#, racing_velocity_profile +from ...state.physical_object import ObjectFrameEnum -# ===== 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) + # --------------------------------------------------------------------------- Hua-Ta's Code START def scenario_check(vehicle_state, cone_state): @@ -63,9 +54,9 @@ def waypoint_generate(vehicle_state, cone_state): car_heading = vehicle_state['heading'] # in radians # ===== Parameters ===== - u_turn_radius = 10.0 # Radius for U-turn - offset = 5.0 # Offset for left/right pass - lookahead_distance = 10.0 # Distance ahead for fixed point + u_turn_radius = 10.0 # Radius for U-turn + offset = 5.0 # Offset for left/right pass + lookahead_distance = 10.0 # Distance ahead for fixed point # ====================== # Direction vector based on heading @@ -81,8 +72,8 @@ def waypoint_generate(vehicle_state, cone_state): # 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] - flex_wps = [flex_wp2] + flex_wps_list = [flex_wp1, flex_wp2] + # flex_wps = [flex_wp2] # Fixed waypoint: behind the cone after U-turn # fixed_wp = cone - heading_vector * lookahead_distance @@ -93,7 +84,7 @@ def waypoint_generate(vehicle_state, cone_state): # Flexible waypoint: go to the left of the cone flex_wp1 = cone + offset * perpendicular_vector - flex_wps = [flex_wp1] + flex_wps_list = [flex_wp1] # Fixed waypoint: forward after passing the cone # fixed_wp = flex_wp + heading_vector * lookahead_distance - offset * perpendicular_vector * 2 @@ -104,17 +95,17 @@ def waypoint_generate(vehicle_state, cone_state): # Flexible waypoint: go to the right of the cone flex_wp1 = cone - offset * perpendicular_vector - flex_wps = [flex_wp1] + 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 = None + flex_wps_list = None fixed_wp = None - return scenario, flex_wps, fixed_wp + return scenario, flex_wps_list, fixed_wp def velocity_profiling(path, acceleration, deceleration, max_speed, current_speed, lateral_acc_limit): """ @@ -376,153 +367,6 @@ def test_feasibility_check(): print("Collisions with cones:", collisions) # --------------------------------------------------------------------------- Shilan's Code END -# ------------ 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') - - - # -------------------------- - ### 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) - def waypoint_search_optimization(vehicle_state, cones, search_attempts=3): valid_flex_wps = [] @@ -610,13 +454,14 @@ def test_4_cone_slalom(): #test_4_cone_slalom() -from ...state.trajectory import Trajectory, compute_headings - def to_gemstack_trajectory(x_all, y_all, v_all, T=0.1): t_vals = np.arange(len(x_all)) * T - headings = compute_headings(x_all, y_all) - points = [[x, y, h] for x, y, h in zip(x_all, y_all, headings)] - return Trajectory(points=points, times=t_vals) + 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 = [], [], [] @@ -646,9 +491,7 @@ def plan_full_slalom_trajectory(vehicle_state, cones): return to_gemstack_trajectory(x_all, y_all, v_all) -from ...state.trajectory import Trajectory -from ...state.vehicle import VehicleState -from ..component import Component +# def test_slalom_fixe class SlalomTrajectoryPlanner(Component): def __init__(self, **kwargs): @@ -678,3 +521,149 @@ def update(self, vehicle: VehicleState): 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/launch/planner_sim.yaml b/launch/planner_sim.yaml new file mode 100644 index 000000000..ab215a6e8 --- /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/turn_right2.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_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/scenes/racing_sim_slalom.yaml b/scenes/racing_sim_slalom.yaml new file mode 100644 index 000000000..c5674103b --- /dev/null +++ b/scenes/racing_sim_slalom.yaml @@ -0,0 +1,33 @@ +vehicle_state: [0.0, 0.0, 0.0, 0.0, 0.0] +agents: + cone1: + type: pedestrian + position: [10.0, 0.0] + nominal_velocity: 0.0 + target: [10.0, 0.0] + # target: [10.0,10.0] + behavior: loop + + cone2: + type: pedestrian + position: [30.0, 1.0] + nominal_velocity: 0.0 + target: [30.0, 1.0] + # target: [10.0,10.0] + behavior: loop + + cone3: + type: pedestrian + position: [50.0, 0.0] + nominal_velocity: 0.0 + target: [50.0, 0.0] + # target: [10.0,10.0] + behavior: loop + + cone4: + type: pedestrian + position: [70.0, 1.0] + nominal_velocity: 0.0 + target: [70.0, 1.0] + # target: [10.0,10.0] + behavior: loop From 027043652d5bbcf7b0fc3cdbf6323a4f55427721 Mon Sep 17 00:00:00 2001 From: Hua-Ta Liang Date: Wed, 23 Apr 2025 03:42:30 -0500 Subject: [PATCH 36/99] Fix U-turn scenario --- GEMstack/knowledge/routes/slalom.csv | 71 ++++++ GEMstack/onboard/planning/racing_planning.py | 232 ++++++++++++++++--- launch/planner_sim.yaml | 2 +- 3 files changed, 273 insertions(+), 32 deletions(-) create mode 100644 GEMstack/knowledge/routes/slalom.csv 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 +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/onboard/planning/racing_planning.py b/GEMstack/onboard/planning/racing_planning.py index c5d2c936a..c0a1dc3da 100644 --- a/GEMstack/onboard/planning/racing_planning.py +++ b/GEMstack/onboard/planning/racing_planning.py @@ -54,8 +54,8 @@ def waypoint_generate(vehicle_state, cone_state): car_heading = vehicle_state['heading'] # in radians # ===== Parameters ===== - u_turn_radius = 10.0 # Radius for U-turn - offset = 5.0 # Offset for left/right pass + 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 # ====================== @@ -66,18 +66,44 @@ def waypoint_generate(vehicle_state, cone_state): perpendicular_vector = np.array([-np.sin(car_heading), np.cos(car_heading)]) if scenario == 'standing': - # U-turn: Circle around the cone + # U-turn: Generate points in a semi-circular arc 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_list = [flex_wp1, flex_wp2] - # flex_wps = [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 + + # 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 ฯ€ + # 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 ฯ€) + 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) @@ -133,11 +159,152 @@ def dynamic_max_speed_at(index): # --------------------------------------------------------------------------- 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, - waypoint=None, waypoint_tolerance=0.5): + 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_)) @@ -152,21 +319,24 @@ def cost(p): cost_terminal = w_terminal * ( (x_final - final_state['x']) ** 2 + (y_final - final_state['y']) ** 2 + - (psi_final - final_state['psi']) ** 2 * 100 + + (psi_final - final_state['psi']) ** 2 * 100 + (c_final - final_state['c']) ** 2 * 100 ) - cost_waypoint = 0.0 - if waypoint is not None: - waypoint_penalty_weight = 100.0 - # 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 - + 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 = [] @@ -472,7 +642,7 @@ def plan_full_slalom_trajectory(vehicle_state, 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] + # flex_wp = flex_wps[0] init_state = { 'x': current_pos[0], 'y': current_pos[1], 'psi': current_heading, @@ -482,7 +652,7 @@ def plan_full_slalom_trajectory(vehicle_state, cones): '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, waypoint=flex_wp) + 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) diff --git a/launch/planner_sim.yaml b/launch/planner_sim.yaml index ab215a6e8..a02cfc246 100644 --- a/launch/planner_sim.yaml +++ b/launch/planner_sim.yaml @@ -16,7 +16,7 @@ drive: planning: route_planning: type: StaticRoutePlanner - args: [!relative_path '../GEMstack/knowledge/routes/turn_right2.csv'] + args: [!relative_path '../GEMstack/knowledge/routes/slalom.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 From bdc4c9d72e47fc62d4788450329cabe172c21b11 Mon Sep 17 00:00:00 2001 From: Jugal Date: Wed, 23 Apr 2025 10:55:40 -0500 Subject: [PATCH 37/99] Update current.yaml updated working paramters --- GEMstack/knowledge/defaults/current.yaml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/GEMstack/knowledge/defaults/current.yaml b/GEMstack/knowledge/defaults/current.yaml index 6460bbf7d..30e1236e8 100644 --- a/GEMstack/knowledge/defaults/current.yaml +++ b/GEMstack/knowledge/defaults/current.yaml @@ -21,8 +21,8 @@ stage_duration: 0.5 # Stanley controller parameters (fine tune this) stanley: - control_gain: 1.0 - softening_gain: 0.01 + 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: From 970ca9a6e6c604ace66109cc6f7b422d1de5c72a Mon Sep 17 00:00:00 2001 From: cat Date: Wed, 23 Apr 2025 14:26:55 -0500 Subject: [PATCH 38/99] move launch control logic out of gem.py and gem_hardware.py and into the planners (pure_pursuit and stanley) --- GEMstack/onboard/interface/gem.py | 27 ++------------- GEMstack/onboard/interface/gem_hardware.py | 40 ---------------------- GEMstack/onboard/planning/pure_pursuit.py | 25 ++++++++++++-- GEMstack/onboard/planning/stanley.py | 26 ++++++++++++-- 4 files changed, 49 insertions(+), 69 deletions(-) diff --git a/GEMstack/onboard/interface/gem.py b/GEMstack/onboard/interface/gem.py index 15bc6e0c4..0b3e09b6a 100644 --- a/GEMstack/onboard/interface/gem.py +++ b/GEMstack/onboard/interface/gem.py @@ -135,7 +135,7 @@ def hardware_faults(self) -> List[str]: """ raise NotImplementedError() - def simple_command(self, acceleration_mps2: float, steering_wheel_angle: float, state: VehicleState = None, brake_override: Optional[float] = None, launch_control: bool = False) -> 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 @@ -147,29 +147,8 @@ 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 - stage_duration = settings.get('control.launch_control.stage_duration', 0.5) - - if launch_control and v < 0.1: - if not hasattr(self,'_launch_start_time'): - self._launch_start_time = self.time() - elapsed = self.time() - self._launch_start_time - if elapsed < stage_duration: - acc_pos = 0.0 - brake_pos = 1.0 - elif elapsed < 2 * stage_duration: - acc_pos = 1.0 - brake_pos = 1.0 - else: - acc_pos = 1.0 - brake_pos = 0.0 - else: - if hasattr(self, '_launch_start_time'): - del self._launch_start_time - if brake_override is not None: - acc_pos = np.clip(acceleration_mps2 / self.max_accel, 0.0, 1.0) - brake_pos = np.clip(brake_override, 0.0, 1.0) - else: - 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) diff --git a/GEMstack/onboard/interface/gem_hardware.py b/GEMstack/onboard/interface/gem_hardware.py index ce16c6ae3..879d9e21b 100644 --- a/GEMstack/onboard/interface/gem_hardware.py +++ b/GEMstack/onboard/interface/gem_hardware.py @@ -100,13 +100,6 @@ def __init__(self): /pacmod/as_rx/wiper_cmd """ - # Launch Control Timing - # 0 - 5 Seconds 100% brake 0% throttle - # 5 - 6 Seconds 100% brake 100% throttle - # 6 - 7 Seconds 0% brake 100% throttle - # TODO add option launch control - self.start_time = rospy.get_time() - #TODO: publish TwistStamped to /front_radar/front_radar/vehicle_motion to get better radar tracks #subscribers should go last because the callback might be called before the object is initialized @@ -333,39 +326,6 @@ def send_command(self, command : GEMVehicleCommand): self.accel_cmd.enable = True self.accel_cmd.clear = False self.accel_cmd.ignore = False - - # enable_launch_control = settings.get('control.launch_control.enable', False) - # stage_duration = 0.5 - # currTime = rospy.get_time() - self.start_time - - - # Launch control - # if enable_launch_control: - # total_stage_time = 3 * stage_duration - # if currTime < total_stage_time: - # if currTime < stage_duration: - # self.brake_cmd.f64_cmd = maxbrake - # self.accel_cmd.f64_cmd = 0 - # elif currTime < 2 * stage_duration: - # self.brake_cmd.f64_cmd = maxbrake - # self.accel_cmd.f64_cmd = maxacc - # else: - # self.brake_cmd.f64_cmd = 0 - # self.accel_cmd.f64_cmd = maxacc - # else: - # enable_launch_control = False - - # if command.launch_control and self.last_reading.speed == 0: - # self.brake_cmd.f64_cmd = command.brake_pedal_position - # self.accel_cmd.f64_cmd = command.accelerator_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.brake_cmd.f64_cmd = maxbrake - # self.accel_cmd.f64_cmd = 0 self.gear_cmd.ui16_cmd = PacmodCmd.SHIFT_FORWARD diff --git a/GEMstack/onboard/planning/pure_pursuit.py b/GEMstack/onboard/planning/pure_pursuit.py index bf4686ffa..c0ac79288 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.""" @@ -234,6 +235,8 @@ 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 @@ -251,8 +254,26 @@ def update(self, vehicle : VehicleState, trajectory: Trajectory): 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) - launch_control = self.pure_pursuit.enable_launch_control and vehicle.v < 0.1 - self.vehicle_interface.send_command(self.vehicle_interface.simple_command(accel,steering_angle, vehicle, launch_control=launch_control)) + 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/stanley.py b/GEMstack/onboard/planning/stanley.py index 673b75e52..2c09910c8 100644 --- a/GEMstack/onboard/planning/stanley.py +++ b/GEMstack/onboard/planning/stanley.py @@ -1,4 +1,5 @@ import numpy as np +import rospy from math import sin, cos, atan2 # These imports match your existing project structure @@ -70,7 +71,6 @@ def __init__( i = settings.get('control.longitudinal_control.pid_i') self.pid_speed = PID(p, d, i, windup_limit=20) - 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 @@ -306,6 +306,8 @@ def __init__(self, vehicle_interface=None, **kwargs): 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.""" @@ -337,7 +339,6 @@ def update(self, vehicle: VehicleState, trajectory: Trajectory): else: self.stanley.set_path(trajectory) accel, f_delta = self.stanley.compute(vehicle, self) - launch_control = self.stanley.enable_launch_control and vehicle.v < 0.01 # If your low-level interface expects steering wheel angle: steering_angle = front2steer(f_delta) @@ -347,7 +348,26 @@ def update(self, vehicle: VehicleState, trajectory: Trajectory): settings.get('vehicle.geometry.max_steering_angle', 0.5) ) - cmd = self.vehicle_interface.simple_command(accel, steering_angle, vehicle, launch_control=launch_control) + 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): From 10db54a87e65c9bc07e6276ba0f1ceb3c8f8af6d Mon Sep 17 00:00:00 2001 From: cat Date: Wed, 23 Apr 2025 14:27:42 -0500 Subject: [PATCH 39/99] fix typo in current.yaml --- GEMstack/knowledge/defaults/current.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/GEMstack/knowledge/defaults/current.yaml b/GEMstack/knowledge/defaults/current.yaml index 30e1236e8..87c22c0e4 100644 --- a/GEMstack/knowledge/defaults/current.yaml +++ b/GEMstack/knowledge/defaults/current.yaml @@ -17,7 +17,7 @@ crosstrack_gain: 0.3 desired_speed: trajectory #racing launch_control: - enabled: false + enable: 1 stage_duration: 0.5 # Stanley controller parameters (fine tune this) stanley: From 31429223b43281b7db0cc8178fb6a1c0e4e3c53b Mon Sep 17 00:00:00 2001 From: Shilan Date: Wed, 23 Apr 2025 23:06:44 -0500 Subject: [PATCH 40/99] add 90turn case and test code --- GEMstack/onboard/planning/racing_planning.py | 140 ++- .../onboard/planning/racing_planning_old.py | 840 ++++++++++++++++++ 2 files changed, 975 insertions(+), 5 deletions(-) create mode 100644 GEMstack/onboard/planning/racing_planning_old.py diff --git a/GEMstack/onboard/planning/racing_planning.py b/GEMstack/onboard/planning/racing_planning.py index c0a1dc3da..e2181725a 100644 --- a/GEMstack/onboard/planning/racing_planning.py +++ b/GEMstack/onboard/planning/racing_planning.py @@ -127,6 +127,31 @@ def waypoint_generate(vehicle_state, cone_state): # 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': + cone = np.array(cone_position) + distance_to_cone = np.linalg.norm(car_position - cone) + + flex_wps = [] + + if distance_to_cone > 10: + # Add multiple waypoints to drive in estimated straight line + steps = int(distance_to_cone // 10) + + final_flex_wp = cone + 3.0 * perpendicular_vector + fixed_wp = cone + heading_vector * 3.0 - perpendicular_vector * 1.0 + + cone_direction = (final_flex_wp - car_position) / np.linalg.norm(final_flex_wp - car_position) + for i in range(steps): + intermediate_wp = car_position + cone_direction * ((i + 1) * 10) + flex_wps.append(intermediate_wp) + + flex_wps.append(final_flex_wp) + else: + flex_wp = cone + 3.0 * perpendicular_vector + fixed_wp = cone + heading_vector * 3.0 - perpendicular_vector * 1.0 + flex_wps = [flex_wp] + else: flex_wps_list = None fixed_wp = None @@ -276,7 +301,7 @@ def dynamic_max_speed_at(index): # 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_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): @@ -583,7 +608,7 @@ def waypoint_search_optimization(vehicle_state, cones, search_attempts=3): return valid_flex_wps, valid_fixed_wps - +# ======= Overall test cases to generate full trajectories with known cone positions ======= def test_4_cone_slalom(): vehicle_state = { 'position': [0.0, 0.0], @@ -598,10 +623,12 @@ def test_4_cone_slalom(): {'x': 70, 'y': 1.0, 'orientation': 'standing'} ] - flex_wps, fixed_wps = waypoint_search_optimization(vehicle_state, cones, search_attempts=4) + 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'], @@ -618,11 +645,114 @@ def test_4_cone_slalom(): 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) -#test_4_cone_slalom() + # 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() + +def test_fixed_course(): + vehicle_state = { + 'position': [-62.0, -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 = current_heading + + 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 + + init_state = { + 'x': current_pos[0], 'y': current_pos[1], 'psi': current_heading, + 'c': current_steering, 'v': vehicle_state['velocity'] + } + + # Setting target_heading in final_state + # TODO: Compute target heading in waypoint_generation for different settings (slalom or course run) + 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 + if abs(target_heading - current_heading) > np.pi / 2: + target_heading = current_heading - np.pi / 2 + 0.1 + + else: # no previous cone + target_heading = current_heading - np.pi / 2 + 0.1 + + target_heading = (target_heading + np.pi) % (2 * np.pi) - np.pi + + final_state = { + 'x': fixed_wp[0], 'y': fixed_wp[1], 'psi': target_heading, 'c': target_heading + } + + 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=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() def to_gemstack_trajectory(x_all, y_all, v_all, T=0.1): t_vals = np.arange(len(x_all)) * T 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 ฯ€ + # 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 ฯ€) + 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 (ฮต)", color="green") + plt.xlabel("Step") + plt.ylabel("ฮต (1/mยฒ)") + 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 From 65b86c46792487098f1b8b37da6daf860a8720d8 Mon Sep 17 00:00:00 2001 From: Shilan Date: Thu, 24 Apr 2025 17:08:38 -0500 Subject: [PATCH 41/99] refine 4-cone course planned trajectory --- GEMstack/onboard/planning/racing_planning.py | 55 ++++++++++++-------- 1 file changed, 32 insertions(+), 23 deletions(-) diff --git a/GEMstack/onboard/planning/racing_planning.py b/GEMstack/onboard/planning/racing_planning.py index e2181725a..713c6cf30 100644 --- a/GEMstack/onboard/planning/racing_planning.py +++ b/GEMstack/onboard/planning/racing_planning.py @@ -129,27 +129,28 @@ def waypoint_generate(vehicle_state, cone_state): # 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 = [] - if distance_to_cone > 10: - # Add multiple waypoints to drive in estimated straight line - steps = int(distance_to_cone // 10) + if distance_to_cone > 7: + steps = int(distance_to_cone // 6) + print("steps:", steps) - final_flex_wp = cone + 3.0 * perpendicular_vector - fixed_wp = cone + heading_vector * 3.0 - perpendicular_vector * 1.0 + 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): - intermediate_wp = car_position + cone_direction * ((i + 1) * 10) + for i in range(steps - 2): + intermediate_wp = car_position + cone_direction * ((i + 1) * 6) flex_wps.append(intermediate_wp) flex_wps.append(final_flex_wp) else: - flex_wp = cone + 3.0 * perpendicular_vector - fixed_wp = cone + heading_vector * 3.0 - perpendicular_vector * 1.0 + flex_wp = cone + 1.0 * perpendicular_vector + heading_vector * 1.0 + fixed_wp = cone - turn_vector * 2.5 + heading_vector * 0.0 flex_wps = [flex_wp] else: @@ -669,9 +670,12 @@ def test_4_cone_slalom(): plt.grid(True) plt.show() +# 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': [-62.0, -39.0], + 'position': [-60.0, -39.0], 'heading': np.pi * 2 / 3, 'velocity': 0.0 } @@ -685,7 +689,7 @@ def test_fixed_course(): current_pos = np.array(vehicle_state['position']) current_heading = vehicle_state['heading'] - current_steering = current_heading + current_steering = 0.0 x_all, y_all = [], [] @@ -695,28 +699,33 @@ def test_fixed_course(): if not flex_wps or fixed_wp is None: continue - init_state = { - 'x': current_pos[0], 'y': current_pos[1], 'psi': current_heading, - 'c': current_steering, 'v': vehicle_state['velocity'] - } - # Setting target_heading in final_state - # TODO: Compute target heading in waypoint_generation for different settings (slalom or course run) 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 - if abs(target_heading - current_heading) > np.pi / 2: - target_heading = current_heading - np.pi / 2 + 0.1 + 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 + 0.1 + 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': target_heading + '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) @@ -743,7 +752,7 @@ def test_fixed_course(): # 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.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') From 0932f710ca31a2ea3adc27469bdb809d24f04c26 Mon Sep 17 00:00:00 2001 From: diegoasfmravpp Date: Thu, 24 Apr 2025 20:17:28 -0500 Subject: [PATCH 42/99] visualization changes for stanley logs --- testing/test_gg_diagram.py | 24 +++++++++++++++--------- 1 file changed, 15 insertions(+), 9 deletions(-) diff --git a/testing/test_gg_diagram.py b/testing/test_gg_diagram.py index a66b658d0..160286d3d 100644 --- a/testing/test_gg_diagram.py +++ b/testing/test_gg_diagram.py @@ -101,9 +101,11 @@ def parse_tracker_csv(filename): vehicle_time = data[:, 19] cte = data[:, 20] x_actual, y_actual = data[:, 2], data[:, 5] - x_desired, y_desired = data[:, 11], data[:, 14] + # x_desired, y_desired = data[:, 11], data[:, 14] ### PP + x_desired, y_desired = data[:, 8], data[:, 11] #Stanley speed_actual = data[:, -1] - return vehicle_time, cte, x_actual, y_actual, x_desired, y_desired, speed_actual + 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): """ @@ -195,13 +197,13 @@ def plot_position(axis, x_actual, y_actual, x_desired=None, y_desired=None, safe """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.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.legend() axis.grid(True) def plot_speeds(axis, time, speed_actual, comptued_speed = None): @@ -255,7 +257,8 @@ def plot_gg_diagram(axis, longitudinal_gs, lateral_gs): log_dir = sys.argv[1] behavior_file = os.path.join(log_dir, "behavior.json") - tracker_file = os.path.join(log_dir, "PurePursuitTrajectoryTracker_debug.csv") + 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): @@ -270,12 +273,15 @@ def plot_gg_diagram(axis, longitudinal_gs, lateral_gs): 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 = parse_tracker_csv(tracker_file) + 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_speeds(axs[1, 0], times, vs) + # 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" From 19b4c0701f8279f405bc42a4a7697cfd2ac77b89 Mon Sep 17 00:00:00 2001 From: Hua-Ta Liang Date: Fri, 25 Apr 2025 03:29:44 -0500 Subject: [PATCH 43/99] Fixed code to work with simulator --- GEMstack/knowledge/routes/racing_circle.csv | 71 ++++++++++++++++++++ GEMstack/onboard/planning/racing_planning.py | 52 ++++++++++---- launch/planner_sim.yaml | 4 +- scenes/racing_sim_circle.yaml | 33 +++++++++ 4 files changed, 145 insertions(+), 15 deletions(-) create mode 100644 GEMstack/knowledge/routes/racing_circle.csv create mode 100644 scenes/racing_sim_circle.yaml diff --git a/GEMstack/knowledge/routes/racing_circle.csv 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/onboard/planning/racing_planning.py b/GEMstack/onboard/planning/racing_planning.py index 713c6cf30..55bd1d26f 100644 --- a/GEMstack/onboard/planning/racing_planning.py +++ b/GEMstack/onboard/planning/racing_planning.py @@ -32,7 +32,7 @@ def scenario_check(vehicle_state, cone_state): 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': + 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 @@ -133,8 +133,7 @@ def waypoint_generate(vehicle_state, cone_state): cone = np.array(cone_position) distance_to_cone = np.linalg.norm(car_position - cone) - flex_wps = [] - + flex_wps_list = [] if distance_to_cone > 7: steps = int(distance_to_cone // 6) print("steps:", steps) @@ -145,13 +144,13 @@ def waypoint_generate(vehicle_state, cone_state): 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.append(intermediate_wp) + flex_wps_list.append(intermediate_wp) - flex_wps.append(final_flex_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 = [flex_wp] + flex_wps_list = [flex_wp] else: flex_wps_list = None @@ -816,17 +815,44 @@ def state_outputs(self): def update(self, vehicle: VehicleState): if not self.planned: + # 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'} + # ] + # vehicle_dict = { + # 'position': [vehicle.pose.x, vehicle.pose.y], + # 'heading': vehicle.pose.yaw, + # 'velocity': vehicle.v + # } + + # Example Test - Racing Circle 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': -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': [vehicle.pose.x, vehicle.pose.y], - 'heading': vehicle.pose.yaw, - 'velocity': vehicle.v + 'position': [-60.0, -39.0], + 'heading': np.pi * 2 / 3, + 'velocity': 0.0 } + + # TODO: Optimization Failed + # 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.planned = True return self.trajectory diff --git a/launch/planner_sim.yaml b/launch/planner_sim.yaml index a02cfc246..7eebe7d90 100644 --- a/launch/planner_sim.yaml +++ b/launch/planner_sim.yaml @@ -16,7 +16,7 @@ drive: planning: route_planning: type: StaticRoutePlanner - args: [!relative_path '../GEMstack/knowledge/routes/slalom.csv'] + 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 @@ -70,7 +70,7 @@ variants: vehicle_interface: type: gem_simulator.GEMDoubleIntegratorSimulationInterface args: - scene: !relative_path '../scenes/racing_sim_slalom.yaml' + scene: !relative_path '../scenes/racing_sim_circle.yaml' # [Option] racing_sim_slalom.yaml / racing_sim_circle.yaml drive: perception: diff --git a/scenes/racing_sim_circle.yaml b/scenes/racing_sim_circle.yaml new file mode 100644 index 000000000..9afbeb2b9 --- /dev/null +++ b/scenes/racing_sim_circle.yaml @@ -0,0 +1,33 @@ +vehicle_state: [0.0, 20.0, 0.0, 0.0, 0.0] +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 From a02522552b436a1b2972886dc71df10a84dd9533 Mon Sep 17 00:00:00 2001 From: Dhruv Agarwal <63619126+dh-agarwal@users.noreply.github.com> Date: Tue, 29 Apr 2025 17:21:01 -0500 Subject: [PATCH 44/99] CONE DETECTOR DUMP --- GEMstack/onboard/perception/cone_detection.py | 709 ++++++++++++++++++ 1 file changed, 709 insertions(+) create mode 100644 GEMstack/onboard/perception/cone_detection.py diff --git a/GEMstack/onboard/perception/cone_detection.py b/GEMstack/onboard/perception/cone_detection.py new file mode 100644 index 000000000..afd9cc96a --- /dev/null +++ b/GEMstack/onboard/perception/cone_detection.py @@ -0,0 +1,709 @@ +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 +import math +import ros_numpy +import os +from ...utils import settings + + +# ----- Helper Functions ----- + +def cylindrical_roi(points, center, radius, height): + horizontal_dist = np.linalg.norm(points[:, :2] - center[:2], axis=1) + vertical_diff = np.abs(points[:, 2] - center[2]) + mask = (horizontal_dist <= radius) & (vertical_diff <= height / 2) + return points[mask] + + +def filter_points_within_threshold(points, threshold=15.0): + distances = np.linalg.norm(points, axis=1) + mask = distances <= threshold + return points[mask] + + +def match_existing_cone( + new_center: np.ndarray, + new_dims: tuple, + existing_agents: Dict[str, AgentState], + distance_threshold: float = 1.0 +) -> str: + """ + Find the closest existing Cone agent within a specified distance threshold. + """ + 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 (vx, vy, vz) velocity based on change in pose over time. + """ + 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. + """ + 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 quickly using ros_numpy. + This function extracts the x, y, z coordinates from the point cloud. + """ + # Convert the ROS message to a numpy structured array + pc = ros_numpy.point_cloud2.pointcloud2_to_array(pc2_msg) + # Stack x,y,z fields to a (N,3) array + pts = np.stack((np.array(pc['x']).ravel(), + np.array(pc['y']).ravel(), + np.array(pc['z']).ravel()), axis=1) + # Apply filtering (for example, x > 0 and z in a specified range) + mask = (pts[:, 0] > -0.5) & (pts[:, 2] < -1) & (pts[:, 2] > -2.7) + return pts[mask] + + +def backproject_pixel(u, v, K): + """ + Backprojects a pixel coordinate (u, v) into a normalized 3D ray in the camera coordinate system. + """ + 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 along a projected ray. + (This function is no longer used in the new approach.) + """ + 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. + """ + 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 return the cluster closest to 'center'. + """ + if roi_points.shape[0] < min_samples: + return roi_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 points within z_range of the minimum z (assumed to be ground). + """ + 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. + """ + 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. + """ + 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 downsample_points(lidar_points, voxel_size=0.15): + pcd = o3d.geometry.PointCloud() + pcd.points = o3d.utility.Vector3dVector(lidar_points) + down_pcd = pcd.voxel_down_sample(voxel_size=voxel_size) + return np.asarray(down_pcd.points) + + +def filter_depth_points(lidar_points, max_depth_diff=0.9, use_norm=True): + if lidar_points.shape[0] == 0: + return lidar_points + + if use_norm: + depths = np.linalg.norm(lidar_points, axis=1) + else: + depths = lidar_points[:, 0] + + min_depth = np.min(depths) + max_possible_depth = min_depth + max_depth_diff + mask = depths < max_possible_depth + return lidar_points[mask] + + +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. + """ + 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() + + +def pose_to_matrix(pose): + """ + Compose a 4x4 transformation matrix from a pose state. + Assumes pose has attributes: x, y, z, yaw, pitch, roll, + where the angles are given in degrees. + """ + x = pose.x if pose.x is not None else 0.0 + y = pose.y if pose.y is not None else 0.0 + z = pose.z if pose.z is not None else 0.0 + if pose.yaw is not None and pose.pitch is not None and pose.roll is not None: + yaw = math.radians(pose.yaw) + pitch = math.radians(pose.pitch) + roll = math.radians(pose.roll) + else: + yaw = 0.0 + pitch = 0.0 + roll = 0.0 + R_mat = R.from_euler('zyx', [yaw, pitch, roll]).as_matrix() + T = np.eye(4) + T[:3, :3] = R_mat + T[:3, 3] = np.array([x, y, z]) + return T + + +def transform_points_l2c(lidar_points, T_l2c): + N = lidar_points.shape[0] + pts_hom = np.hstack((lidar_points, np.ones((N, 1)))) # (N,4) + pts_cam = (T_l2c @ pts_hom.T).T # (N,4) + return pts_cam[:, :3] + + +# ----- New: Vectorized projection function ----- +def project_points(pts_cam, K, original_lidar_points): + """ + Vectorized version. + pts_cam: (N,3) array of points in camera coordinates. + original_lidar_points: (N,3) array of points in LiDAR coordinates. + Returns a (M,5) array: [u, v, X_lidar, Y_lidar, Z_lidar] for all points with Z>0. + """ + mask = pts_cam[:, 2] > 0 + pts_cam_valid = pts_cam[mask] + lidar_valid = original_lidar_points[mask] + Xc = pts_cam_valid[:, 0] + Yc = pts_cam_valid[:, 1] + Zc = pts_cam_valid[:, 2] + u = (K[0, 0] * (Xc / Zc) + K[0, 2]).astype(np.int32) + v = (K[1, 1] * (Yc / Zc) + K[1, 2]).astype(np.int32) + proj = np.column_stack((u, v, lidar_valid)) + return proj + + +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. + """ + + def __init__(self, vehicle_interface: GEMInterface): + self.vehicle_interface = vehicle_interface + self.enable_tracking = settings.get('drive.perception.enable_tracking') + 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.camera_front = settings.get('drive.perception.camera_front') + self.visualize_2d = settings.get('drive.perception.visualize_2d') + self.use_cyl_roi = settings.get('drive.perception.use_cyl_roi') + self.start_time = None + self.use_start_frame = settings.get('drive.perception.use_start_frame') + self.save_data = settings.get('drive.perception.save_data') + self.orientation = settings.get('drive.perception.orientation') + self.undistort_map1 = None + self.undistort_map2 = None + + def rate(self) -> float: + return 10.0 + + def state_inputs(self) -> list: + return ['vehicle'] + + def state_outputs(self) -> list: + return ['agents'] + + def initialize(self): + self.rgb_sub = Subscriber('/camera_fr/arena_camera_node/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) + self.detector = YOLO('GEMstack/knowledge/detection/cone.pt') + self.detector.to('cuda') + + if self.camera_front: + self.K = np.array([[684.83331299, 0., 573.37109375], + [0., 684.60968018, 363.70092773], + [0., 0., 1.]]) + else: + self.K = np.array([[1.17625545e+03, 0.00000000e+00, 9.66432645e+02], + [0.00000000e+00, 1.17514569e+03, 6.08580326e+02], + [0.00000000e+00, 0.00000000e+00, 1.00000000e+00]]) + + if self.camera_front: + self.D = np.array([0.0, 0.0, 0.0, 0.0, 0.0]) + else: + self.D = np.array([-2.70136325e-01, 1.64393255e-01, -1.60720782e-03, -7.41246708e-05, + -6.19939758e-02]) + + 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.]]) + if self.camera_front: + self.T_l2c = 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] + ]) + else: + self.T_l2c = np.array([[-0.71836368, -0.69527204, -0.02346088, 0.05718003], + [-0.09720448, 0.13371206, -0.98624154, -0.1598301], + [0.68884317, -0.7061996, -0.16363744, -1.04767285], + [0., 0., 0., 1.]] + ) + 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]: + + start = time.time() + downsample = False + if self.latest_image is None or self.latest_lidar is None: + return {} + lastest_image = self.latest_image.copy() + # Ensure data/ exists and build timestamp + if downsample: + lidar_down = downsample_points(self.latest_lidar, voxel_size=0.1) + else: + lidar_down = self.latest_lidar.copy() + current_time = self.vehicle_interface.time() + if self.start_time is None: + self.start_time = current_time + time_elapsed = current_time - self.start_time + + if self.save_data: + 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" + ) + 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 + results_normal = self.detector(img_normal, conf=0.3, 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=0.3, classes=[0]) + results_right = self.detector(img_right, conf=0.3, 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)) + + 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() + pts_cam = transform_points_l2c(lidar_down, self.T_l2c) + projected_pts = project_points(pts_cam, self.current_K, lidar_down) + 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 / 2) + right = int(cx + w / 2) + 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, 30) + points_3d = filter_depth_points(points_3d, max_depth_diff=0.3) + + 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=0.3, 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=0.2) + 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 < 0.1: + 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 > 5.0] + 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 + + # ----- 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 From b52f082e873767d2befd09da962e4f749e1ae275 Mon Sep 17 00:00:00 2001 From: Shilan Date: Wed, 30 Apr 2025 10:17:47 -0500 Subject: [PATCH 45/99] to test velocity profile to get total time for unit test --- GEMstack/onboard/planning/racing_planning.py | 10 ++++++++++ 1 file changed, 10 insertions(+) diff --git a/GEMstack/onboard/planning/racing_planning.py b/GEMstack/onboard/planning/racing_planning.py index 55bd1d26f..aa68e9aa9 100644 --- a/GEMstack/onboard/planning/racing_planning.py +++ b/GEMstack/onboard/planning/racing_planning.py @@ -9,6 +9,7 @@ import matplotlib.pyplot as plt from scipy.optimize import minimize +from velocity_profile import compute_velocity_profile # --------------------------------------------------------------------------- Hua-Ta's Code START @@ -797,6 +798,14 @@ def plan_full_slalom_trajectory(vehicle_state, cones): current_pos = np.array([x[-1], y[-1]]) + times = [0.0] + # print(self.points) + points = [x_all, y_all] + # print(points) + times, velocities = compute_velocity_profile(points) + print(times, velocities) + print("total time: ", times[-1]) + return to_gemstack_trajectory(x_all, y_all, v_all) # def test_slalom_fixe @@ -1001,4 +1010,5 @@ def test_planning(case='slalom', test_loop=2): if case == 'slalom': cones.pop(0) # test_planning(case='slalom', test_loop=2) + plan_full_slalom_trajectory() # ------------ Test Code END -------------- \ No newline at end of file From cb4e8a4a6c9d9f56688a6e9dc0533b2d06233029 Mon Sep 17 00:00:00 2001 From: shilan Date: Thu, 1 May 2025 01:45:13 +0000 Subject: [PATCH 46/99] add velocity profiling to racing planner --- GEMstack/onboard/planning/racing_planning.py | 59 +++++++++----------- 1 file changed, 27 insertions(+), 32 deletions(-) diff --git a/GEMstack/onboard/planning/racing_planning.py b/GEMstack/onboard/planning/racing_planning.py index aa68e9aa9..911e5a80a 100644 --- a/GEMstack/onboard/planning/racing_planning.py +++ b/GEMstack/onboard/planning/racing_planning.py @@ -2,15 +2,13 @@ from ...state.vehicle import VehicleState from ..component import Component -from ...state.trajectory import Trajectory, compute_headings, Path#, racing_velocity_profile +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 velocity_profile import compute_velocity_profile - # --------------------------------------------------------------------------- Hua-Ta's Code START def scenario_check(vehicle_state, cone_state): @@ -798,15 +796,13 @@ def plan_full_slalom_trajectory(vehicle_state, cones): current_pos = np.array([x[-1], y[-1]]) - times = [0.0] - # print(self.points) - points = [x_all, y_all] - # print(points) - times, velocities = compute_velocity_profile(points) - print(times, velocities) - print("total time: ", times[-1]) + combined_xy = [[x, y] for x, y in zip(x_all, y_all)] + path = Path(ObjectFrameEnum.START,combined_xy) + path = compute_headings(path) + path = path.arc_length_parameterize() + return path.racing_velocity_profile() - return to_gemstack_trajectory(x_all, y_all, v_all) + # return to_gemstack_trajectory(x_all, y_all, v_all) # def test_slalom_fixe @@ -825,31 +821,31 @@ def state_outputs(self): def update(self, vehicle: VehicleState): if not self.planned: # 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'} - # ] - # 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'} + {'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': [-60.0, -39.0], - 'heading': np.pi * 2 / 3, - 'velocity': 0.0 + '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 + # } + # TODO: Optimization Failed # cones = [ # {'x': 0.0, 'y': 70.0, 'orientation': '90turn'}, @@ -1010,5 +1006,4 @@ def test_planning(case='slalom', test_loop=2): if case == 'slalom': cones.pop(0) # test_planning(case='slalom', test_loop=2) - plan_full_slalom_trajectory() # ------------ Test Code END -------------- \ No newline at end of file From c85e6010b23aa5f66007c2c350dcd4de4e449408 Mon Sep 17 00:00:00 2001 From: shilan Date: Fri, 2 May 2025 02:01:25 +0000 Subject: [PATCH 47/99] generate trajectory for whole slalom scenario --- GEMstack/onboard/planning/racing_planning.py | 70 +++++++++++++++++--- launch/racing_fixed_slalom.yaml | 2 +- 2 files changed, 61 insertions(+), 11 deletions(-) diff --git a/GEMstack/onboard/planning/racing_planning.py b/GEMstack/onboard/planning/racing_planning.py index 911e5a80a..6093191f0 100644 --- a/GEMstack/onboard/planning/racing_planning.py +++ b/GEMstack/onboard/planning/racing_planning.py @@ -36,7 +36,7 @@ def scenario_check(vehicle_state, cone_state): return cone_direction, cone_position -def waypoint_generate(vehicle_state, cone_state): +def waypoint_generate(vehicle_state, cones, cone_idx): """ Generate waypoints based on the scenario. Args: @@ -48,12 +48,14 @@ def waypoint_generate(vehicle_state, cone_state): flex_wp: flexible waypoint (used to maneuver) fixed_wp: fixed waypoint (goal position) """ - scenario, cone_position = scenario_check(vehicle_state, cone_state) + 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 = 5.0 # Radius for U-turn + 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 # ====================== @@ -64,12 +66,18 @@ def waypoint_generate(vehicle_state, cone_state): # 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 = 7 + num_arc_points = 9 # Generate waypoints in a smooth semi-circular pattern on the RIGHT side flex_wps_list = [] @@ -78,7 +86,7 @@ def waypoint_generate(vehicle_state, cone_state): # 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 ฯ€) - angle = i * np.pi / (num_arc_points - 1) + 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 @@ -91,6 +99,8 @@ def waypoint_generate(vehicle_state, cone_state): # 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): @@ -155,7 +165,16 @@ def waypoint_generate(vehicle_state, cone_state): flex_wps_list = None fixed_wp = None - return scenario, flex_wps_list, fixed_wp + 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 velocity_profiling(path, acceleration, deceleration, max_speed, current_speed, lateral_acc_limit): """ @@ -775,18 +794,19 @@ def plan_full_slalom_trajectory(vehicle_state, cones): 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]) + for cone_idx, cone in enumerate(cones): + scenario, flex_wps, fixed_wp, target_heading = waypoint_generate(vehicle_state, cones, cone_idx) 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': current_heading, 'c': 0.0 + '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) @@ -795,6 +815,33 @@ def plan_full_slalom_trajectory(vehicle_state, cones): 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)] path = Path(ObjectFrameEnum.START,combined_xy) @@ -825,7 +872,10 @@ def update(self, vehicle: VehicleState): {'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': 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], diff --git a/launch/racing_fixed_slalom.yaml b/launch/racing_fixed_slalom.yaml index 0c47aa399..2b40d51d2 100644 --- a/launch/racing_fixed_slalom.yaml +++ b/launch/racing_fixed_slalom.yaml @@ -69,7 +69,7 @@ variants: vehicle_interface: type: gem_simulator.GEMDoubleIntegratorSimulationInterface args: - scene: !relative_path '../scenes/xyhead_demo.yaml' + scene: !relative_path '../scenes/racing_sim_slalom.yaml' drive: perception: From de24dd3ece32c9bfb6fe035cdf2d9e7c66a2ce3a Mon Sep 17 00:00:00 2001 From: Hua-Ta Liang Date: Fri, 2 May 2025 03:33:14 -0500 Subject: [PATCH 48/99] Update planner to run both onboard and simulation --- GEMstack/onboard/interface/gem_simulator.py | 12 +- GEMstack/onboard/planning/racing_planning.py | 926 ++++++++++--------- GEMstack/state/agent.py | 1 + GEMstack/utils/klampt_visualization.py | 1 + scenes/racing_sim_circle.yaml | 3 +- scenes/racing_sim_slalom.yaml | 18 +- 6 files changed, 491 insertions(+), 470 deletions(-) diff --git a/GEMstack/onboard/interface/gem_simulator.py b/GEMstack/onboard/interface/gem_simulator.py index 2abfde71f..c60fe6cdd 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: diff --git a/GEMstack/onboard/planning/racing_planning.py b/GEMstack/onboard/planning/racing_planning.py index 6093191f0..9dadc80f9 100644 --- a/GEMstack/onboard/planning/racing_planning.py +++ b/GEMstack/onboard/planning/racing_planning.py @@ -1,5 +1,6 @@ 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 @@ -9,8 +10,13 @@ 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 +# -------------------------- -# --------------------------------------------------------------------------- Hua-Ta's Code START def scenario_check(vehicle_state, cone_state): """ Check the cone state and determine the scenario. @@ -31,7 +37,7 @@ def scenario_check(vehicle_state, cone_state): 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': + 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 @@ -72,7 +78,7 @@ def waypoint_generate(vehicle_state, cones, cone_idx): target_heading = np.arctan2(cone_position[1] - prev_cone_position[1], cone_position[0] - prev_cone_position[0]) - if scenario == 'standing': + if scenario == 'STANDING': # U-turn: Generate points in a semi-circular arc around the cone cone = np.array(cone_position) @@ -114,7 +120,7 @@ def waypoint_generate(vehicle_state, cones, cone_idx): # plt.grid(True) # plt.show() - elif scenario == 'left': + elif scenario == 'LEFT': cone = np.array(cone_position) # Flexible waypoint: go to the left of the cone @@ -125,7 +131,7 @@ def waypoint_generate(vehicle_state, cones, cone_idx): # 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': + elif scenario == 'RIGHT': cone = np.array(cone_position) # Flexible waypoint: go to the right of the cone @@ -175,149 +181,7 @@ def waypoint_generate(vehicle_state, cones, cone_idx): target_heading -= 2 * np.pi return scenario, flex_wps_list, fixed_wp, target_heading - -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=4.0, w_terminal=10.0, @@ -431,87 +295,6 @@ def dynamics_constraints(p): return x_full, y_full, psi_full, c_full, v_full, eps_, final_error -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 (ฮต)", color="green") - plt.xlabel("Step") - plt.ylabel("ฮต (1/mยฒ)") - 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}") - - - 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. @@ -548,38 +331,6 @@ def feasibility_check(trajectory, cone_map, car_width=2.0, safety_margin=0.3, v= 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) -# --------------------------------------------------------------------------- Shilan's Code END - def waypoint_search_optimization(vehicle_state, cones, search_attempts=3): valid_flex_wps = [] @@ -612,7 +363,7 @@ def waypoint_search_optimization(vehicle_state, cones, search_attempts=3): 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}") + # 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) @@ -620,138 +371,46 @@ def waypoint_search_optimization(vehicle_state, cones, search_attempts=3): break except: continue - if len(cones_copy) > 0: cones_copy.pop(0) - return valid_flex_wps, valid_fixed_wps -# ======= 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() -# 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 - } +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) - 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'} - ] +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'] - 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]) + 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 - - # 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 + # flex_wp = flex_wps[0] 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'] + 'c': 0.0, '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, y, psi, c, v, eps, _ = trajectory_generation(init_state, final_state, waypoints=flex_wps) x_all.extend(x) y_all.extend(y) - - plot_trajectory(x, y, v, c, eps) + v_all.extend(v) current_pos = np.array([x[-1], y[-1]]) current_heading = psi[-1] @@ -762,78 +421,16 @@ def test_fixed_course(): '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 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() - -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) - 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') + # # 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') @@ -844,38 +441,136 @@ def plan_full_slalom_trajectory(vehicle_state, cones): # 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 test_slalom_fixe +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.planned = False + 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 ['vehicle'] # Will receive a VehicleState input + return ['agents', 'vehicle'] # Receive VehicleState & AgentState input def state_outputs(self): - return ['trajectory'] + 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 - def update(self, vehicle: VehicleState): - if not self.planned: + 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'} + {'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], @@ -896,7 +591,7 @@ def update(self, vehicle: VehicleState): # 'velocity': 0.0 # } - # TODO: Optimization Failed + # Example Test - Racing Circle # cones = [ # {'x': 0.0, 'y': 70.0, 'orientation': '90turn'}, # {'x': 30.0, 'y': 70.0, 'orientation': '90turn'}, @@ -908,12 +603,331 @@ def update(self, vehicle: VehicleState): # 'heading': 0.0, # 'velocity': 0.0 # } + self.trajectory = plan_full_slalom_trajectory(vehicle_dict, cones) - self.planned = True + 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 (ฮต)", color="green") + plt.xlabel("Step") + plt.ylabel("ฮต (1/mยฒ)") + 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}") + + + +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) + + +# 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 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/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/scenes/racing_sim_circle.yaml b/scenes/racing_sim_circle.yaml index 9afbeb2b9..b64345db5 100644 --- a/scenes/racing_sim_circle.yaml +++ b/scenes/racing_sim_circle.yaml @@ -1,4 +1,5 @@ -vehicle_state: [0.0, 20.0, 0.0, 0.0, 0.0] +# 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 diff --git a/scenes/racing_sim_slalom.yaml b/scenes/racing_sim_slalom.yaml index c5674103b..6065b0dbb 100644 --- a/scenes/racing_sim_slalom.yaml +++ b/scenes/racing_sim_slalom.yaml @@ -1,33 +1,33 @@ -vehicle_state: [0.0, 0.0, 0.0, 0.0, 0.0] +vehicle_state: [0.0, 0.0, 0.0, 0.0, 0.0] # [x, y, yaw, v, front_wheel_angle] agents: cone1: - type: pedestrian + type: cone position: [10.0, 0.0] nominal_velocity: 0.0 target: [10.0, 0.0] # target: [10.0,10.0] - behavior: loop + behavior: stationary cone2: - type: pedestrian + type: cone position: [30.0, 1.0] nominal_velocity: 0.0 target: [30.0, 1.0] # target: [10.0,10.0] - behavior: loop + behavior: stationary cone3: - type: pedestrian + type: cone position: [50.0, 0.0] nominal_velocity: 0.0 target: [50.0, 0.0] # target: [10.0,10.0] - behavior: loop + behavior: stationary cone4: - type: pedestrian + type: cone position: [70.0, 1.0] nominal_velocity: 0.0 target: [70.0, 1.0] # target: [10.0,10.0] - behavior: loop + behavior: stationary From 66285d32b49a9c741a0f9811051a26c748633bff Mon Sep 17 00:00:00 2001 From: diegoasfmravpp Date: Mon, 5 May 2025 16:30:57 -0500 Subject: [PATCH 49/99] splines for path smoothing and updated stanley --- GEMstack/onboard/planning/stanley.py | 81 ++++++++++++++++++---------- GEMstack/state/trajectory.py | 22 +++++++- 2 files changed, 75 insertions(+), 28 deletions(-) diff --git a/GEMstack/onboard/planning/stanley.py b/GEMstack/onboard/planning/stanley.py index 2c09910c8..f00fdff5a 100644 --- a/GEMstack/onboard/planning/stanley.py +++ b/GEMstack/onboard/planning/stanley.py @@ -181,6 +181,7 @@ def compute(self, state: VehicleState, component: Component = None): # 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 @@ -208,31 +209,56 @@ def compute(self, state: VehicleState, component: Component = None): if component: component.debug_event("Stanley: Past the end of trajectory, stopping.") desired_speed = 0.0 - feedforward_accel = -2.0 + feedforward_accel = -2.0 else: - if self.desired_speed_source == 'path': - current_trajectory_time = self.trajectory.parameter_to_time(self.current_path_parameter) + # 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: - 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) + 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 @@ -334,10 +360,11 @@ def update(self, vehicle: VehicleState, trajectory: Trajectory): 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) + # 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: diff --git a/GEMstack/state/trajectory.py b/GEMstack/state/trajectory.py index c77523352..97780969e 100644 --- a/GEMstack/state/trajectory.py +++ b/GEMstack/state/trajectory.py @@ -7,6 +7,8 @@ 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 @@ -389,7 +391,25 @@ 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 = [] From 9f8476f8dd5426af92f808029eee3c7380017113 Mon Sep 17 00:00:00 2001 From: Hua-Ta Liang Date: Wed, 7 May 2025 04:44:36 -0500 Subject: [PATCH 50/99] Update planner logic with real-time detection --- GEMstack/onboard/planning/racing_planning.py | 30 +- .../planning/racing_planning_online.py | 1048 +++++++++++++++++ launch/racing_fixed_slalom_online.yaml | 82 ++ 3 files changed, 1145 insertions(+), 15 deletions(-) create mode 100644 GEMstack/onboard/planning/racing_planning_online.py create mode 100644 launch/racing_fixed_slalom_online.yaml diff --git a/GEMstack/onboard/planning/racing_planning.py b/GEMstack/onboard/planning/racing_planning.py index 9dadc80f9..754ac5d52 100644 --- a/GEMstack/onboard/planning/racing_planning.py +++ b/GEMstack/onboard/planning/racing_planning.py @@ -517,26 +517,26 @@ def update(self, agents: Dict[str, AgentState], vehicle: VehicleState): 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 + # 'orientation': agent.activity # }) - # n = n + 1 + # ===== 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], 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 ฯ€ + # 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 ฯ€) + 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 (ฮต)", color="green") + plt.xlabel("Step") + plt.ylabel("ฮต (1/mยฒ)") + 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/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" From d578493c142b3f42c17b4c7b617f10f6561d3ad3 Mon Sep 17 00:00:00 2001 From: Dhruv Agarwal <63619126+dh-agarwal@users.noreply.github.com> Date: Wed, 7 May 2025 10:04:00 -0500 Subject: [PATCH 51/99] Update cone_detection.py --- GEMstack/onboard/perception/cone_detection.py | 539 ++++++------------ 1 file changed, 173 insertions(+), 366 deletions(-) diff --git a/GEMstack/onboard/perception/cone_detection.py b/GEMstack/onboard/perception/cone_detection.py index afd9cc96a..42ea26169 100644 --- a/GEMstack/onboard/perception/cone_detection.py +++ b/GEMstack/onboard/perception/cone_detection.py @@ -1,299 +1,101 @@ 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 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 -import math -import ros_numpy import os -from ...utils import settings +import yaml -# ----- Helper Functions ----- - -def cylindrical_roi(points, center, radius, height): - horizontal_dist = np.linalg.norm(points[:, :2] - center[:2], axis=1) - vertical_diff = np.abs(points[:, 2] - center[2]) - mask = (horizontal_dist <= radius) & (vertical_diff <= height / 2) - return points[mask] - - -def filter_points_within_threshold(points, threshold=15.0): - distances = np.linalg.norm(points, axis=1) - mask = distances <= threshold - return points[mask] - - -def match_existing_cone( - new_center: np.ndarray, - new_dims: tuple, - existing_agents: Dict[str, AgentState], - distance_threshold: float = 1.0 -) -> str: - """ - Find the closest existing Cone agent within a specified distance threshold. - """ - 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 (vx, vy, vz) velocity based on change in pose over time. - """ - 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. - """ - 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 quickly using ros_numpy. - This function extracts the x, y, z coordinates from the point cloud. - """ - # Convert the ROS message to a numpy structured array - pc = ros_numpy.point_cloud2.pointcloud2_to_array(pc2_msg) - # Stack x,y,z fields to a (N,3) array - pts = np.stack((np.array(pc['x']).ravel(), - np.array(pc['y']).ravel(), - np.array(pc['z']).ravel()), axis=1) - # Apply filtering (for example, x > 0 and z in a specified range) - mask = (pts[:, 0] > -0.5) & (pts[:, 2] < -1) & (pts[:, 2] > -2.7) - return pts[mask] - - -def backproject_pixel(u, v, K): - """ - Backprojects a pixel coordinate (u, v) into a normalized 3D ray in the camera coordinate system. - """ - 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 along a projected ray. - (This function is no longer used in the new approach.) - """ - 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. - """ - 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 return the cluster closest to 'center'. - """ - if roi_points.shape[0] < min_samples: - return roi_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 points within z_range of the minimum z (assumed to be ground). - """ - 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. - """ - 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. +class ConeDetector3D(Component): """ - 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 downsample_points(lidar_points, voxel_size=0.15): - pcd = o3d.geometry.PointCloud() - pcd.points = o3d.utility.Vector3dVector(lidar_points) - down_pcd = pcd.voxel_down_sample(voxel_size=voxel_size) - return np.asarray(down_pcd.points) - - -def filter_depth_points(lidar_points, max_depth_diff=0.9, use_norm=True): - if lidar_points.shape[0] == 0: - return lidar_points - - if use_norm: - depths = np.linalg.norm(lidar_points, axis=1) - else: - depths = lidar_points[:, 0] - - min_depth = np.min(depths) - max_possible_depth = min_depth + max_depth_diff - mask = depths < max_possible_depth - return lidar_points[mask] + 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. -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. + Supports multiple cameras; each cameraโ€™s intrinsics and extrinsics are + loaded from a single YAML calibration file via plain PyYAML. """ - 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() - -def pose_to_matrix(pose): - """ - Compose a 4x4 transformation matrix from a pose state. - Assumes pose has attributes: x, y, z, yaw, pitch, roll, - where the angles are given in degrees. - """ - x = pose.x if pose.x is not None else 0.0 - y = pose.y if pose.y is not None else 0.0 - z = pose.z if pose.z is not None else 0.0 - if pose.yaw is not None and pose.pitch is not None and pose.roll is not None: - yaw = math.radians(pose.yaw) - pitch = math.radians(pose.pitch) - roll = math.radians(pose.roll) - else: - yaw = 0.0 - pitch = 0.0 - roll = 0.0 - R_mat = R.from_euler('zyx', [yaw, pitch, roll]).as_matrix() - T = np.eye(4) - T[:3, :3] = R_mat - T[:3, 3] = np.array([x, y, z]) - return T - - -def transform_points_l2c(lidar_points, T_l2c): - N = lidar_points.shape[0] - pts_hom = np.hstack((lidar_points, np.ones((N, 1)))) # (N,4) - pts_cam = (T_l2c @ pts_hom.T).T # (N,4) - return pts_cam[:, :3] - - -# ----- New: Vectorized projection function ----- -def project_points(pts_cam, K, original_lidar_points): - """ - Vectorized version. - pts_cam: (N,3) array of points in camera coordinates. - original_lidar_points: (N,3) array of points in LiDAR coordinates. - Returns a (M,5) array: [u, v, X_lidar, Y_lidar, Z_lidar] for all points with Z>0. - """ - mask = pts_cam[:, 2] > 0 - pts_cam_valid = pts_cam[mask] - lidar_valid = original_lidar_points[mask] - Xc = pts_cam_valid[:, 0] - Yc = pts_cam_valid[:, 1] - Zc = pts_cam_valid[:, 2] - u = (K[0, 0] * (Xc / Zc) + K[0, 2]).astype(np.int32) - v = (K[1, 1] * (Yc / Zc) + K[1, 2]).astype(np.int32) - proj = np.column_stack((u, v, lidar_valid)) - return proj + 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 lidarโ†’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) -class ConeDetector3D(Component): - """ - Detects cones by fusing YOLO 2D detections with LiDAR point cloud data. + # 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']) - Tracking is optional: set `enable_tracking=False` to disable persistent tracking - and return only detections from the current frame. - """ + # Derived transforms - def __init__(self, vehicle_interface: GEMInterface): - self.vehicle_interface = vehicle_interface - self.enable_tracking = settings.get('drive.perception.enable_tracking') - 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.camera_front = settings.get('drive.perception.camera_front') - self.visualize_2d = settings.get('drive.perception.visualize_2d') - self.use_cyl_roi = settings.get('drive.perception.use_cyl_roi') - self.start_time = None - self.use_start_frame = settings.get('drive.perception.use_start_frame') - self.save_data = settings.get('drive.perception.save_data') - self.orientation = settings.get('drive.perception.orientation') self.undistort_map1 = None self.undistort_map2 = None + self.camera_front = (camera_name=='front') def rate(self) -> float: - return 10.0 + return 8 def state_inputs(self) -> list: return ['vehicle'] @@ -302,48 +104,30 @@ def state_outputs(self) -> list: return ['agents'] def initialize(self): - self.rgb_sub = Subscriber('/camera_fr/arena_camera_node/image_raw', Image) + # --- 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=10, slop=0.1) + 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') - - if self.camera_front: - self.K = np.array([[684.83331299, 0., 573.37109375], - [0., 684.60968018, 363.70092773], - [0., 0., 1.]]) - else: - self.K = np.array([[1.17625545e+03, 0.00000000e+00, 9.66432645e+02], - [0.00000000e+00, 1.17514569e+03, 6.08580326e+02], - [0.00000000e+00, 0.00000000e+00, 1.00000000e+00]]) - - if self.camera_front: - self.D = np.array([0.0, 0.0, 0.0, 0.0, 0.0]) - else: - self.D = np.array([-2.70136325e-01, 1.64393255e-01, -1.60720782e-03, -7.41246708e-05, - -6.19939758e-02]) - - 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.]]) - if self.camera_front: - self.T_l2c = 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] - ]) - else: - self.T_l2c = np.array([[-0.71836368, -0.69527204, -0.02346088, 0.05718003], - [-0.09720448, 0.13371206, -0.98624154, -0.1598301], - [0.68884317, -0.7061996, -0.16363744, -1.04767285], - [0., 0., 0., 1.]] - ) - self.T_c2l = np.linalg.inv(self.T_l2c) - self.R_c2l = self.T_c2l[:3, :3] + 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): @@ -373,79 +157,53 @@ def undistort_image(self, image, K, D): return undistorted, newK def update(self, vehicle: VehicleState) -> Dict[str, AgentState]: - - start = time.time() 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() - # Ensure data/ exists and build timestamp + + # 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() - current_time = self.vehicle_interface.time() + 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: - 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" - ) - 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] + 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 - results_normal = self.detector(img_normal, conf=0.3, classes=[0]) + # --- 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=0.3, classes=[0]) - results_right = self.detector(img_right, conf=0.3, classes=[0]) + 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: @@ -464,6 +222,8 @@ def update(self, vehicle: VehicleState) -> Dict[str, AgentState]: 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) @@ -487,10 +247,16 @@ def update(self, vehicle: VehicleState) -> Dict[str, AgentState]: 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) @@ -498,8 +264,8 @@ def update(self, vehicle: VehicleState) -> Dict[str, AgentState]: for i, box_info in enumerate(combined_boxes): cx, cy, w, h, activity = box_info - left = int(cx - w / 2) - right = int(cx + w / 2) + 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) & \ @@ -509,14 +275,15 @@ def update(self, vehicle: VehicleState) -> Dict[str, AgentState]: continue points_3d = roi_pts[:, 2:5] - points_3d = filter_points_within_threshold(points_3d, 30) - points_3d = filter_depth_points(points_3d, max_depth_diff=0.3) + 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=0.3, height=1.2) + 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=0.2) + refined_cluster = filter_depth_points(refined_cluster, max_depth_diff=0.3) else: refined_cluster = points_3d.copy() # end1 = time.time() @@ -570,7 +337,7 @@ def update(self, vehicle: VehicleState) -> Dict[str, AgentState]: ) if existing_id is not None: old_state = self.tracked_agents[existing_id] - if vehicle.v < 0.1: + 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 @@ -648,7 +415,7 @@ def update(self, vehicle: VehicleState) -> Dict[str, AgentState]: return self.current_agents stale_ids = [agent_id for agent_id, agent in self.tracked_agents.items() - if current_time - agent.pose.t > 5.0] + 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] @@ -666,6 +433,46 @@ def update(self, vehicle: VehicleState) -> Dict[str, AgentState]: # 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) ----- From c082cbe998d2889d2d65d6aef7694a89ff28ef48 Mon Sep 17 00:00:00 2001 From: Avery Plote Date: Wed, 7 May 2025 11:16:20 -0400 Subject: [PATCH 52/99] remove commented out launch control code in gem_hardware.py --- GEMstack/onboard/interface/gem_hardware.py | 9 --------- 1 file changed, 9 deletions(-) diff --git a/GEMstack/onboard/interface/gem_hardware.py b/GEMstack/onboard/interface/gem_hardware.py index 879d9e21b..4543a4ef8 100644 --- a/GEMstack/onboard/interface/gem_hardware.py +++ b/GEMstack/onboard/interface/gem_hardware.py @@ -295,15 +295,6 @@ def send_command(self, command : GEMVehicleCommand): 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("**************************") From 350d815fca2af30500bffca1ef004f4b591aba5d Mon Sep 17 00:00:00 2001 From: diegoasfmravpp Date: Wed, 7 May 2025 11:02:49 -0500 Subject: [PATCH 53/99] added turn rate and accel limits to planner in trajectory_generation_dynamics --- GEMstack/onboard/planning/racing_planning.py | 144 +++++++++++++++++++ 1 file changed, 144 insertions(+) diff --git a/GEMstack/onboard/planning/racing_planning.py b/GEMstack/onboard/planning/racing_planning.py index 754ac5d52..332a4c5f1 100644 --- a/GEMstack/onboard/planning/racing_planning.py +++ b/GEMstack/onboard/planning/racing_planning.py @@ -295,6 +295,150 @@ def dynamics_constraints(p): return x_full, y_full, psi_full, c_full, v_full, eps_, final_error +######## more dynamics version +def trajectory_generation_dynamics(init_state, final_state, N=30, Lr=1.5, + a_min=-3.0, a_max=3.0, + eps_min=-0.2, eps_max=0.2, + v_min=2.0, v_max=11.0, + T_min = 0.5, T_max = 1000.0, + waypoints=None, waypoint_penalty_weight=10, waypoint_headings=None): + """ + 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): + T_total = p[-1] + return T_total + + 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)]) + # print("x_: " +str(x_)) + split_idx = 5 *(N - 1) + x_, y_, psi_, c_, v_= np.split(p[:split_idx], 5) + + a = p[split_idx:split_idx + (N - 1)] + eps = p[split_idx + (N - 1):-1] + T_total = p[-1] + T_k = T_total / (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_k + dy = v_prev * np.sin(psi_prev + c_prev * Lr) * T_k + dpsi = v_prev * c_prev * T_k + dv = a[k] * T_k + dc = eps[k] * T_k + constraints.extend([ + x_[k] - (x_prev + dx), + y_[k] - (y_prev + dy), + psi_[k] - (psi_prev + dpsi), + v_[k] - (v_prev + dv), + 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 + + def waypoint_penalty(p): + if waypoints is None or len(waypoints) == 0: + return 0.0 + + split_idx = 5 *(N - 1) + x_, y_, psi_, c_, v_= np.split(p[:split_idx], 5) + # x_ = p[:N -1] + # y_ = p[N - 1:2 * (N-1)] + # psi_ = [ 3 * (N - 1)] + # 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)] + penalty = 0.0 + alignment_threshold = 0.3 + # Sum penalties for each waypoint at its corresponding index + for wp_idx, waypoint in enumerate(waypoints): + traj_idx = indices[wp_idx] + penalty += waypoint_penalty_weight * ( + (x_[traj_idx] - waypoint[0])**2 + (y_[traj_idx] - waypoint[1])**2 + ) + return penalty + + # 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'] + + a_vals = np.zeros(N - 1) + eps_vals = np.zeros(N - 1) + T_guess = 60.0 + + p0 = np.concatenate([x_vals[1:], y_vals[1:], psi_vals[1:], c_vals[1:], v_vals[1:], + a_vals, eps_vals, [T_guess]]) + num_vars = len(p0) + bounds = ([(None, None)] * (4 * (N - 1)) + + [(v_min, v_max)] * (N - 1) + + [(a_min, a_max)] * (N - 1) + + [(eps_min, eps_max)] * (N - 1) + + [(T_min, T_max)] + ) + def total_cost(p): + return cost(p) + waypoint_penalty(p) + + result = minimize(total_cost, + p0, + bounds=bounds, + constraints={'type': 'eq', 'fun': dynamics_constraints}, + options={'maxiter': 1000}) + + # print("result.x:" + str(result.x)) + if not result.success: + raise RuntimeError("Optimization failed") + + split_idx = 5 *(N - 1) + x_, y_, psi_, c_, v_= np.split(result.x[:split_idx], 5) + + a = result.x[split_idx:split_idx + (N - 1)] + eps = result.x[split_idx + (N - 1):-1] + T_total = result.x[-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, a, eps, T_total, 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. From 139354e97d264df08ff2e27a842098f311a4a39f Mon Sep 17 00:00:00 2001 From: xTheQAZx Date: Wed, 7 May 2025 13:59:17 -0500 Subject: [PATCH 54/99] cone logging logic? --- GEMstack/onboard/perception/cone_detection.py | 45 ++++++++++++++++++- 1 file changed, 44 insertions(+), 1 deletion(-) diff --git a/GEMstack/onboard/perception/cone_detection.py b/GEMstack/onboard/perception/cone_detection.py index 42ea26169..136d00481 100644 --- a/GEMstack/onboard/perception/cone_detection.py +++ b/GEMstack/onboard/perception/cone_detection.py @@ -15,7 +15,8 @@ import time import os import yaml - +import json +import matplotlib.pyplot as plt class ConeDetector3D(Component): """ @@ -94,6 +95,9 @@ def __init__( self.undistort_map2 = None self.camera_front = (camera_name=='front') + # Logger + self.detection_log = [] + def rate(self) -> float: return 8 @@ -432,6 +436,45 @@ def update(self, vehicle: VehicleState) -> Dict[str, AgentState]: end = time.time() # print('-------processing time', end -start) return self.tracked_agents + + def log_cone_data_to_file(self, agents_dict, step_n, save_path="cone_log.json"): + for agent_id, agent in agents_dict.items(): + self.detection_log.append({ + 'n': step_n, + 'id': agent_id, + 'x': agent.pose.x, + 'y': agent.pose.y, + 'orientation': str(agent.activity) + }) + with open(save_path, "w") as f: + json.dump(self.detection_log, f, indent=2) + + def visualize_cone_positions(self, log_path="cone_log.json"): + with open(log_path, "r") as f: + data = json.load(f) + + xs, ys, colors = [], [], [] + for entry in data: + xs.append(entry["x"]) + ys.append(entry["y"]) + orientation = entry["orientation"] + if orientation == "AgentActivityEnum.RIGHT": + colors.append("green") + elif orientation == "AgentActivityEnum.LEFT": + colors.append("red") + elif orientation == "AgentActivityEnum.STANDING": + colors.append("blue") + else: + colors.append("gray") + + plt.figure(figsize=(8, 6)) + plt.scatter(xs, ys, c=colors, label="Cones") + plt.xlabel("X Position (m)") + plt.ylabel("Y Position (m)") + plt.title("Cone Positions Over Time") + plt.grid(True) + plt.axis("equal") + plt.show() def save_sensor_data(self, vehicle: VehicleState, latest_image) -> None: os.makedirs("data", exist_ok=True) From f45f962093e2d2e698c4be5db96f79beabd45268 Mon Sep 17 00:00:00 2001 From: Avery Plote Date: Wed, 7 May 2025 17:52:42 -0400 Subject: [PATCH 55/99] Remove logs and unneeded files --- testing/phone_accels.csv | 7507 ----------------- testing/racing_logs/gg_data/behavior.json | 6974 --------------- testing/racing_logs/gg_data/gg_diagram.png | Bin 1100595 -> 0 bytes testing/racing_logs/gg_data/meta.yaml | 19 - testing/racing_logs/gg_data/settings.yaml | 300 - .../PurePursuitTrajectoryTracker_debug.csv | 857 -- .../racing_logs/launch_control/behavior.json | 1030 --- testing/racing_logs/launch_control/meta.yaml | 19 - .../racing_logs/launch_control/settings.yaml | 325 - .../PurePursuitTrajectoryTracker_debug.csv | 767 -- .../launch_control_2/behavior.json | 922 -- .../racing_logs/launch_control_2/meta.yaml | 19 - .../launch_control_2/settings.yaml | 327 - .../manual_launch_control/behavior.json | 236 - .../manual_launch_control/meta.yaml | 19 - .../manual_launch_control/settings.yaml | 300 - 16 files changed, 19621 deletions(-) delete mode 100644 testing/phone_accels.csv delete mode 100644 testing/racing_logs/gg_data/behavior.json delete mode 100644 testing/racing_logs/gg_data/gg_diagram.png delete mode 100644 testing/racing_logs/gg_data/meta.yaml delete mode 100644 testing/racing_logs/gg_data/settings.yaml delete mode 100644 testing/racing_logs/launch_control/PurePursuitTrajectoryTracker_debug.csv delete mode 100644 testing/racing_logs/launch_control/behavior.json delete mode 100644 testing/racing_logs/launch_control/meta.yaml delete mode 100644 testing/racing_logs/launch_control/settings.yaml delete mode 100644 testing/racing_logs/launch_control_2/PurePursuitTrajectoryTracker_debug.csv delete mode 100644 testing/racing_logs/launch_control_2/behavior.json delete mode 100644 testing/racing_logs/launch_control_2/meta.yaml delete mode 100644 testing/racing_logs/launch_control_2/settings.yaml delete mode 100644 testing/racing_logs/manual_launch_control/behavior.json delete mode 100644 testing/racing_logs/manual_launch_control/meta.yaml delete mode 100644 testing/racing_logs/manual_launch_control/settings.yaml diff --git a/testing/phone_accels.csv b/testing/phone_accels.csv deleted file mode 100644 index d204a9682..000000000 --- a/testing/phone_accels.csv +++ /dev/null @@ -1,7507 +0,0 @@ -Time (s),Linear Acceleration x (m/s^2),Linear Acceleration y (m/s^2),Linear Acceleration z (m/s^2),Absolute acceleration (m/s^2) -0.002201583469,-0.0664243424,-0.03412830655,0.07313463449,0.1045256396 -0.01224258333,-0.0922835714,-0.03203695851,-0.07550275683,0.1234637216 -0.02228358341,-0.09904636966,0.03610824686,-0.07175761521,0.1275270331 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a/testing/racing_logs/gg_data/meta.yaml +++ /dev/null @@ -1,19 +0,0 @@ -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 deleted file mode 100644 index 7edac7f70..000000000 --- a/testing/racing_logs/gg_data/settings.yaml +++ /dev/null @@ -1,300 +0,0 @@ -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 deleted file mode 100644 index aea52ecf3..000000000 --- a/testing/racing_logs/launch_control/PurePursuitTrajectoryTracker_debug.csv +++ /dev/null @@ -1,857 +0,0 @@ -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 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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": 1744060585.3764718} -{"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": 1.0062922214487287e-18, "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": 1744060585.3964396} -{"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": 1.0062922214487287e-18, "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": 1744060585.4164422} -{"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": 1.0062922214487287e-18, "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": 1744060585.4364357} -{"vehicle": {"type": "VehicleState", "data": {"pose": {"frame": 2, "t": 1744060585.4567752, "x": -88.23558999641129, "y": 40.09281032292764, "z": 201.28768039699955, "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": 1744060585.456467} -{"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": 1.0062922214487287e-18, "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": 1744060585.456467} diff --git a/testing/racing_logs/launch_control/meta.yaml b/testing/racing_logs/launch_control/meta.yaml deleted file mode 100644 index 0dc126406..000000000 --- a/testing/racing_logs/launch_control/meta.yaml +++ /dev/null @@ -1,19 +0,0 @@ -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 deleted file mode 100644 index d41e50bb8..000000000 --- a/testing/racing_logs/launch_control/settings.yaml +++ /dev/null @@ -1,325 +0,0 @@ -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 deleted file mode 100644 index 294df95a3..000000000 --- a/testing/racing_logs/launch_control_2/PurePursuitTrajectoryTracker_debug.csv +++ /dev/null @@ -1,767 +0,0 @@ -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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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 deleted file mode 100644 index 4c05a311f..000000000 --- a/testing/racing_logs/launch_control_2/meta.yaml +++ /dev/null @@ -1,19 +0,0 @@ -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 deleted file mode 100644 index b5981eb6c..000000000 --- a/testing/racing_logs/launch_control_2/settings.yaml +++ /dev/null @@ -1,327 +0,0 @@ -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 deleted file mode 100644 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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 deleted file mode 100644 index ff8f42a7c..000000000 --- a/testing/racing_logs/manual_launch_control/meta.yaml +++ /dev/null @@ -1,19 +0,0 @@ -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 deleted file mode 100644 index 2c14a1d17..000000000 --- a/testing/racing_logs/manual_launch_control/settings.yaml +++ /dev/null @@ -1,300 +0,0 @@ -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 From dc555aa0bb9181c09ca2997631221795526a0c6e Mon Sep 17 00:00:00 2001 From: Avery Plote Date: Wed, 7 May 2025 17:57:07 -0400 Subject: [PATCH 56/99] Remove old versions of racing planner --- .../onboard/planning/racing_planning_old.py | 840 ------------- .../planning/racing_planning_online.py | 1048 ----------------- .../planning/racing_planning_trajectory.py | 196 --- .../planning/racing_planning_waypoint.py | 256 ---- 4 files changed, 2340 deletions(-) delete mode 100644 GEMstack/onboard/planning/racing_planning_old.py delete mode 100644 GEMstack/onboard/planning/racing_planning_online.py delete mode 100644 GEMstack/onboard/planning/racing_planning_trajectory.py delete mode 100644 GEMstack/onboard/planning/racing_planning_waypoint.py diff --git a/GEMstack/onboard/planning/racing_planning_old.py b/GEMstack/onboard/planning/racing_planning_old.py deleted file mode 100644 index 54085a656..000000000 --- a/GEMstack/onboard/planning/racing_planning_old.py +++ /dev/null @@ -1,840 +0,0 @@ -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 ฯ€ - # 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 ฯ€) - 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 (ฮต)", color="green") - plt.xlabel("Step") - plt.ylabel("ฮต (1/mยฒ)") - 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 deleted file mode 100644 index 6729d968e..000000000 --- a/GEMstack/onboard/planning/racing_planning_online.py +++ /dev/null @@ -1,1048 +0,0 @@ -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 ฯ€ - # 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 ฯ€) - 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 (ฮต)", color="green") - plt.xlabel("Step") - plt.ylabel("ฮต (1/mยฒ)") - 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 deleted file mode 100644 index 1886e41f7..000000000 --- a/GEMstack/onboard/planning/racing_planning_trajectory.py +++ /dev/null @@ -1,196 +0,0 @@ -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 (ฯˆ)") - plt.ylabel("ฯˆ (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 (ฮต)", color='green') - plt.xlabel("Time Step") - plt.ylabel("ฮต (1/mยฒ)") - 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 deleted file mode 100644 index 950911c71..000000000 --- a/GEMstack/onboard/planning/racing_planning_waypoint.py +++ /dev/null @@ -1,256 +0,0 @@ -# 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') From 767d1c979b7c7f0f7c3d482d38e194d339645d39 Mon Sep 17 00:00:00 2001 From: Adi Pillai <76452932+Adi9103@users.noreply.github.com> Date: Wed, 7 May 2025 16:49:15 -0500 Subject: [PATCH 57/99] modularized launch_ctrl --- GEMstack/onboard/planning/launch_control.py | 39 +++++++++++++++++++++ GEMstack/onboard/planning/pure_pursuit.py | 32 +++++------------ GEMstack/onboard/planning/stanley.py | 33 ++++++----------- 3 files changed, 58 insertions(+), 46 deletions(-) create mode 100644 GEMstack/onboard/planning/launch_control.py diff --git a/GEMstack/onboard/planning/launch_control.py b/GEMstack/onboard/planning/launch_control.py new file mode 100644 index 000000000..9775595af --- /dev/null +++ b/GEMstack/onboard/planning/launch_control.py @@ -0,0 +1,39 @@ +import rospy + +class LaunchControl: + def __init__(self, stage_duration, stop_threshold): + self.enable_launch_control = True + self.stage_duration = stage_duration + self.stop_threshold = stop_threshold + self._launch_start_time = None + + def reset(self): + self.enable_launch_control = True + self._launch_start_time = None + + + def apply_launch_control(self, cmd, vehicle_velocity): + + if vehicle_velocity < self.stop_threshold: + self.reset() + + if self.enable_launch_control: + print("launch control active") + if self._launch_start_time is None: + 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 + + return cmd \ No newline at end of file diff --git a/GEMstack/onboard/planning/pure_pursuit.py b/GEMstack/onboard/planning/pure_pursuit.py index c0ac79288..9936d135e 100644 --- a/GEMstack/onboard/planning/pure_pursuit.py +++ b/GEMstack/onboard/planning/pure_pursuit.py @@ -7,6 +7,7 @@ from ...knowledge.vehicle.geometry import front2steer from ..interface.gem import GEMVehicleCommand from ..component import Component +from .launch_control import LaunchControl import numpy as np import rospy @@ -20,7 +21,6 @@ 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 @@ -37,10 +37,6 @@ 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 @@ -235,8 +231,12 @@ 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) + launch_control_enabled = settings.get('control.launch_control.enable', 0) + if launch_control_enabled: + stage_duration = settings.get('control.launch_control.stage_duration', 0.5) + self.launch_control = LaunchControl(stage_duration, stop_threshold=0.1) + else: + self.launch_control = None def rate(self): return 50.0 @@ -255,23 +255,9 @@ def update(self, vehicle : VehicleState, trajectory: Trajectory): #print("Desired steering angle",steering_angle) cmd = self.vehicle_interface.simple_command(accel, steering_angle, vehicle) + if self.launch_control: + cmd = self.launch_control.apply_launch_control(cmd, vehicle.v) - 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) diff --git a/GEMstack/onboard/planning/stanley.py b/GEMstack/onboard/planning/stanley.py index f00fdff5a..e87093649 100644 --- a/GEMstack/onboard/planning/stanley.py +++ b/GEMstack/onboard/planning/stanley.py @@ -12,6 +12,7 @@ from ...state.trajectory import Path, Trajectory from ..interface.gem import GEMVehicleCommand from ..component import Component +from .launch_control import LaunchControl ##################################### # 1. Angle normalization @@ -71,9 +72,6 @@ def __init__( 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 @@ -332,8 +330,13 @@ def __init__(self, vehicle_interface=None, **kwargs): 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 + + launch_control_enabled = settings.get('control.launch_control.enable', 0) + if launch_control_enabled: + stage_duration = settings.get('control.launch_control.stage_duration', 0.5) + self.launch_control = LaunchControl(stage_duration, stop_threshold=0.1) + else: + self.launch_control = None def rate(self): """Control frequency in Hz.""" @@ -376,24 +379,8 @@ def update(self, vehicle: VehicleState, trajectory: Trajectory): ) 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 - + if self.launch_control: + cmd = self.launch_control.apply_launch_control(cmd, vehicle.v) self.vehicle_interface.send_command(cmd) From bf5a15127055efe676ceaa017bab8ee0ce1a0eb3 Mon Sep 17 00:00:00 2001 From: Avery Plote Date: Fri, 2 May 2025 09:09:48 -0400 Subject: [PATCH 58/99] add velocity profile plotting from behavior.json --- tuning logs/plot_json.py | 43 ++++++++++++++++++++++++++++++++++++++++ 1 file changed, 43 insertions(+) create mode 100644 tuning logs/plot_json.py diff --git a/tuning logs/plot_json.py b/tuning logs/plot_json.py new file mode 100644 index 000000000..6396d974c --- /dev/null +++ b/tuning logs/plot_json.py @@ -0,0 +1,43 @@ +import json +import matplotlib.pyplot as plt +import matplotlib.dates as mdates +from datetime import datetime + +# Read the NDJSON data +data = [] +with open('test1/behavior.json', 'r') as f: + for line in f: + if line.strip(): + data.append(json.loads(line)) + +# Extract fields +x_vals = [] +y_vals = [] +speeds = [] +times = [] + +for entry in data: + # Skip if position is missing + if 'position' not in entry or 'vehicle_interface_reading' not in entry: + continue + + pos = entry['position'] + x_vals.append(pos.get('x', 0.0)) + y_vals.append(pos.get('y', 0.0)) + + speeds.append(entry['vehicle_interface_reading']['data'].get('speed', 0.0)) + times.append(datetime.fromtimestamp(entry['time'])) + +# Plotting +fig, ax = plt.subplots(figsize=(10, 6)) +sc = ax.scatter(x_vals, y_vals, c=speeds, cmap='plasma', s=30, edgecolor='k') +cbar = plt.colorbar(sc, ax=ax) +cbar.set_label('Speed (m/s)') + +ax.set_title('Vehicle Position Colored by Speed') +ax.set_xlabel('X Position (m)') +ax.set_ylabel('Y Position (m)') +ax.grid(True) + +plt.tight_layout() +plt.show() \ No newline at end of file From 828e1f69587d30d2e663da69eb5937e8df98b3ab Mon Sep 17 00:00:00 2001 From: Avery Plote Date: Thu, 8 May 2025 14:11:11 -0400 Subject: [PATCH 59/99] Add up-to-date version of racing planning --- GEMstack/onboard/planning/racing_planning.py | 332 +++++-------------- 1 file changed, 76 insertions(+), 256 deletions(-) diff --git a/GEMstack/onboard/planning/racing_planning.py b/GEMstack/onboard/planning/racing_planning.py index 332a4c5f1..8524d4946 100644 --- a/GEMstack/onboard/planning/racing_planning.py +++ b/GEMstack/onboard/planning/racing_planning.py @@ -295,150 +295,6 @@ def dynamics_constraints(p): return x_full, y_full, psi_full, c_full, v_full, eps_, final_error -######## more dynamics version -def trajectory_generation_dynamics(init_state, final_state, N=30, Lr=1.5, - a_min=-3.0, a_max=3.0, - eps_min=-0.2, eps_max=0.2, - v_min=2.0, v_max=11.0, - T_min = 0.5, T_max = 1000.0, - waypoints=None, waypoint_penalty_weight=10, waypoint_headings=None): - """ - 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): - T_total = p[-1] - return T_total - - 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)]) - # print("x_: " +str(x_)) - split_idx = 5 *(N - 1) - x_, y_, psi_, c_, v_= np.split(p[:split_idx], 5) - - a = p[split_idx:split_idx + (N - 1)] - eps = p[split_idx + (N - 1):-1] - T_total = p[-1] - T_k = T_total / (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_k - dy = v_prev * np.sin(psi_prev + c_prev * Lr) * T_k - dpsi = v_prev * c_prev * T_k - dv = a[k] * T_k - dc = eps[k] * T_k - constraints.extend([ - x_[k] - (x_prev + dx), - y_[k] - (y_prev + dy), - psi_[k] - (psi_prev + dpsi), - v_[k] - (v_prev + dv), - 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 - - def waypoint_penalty(p): - if waypoints is None or len(waypoints) == 0: - return 0.0 - - split_idx = 5 *(N - 1) - x_, y_, psi_, c_, v_= np.split(p[:split_idx], 5) - # x_ = p[:N -1] - # y_ = p[N - 1:2 * (N-1)] - # psi_ = [ 3 * (N - 1)] - # 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)] - penalty = 0.0 - alignment_threshold = 0.3 - # Sum penalties for each waypoint at its corresponding index - for wp_idx, waypoint in enumerate(waypoints): - traj_idx = indices[wp_idx] - penalty += waypoint_penalty_weight * ( - (x_[traj_idx] - waypoint[0])**2 + (y_[traj_idx] - waypoint[1])**2 - ) - return penalty - - # 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'] - - a_vals = np.zeros(N - 1) - eps_vals = np.zeros(N - 1) - T_guess = 60.0 - - p0 = np.concatenate([x_vals[1:], y_vals[1:], psi_vals[1:], c_vals[1:], v_vals[1:], - a_vals, eps_vals, [T_guess]]) - num_vars = len(p0) - bounds = ([(None, None)] * (4 * (N - 1)) + - [(v_min, v_max)] * (N - 1) + - [(a_min, a_max)] * (N - 1) + - [(eps_min, eps_max)] * (N - 1) + - [(T_min, T_max)] - ) - def total_cost(p): - return cost(p) + waypoint_penalty(p) - - result = minimize(total_cost, - p0, - bounds=bounds, - constraints={'type': 'eq', 'fun': dynamics_constraints}, - options={'maxiter': 1000}) - - # print("result.x:" + str(result.x)) - if not result.success: - raise RuntimeError("Optimization failed") - - split_idx = 5 *(N - 1) - x_, y_, psi_, c_, v_= np.split(result.x[:split_idx], 5) - - a = result.x[split_idx:split_idx + (N - 1)] - eps = result.x[split_idx + (N - 1):-1] - T_total = result.x[-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, a, eps, T_total, 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. @@ -833,127 +689,91 @@ def test_4_cone_slalom(): 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') + # 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() + 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() + # 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 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 (ฮต)", color="green") - plt.xlabel("Step") - plt.ylabel("ฮต (1/mยฒ)") - plt.grid(True) - plt.legend() + # Curvature rate plot + plt.subplot(4, 1, 4) + plt.plot(eps, label="Curvature Rate (ฮต)", color="green") + plt.xlabel("Step") + plt.ylabel("ฮต (1/mยฒ)") + 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) + # --- 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) - # 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}") - - - -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 + # 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) - feasible = len(collisions) == 0 - return feasible, collisions, x_vals, y_vals + # 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) -# --- 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)) + # 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)] @@ -1206,8 +1026,8 @@ def test_planning(case='slalom', test_loop=2): 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) + # 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) From 52838f1a16b95728e0171853aba599a2de72500a Mon Sep 17 00:00:00 2001 From: Avery Plote Date: Thu, 8 May 2025 14:25:36 -0400 Subject: [PATCH 60/99] add better version of velocity mapping accounting for steering rate --- GEMstack/onboard/planning/velocity_profile.py | 225 +++++++++++++----- 1 file changed, 170 insertions(+), 55 deletions(-) diff --git a/GEMstack/onboard/planning/velocity_profile.py b/GEMstack/onboard/planning/velocity_profile.py index 2b13242fe..17843c930 100644 --- a/GEMstack/onboard/planning/velocity_profile.py +++ b/GEMstack/onboard/planning/velocity_profile.py @@ -4,10 +4,15 @@ import matplotlib.pyplot as plt from matplotlib.collections import LineCollection from scipy.signal import savgol_filter +from scipy.interpolate import splprep, splev +from ...knowledge.vehicle.geometry import steer2front # from ..stanley import normalise_angle from ...knowledge.vehicle import dynamics +from ...knowledge.vehicle import geometry from ...utils import settings +import pandas as pd + # from ..mathutils import transforms,collisions @@ -37,7 +42,7 @@ def moving_average(data, window_size=9): 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): +def compute_curvature_by_distance(xs, ys, ds, spacing=0.5): """ Computes curvature using 3-point method with approximately equal distance on both sides. spacing: desired distance (in meters) from center point to side points. @@ -90,6 +95,38 @@ def compute_curvature_by_distance(xs, ys, ds, spacing=2.0): return kappa +def compute_spline_curvature(x, y, s=0.0, num=1000): + """ + Computes curvature from 2D path (x, y) using parametric splines. + + Parameters: + x, y : list or np.array + Input path coordinates + s : float + Smoothing factor for spline (0 = interpolating spline) + num : int + Number of points to evaluate spline and curvature at + + Returns: + x_smooth, y_smooth, curvature : np.ndarrays + """ + # Fit parametric spline + num = len(x) + tck, u = splprep([x, y], s=s) + u_fine = np.linspace(0, 1, num) + + # Evaluate spline and its first and second derivatives + x_smooth, y_smooth = splev(u_fine, tck) + dx, dy = splev(u_fine, tck, der=1) + ddx, ddy = splev(u_fine, tck, der=2) + + # Compute curvature: ฮบ = (x'y'' - y'x'') / (x'^2 + y'^2)^(3/2) + denom = (dx**2 + dy**2)**1.5 + 1e-8 # Avoid divide by zero + kappa = (dx * ddy - dy * ddx) / denom + + 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) @@ -111,47 +148,80 @@ def apply_trail_braking(ds, v_lat, kappa, ax_max, ax_min, ay_max, max_iter=2, to 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 + 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 + if v_allowed < 0: + print("v < 0 in forward pass") + # forward_vs[i] = v_profile[i] + + # 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) - # 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 + backward_vs[i-1] = v_allowed + if v_allowed < 0: + print("v < 0 in backward pass") + + return v_profile, forward_vs, backward_vs +def limit_velocity_by_steering_rate(ds, velocity, wheelbase, max_steering_rate, kappa): + """ + Limits the velocity based on steering angle rate of change. + + Parameters: + x (np.ndarray): x positions along the trajectory. + y (np.ndarray): y positions along the trajectory. + velocity (np.ndarray): velocity profile along the trajectory. + wheelbase (float): vehicle's wheelbase (L). + max_steering_rate (float): maximum allowable steering angle rate (rad/s). + + Returns: + np.ndarray: limited velocity profile. + """ + # Compute steering angle delta: delta = arctan(L * kappa) + steering_angle = np.arctan(wheelbase * kappa) - # --- Check convergence --- - if np.allclose(v_profile, v_old, atol=tol): - print("converged in " + str(iteration) + " iterations") - break + # if np.any(ds < 0): + # raise ValueError("negative ds") + # else: + # raise ValueError("positive ds") + + # Compute steering rate: d(delta)/dt + ddelta = np.gradient(steering_angle) + dt = ds / (velocity + 1e-6) # Add small value to prevent division by zero + ddelta_dt = ddelta / (dt + 1e-6) + + # max steering wheel rate to steering rate + # raise ValueError(max_steering_rate) + max_steering_rate = steer2front(max_steering_rate) + + # Limit velocity where steering rate exceeds max + limited_velocity = np.copy(velocity) + for i in range(len(velocity)): + if abs(ddelta_dt[i]) > max_steering_rate: + print("dt: " +str(dt[i])) + print("ds: " +str(ds[i])) + print("ddelta: " +str(ddelta[i])) + print("deltadt: " +str(ddelta_dt[i])) + ddelta_dt[i] = max_steering_rate + limited_velocity[i] = max(0, min( + velocity[i], + abs((ds[i] / (ddelta[i] / ddelta_dt[i])+ 1e-6) - 1e-6) + )) + print(velocity[i]) + print(abs(ds[i] / ddelta[i] / ddelta_dt[i])) + return limited_velocity, steering_angle - return v_profile, forward_vs, backward_vs, v_lat def compute_time_profile(xs, ys, v_profile): xs = np.array(xs) @@ -203,33 +273,81 @@ def plot_x_y(axis, x, y, x_label, y_label): axis.set_ylabel(y_label) axis.grid(True) -def compute_velocity_profile(points): +def compute_velocity_profile(points, plot=True): 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') + max_steering_rate = settings.get('vehicle.limits.max_steering_rate') + wheelbase = settings.get('vehicle.geometry.wheelbase') points = np.array(points) - # print(points) + print(points) xs, ys = points[:,0], points [:,1] - # print(xs) + 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) + # kappa = compute_curvature_by_distance(xs,ys, ds) + kappa = compute_spline_curvature(xs, ys) + # max speeds from lateral acceleration limits 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_lat = compute_time_profile(xs, ys,v_lat) + + # max speeds from steering limits + v_steer, steering_angles = limit_velocity_by_steering_rate(ds, v_lat, wheelbase, max_steering_rate, kappa) + + # v_steer = savgol_filter(v_steer, window_length=9, polyorder=3) + + t_steer = compute_time_profile(xs, ys, v_steer) + + #max speeds from longitudinal acceleration limits + v_profile, forward_vs, backward_vs = apply_trail_braking(ds, v_steer, 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 plot is False: + return t, v_profile + else: + 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[1, 1], t_steer, v_steer, "t", "v_steer") + # plot_x_y(axs[0, 1], t_steer, steering_angles, "t", "angles") + plot_x_y(axs[1, 0], 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[0, 1], t, kappa, "t", "kappa") + # plot_x_y(axs[1, 1], t, ys, "t", "x & y") + # plt.show() + + plot_speed_profile_gradient(fig, axs[1, 1], xs, ys, v_profile) + # plot_speed_profile_gradient(fig, axs[1, 1], xs, ys, v_steer) + + + # Save to CSV + df = pd.DataFrame({'x': xs, 'y': ys, 'v': v_profile, 't': t}) + df.to_csv('v_profile.csv', index=False) + + + plt.tight_layout() + plt.show() + + return t, v_profile @@ -249,7 +367,7 @@ def compute_velocity_profile(points): points = list(zip(xs,ys)) - t, v_profile = compute_velocity_profile(points) + t, v_profile, t2, v_profile2 = compute_velocity_profile(points, plot=True) # # max long accel: 2.0769700074721493 # # min long accel: -2.6197231578072313 @@ -263,19 +381,16 @@ def compute_velocity_profile(points): 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[0, 1], t2, v_profile2, "t", "v2") + # 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") + # 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) - + plot_speed_profile_gradient(fig, axs[1, 1], xs, ys, v_profile2) plt.tight_layout() - plt.show() - - - - + plt.show() \ No newline at end of file From 0beb02bb63fefa51bbd01b1779f98f6ebaf29959 Mon Sep 17 00:00:00 2001 From: Avery Plote Date: Thu, 8 May 2025 19:12:59 -0400 Subject: [PATCH 61/99] Fix launch_control.py reset bug, remove launch control enable from current.yaml and move into launch file arg for stanley and pure_pursuit --- GEMstack/knowledge/defaults/current.yaml | 1 - GEMstack/onboard/planning/launch_control.py | 13 +++++-------- GEMstack/onboard/planning/pure_pursuit.py | 6 ++++-- GEMstack/onboard/planning/stanley.py | 7 +++++-- launch/fixed_route.yaml | 2 +- 5 files changed, 15 insertions(+), 14 deletions(-) diff --git a/GEMstack/knowledge/defaults/current.yaml b/GEMstack/knowledge/defaults/current.yaml index 87c22c0e4..8b3cc6934 100644 --- a/GEMstack/knowledge/defaults/current.yaml +++ b/GEMstack/knowledge/defaults/current.yaml @@ -17,7 +17,6 @@ crosstrack_gain: 0.3 desired_speed: trajectory #racing launch_control: - enable: 1 stage_duration: 0.5 # Stanley controller parameters (fine tune this) stanley: diff --git a/GEMstack/onboard/planning/launch_control.py b/GEMstack/onboard/planning/launch_control.py index 9775595af..965ead02f 100644 --- a/GEMstack/onboard/planning/launch_control.py +++ b/GEMstack/onboard/planning/launch_control.py @@ -5,7 +5,7 @@ def __init__(self, stage_duration, stop_threshold): self.enable_launch_control = True self.stage_duration = stage_duration self.stop_threshold = stop_threshold - self._launch_start_time = None + self._launch_start_time = rospy.get_time() def reset(self): self.enable_launch_control = True @@ -14,15 +14,9 @@ def reset(self): def apply_launch_control(self, cmd, vehicle_velocity): - if vehicle_velocity < self.stop_threshold: - self.reset() - + elapsed = rospy.get_time() - self._launch_start_time if self.enable_launch_control: print("launch control active") - if self._launch_start_time is None: - 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 @@ -36,4 +30,7 @@ def apply_launch_control(self, cmd, vehicle_velocity): else: self.enable_launch_control = False + if vehicle_velocity < self.stop_threshold and elapsed > 3 * self.stage_duration: + self.reset() + return cmd \ No newline at end of file diff --git a/GEMstack/onboard/planning/pure_pursuit.py b/GEMstack/onboard/planning/pure_pursuit.py index 9936d135e..d50424cb7 100644 --- a/GEMstack/onboard/planning/pure_pursuit.py +++ b/GEMstack/onboard/planning/pure_pursuit.py @@ -13,7 +13,7 @@ class PurePursuit(object): """Implements a pure pursuit controller on a second-order Dubins vehicle.""" - def __init__(self, lookahead = None, lookahead_scale = None, crosstrack_gain = None, desired_speed = None): + def __init__(self, lookahead = None, lookahead_scale = None, crosstrack_gain = None, desired_speed = None, launch_control = None): self.look_ahead = lookahead if lookahead is not None else settings.get('control.pure_pursuit.lookahead',4.0) self.look_ahead_scale = lookahead_scale if lookahead_scale is not None else settings.get('control.pure_pursuit.lookahead_scale',3.0) self.crosstrack_gain = crosstrack_gain if crosstrack_gain is not None else settings.get('control.pure_pursuit.crosstrack_gain',0.41) @@ -41,6 +41,8 @@ def __init__(self, lookahead = None, lookahead_scale = None, crosstrack_gain = N self.current_traj_parameter = 0.0 self.t_last = None + self.launch_control = launch_control + def set_path(self, path : Path): if path == self.path_arg: return @@ -231,7 +233,7 @@ class PurePursuitTrajectoryTracker(Component): def __init__(self,vehicle_interface=None, **args): self.pure_pursuit = PurePursuit(**args) self.vehicle_interface = vehicle_interface - launch_control_enabled = settings.get('control.launch_control.enable', 0) + launch_control_enabled = self.pure_pursuit.launch_control if launch_control_enabled: stage_duration = settings.get('control.launch_control.stage_duration', 0.5) self.launch_control = LaunchControl(stage_duration, stop_threshold=0.1) diff --git a/GEMstack/onboard/planning/stanley.py b/GEMstack/onboard/planning/stanley.py index e87093649..0c4eb3f5a 100644 --- a/GEMstack/onboard/planning/stanley.py +++ b/GEMstack/onboard/planning/stanley.py @@ -43,7 +43,8 @@ def __init__( self, control_gain=None, softening_gain=None, - desired_speed=None + desired_speed=None, + launch_control=None ): """ :param control_gain: Stanley lateral control gain k (lowered from the default to reduce overshoot). @@ -91,6 +92,8 @@ def __init__( self.current_traj_parameter = 0.0 self.t_last = None + self.launch_control = launch_control + def set_path(self, path: Path): """Sets the path or trajectory to track.""" if path == self.path_arg: @@ -331,7 +334,7 @@ def __init__(self, vehicle_interface=None, **kwargs): self.vehicle_interface = vehicle_interface self.desired_speed_source = settings.get('control.stanley.desired_speed', 'path') - launch_control_enabled = settings.get('control.launch_control.enable', 0) + launch_control_enabled = self.stanley.launch_control if launch_control_enabled: stage_duration = settings.get('control.launch_control.stage_duration', 0.5) self.launch_control = LaunchControl(stage_duration, stop_threshold=0.1) diff --git a/launch/fixed_route.yaml b/launch/fixed_route.yaml index c7f1dcb1e..467e4263f 100644 --- a/launch/fixed_route.yaml +++ b/launch/fixed_route.yaml @@ -23,7 +23,7 @@ drive: 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 comment when racing + args: {launch_control: 1} print: True log: From 514b1986f443fa5968e8899827fad3c21835a7d0 Mon Sep 17 00:00:00 2001 From: Avery Plote Date: Thu, 8 May 2025 19:17:42 -0400 Subject: [PATCH 62/99] Clean up pure_pursuit racing logic --- GEMstack/onboard/planning/pure_pursuit.py | 25 +---------------------- 1 file changed, 1 insertion(+), 24 deletions(-) diff --git a/GEMstack/onboard/planning/pure_pursuit.py b/GEMstack/onboard/planning/pure_pursuit.py index d50424cb7..538969828 100644 --- a/GEMstack/onboard/planning/pure_pursuit.py +++ b/GEMstack/onboard/planning/pure_pursuit.py @@ -174,16 +174,7 @@ def compute(self, state : VehicleState, component : Component = None): 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 @@ -191,22 +182,8 @@ def compute(self, state : VehicleState, component : Component = None): 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) From 503945edb7eab2c8f7b9bad271b193a3b2e266a9 Mon Sep 17 00:00:00 2001 From: diegoasfmravpp Date: Fri, 9 May 2025 13:47:10 -0500 Subject: [PATCH 63/99] velocity_profile.py cleanup --- GEMstack/onboard/planning/velocity_profile.py | 213 ++++++------------ 1 file changed, 73 insertions(+), 140 deletions(-) diff --git a/GEMstack/onboard/planning/velocity_profile.py b/GEMstack/onboard/planning/velocity_profile.py index 17843c930..1511e6191 100644 --- a/GEMstack/onboard/planning/velocity_profile.py +++ b/GEMstack/onboard/planning/velocity_profile.py @@ -3,20 +3,14 @@ import os import matplotlib.pyplot as plt from matplotlib.collections import LineCollection -from scipy.signal import savgol_filter from scipy.interpolate import splprep, splev from ...knowledge.vehicle.geometry import steer2front -# from ..stanley import normalise_angle from ...knowledge.vehicle import dynamics from ...knowledge.vehicle import geometry from ...utils import settings import pandas as pd - -# from ..mathutils import transforms,collisions - - def parse_route_csv(filename): """ Parses the pure pursuit tracker log file and extracts the following data: @@ -32,69 +26,6 @@ def parse_route_csv(filename): 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=0.5): - """ - 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] โ‰ˆ 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] โ‰ˆ 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 - - # Heronโ€™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 compute_spline_curvature(x, y, s=0.0, num=1000): """ Computes curvature from 2D path (x, y) using parametric splines. @@ -126,7 +57,6 @@ def compute_spline_curvature(x, y, s=0.0, num=1000): 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) @@ -135,21 +65,35 @@ 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): +def apply_trail_braking(ds, v_lat, kappa, ax_max, ax_min, ay_max): + """ + Limits the velocity based on lateral and longitudinal acceleration limits. + + Parameters: + ds (np.ndarray): distance diff along the trajectory. + v_lat (np.ndarray): velocity profile along the trajectory. + kappa (float): curvature profile along the trajectory + ax_max (float): maximum longitudinal acceleration + ax_min (float): minimum longitudinal acceleration (braking) + ay_max (float): maximum lateral acceleration + + Returns: + v_profile (np.ndarray): acceleration limited velocity profile. + forward_vs (np.ndarray): positive acceleration limited velocity profile + forward_vs, (np.ndarray): negative acceleration limited velocity profile + + """ N = len(ds) v_profile = v_lat.copy() v_profile[0] = 0.0 forward_vs = v_lat.copy() backward_vs = v_lat.copy() - 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) @@ -157,9 +101,6 @@ def apply_trail_braking(ds, v_lat, kappa, ax_max, ax_min, ay_max, max_iter=2, to 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 - if v_allowed < 0: - print("v < 0 in forward pass") - # forward_vs[i] = v_profile[i] # Backward (trail braking into corners) for i in range(N - 1, 0, -1): @@ -169,8 +110,6 @@ def apply_trail_braking(ds, v_lat, kappa, ax_max, ax_min, ay_max, max_iter=2, to v_profile[i-1] = min(v_profile[i-1], v_allowed) backward_vs[i-1] = v_allowed - if v_allowed < 0: - print("v < 0 in backward pass") return v_profile, forward_vs, backward_vs @@ -179,81 +118,81 @@ def limit_velocity_by_steering_rate(ds, velocity, wheelbase, max_steering_rate, Limits the velocity based on steering angle rate of change. Parameters: - x (np.ndarray): x positions along the trajectory. - y (np.ndarray): y positions along the trajectory. + ds (np.ndarray): distance diff along the trajectory. velocity (np.ndarray): velocity profile along the trajectory. wheelbase (float): vehicle's wheelbase (L). max_steering_rate (float): maximum allowable steering angle rate (rad/s). - + kappa (float): curvature profile along the trajectory + Returns: - np.ndarray: limited velocity profile. + limited_velocity (np.ndarray): steering rate limited velocity profile. """ # Compute steering angle delta: delta = arctan(L * kappa) steering_angle = np.arctan(wheelbase * kappa) - # if np.any(ds < 0): - # raise ValueError("negative ds") - # else: - # raise ValueError("positive ds") - # Compute steering rate: d(delta)/dt ddelta = np.gradient(steering_angle) dt = ds / (velocity + 1e-6) # Add small value to prevent division by zero ddelta_dt = ddelta / (dt + 1e-6) # max steering wheel rate to steering rate - # raise ValueError(max_steering_rate) max_steering_rate = steer2front(max_steering_rate) # Limit velocity where steering rate exceeds max limited_velocity = np.copy(velocity) for i in range(len(velocity)): if abs(ddelta_dt[i]) > max_steering_rate: - print("dt: " +str(dt[i])) - print("ds: " +str(ds[i])) - print("ddelta: " +str(ddelta[i])) - print("deltadt: " +str(ddelta_dt[i])) ddelta_dt[i] = max_steering_rate limited_velocity[i] = max(0, min( velocity[i], abs((ds[i] / (ddelta[i] / ddelta_dt[i])+ 1e-6) - 1e-6) )) - print(velocity[i]) - print(abs(ds[i] / ddelta[i] / ddelta_dt[i])) - return limited_velocity, steering_angle + return limited_velocity +def compute_time_profile(ds, v_profile): + """ + Compute updated trajectory times based on a path and velocity profile + + Parameters: + ds (np.ndarray): distance diff along the trajectory. + v_profile (np.ndarray): velocity profile along the trajectory. + + Returns: + t (np.ndarray): time profile for trajectory. + """ -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 + dt = ds[:-1] / 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'): +def plot_speed_profile_gradient(fig, axis, xs, ys, velocity, cmap='jet'): + """ + Plotting color gradient velocity profile on the path + + Parameters: + fig, axis: figure and axis on which to plot + xs, ys (np.ndarray): path coordinates + velocity (np.ndarray): velocity profile + cmap: color map + """ xs = np.array(xs) ys = np.array(ys) - speeds = np.array(speeds) + velocity = np.array(velocity) # 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_array(velocity[:-1]) # color values lc.set_linewidth(2) # fig, ax = plt.subplots(figsize=(8, 6)) @@ -268,13 +207,32 @@ def plot_speed_profile_gradient(fig, axis, xs, ys, speeds, cmap='jet'): plt.grid(True) def plot_x_y(axis, x, y, x_label, y_label): - axis.plot(x, y)#, label='Actual') + """ + Plotting x vs y variables + + Parameters: + axis: axis on which to plot + x, y (np.ndarray): variables to plot + x_label, y_label (str): axis labels + """ + axis.plot(x, y) axis.set_xlabel(x_label) axis.set_ylabel(y_label) axis.grid(True) def compute_velocity_profile(points, plot=True): - + """ + Compute a vehicle dynamics limited velocity profile for a set path + + Parameters: + points: path x,y coordinates + plot (bool): visualization plots + + Returns: + t (np.ndarray): time profile for trajectory. + v_profile (np.ndarray): velocity profile for trajectory. + """ + # Vehicle dynamics limits 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') @@ -283,36 +241,25 @@ def compute_velocity_profile(points, plot=True): wheelbase = settings.get('vehicle.geometry.wheelbase') 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) + # curvature profile of the path kappa = compute_spline_curvature(xs, ys) # max speeds from lateral acceleration limits v_lat = lateral_speed_limit(kappa, ay_max, v_max) - t_lat = compute_time_profile(xs, ys,v_lat) - # max speeds from steering limits - v_steer, steering_angles = limit_velocity_by_steering_rate(ds, v_lat, wheelbase, max_steering_rate, kappa) - - # v_steer = savgol_filter(v_steer, window_length=9, polyorder=3) - - t_steer = compute_time_profile(xs, ys, v_steer) + v_steer = limit_velocity_by_steering_rate(ds, v_lat, wheelbase, max_steering_rate, kappa) #max speeds from longitudinal acceleration limits v_profile, forward_vs, backward_vs = apply_trail_braking(ds, v_steer, 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) + t = compute_time_profile(ds, v_profile) if plot is False: return t, v_profile @@ -325,19 +272,12 @@ def compute_velocity_profile(points, plot=True): a = dv/dt plot_x_y(axs[0, 0], t, v_profile, "t", "v") - # plot_x_y(axs[1, 1], t_steer, v_steer, "t", "v_steer") - # plot_x_y(axs[0, 1], t_steer, steering_angles, "t", "angles") plot_x_y(axs[1, 0], 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[0, 1], t, kappa, "t", "kappa") - # plot_x_y(axs[1, 1], t, ys, "t", "x & y") - # plt.show() plot_speed_profile_gradient(fig, axs[1, 1], xs, ys, v_profile) - # plot_speed_profile_gradient(fig, axs[1, 1], xs, ys, v_steer) - # Save to CSV df = pd.DataFrame({'x': xs, 'y': ys, 'v': v_profile, 't': t}) @@ -350,8 +290,8 @@ def compute_velocity_profile(points, plot=True): return t, v_profile - if __name__=='__main__': + ### offline velocity profile plotting from a route if len(sys.argv) != 2: print("Usage: python velocity_profile.py ") sys.exit(1) @@ -367,11 +307,7 @@ def compute_velocity_profile(points, plot=True): points = list(zip(xs,ys)) - t, v_profile, t2, v_profile2 = compute_velocity_profile(points, plot=True) - - # # max long accel: 2.0769700074721493 - # # min long accel: -2.6197231578072313 - # # max lat accel: 3.3754426456004567 + t, v_profile = compute_velocity_profile(points, plot=True) fig, axs = plt.subplots(2, 2, figsize=(12, 8)) @@ -381,16 +317,13 @@ def compute_velocity_profile(points, plot=True): a = dv/dt plot_x_y(axs[0, 0], t, v_profile, "t", "v") - plot_x_y(axs[0, 1], t2, v_profile2, "t", "v2") # 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) - plot_speed_profile_gradient(fig, axs[1, 1], xs, ys, v_profile2) plt.tight_layout() plt.show() \ No newline at end of file From 4a78dea9ff65a0ed252fd04b9f5d3cf0d13bc178 Mon Sep 17 00:00:00 2001 From: diegoasfmravpp Date: Fri, 9 May 2025 14:05:51 -0500 Subject: [PATCH 64/99] velocity_profile.py cleanup --- GEMstack/onboard/planning/velocity_profile.py | 46 +++++++++++++------ 1 file changed, 31 insertions(+), 15 deletions(-) diff --git a/GEMstack/onboard/planning/velocity_profile.py b/GEMstack/onboard/planning/velocity_profile.py index 1511e6191..81a007444 100644 --- a/GEMstack/onboard/planning/velocity_profile.py +++ b/GEMstack/onboard/planning/velocity_profile.py @@ -13,12 +13,9 @@ 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) + Parses the route file and extracts: + - X position desired (from column index 0) + - Y position desired (from column index 1) """ data = np.genfromtxt(filename, delimiter=',', skip_header=1) @@ -31,23 +28,19 @@ def compute_spline_curvature(x, y, s=0.0, num=1000): Computes curvature from 2D path (x, y) using parametric splines. Parameters: - x, y : list or np.array - Input path coordinates - s : float - Smoothing factor for spline (0 = interpolating spline) - num : int - Number of points to evaluate spline and curvature at + x, y (np.array): path coordinates + s (float): Smoothing factor for spline (0 = interpolating spline) + num (int): Number of points to evaluate spline and curvature at Returns: - x_smooth, y_smooth, curvature : np.ndarrays + kappa (float): curvature profile along the trajectory """ # Fit parametric spline num = len(x) - tck, u = splprep([x, y], s=s) + tck, _ = splprep([x, y], s=s) u_fine = np.linspace(0, 1, num) # Evaluate spline and its first and second derivatives - x_smooth, y_smooth = splev(u_fine, tck) dx, dy = splev(u_fine, tck, der=1) ddx, ddy = splev(u_fine, tck, der=2) @@ -58,10 +51,33 @@ def compute_spline_curvature(x, y, s=0.0, num=1000): return kappa def lateral_speed_limit(kappa, ay_max, v_max): + """ + Limits the velocity based on curvature and lateral acceleration limits. + + Parameters: + kappa (np.ndarray): curvature profile along the trajectory + ay_max (float): maximum lateral acceleration + v_max (float): maximum velocity + + Returns: + np.minimum(v_lat, v_max): velocity profile limited by lateral acceleration + """ 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): + """ + Longitudinal acceleration limit based on current lateral acceleration. + + Parameters: + v (float): velocity + kappa (float): curvature + ax_limit (float): maximum longitudinal acceleration + ay_limit (float): maximum lateral acceleration + + Returns: + ax_limit * ax_ratio: maximum allowed longitudinal acceleration + """ # Compute a_y at current v ay = v**2 * kappa ay_ratio = ay / ay_max From da365c0fab4a88b3c0bdfc60cd85a6b1b602e8b3 Mon Sep 17 00:00:00 2001 From: Avery Plote Date: Mon, 12 May 2025 12:21:07 -0400 Subject: [PATCH 65/99] remove whitespace changes in gem_hardware --- GEMstack/onboard/interface/gem_hardware.py | 4 +--- 1 file changed, 1 insertion(+), 3 deletions(-) diff --git a/GEMstack/onboard/interface/gem_hardware.py b/GEMstack/onboard/interface/gem_hardware.py index 4543a4ef8..836d7ef71 100644 --- a/GEMstack/onboard/interface/gem_hardware.py +++ b/GEMstack/onboard/interface/gem_hardware.py @@ -294,7 +294,6 @@ 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 - self.steer_cmd.angular_position = command.steering_wheel_angle self.steer_cmd.angular_velocity_limit = command.steering_wheel_speed print("**************************") @@ -306,7 +305,7 @@ 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 exceed 0 # to ed brake pedal limit") + print("Warning: commanded braking exceeded brake pedal limit") self.brake_cmd.f64_cmd = maxbrake print("**************************") @@ -318,7 +317,6 @@ 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) From c044cbda1f1912ab7b4425b5610283a5062b2c3b Mon Sep 17 00:00:00 2001 From: Avery Plote Date: Mon, 12 May 2025 12:23:19 -0400 Subject: [PATCH 66/99] Remove whitespace and unneeded changes in gem.py --- GEMstack/onboard/interface/gem.py | 10 ++-------- 1 file changed, 2 insertions(+), 8 deletions(-) diff --git a/GEMstack/onboard/interface/gem.py b/GEMstack/onboard/interface/gem.py index 0b3e09b6a..9abcd1b6b 100644 --- a/GEMstack/onboard/interface/gem.py +++ b/GEMstack/onboard/interface/gem.py @@ -4,7 +4,6 @@ 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 @@ -96,7 +95,6 @@ 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 @@ -135,7 +133,7 @@ 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 @@ -147,11 +145,7 @@ 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, From 4d63e5742da4fb263ade68e4876b2b458429e496 Mon Sep 17 00:00:00 2001 From: diegoasfmravpp Date: Fri, 9 May 2025 17:14:16 -0500 Subject: [PATCH 67/99] fixed route to trajectory with velocity to work by launch file without manual changes to stanley --- GEMstack/onboard/planning/stanley.py | 42 +++++++++++++--------------- GEMstack/state/trajectory.py | 7 +++-- 2 files changed, 25 insertions(+), 24 deletions(-) diff --git a/GEMstack/onboard/planning/stanley.py b/GEMstack/onboard/planning/stanley.py index 0c4eb3f5a..e8ace1f73 100644 --- a/GEMstack/onboard/planning/stanley.py +++ b/GEMstack/onboard/planning/stanley.py @@ -9,7 +9,7 @@ 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 ...state.trajectory import Path, Trajectory, compute_headings from ..interface.gem import GEMVehicleCommand from ..component import Component from .launch_control import LaunchControl @@ -125,8 +125,10 @@ def set_racing_path(self, path: Path): if len(path.points[0]) > 2: path = path.get_dims([0,1]) if not isinstance(path, Trajectory): + # path = Path(ObjectFrameEnum.START,path) + path = compute_headings(path, True) self.path = path.arc_length_parameterize() - self.trajectory = path.racing_velocity_profile() + self.trajectory = self.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)) @@ -149,8 +151,6 @@ def compute(self, state: VehicleState, component: Component = None): self.t_last = t dt = t - self.t_last - - # Current vehicle states curr_x = state.pose.x curr_y = state.pose.y @@ -178,7 +178,7 @@ def compute(self, state: VehicleState, component: Component = None): 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 + self.current_path_parameter = closest_parameter # 2) Path heading target_x, target_y = self.path.eval(closest_parameter) @@ -202,8 +202,7 @@ def compute(self, state: VehicleState, component: Component = None): 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 @@ -214,26 +213,16 @@ def compute(self, state: VehicleState, component: Component = None): 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: @@ -311,7 +300,7 @@ def compute(self, state: VehicleState, component: Component = None): if output_accel < -self.max_decel: output_accel = -self.max_decel - + self.t_last = t return (output_accel, desired_steering_angle) @@ -365,12 +354,21 @@ def update(self, vehicle: VehicleState, trajectory: Trajectory): 3) Convert front wheel angle to steering wheel angle (if necessary) 4) Send command to the vehicle """ +<<<<<<< HEAD # 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) +======= + # path to trajectory if racing enabled and using route instead of planner + if self.desired_speed_source in ['racing'] and not isinstance(trajectory, Trajectory): ## conditional needed for no racing + self.stanley.set_racing_path(trajectory) + else: + self.stanley.set_path(trajectory) + +>>>>>>> 5f587a2... fixed route to trajectory with velocity to work accel, f_delta = self.stanley.compute(vehicle, self) # If your low-level interface expects steering wheel angle: @@ -389,4 +387,4 @@ def update(self, vehicle: VehicleState, trajectory: Trajectory): def healthy(self): """Optional: check if the controller has a valid path.""" - return self.stanley.path is not None + return self.stanley.path is not None \ No newline at end of file diff --git a/GEMstack/state/trajectory.py b/GEMstack/state/trajectory.py index 97780969e..25907d113 100644 --- a/GEMstack/state/trajectory.py +++ b/GEMstack/state/trajectory.py @@ -86,9 +86,7 @@ def arc_length_parameterize(self, speed = 1.0) -> Trajectory: 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) @@ -368,8 +366,13 @@ def closest_point_local(self, x : List[float], time_range=Tuple[float,float], ed """ param_range = [self.time_to_parameter(time_range[0]),self.time_to_parameter(time_range[1])] #print("Searching within time range",time_range,"= param range",param_range) + if len(self.points[0]) > 2: + heading_points = self.points + self.points = [(x, y) for x, y, z in self.points] distance, closest_index = Path.closest_point_local(self,x,param_range,edges) closest_time = self.parameter_to_time(closest_index) + if len(self.points[0]) > 2: + self.points = heading_points return distance, closest_time def trim(self, start : float, end : float) -> Trajectory: From 4d605103ce1233a7998153f419ce3a66f560093e Mon Sep 17 00:00:00 2001 From: Avery Plote Date: Mon, 12 May 2025 13:29:43 -0400 Subject: [PATCH 68/99] update stanley --- GEMstack/onboard/planning/stanley.py | 9 --------- 1 file changed, 9 deletions(-) diff --git a/GEMstack/onboard/planning/stanley.py b/GEMstack/onboard/planning/stanley.py index e8ace1f73..0de1f1e55 100644 --- a/GEMstack/onboard/planning/stanley.py +++ b/GEMstack/onboard/planning/stanley.py @@ -354,21 +354,12 @@ def update(self, vehicle: VehicleState, trajectory: Trajectory): 3) Convert front wheel angle to steering wheel angle (if necessary) 4) Send command to the vehicle """ -<<<<<<< HEAD - # 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) -======= # path to trajectory if racing enabled and using route instead of planner if self.desired_speed_source in ['racing'] and not isinstance(trajectory, Trajectory): ## conditional needed for no racing self.stanley.set_racing_path(trajectory) else: self.stanley.set_path(trajectory) ->>>>>>> 5f587a2... fixed route to trajectory with velocity to work accel, f_delta = self.stanley.compute(vehicle, self) # If your low-level interface expects steering wheel angle: From 5a627afe8b3b34b8445374f3d7a619892f0fdf59 Mon Sep 17 00:00:00 2001 From: Avery Plote Date: Mon, 12 May 2025 13:43:52 -0400 Subject: [PATCH 69/99] Fix launch control reset behavior and update trajectory.py --- GEMstack/onboard/planning/launch_control.py | 6 ++++-- GEMstack/state/trajectory.py | 19 +++++++++++++++++++ 2 files changed, 23 insertions(+), 2 deletions(-) diff --git a/GEMstack/onboard/planning/launch_control.py b/GEMstack/onboard/planning/launch_control.py index 965ead02f..7e5c024b1 100644 --- a/GEMstack/onboard/planning/launch_control.py +++ b/GEMstack/onboard/planning/launch_control.py @@ -5,15 +5,17 @@ def __init__(self, stage_duration, stop_threshold): self.enable_launch_control = True self.stage_duration = stage_duration self.stop_threshold = stop_threshold - self._launch_start_time = rospy.get_time() + self._launch_start_time = None def reset(self): self.enable_launch_control = True - self._launch_start_time = None + self._launch_start_time = -1 def apply_launch_control(self, cmd, vehicle_velocity): + if self._launch_start_time == None: + self._launch_start_time = rospy.get_time() elapsed = rospy.get_time() - self._launch_start_time if self.enable_launch_control: print("launch control active") diff --git a/GEMstack/state/trajectory.py b/GEMstack/state/trajectory.py index 25907d113..4f338c72b 100644 --- a/GEMstack/state/trajectory.py +++ b/GEMstack/state/trajectory.py @@ -273,6 +273,7 @@ def det(matrix): 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""" @@ -413,6 +414,24 @@ def compute_headings(path : Path, smoothed = False) -> Path: path.points = np.vstack((x_smooth, y_smooth)).T + # 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 = [] From cfbecb18956cf2623e2517fcd9f260497f5bcab1 Mon Sep 17 00:00:00 2001 From: Avery Plote Date: Mon, 12 May 2025 23:01:25 -0400 Subject: [PATCH 70/99] remove launch control reset --- GEMstack/onboard/planning/launch_control.py | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/GEMstack/onboard/planning/launch_control.py b/GEMstack/onboard/planning/launch_control.py index 7e5c024b1..f6b13deb1 100644 --- a/GEMstack/onboard/planning/launch_control.py +++ b/GEMstack/onboard/planning/launch_control.py @@ -9,7 +9,7 @@ def __init__(self, stage_duration, stop_threshold): def reset(self): self.enable_launch_control = True - self._launch_start_time = -1 + self._launch_start_time = 0 def apply_launch_control(self, cmd, vehicle_velocity): @@ -33,6 +33,7 @@ def apply_launch_control(self, cmd, vehicle_velocity): self.enable_launch_control = False if vehicle_velocity < self.stop_threshold and elapsed > 3 * self.stage_duration: - self.reset() + # self.reset() + self.enable_launch_control = False return cmd \ No newline at end of file From 98f031ae25091ea19bbe4276b47a58f7acdf1461 Mon Sep 17 00:00:00 2001 From: Avery Plote Date: Mon, 12 May 2025 23:11:48 -0400 Subject: [PATCH 71/99] Add dynamics changes from other racing branches --- GEMstack/knowledge/vehicle/dynamics.py | 5 +++-- .../knowledge/vehicle/gem_e4_dynamics.yaml | 22 +++++++++---------- 2 files changed, 14 insertions(+), 13 deletions(-) diff --git a/GEMstack/knowledge/vehicle/dynamics.py b/GEMstack/knowledge/vehicle/dynamics.py index 9bd33a92e..10ee8449c 100644 --- a/GEMstack/knowledge/vehicle/dynamics.py +++ b/GEMstack/knowledge/vehicle/dynamics.py @@ -31,11 +31,12 @@ 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) elif model == 'kris_v1': diff --git a/GEMstack/knowledge/vehicle/gem_e4_dynamics.yaml b/GEMstack/knowledge/vehicle/gem_e4_dynamics.yaml index d20d2c357..dce078d22 100644 --- a/GEMstack/knowledge/vehicle/gem_e4_dynamics.yaml +++ b/GEMstack/knowledge/vehicle/gem_e4_dynamics.yaml @@ -1,22 +1,22 @@ -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 +acceleration_deadband: 0.1 #m/s^2: minimum acceleration to be considered non-zero \ No newline at end of file From 0ace8e811ec8d8c026b8802b2081497ffd146263 Mon Sep 17 00:00:00 2001 From: Avery Plote Date: Tue, 13 May 2025 11:26:36 -0400 Subject: [PATCH 72/99] revert stanley --- GEMstack/onboard/planning/stanley.py | 45 ++++++++++++++++++---------- 1 file changed, 29 insertions(+), 16 deletions(-) diff --git a/GEMstack/onboard/planning/stanley.py b/GEMstack/onboard/planning/stanley.py index 0de1f1e55..d9b2ea1d3 100644 --- a/GEMstack/onboard/planning/stanley.py +++ b/GEMstack/onboard/planning/stanley.py @@ -9,7 +9,7 @@ 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, compute_headings +from ...state.trajectory import Path, Trajectory from ..interface.gem import GEMVehicleCommand from ..component import Component from .launch_control import LaunchControl @@ -125,10 +125,8 @@ def set_racing_path(self, path: Path): if len(path.points[0]) > 2: path = path.get_dims([0,1]) if not isinstance(path, Trajectory): - # path = Path(ObjectFrameEnum.START,path) - path = compute_headings(path, True) self.path = path.arc_length_parameterize() - self.trajectory = self.path.racing_velocity_profile() + 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)) @@ -151,6 +149,8 @@ def compute(self, state: VehicleState, component: Component = None): self.t_last = t dt = t - self.t_last + + # Current vehicle states curr_x = state.pose.x curr_y = state.pose.y @@ -178,7 +178,7 @@ def compute(self, state: VehicleState, component: Component = None): 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 + self.current_path_parameter = closest_parameter # 2) Path heading target_x, target_y = self.path.eval(closest_parameter) @@ -202,7 +202,8 @@ def compute(self, state: VehicleState, component: Component = None): 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 @@ -213,16 +214,26 @@ def compute(self, state: VehicleState, component: Component = None): 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: @@ -300,7 +311,7 @@ def compute(self, state: VehicleState, component: Component = None): if output_accel < -self.max_decel: output_accel = -self.max_decel - + self.t_last = t return (output_accel, desired_steering_angle) @@ -354,12 +365,12 @@ def update(self, vehicle: VehicleState, trajectory: Trajectory): 3) Convert front wheel angle to steering wheel angle (if necessary) 4) Send command to the vehicle """ - # path to trajectory if racing enabled and using route instead of planner - if self.desired_speed_source in ['racing'] and not isinstance(trajectory, Trajectory): ## conditional needed for no racing - self.stanley.set_racing_path(trajectory) - else: - self.stanley.set_path(trajectory) - + # 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: @@ -371,9 +382,11 @@ def update(self, vehicle: VehicleState, trajectory: Trajectory): ) cmd = self.vehicle_interface.simple_command(accel, steering_angle, vehicle) + if self.launch_control: cmd = self.launch_control.apply_launch_control(cmd, vehicle.v) + print(cmd) self.vehicle_interface.send_command(cmd) def healthy(self): From bae5505d68296d0e6d469355977f8fb6396b3570 Mon Sep 17 00:00:00 2001 From: Ken Date: Tue, 13 May 2025 11:32:27 -0500 Subject: [PATCH 73/99] launch control logs --- GEMstack/knowledge/defaults/current.yaml | 8 +- GEMstack/knowledge/routes/race_track_7.csv | 1000 +++++++++++++++++ .../knowledge/vehicle/gem_e2_fast_limits.yaml | 2 +- GEMstack/onboard/planning/stanley.py | 49 +- launch/fixed_route.yaml | 2 +- launch/racing_fixed_slalom.yaml | 4 +- .../StanleyTrajectoryTracker_debug.csv | 1 + .../racing_logs/launch_fixed/behavior.json | 937 +++++++++++++++ testing/racing_logs/launch_fixed/meta.yaml | 19 + .../racing_logs/launch_fixed/settings.yaml | 340 ++++++ .../StanleyTrajectoryTracker_debug.csv | 1 + .../racing_logs/no_launch_fixed/behavior.json | 820 ++++++++++++++ testing/racing_logs/no_launch_fixed/meta.yaml | 19 + .../racing_logs/no_launch_fixed/settings.yaml | 340 ++++++ 14 files changed, 3504 insertions(+), 38 deletions(-) create mode 100644 GEMstack/knowledge/routes/race_track_7.csv create mode 100644 testing/racing_logs/launch_fixed/StanleyTrajectoryTracker_debug.csv create mode 100644 testing/racing_logs/launch_fixed/behavior.json create mode 100644 testing/racing_logs/launch_fixed/meta.yaml create mode 100644 testing/racing_logs/launch_fixed/settings.yaml create mode 100644 testing/racing_logs/no_launch_fixed/StanleyTrajectoryTracker_debug.csv create mode 100644 testing/racing_logs/no_launch_fixed/behavior.json create mode 100644 testing/racing_logs/no_launch_fixed/meta.yaml create mode 100644 testing/racing_logs/no_launch_fixed/settings.yaml diff --git a/GEMstack/knowledge/defaults/current.yaml b/GEMstack/knowledge/defaults/current.yaml index 8b3cc6934..31877dad2 100644 --- a/GEMstack/knowledge/defaults/current.yaml +++ b/GEMstack/knowledge/defaults/current.yaml @@ -20,14 +20,14 @@ stage_duration: 0.5 # Stanley controller parameters (fine tune this) stanley: - control_gain: 0.1 + control_gain: 0.12 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 + pid_p: 1.0 + pid_i: 0.7 + pid_d: 0.1 planning: longitudinal_plan: mode: 'real' # 'real' or 'sim' diff --git a/GEMstack/knowledge/routes/race_track_7.csv b/GEMstack/knowledge/routes/race_track_7.csv new file mode 100644 index 000000000..6e1ba685a --- /dev/null +++ b/GEMstack/knowledge/routes/race_track_7.csv @@ -0,0 +1,1000 @@ +0.0,0.0 +0.1507537688442211,0.0 +0.3015075376884422,0.0 +0.4522613065326633,0.0 +0.6030150753768844,0.0 +0.7537688442211055,0.0 +0.9045226130653266,0.0 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+-0.8040201005025125,0.0 +-0.7035175879396967,0.0 +-0.6030150753768844,0.0 +-0.5025125628140685,0.0 +-0.40201005025125625,0.0 +-0.3015075376884404,0.0 +-0.20100502512562812,0.0 +-0.10050251256281229,0.0 +0.0,0.0 diff --git a/GEMstack/knowledge/vehicle/gem_e2_fast_limits.yaml b/GEMstack/knowledge/vehicle/gem_e2_fast_limits.yaml index ccd374398..1fcbd12ad 100644 --- a/GEMstack/knowledge/vehicle/gem_e2_fast_limits.yaml +++ b/GEMstack/knowledge/vehicle/gem_e2_fast_limits.yaml @@ -1,5 +1,5 @@ max_steering_rate: 4.0 #radians/s -max_speed: 10.0 #m/s, approx 20 mph +max_speed: 6.0 #m/s, approx 20 mph max_reverse_speed: 2.5 #m/s, approx 5 mph max_acceleration: 3.0 #m/s^2 max_deceleration: 5.0 #m/s^2 diff --git a/GEMstack/onboard/planning/stanley.py b/GEMstack/onboard/planning/stanley.py index d9b2ea1d3..02fefbe36 100644 --- a/GEMstack/onboard/planning/stanley.py +++ b/GEMstack/onboard/planning/stanley.py @@ -9,7 +9,7 @@ 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 ...state.trajectory import Path, Trajectory, compute_headings from ..interface.gem import GEMVehicleCommand from ..component import Component from .launch_control import LaunchControl @@ -125,8 +125,10 @@ def set_racing_path(self, path: Path): if len(path.points[0]) > 2: path = path.get_dims([0,1]) if not isinstance(path, Trajectory): + # path = Path(ObjectFrameEnum.START,path) + path = compute_headings(path, True) self.path = path.arc_length_parameterize() - self.trajectory = path.racing_velocity_profile() + self.trajectory = self.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)) @@ -149,8 +151,6 @@ def compute(self, state: VehicleState, component: Component = None): self.t_last = t dt = t - self.t_last - - # Current vehicle states curr_x = state.pose.x curr_y = state.pose.y @@ -178,7 +178,7 @@ def compute(self, state: VehicleState, component: Component = None): 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 + self.current_path_parameter = closest_parameter # 2) Path heading target_x, target_y = self.path.eval(closest_parameter) @@ -202,38 +202,29 @@ def compute(self, state: VehicleState, component: Component = None): 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 + feedforward_accel = -2.0 + desired_steering_angle = 0.0 + 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: @@ -311,7 +302,7 @@ def compute(self, state: VehicleState, component: Component = None): if output_accel < -self.max_decel: output_accel = -self.max_decel - + self.t_last = t return (output_accel, desired_steering_angle) @@ -365,12 +356,12 @@ def update(self, vehicle: VehicleState, trajectory: Trajectory): 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) + # path to trajectory if racing enabled and using route instead of planner + if self.desired_speed_source in ['racing'] and not isinstance(trajectory, Trajectory): ## conditional needed for no racing + self.stanley.set_racing_path(trajectory) + else: + self.stanley.set_path(trajectory) + accel, f_delta = self.stanley.compute(vehicle, self) # If your low-level interface expects steering wheel angle: @@ -382,11 +373,9 @@ def update(self, vehicle: VehicleState, trajectory: Trajectory): ) cmd = self.vehicle_interface.simple_command(accel, steering_angle, vehicle) - if self.launch_control: cmd = self.launch_control.apply_launch_control(cmd, vehicle.v) - print(cmd) self.vehicle_interface.send_command(cmd) def healthy(self): diff --git a/launch/fixed_route.yaml b/launch/fixed_route.yaml index 467e4263f..9fd5fa68b 100644 --- a/launch/fixed_route.yaml +++ b/launch/fixed_route.yaml @@ -16,7 +16,7 @@ drive: planning: route_planning: type: StaticRoutePlanner - args: [!relative_path '../GEMstack/knowledge/routes/xyhead_highbay_backlot_oval.csv'] + args: [!relative_path '../GEMstack/knowledge/routes/race_track_7.csv'] motion_planning: type: RouteToTrajectoryPlanner args: [null] #desired speed in m/s. If null, this will keep the route untimed for the trajectory tracker diff --git a/launch/racing_fixed_slalom.yaml b/launch/racing_fixed_slalom.yaml index 2b40d51d2..ca1db71ba 100644 --- a/launch/racing_fixed_slalom.yaml +++ b/launch/racing_fixed_slalom.yaml @@ -16,13 +16,13 @@ drive: planning: route_planning: type: StaticRoutePlanner - args: [!relative_path '../GEMstack/knowledge/routes/turn_right2.csv'] + args: [!relative_path '../GEMstack/knowledge/routes/forward_50m.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 + # args: {desired_speed: 10} #approximately 5mph print: True log: diff --git a/testing/racing_logs/launch_fixed/StanleyTrajectoryTracker_debug.csv b/testing/racing_logs/launch_fixed/StanleyTrajectoryTracker_debug.csv new file mode 100644 index 000000000..a65f5ebb2 --- /dev/null +++ b/testing/racing_logs/launch_fixed/StanleyTrajectoryTracker_debug.csv @@ -0,0 +1 @@ +curr pt[0] time,curr pt[0] vehicle time,curr pt[0],curr pt[1] time,curr pt[1] vehicle time,curr pt[1],desired_x time,desired_x vehicle time,desired_x,desired_y time,desired_y vehicle time,desired_y,Stanley: path param time,Stanley: path param vehicle time,Stanley: path param,Stanley: crosstrack dist time,Stanley: crosstrack dist vehicle time,Stanley: crosstrack dist,crosstrack error time,crosstrack error vehicle time,crosstrack error,Stanley: yaw_error time,Stanley: yaw_error vehicle time,Stanley: yaw_error,steering_angle time,steering_angle vehicle time,steering_angle,Stanley: desired_speed (m/s) time,Stanley: desired_speed (m/s) vehicle time,Stanley: desired_speed (m/s),Stanley: feedforward_accel (m/s^2) time,Stanley: feedforward_accel (m/s^2) vehicle time,Stanley: feedforward_accel (m/s^2),Stanley: output_accel (m/s^2) time,Stanley: output_accel (m/s^2) vehicle time,Stanley: output_accel (m/s^2),Stanley: current yaw (rad) time,Stanley: current yaw (rad) vehicle time,Stanley: current yaw (rad),Stanley: current speed (m/s) time,Stanley: current speed (m/s) vehicle time,Stanley: current speed (m/s),"Stanley: Past the end of trajectory, stopping." time,"Stanley: Past the end of trajectory, stopping." vehicle time diff --git a/testing/racing_logs/launch_fixed/behavior.json b/testing/racing_logs/launch_fixed/behavior.json new file mode 100644 index 000000000..d33370ef2 --- /dev/null +++ b/testing/racing_logs/launch_fixed/behavior.json @@ -0,0 +1,937 @@ +{"vehicle": {"type": "VehicleState", "data": {"pose": {"frame": 2, "t": 1747152376.063471, "x": -88.2352006001537, "y": 40.09274294683906, "z": 200.68625392273978, "yaw": 4.723246155516724, "pitch": -0.02667497881466864, "roll": -0.031100064395403686}, "v": 0.002109053748909908, "accelerator_pedal_position": 0.0, "brake_pedal_position": 0.0, "acceleration": 0.06165050982972525, 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"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": 1747152393.593541} +{"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": 0.0, "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": 0.6, "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": 1747152393.6137104} diff --git a/testing/racing_logs/launch_fixed/meta.yaml b/testing/racing_logs/launch_fixed/meta.yaml new file mode 100644 index 000000000..065fa8b65 --- /dev/null +++ b/testing/racing_logs/launch_fixed/meta.yaml @@ -0,0 +1,19 @@ +events: +- description: Ctrl+C pressed, switching to recovery mode + time: 1747152393.0625036 + vehicle_time: 1747152393.0429919 +- description: Mission execution ended + time: 1747152393.6391156 + vehicle_time: 1747152393.6137104 +exit_reason: normal exit +git_branch: racing_pr_prep +git_commit_id: 0ace8e811ec8d8c026b8802b2081497ffd146263 +pipelines: +- name: drive + time: 1747152376.1626906 + vehicle_time: 1747152376.0624578 +- name: recovery + time: 1747152393.067661 + vehicle_time: 1747152393.0429919 +start_time: 1747152376.0513868 +start_time_human_readable: '2025-05-13 11:06:16' diff --git a/testing/racing_logs/launch_fixed/settings.yaml b/testing/racing_logs/launch_fixed/settings.yaml new file mode 100644 index 000000000..ca98972eb --- /dev/null +++ b/testing/racing_logs/launch_fixed/settings.yaml @@ -0,0 +1,340 @@ +control: + launch_control: + stage_duration: 0.5 + longitudinal_control: + pid_d: 0.0 + pid_i: 0.7 + pid_p: 0.8 + pure_pursuit: + crosstrack_gain: 0.3 + desired_speed: trajectory + lookahead: 2.0 + lookahead_scale: 2.0 + recovery: + brake_amount: 0.5 + brake_speed: 2.0 + stanley: + control_gain: 0.13 + desired_speed: racing + softening_gain: 0.2 +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: + - 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: + perception_normalization: StandardPerceptionNormalizer + state_estimation: GNSSStateEstimator + planning: + motion_planning: + args: + - null + type: RouteToTrajectoryPlanner + route_planning: + args: + - GEMstack/knowledge/routes/forward_50m.csv + type: StaticRoutePlanner + trajectory_tracking: + args: + launch_control: 1 + print: true + type: stanley.StanleyTrajectoryTracker + 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: + gazebo: + run: + drive: + perception: + state_estimation: GNSSStateEstimator + mode: simulation + vehicle_interface: + type: gem_gazebo.GEMGazeboInterface + 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: '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: 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 + 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/Control_Racing2/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_lateral_acceleration: 3.3 + max_longitudinal_acceleration: 2.07 + max_reverse_speed: 2.5 + max_speed: 10.0 + max_steering_rate: 4.0 + min_longitudinal_acceleration: -2.61 + 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/no_launch_fixed/StanleyTrajectoryTracker_debug.csv b/testing/racing_logs/no_launch_fixed/StanleyTrajectoryTracker_debug.csv new file mode 100644 index 000000000..a65f5ebb2 --- /dev/null +++ b/testing/racing_logs/no_launch_fixed/StanleyTrajectoryTracker_debug.csv @@ -0,0 +1 @@ +curr pt[0] time,curr pt[0] vehicle time,curr pt[0],curr pt[1] time,curr pt[1] vehicle time,curr pt[1],desired_x time,desired_x vehicle time,desired_x,desired_y time,desired_y vehicle time,desired_y,Stanley: path param time,Stanley: path param vehicle time,Stanley: path param,Stanley: crosstrack dist time,Stanley: crosstrack dist vehicle time,Stanley: crosstrack dist,crosstrack error time,crosstrack error vehicle time,crosstrack error,Stanley: yaw_error time,Stanley: yaw_error vehicle time,Stanley: yaw_error,steering_angle time,steering_angle vehicle time,steering_angle,Stanley: desired_speed (m/s) time,Stanley: desired_speed (m/s) vehicle time,Stanley: desired_speed (m/s),Stanley: feedforward_accel (m/s^2) time,Stanley: feedforward_accel (m/s^2) vehicle time,Stanley: feedforward_accel (m/s^2),Stanley: output_accel (m/s^2) time,Stanley: output_accel (m/s^2) vehicle time,Stanley: output_accel (m/s^2),Stanley: current yaw (rad) time,Stanley: current yaw (rad) vehicle time,Stanley: current yaw (rad),Stanley: current speed (m/s) time,Stanley: current speed (m/s) vehicle time,Stanley: current speed (m/s),"Stanley: Past the end of trajectory, stopping." time,"Stanley: Past the end of trajectory, stopping." vehicle time diff --git a/testing/racing_logs/no_launch_fixed/behavior.json b/testing/racing_logs/no_launch_fixed/behavior.json new file mode 100644 index 000000000..d84f811c7 --- /dev/null +++ b/testing/racing_logs/no_launch_fixed/behavior.json @@ -0,0 +1,820 @@ +{"vehicle": {"type": "VehicleState", "data": {"pose": {"frame": 2, "t": 1747152446.724362, "x": -88.23611078269228, "y": 40.092740950788915, "z": 200.82794105136935, "yaw": 1.5191076989878212, "pitch": -0.03254899879835333, "roll": 0.020478595664597473}, "v": 0.0014268343214588123, "accelerator_pedal_position": 0.0, "brake_pedal_position": 0.0, "acceleration": 0.11924930047288451, "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": 1747152446.7233486} +{"vehicle_interface_command": null, 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false, "horn_on": false, "wiper_level": 0, "battery_level": null, "fuel_level": null, "driving_range": null}}, "time": 1747152462.2572722} +{"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": 0.0, "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": 1.12, "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": 1747152462.2772703} diff --git a/testing/racing_logs/no_launch_fixed/meta.yaml b/testing/racing_logs/no_launch_fixed/meta.yaml new file mode 100644 index 000000000..c8a24e3e3 --- /dev/null +++ b/testing/racing_logs/no_launch_fixed/meta.yaml @@ -0,0 +1,19 @@ +events: +- description: Ctrl+C pressed, switching to recovery mode + time: 1747152462.0866241 + vehicle_time: 1747152462.0793095 +- description: Mission execution ended + time: 1747152462.304904 + vehicle_time: 1747152462.2772703 +exit_reason: normal exit +git_branch: racing_pr_prep +git_commit_id: 0ace8e811ec8d8c026b8802b2081497ffd146263 +pipelines: +- name: drive + time: 1747152446.8235993 + vehicle_time: 1747152446.7233486 +- name: recovery + time: 1747152462.090404 + vehicle_time: 1747152462.0793095 +start_time: 1747152446.7088227 +start_time_human_readable: '2025-05-13 11:07:26' diff --git a/testing/racing_logs/no_launch_fixed/settings.yaml b/testing/racing_logs/no_launch_fixed/settings.yaml new file mode 100644 index 000000000..860ec5531 --- /dev/null +++ b/testing/racing_logs/no_launch_fixed/settings.yaml @@ -0,0 +1,340 @@ +control: + launch_control: + stage_duration: 0.5 + longitudinal_control: + pid_d: 0.0 + pid_i: 0.7 + pid_p: 0.8 + pure_pursuit: + crosstrack_gain: 0.3 + desired_speed: trajectory + lookahead: 2.0 + lookahead_scale: 2.0 + recovery: + brake_amount: 0.5 + brake_speed: 2.0 + stanley: + control_gain: 0.13 + desired_speed: racing + softening_gain: 0.2 +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: + - 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: + perception_normalization: StandardPerceptionNormalizer + state_estimation: GNSSStateEstimator + planning: + motion_planning: + args: + - null + type: RouteToTrajectoryPlanner + route_planning: + args: + - GEMstack/knowledge/routes/forward_50m.csv + type: StaticRoutePlanner + trajectory_tracking: + args: + launch_control: 0 + print: true + type: stanley.StanleyTrajectoryTracker + 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: + gazebo: + run: + drive: + perception: + state_estimation: GNSSStateEstimator + mode: simulation + vehicle_interface: + type: gem_gazebo.GEMGazeboInterface + 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: '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: 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 + 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/Control_Racing2/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_lateral_acceleration: 3.3 + max_longitudinal_acceleration: 2.07 + max_reverse_speed: 2.5 + max_speed: 10.0 + max_steering_rate: 4.0 + min_longitudinal_acceleration: -2.61 + 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 From 5369e758ae72c5938a68b186e9b8464d97a3cd25 Mon Sep 17 00:00:00 2001 From: Avery Plote Date: Wed, 14 May 2025 15:42:16 -0400 Subject: [PATCH 74/99] Update search area for closest point --- GEMstack/onboard/planning/stanley.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/GEMstack/onboard/planning/stanley.py b/GEMstack/onboard/planning/stanley.py index 02fefbe36..cd67b1dc2 100644 --- a/GEMstack/onboard/planning/stanley.py +++ b/GEMstack/onboard/planning/stanley.py @@ -175,8 +175,8 @@ def compute(self, state: VehicleState, component: Component = None): # 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 + search_start = self.current_path_parameter - 10 + search_end = self.current_path_parameter + 10 closest_dist, closest_parameter = self.path.closest_point_local((fx, fy), [search_start, search_end]) self.current_path_parameter = closest_parameter From 844913b3078b27e95406fd891a50900cad773348 Mon Sep 17 00:00:00 2001 From: Avery Plote Date: Wed, 14 May 2025 15:48:27 -0400 Subject: [PATCH 75/99] Remove logs from pr branch --- .../StanleyTrajectoryTracker_debug.csv | 1 - .../racing_logs/launch_fixed/behavior.json | 937 ------------------ testing/racing_logs/launch_fixed/meta.yaml | 19 - .../racing_logs/launch_fixed/settings.yaml | 340 ------- .../StanleyTrajectoryTracker_debug.csv | 1 - .../racing_logs/no_launch_fixed/behavior.json | 820 --------------- testing/racing_logs/no_launch_fixed/meta.yaml | 19 - .../racing_logs/no_launch_fixed/settings.yaml | 340 ------- 8 files changed, 2477 deletions(-) delete mode 100644 testing/racing_logs/launch_fixed/StanleyTrajectoryTracker_debug.csv delete mode 100644 testing/racing_logs/launch_fixed/behavior.json delete mode 100644 testing/racing_logs/launch_fixed/meta.yaml delete mode 100644 testing/racing_logs/launch_fixed/settings.yaml delete mode 100644 testing/racing_logs/no_launch_fixed/StanleyTrajectoryTracker_debug.csv delete mode 100644 testing/racing_logs/no_launch_fixed/behavior.json delete mode 100644 testing/racing_logs/no_launch_fixed/meta.yaml delete mode 100644 testing/racing_logs/no_launch_fixed/settings.yaml diff --git a/testing/racing_logs/launch_fixed/StanleyTrajectoryTracker_debug.csv b/testing/racing_logs/launch_fixed/StanleyTrajectoryTracker_debug.csv deleted file mode 100644 index a65f5ebb2..000000000 --- a/testing/racing_logs/launch_fixed/StanleyTrajectoryTracker_debug.csv +++ /dev/null @@ -1 +0,0 @@ -curr pt[0] time,curr pt[0] vehicle time,curr pt[0],curr pt[1] time,curr pt[1] vehicle time,curr pt[1],desired_x time,desired_x vehicle time,desired_x,desired_y time,desired_y vehicle time,desired_y,Stanley: path param time,Stanley: path param vehicle time,Stanley: path param,Stanley: crosstrack dist time,Stanley: crosstrack dist vehicle time,Stanley: crosstrack dist,crosstrack error time,crosstrack error vehicle time,crosstrack error,Stanley: yaw_error time,Stanley: yaw_error vehicle time,Stanley: yaw_error,steering_angle time,steering_angle vehicle time,steering_angle,Stanley: desired_speed (m/s) time,Stanley: desired_speed (m/s) vehicle time,Stanley: desired_speed (m/s),Stanley: feedforward_accel (m/s^2) time,Stanley: feedforward_accel (m/s^2) vehicle time,Stanley: feedforward_accel (m/s^2),Stanley: output_accel (m/s^2) time,Stanley: output_accel (m/s^2) vehicle time,Stanley: output_accel (m/s^2),Stanley: current yaw (rad) time,Stanley: current yaw (rad) vehicle time,Stanley: current yaw (rad),Stanley: current speed (m/s) time,Stanley: current speed (m/s) vehicle time,Stanley: current speed (m/s),"Stanley: Past the end of trajectory, stopping." time,"Stanley: Past the end of trajectory, stopping." vehicle time diff --git a/testing/racing_logs/launch_fixed/behavior.json b/testing/racing_logs/launch_fixed/behavior.json deleted file mode 100644 index d33370ef2..000000000 --- a/testing/racing_logs/launch_fixed/behavior.json +++ /dev/null @@ -1,937 +0,0 @@ -{"vehicle": {"type": "VehicleState", "data": {"pose": {"frame": 2, "t": 1747152376.063471, "x": -88.2352006001537, "y": 40.09274294683906, "z": 200.68625392273978, "yaw": 4.723246155516724, "pitch": -0.02667497881466864, "roll": -0.031100064395403686}, "v": 0.002109053748909908, "accelerator_pedal_position": 0.0, "brake_pedal_position": 0.0, "acceleration": 0.06165050982972525, "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": 1747152376.0624578} -{"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": 0.0, "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": 1747152376.0624578} -{"vehicle": {"type": "VehicleState", "data": {"pose": {"frame": 2, "t": 1747152376.1668818, "x": -88.23520060004842, "y": 40.092742948812464, "z": 200.68620772960406, "yaw": 4.723243492355635, "pitch": -0.026676366571267925, "roll": -0.03113899648158928}, "v": 0.003510916084356086, "accelerator_pedal_position": 0.0, "brake_pedal_position": 0.0, "acceleration": 0.06166411887848633, "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": 1747152376.1666193} -{"vehicle_interface_command": {"type": "GEMVehicleCommand", "data": {"gear": 1, "accelerator_pedal_position": 0.0, "accelerator_pedal_speed": 3.0, "brake_pedal_position": 1.0, "brake_pedal_speed": 3.0, "steering_wheel_angle": 0.002896054053928262, "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": 1747152376.1666193} -{"vehicle": {"type": "VehicleState", "data": {"pose": {"frame": 2, "t": 1747152377.9832325, "x": -88.23520060420628, "y": 40.092742943442374, "z": 200.68659975778968, "yaw": 4.723260003954393, "pitch": -0.02671731059243329, "roll": -0.031180745692865476}, "v": 0.0005698773613759039, "accelerator_pedal_position": 0.0, "brake_pedal_position": 0.0, "acceleration": 0.06206563659849296, "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": 1747152377.9828975} -{"vehicle_interface_command": {"type": "GEMVehicleCommand", "data": {"gear": 1, "accelerator_pedal_position": 0.0, "accelerator_pedal_speed": 3.0, "brake_pedal_position": 1.0, "brake_pedal_speed": 3.0, "steering_wheel_angle": 0.002896054053928262, "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": 1747152377.9828975} -{"vehicle_interface_command": {"type": "GEMVehicleCommand", "data": {"gear": 1, "accelerator_pedal_position": 0.0, "accelerator_pedal_speed": 3.0, "brake_pedal_position": 1.0, "brake_pedal_speed": 3.0, "steering_wheel_angle": 0.002896054053928262, "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": 1747152378.0031953} -{"vehicle_interface_command": {"type": "GEMVehicleCommand", "data": {"gear": 1, "accelerator_pedal_position": 0.0, "accelerator_pedal_speed": 3.0, "brake_pedal_position": 1.0, "brake_pedal_speed": 3.0, "steering_wheel_angle": 0.002896054053928262, "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": 1747152378.0229645} -{"vehicle_interface_command": {"type": "GEMVehicleCommand", "data": {"gear": 1, "accelerator_pedal_position": 0.0, "accelerator_pedal_speed": 3.0, "brake_pedal_position": 1.0, "brake_pedal_speed": 3.0, "steering_wheel_angle": 0.002896054053928262, "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": 0.002, "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": 1747152378.0431938} -{"vehicle_interface_command": {"type": "GEMVehicleCommand", "data": {"gear": 1, "accelerator_pedal_position": 0.0, "accelerator_pedal_speed": 3.0, "brake_pedal_position": 1.0, "brake_pedal_speed": 3.0, "steering_wheel_angle": 0.002896054053928262, "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": 0.002, "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": 1747152378.062969} -{"vehicle": {"type": "VehicleState", "data": {"pose": {"frame": 2, "t": 1747152378.0831673, "x": -88.23520060461767, "y": 40.092742944846506, "z": 200.68649495205156, "yaw": 4.72322058917026, "pitch": -0.02672930938150086, "roll": -0.031186556793587814}, "v": 0.0023433663647505158, "accelerator_pedal_position": 0.0, 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"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": 1747152393.593541} -{"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": 0.0, "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": 0.6, "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": 1747152393.6137104} diff --git a/testing/racing_logs/launch_fixed/meta.yaml b/testing/racing_logs/launch_fixed/meta.yaml deleted file mode 100644 index 065fa8b65..000000000 --- a/testing/racing_logs/launch_fixed/meta.yaml +++ /dev/null @@ -1,19 +0,0 @@ -events: -- description: Ctrl+C pressed, switching to recovery mode - time: 1747152393.0625036 - vehicle_time: 1747152393.0429919 -- description: Mission execution ended - time: 1747152393.6391156 - vehicle_time: 1747152393.6137104 -exit_reason: normal exit -git_branch: racing_pr_prep -git_commit_id: 0ace8e811ec8d8c026b8802b2081497ffd146263 -pipelines: -- name: drive - time: 1747152376.1626906 - vehicle_time: 1747152376.0624578 -- name: recovery - time: 1747152393.067661 - vehicle_time: 1747152393.0429919 -start_time: 1747152376.0513868 -start_time_human_readable: '2025-05-13 11:06:16' diff --git a/testing/racing_logs/launch_fixed/settings.yaml b/testing/racing_logs/launch_fixed/settings.yaml deleted file mode 100644 index ca98972eb..000000000 --- a/testing/racing_logs/launch_fixed/settings.yaml +++ /dev/null @@ -1,340 +0,0 @@ -control: - launch_control: - stage_duration: 0.5 - longitudinal_control: - pid_d: 0.0 - pid_i: 0.7 - pid_p: 0.8 - pure_pursuit: - crosstrack_gain: 0.3 - desired_speed: trajectory - lookahead: 2.0 - lookahead_scale: 2.0 - recovery: - brake_amount: 0.5 - brake_speed: 2.0 - stanley: - control_gain: 0.13 - desired_speed: racing - softening_gain: 0.2 -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: - - 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: - perception_normalization: StandardPerceptionNormalizer - state_estimation: GNSSStateEstimator - planning: - motion_planning: - args: - - null - type: RouteToTrajectoryPlanner - route_planning: - args: - - GEMstack/knowledge/routes/forward_50m.csv - type: StaticRoutePlanner - trajectory_tracking: - args: - launch_control: 1 - print: true - type: stanley.StanleyTrajectoryTracker - 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: - gazebo: - run: - drive: - perception: - state_estimation: GNSSStateEstimator - mode: simulation - vehicle_interface: - type: gem_gazebo.GEMGazeboInterface - 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: '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: 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 - 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/Control_Racing2/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_lateral_acceleration: 3.3 - max_longitudinal_acceleration: 2.07 - max_reverse_speed: 2.5 - max_speed: 10.0 - max_steering_rate: 4.0 - min_longitudinal_acceleration: -2.61 - 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/no_launch_fixed/StanleyTrajectoryTracker_debug.csv b/testing/racing_logs/no_launch_fixed/StanleyTrajectoryTracker_debug.csv deleted file mode 100644 index a65f5ebb2..000000000 --- a/testing/racing_logs/no_launch_fixed/StanleyTrajectoryTracker_debug.csv +++ /dev/null @@ -1 +0,0 @@ -curr pt[0] time,curr pt[0] vehicle time,curr pt[0],curr pt[1] time,curr pt[1] vehicle time,curr pt[1],desired_x time,desired_x vehicle time,desired_x,desired_y time,desired_y vehicle time,desired_y,Stanley: path param time,Stanley: path param vehicle time,Stanley: path param,Stanley: crosstrack dist time,Stanley: crosstrack dist vehicle time,Stanley: crosstrack dist,crosstrack error time,crosstrack error vehicle time,crosstrack error,Stanley: yaw_error time,Stanley: yaw_error vehicle time,Stanley: yaw_error,steering_angle time,steering_angle vehicle time,steering_angle,Stanley: desired_speed (m/s) time,Stanley: desired_speed (m/s) vehicle time,Stanley: desired_speed (m/s),Stanley: feedforward_accel (m/s^2) time,Stanley: feedforward_accel (m/s^2) vehicle time,Stanley: feedforward_accel (m/s^2),Stanley: output_accel (m/s^2) time,Stanley: output_accel (m/s^2) vehicle time,Stanley: output_accel (m/s^2),Stanley: current yaw (rad) time,Stanley: current yaw (rad) vehicle time,Stanley: current yaw (rad),Stanley: current speed (m/s) time,Stanley: current speed (m/s) vehicle time,Stanley: current speed (m/s),"Stanley: Past the end of trajectory, stopping." time,"Stanley: Past the end of trajectory, stopping." vehicle time diff --git a/testing/racing_logs/no_launch_fixed/behavior.json b/testing/racing_logs/no_launch_fixed/behavior.json deleted file mode 100644 index d84f811c7..000000000 --- a/testing/racing_logs/no_launch_fixed/behavior.json +++ /dev/null @@ -1,820 +0,0 @@ -{"vehicle": {"type": "VehicleState", "data": {"pose": {"frame": 2, "t": 1747152446.724362, "x": -88.23611078269228, "y": 40.092740950788915, "z": 200.82794105136935, "yaw": 1.5191076989878212, "pitch": -0.03254899879835333, "roll": 0.020478595664597473}, "v": 0.0014268343214588123, "accelerator_pedal_position": 0.0, "brake_pedal_position": 0.0, "acceleration": 0.11924930047288451, "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": 1747152446.7233486} -{"vehicle_interface_command": null, 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"accelerator_pedal_speed": 3.0, "brake_pedal_position": 0.6667530975689538, "brake_pedal_speed": 3.0, "steering_wheel_angle": 0.0, "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": 1.05, "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": 1747152462.0593076} -{"vehicle": {"type": "VehicleState", "data": {"pose": {"frame": 2, "t": 1747152462.079602, "x": -88.23529081613677, "y": 40.09277898213865, "z": 200.80526974476828, "yaw": 1.5216984220962502, "pitch": -0.03912074202050356, "roll": 0.04144117092304641}, "v": 1.0212001508106878, "accelerator_pedal_position": 0.0, "brake_pedal_position": 0.0, "acceleration": 0.12015159655843455, "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": 1747152462.0793095} -{"vehicle_interface_command": {"type": "GEMVehicleCommand", "data": {"gear": 1, "accelerator_pedal_position": 0, "accelerator_pedal_speed": 3.0, "brake_pedal_position": 0.6667530975689538, "brake_pedal_speed": 3.0, "steering_wheel_angle": 0.0, "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": 1.05, "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": 1747152462.0793095} -{"vehicle_interface_command": {"type": "GEMVehicleCommand", "data": {"gear": 1, "accelerator_pedal_position": 0, "accelerator_pedal_speed": 3.0, "brake_pedal_position": 0.6667530975689538, "brake_pedal_speed": 3.0, "steering_wheel_angle": 0.0, "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": 1.02, "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": 1747152462.097122} -{"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": 0.0, "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": 1.02, "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": 1747152462.117237} -{"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": 0.0, "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": 1.02, "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": 1747152462.137263} -{"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": 0.0, "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": 0.99, "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": 1747152462.15724} -{"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": 0.0, "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": 0.99, "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": 1747152462.1772556} -{"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": 0.0, "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": 0.97, "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": 1747152462.1972764} -{"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": 0.0, "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": 0.97, "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": 1747152462.2172682} -{"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": 0.0, "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": 0.96, "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": 1747152462.2372992} -{"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": 0.0, "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": 1.12, "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": 1747152462.2572722} -{"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": 0.0, "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": 1.12, "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": 1747152462.2772703} diff --git a/testing/racing_logs/no_launch_fixed/meta.yaml b/testing/racing_logs/no_launch_fixed/meta.yaml deleted file mode 100644 index c8a24e3e3..000000000 --- a/testing/racing_logs/no_launch_fixed/meta.yaml +++ /dev/null @@ -1,19 +0,0 @@ -events: -- description: Ctrl+C pressed, switching to recovery mode - time: 1747152462.0866241 - vehicle_time: 1747152462.0793095 -- description: Mission execution ended - time: 1747152462.304904 - vehicle_time: 1747152462.2772703 -exit_reason: normal exit -git_branch: racing_pr_prep -git_commit_id: 0ace8e811ec8d8c026b8802b2081497ffd146263 -pipelines: -- name: drive - time: 1747152446.8235993 - vehicle_time: 1747152446.7233486 -- name: recovery - time: 1747152462.090404 - vehicle_time: 1747152462.0793095 -start_time: 1747152446.7088227 -start_time_human_readable: '2025-05-13 11:07:26' diff --git a/testing/racing_logs/no_launch_fixed/settings.yaml b/testing/racing_logs/no_launch_fixed/settings.yaml deleted file mode 100644 index 860ec5531..000000000 --- a/testing/racing_logs/no_launch_fixed/settings.yaml +++ /dev/null @@ -1,340 +0,0 @@ -control: - launch_control: - stage_duration: 0.5 - longitudinal_control: - pid_d: 0.0 - pid_i: 0.7 - pid_p: 0.8 - pure_pursuit: - crosstrack_gain: 0.3 - desired_speed: trajectory - lookahead: 2.0 - lookahead_scale: 2.0 - recovery: - brake_amount: 0.5 - brake_speed: 2.0 - stanley: - control_gain: 0.13 - desired_speed: racing - softening_gain: 0.2 -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: - - 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: - perception_normalization: StandardPerceptionNormalizer - state_estimation: GNSSStateEstimator - planning: - motion_planning: - args: - - null - type: RouteToTrajectoryPlanner - route_planning: - args: - - GEMstack/knowledge/routes/forward_50m.csv - type: StaticRoutePlanner - trajectory_tracking: - args: - launch_control: 0 - print: true - type: stanley.StanleyTrajectoryTracker - 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: - gazebo: - run: - drive: - perception: - state_estimation: GNSSStateEstimator - mode: simulation - vehicle_interface: - type: gem_gazebo.GEMGazeboInterface - 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: '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: 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 - 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/Control_Racing2/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_lateral_acceleration: 3.3 - max_longitudinal_acceleration: 2.07 - max_reverse_speed: 2.5 - max_speed: 10.0 - max_steering_rate: 4.0 - min_longitudinal_acceleration: -2.61 - 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 From 01698075db7bcf1e322c45638a434b1ba09636af Mon Sep 17 00:00:00 2001 From: Avery Plote Date: Wed, 14 May 2025 16:27:06 -0400 Subject: [PATCH 76/99] Re enable launch control reset and add comments --- GEMstack/onboard/planning/launch_control.py | 7 +++++-- 1 file changed, 5 insertions(+), 2 deletions(-) diff --git a/GEMstack/onboard/planning/launch_control.py b/GEMstack/onboard/planning/launch_control.py index f6b13deb1..173505bd8 100644 --- a/GEMstack/onboard/planning/launch_control.py +++ b/GEMstack/onboard/planning/launch_control.py @@ -1,5 +1,7 @@ import rospy +# To use launch control, enable as an arg for stanley or pure_pursuit controller in the launch file. + class LaunchControl: def __init__(self, stage_duration, stop_threshold): self.enable_launch_control = True @@ -9,7 +11,7 @@ def __init__(self, stage_duration, stop_threshold): def reset(self): self.enable_launch_control = True - self._launch_start_time = 0 + self._launch_start_time = None def apply_launch_control(self, cmd, vehicle_velocity): @@ -32,8 +34,9 @@ def apply_launch_control(self, cmd, vehicle_velocity): else: self.enable_launch_control = False + # if we stop, re-enable launch control if vehicle_velocity < self.stop_threshold and elapsed > 3 * self.stage_duration: - # self.reset() + self.reset() self.enable_launch_control = False return cmd \ No newline at end of file From 746cbe9b25ea989d9169edb73581b5b0def3bf57 Mon Sep 17 00:00:00 2001 From: Avery Plote Date: Wed, 14 May 2025 16:38:50 -0400 Subject: [PATCH 77/99] update gem_simulator and racing_planning with latest --- GEMstack/onboard/interface/gem_simulator.py | 6 +- GEMstack/onboard/planning/racing_planning.py | 502 +++++++++++++++++-- 2 files changed, 455 insertions(+), 53 deletions(-) diff --git a/GEMstack/onboard/interface/gem_simulator.py b/GEMstack/onboard/interface/gem_simulator.py index 3b2a6e73b..88adf8433 100644 --- a/GEMstack/onboard/interface/gem_simulator.py +++ b/GEMstack/onboard/interface/gem_simulator.py @@ -3,7 +3,7 @@ from ...mathutils.dubins import SecondOrderDubinsCar from ...mathutils.dynamics import simulate from ...mathutils import transforms -from ...state import VehicleState,ObjectPose,ObjectFrameEnum,Roadgraph,AgentState,AgentEnum,AgentActivityEnum,Obstacle,Sign,AllState,VehicleGearEnum +from ...state import VehicleState,ObjectPose,ObjectFrameEnum,Roadgraph,AgentState,AgentEnum,AgentActivityEnum,Obstacle,Sign,AllState from ...knowledge.vehicle.geometry import front2steer,steer2front,heading_rate from ...knowledge.vehicle.dynamics import pedal_positions_to_acceleration, acceleration_to_pedal_positions from ...utils.loops import TimedLooper @@ -176,7 +176,7 @@ def simulate(self, T : float, command : Optional[GEMVehicleCommand]): #simulate actuators accelerator_pedal_position = np.clip(self.last_command.accelerator_pedal_position,0.0,1.0) brake_pedal_position = np.clip(self.last_command.brake_pedal_position,0.0,1.0) - acceleration = pedal_positions_to_acceleration(accelerator_pedal_position,brake_pedal_position,v,0,self.last_command.gear) + acceleration = pedal_positions_to_acceleration(accelerator_pedal_position,brake_pedal_position,v,0,1) acceleration = np.clip(acceleration,*self.dubins.accelRange) phides = steer2front(self.last_command.steering_wheel_angle) phides = np.clip(phides,*self.dubins.wheelAngleRange) @@ -211,7 +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/planning/racing_planning.py b/GEMstack/onboard/planning/racing_planning.py index 8524d4946..ecbfd6dbc 100644 --- a/GEMstack/onboard/planning/racing_planning.py +++ b/GEMstack/onboard/planning/racing_planning.py @@ -1,6 +1,6 @@ from ...state.trajectory import Trajectory from ...state.vehicle import VehicleState -from ...state import AgentState, AgentEnum +from ...state import Obstacle from ..component import Component from ...state.trajectory import Trajectory, compute_headings, Path @@ -9,6 +9,7 @@ import numpy as np import matplotlib.pyplot as plt from scipy.optimize import minimize +import threading from typing import Dict @@ -42,7 +43,7 @@ def scenario_check(vehicle_state, cone_state): return cone_direction, cone_position -def waypoint_generate(vehicle_state, cones, cone_idx): +def waypoint_generate(vehicle_state, cones, cone_idx, next_cone_idx, prev_cone_idx): """ Generate waypoints based on the scenario. Args: @@ -54,6 +55,7 @@ def waypoint_generate(vehicle_state, cones, cone_idx): flex_wp: flexible waypoint (used to maneuver) fixed_wp: fixed waypoint (goal position) """ + print("cone idx: ", cone_idx, next_cone_idx, prev_cone_idx) scenario, cone_position = scenario_check(vehicle_state, [cones[cone_idx]]) car_position = np.array(vehicle_state['position']) car_heading = vehicle_state['heading'] # in radians @@ -61,7 +63,7 @@ def waypoint_generate(vehicle_state, cones, cone_idx): target_heading = car_heading # ===== Parameters ===== - u_turn_radius = 11.5 # Radius for U-turn + u_turn_radius = 8 # Radius for U-turn offset = 2.0 # Offset for left/right pass lookahead_distance = 10.0 # Distance ahead for fixed point # ====================== @@ -73,11 +75,18 @@ def waypoint_generate(vehicle_state, cones, cone_idx): 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'])) + if prev_cone_idx == None: + prev_cone_idx = cone_idx - 1 + prev_cone_position = np.array((cones[prev_cone_idx]['x'], cones[prev_cone_idx]['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 next cone (2nd closest) is available, use it to determine lookahead_distance + if next_cone_idx != None: + next_cone_position = np.array((cones[next_cone_idx]['x'], cones[next_cone_idx]['y'])) + lookahead_distance = np.linalg.norm(next_cone_position - cone_position) / 2 + if scenario == 'STANDING': # U-turn: Generate points in a semi-circular arc around the cone cone = np.array(cone_position) @@ -212,6 +221,19 @@ def trajectory_generation(init_state, final_state, N=30, T=0.1, Lr=1.5, - 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. """ + final_heading = (final_state['psi'] + np.pi) % (2 * np.pi) - np.pi + init_heading = (init_state['psi'] + np.pi) % (2 * np.pi) - np.pi + + if abs(final_heading - init_heading) > np.pi: + if final_heading < init_heading: + final_heading += 2 * np.pi + else: + final_heading -= 2 * np.pi + + init_state['psi'] = init_heading + final_state['psi'] = final_heading + print("init and final headings: ", init_heading, final_heading) + 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_)) @@ -295,6 +317,150 @@ def dynamics_constraints(p): return x_full, y_full, psi_full, c_full, v_full, eps_, final_error +######## more dynamics version +def trajectory_generation_dynamics(init_state, final_state, N=30, Lr=1.5, + a_min=-3.0, a_max=3.0, + eps_min=-0.2, eps_max=0.2, + v_min=2.0, v_max=11.0, + T_min = 0.5, T_max = 1000.0, + waypoints=None, waypoint_penalty_weight=10, waypoint_headings=None): + """ + 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): + T_total = p[-1] + return T_total + + 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)]) + # print("x_: " +str(x_)) + split_idx = 5 *(N - 1) + x_, y_, psi_, c_, v_= np.split(p[:split_idx], 5) + + a = p[split_idx:split_idx + (N - 1)] + eps = p[split_idx + (N - 1):-1] + T_total = p[-1] + T_k = T_total / (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_k + dy = v_prev * np.sin(psi_prev + c_prev * Lr) * T_k + dpsi = v_prev * c_prev * T_k + dv = a[k] * T_k + dc = eps[k] * T_k + constraints.extend([ + x_[k] - (x_prev + dx), + y_[k] - (y_prev + dy), + psi_[k] - (psi_prev + dpsi), + v_[k] - (v_prev + dv), + 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 + + def waypoint_penalty(p): + if waypoints is None or len(waypoints) == 0: + return 0.0 + + split_idx = 5 *(N - 1) + x_, y_, psi_, c_, v_= np.split(p[:split_idx], 5) + # x_ = p[:N -1] + # y_ = p[N - 1:2 * (N-1)] + # psi_ = [ 3 * (N - 1)] + # 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)] + penalty = 0.0 + alignment_threshold = 0.3 + # Sum penalties for each waypoint at its corresponding index + for wp_idx, waypoint in enumerate(waypoints): + traj_idx = indices[wp_idx] + penalty += waypoint_penalty_weight * ( + (x_[traj_idx] - waypoint[0])**2 + (y_[traj_idx] - waypoint[1])**2 + ) + return penalty + + # 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'] + + a_vals = np.zeros(N - 1) + eps_vals = np.zeros(N - 1) + T_guess = 60.0 + + p0 = np.concatenate([x_vals[1:], y_vals[1:], psi_vals[1:], c_vals[1:], v_vals[1:], + a_vals, eps_vals, [T_guess]]) + num_vars = len(p0) + bounds = ([(None, None)] * (4 * (N - 1)) + + [(v_min, v_max)] * (N - 1) + + [(a_min, a_max)] * (N - 1) + + [(eps_min, eps_max)] * (N - 1) + + [(T_min, T_max)] + ) + def total_cost(p): + return cost(p) + waypoint_penalty(p) + + result = minimize(total_cost, + p0, + bounds=bounds, + constraints={'type': 'eq', 'fun': dynamics_constraints}, + options={'maxiter': 1000}) + + # print("result.x:" + str(result.x)) + if not result.success: + raise RuntimeError("Optimization failed") + + split_idx = 5 *(N - 1) + x_, y_, psi_, c_, v_= np.split(result.x[:split_idx], 5) + + a = result.x[split_idx:split_idx + (N - 1)] + eps = result.x[split_idx + (N - 1):-1] + T_total = result.x[-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, a, eps, T_total, 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. @@ -380,7 +546,7 @@ 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 = compute_headings(curr_path, smoothed=True) path_normalized = path.arc_length_parameterize() points = [p for p in path_normalized.points] return Trajectory(points=points, times=t_vals, frame=ObjectFrameEnum.START) @@ -455,13 +621,12 @@ def no_cone_planning(vehicle_dict): 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)) + step_size = 0.00001 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) @@ -485,8 +650,12 @@ def got_new_cone(current_cones, prev_cones): class SlalomTrajectoryPlanner(Component): def __init__(self, **kwargs): # You can accept args here if needed + self.prev_vehicle_position = None self.trajectory = None self.prev_cones = None + self.prev_cone_idx = None # Used to set heading in waypoint_generate + self.travelled_distance = 0.0 + self.cones = [] # ---------------------------- # Predifined-Cones Simulation # self.run_fake_plan = True @@ -496,11 +665,15 @@ def __init__(self, **kwargs): self.run_fake_plan = False self.onboard = True # ---------------------------- - + # Planner runs on different thread + self.plan_thread = None + self.plan_lock = threading.Lock() + self.plan_pending = False + self.DEBUG_MODE = True def state_inputs(self): - return ['agents', 'vehicle'] # Receive VehicleState & AgentState input + return ['obstacles', 'vehicle'] # Receive VehicleState & AgentState input def state_outputs(self): return ['trajectory'] # Return trajectory output @@ -508,35 +681,40 @@ def state_outputs(self): def rate(self): # Setup the update rate return 1.0 - def update(self, agents: Dict[str, AgentState], vehicle: VehicleState): + def update(self, cone_obstacles: Dict[str, Obstacle], 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 + for id, detected_cone in cone_obstacles.items(): + if n > 3: + break + if n % 4 == 0: + curr_activity = 'LEFT' + elif n % 4 == 1: + curr_activity = 'RIGHT' + elif n % 4 == 2: + curr_activity = 'LEFT' + else: + curr_activity = 'STANDING' + c = { + 'id': id, + 'x': detected_cone.pose.x, + 'y': detected_cone.pose.y, + 'orientation': curr_activity + } + n = n + 1 + if c['id'] not in {cone['id'] for cone in self.cones}: + self.cones.append(c) + + curr_pos = np.array([vehicle.pose.x, vehicle.pose.y]) + if self.prev_vehicle_position is None: + distance_increment = 0.0 + else: + distance_increment = np.linalg.norm(curr_pos - self.prev_vehicle_position) + + self.prev_vehicle_position = curr_pos vehicle_dict = { 'position': [vehicle.pose.x, vehicle.pose.y], @@ -546,19 +724,36 @@ def update(self, agents: Dict[str, AgentState], vehicle: VehicleState): if self.DEBUG_MODE: print("===================== STATES =====================") print(f"Vehicle State: {vehicle_dict}") - print(f"Detected Cones: {cones}") + print(f"Detected Cones: {self.cones}") print("===================== ====== =====================") + + # self.trajectory = self.online_trajectory_planning(vehicle_dict, self.cones, distance_increment) + if not self.plan_pending: + self.plan_pending = True + vehicle_copy = vehicle_dict.copy() + cones_copy = list(self.cones) + distance_copy = distance_increment + + def plan(): + new_traj = self.online_trajectory_planning(vehicle_copy, cones_copy, distance_copy) + with self.plan_lock: + self.trajectory = new_traj + self.plan_pending = False + + self.plan_thread = threading.Thread(target=plan) + self.plan_thread.start() + # If no cones detected, drive forward - if len(cones) == 0: + if len(self.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 + # # 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: @@ -608,15 +803,222 @@ def update(self, agents: Dict[str, AgentState], vehicle: VehicleState): self.run_fake_plan = False # Update output - return self.trajectory - - - - - - + with self.plan_lock: + return self.trajectory + + def online_trajectory_planning(self, vehicle_state, cones, distance_increment, replan_threshold=100.0): + if not hasattr(self, 'prev_cones'): + self.prev_cones = None + + if not hasattr(self, 'no_cone_ahead'): + self.no_cone_ahead = False + + if not hasattr(self, 'visited_cone_ids'): + self.visited_cone_ids = set() + + stitch_idx = -1 + + def got_new_cone(current, prev): + if prev is None: + return True + prev_ids = {c['id'] for c in prev} + return any(c['id'] not in prev_ids for c in current) + + self.travelled_distance += distance_increment + new_cone_detected = got_new_cone(self.cones, self.prev_cones) + + # Plan at the beginning or when new cones detected or after threshold distance + if self.trajectory is None or new_cone_detected or not self.no_cone_ahead or True: + self.prev_cones = self.cones + + if self.trajectory is None: + current_position = vehicle_state['position'] + init_state = { + 'x': current_position[0], + 'y': current_position[1], + 'psi': vehicle_state['heading'], + 'c': 0.0, + 'v': vehicle_state['velocity'] + } + else: + stitch_idx, init_point, heading = self.get_future_point_on_trajectory(self.trajectory, vehicle_state['position'], lookahead_distance=500.0) + init_state = { + 'x': init_point[0], + 'y': init_point[1], + 'psi': heading, + 'c': 0.0, + 'v': vehicle_state['velocity'] + } + vehicle_state['position'] = np.array([init_point[0], init_point[1]]) + vehicle_state['heading'] = heading + + print("all cones: ", self.cones) + current_cone_idx, next_cone_idx, updated_cones = self.get_current_cone_idx(self.cones, init_state) + self.cones = updated_cones + print("init state: ", init_state) + print("current cone: ", current_cone_idx, next_cone_idx) + + # No cone ahead + if current_cone_idx == None: + self.no_cone_ahead = True + return self.trajectory + else: + self.no_cone_ahead = False + + # No need to plan if there is no new cone detected and no cone ahead + if not new_cone_detected and self.no_cone_ahead: + return self.trajectory + + self.visited_cone_ids.add(self.cones[current_cone_idx]['id']) + scenario, flex_wps, fixed_wp, target_heading = waypoint_generate(vehicle_state, self.cones, current_cone_idx, next_cone_idx, self.prev_cone_idx) + self.prev_cone_idx = current_cone_idx + + if flex_wps and fixed_wp is not None: + final_state = { + 'x': fixed_wp[0], 'y': fixed_wp[1], 'psi': target_heading, 'c': 0.0 + } + + # Stitch from current vehicle position to new plan start + if self.trajectory is not None: + print("init and final state: ", init_state, final_state) + # 1. Plan new trajectory from init_state onward + x_new, y_new, psi_new, _, v_new, _, _ = trajectory_generation(init_state, final_state, waypoints=flex_wps) + + # 2. Cut old trajectory up to init_state (e.g., index `stitch_idx`) + old_points = self.trajectory.points[:stitch_idx] + old_x = [p[0] for p in old_points] + old_y = [p[1] for p in old_points] + old_v = [vehicle_state['velocity']] * len(old_x) # or extract from old trajectory if available + + # 3. Combine old + new + x_full = np.concatenate([old_x, x_new]) + y_full = np.concatenate([old_y, y_new]) + v_full = np.concatenate([old_v, v_new]) + + # if current_cone_idx == 6: + # # Plot overall trajectory + # plt.figure() + # plt.plot(x_full, y_full, label='Overall Trajectory') + + # # Plot cones + # for i, cone in enumerate(self.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') + + # # Plot fixed waypoint + # if fixed_wp is not None: + # plt.plot(fixed_wp[0], fixed_wp[1], 'ro', label='Fixed Waypoint') + # plt.text(fixed_wp[0], fixed_wp[1] + 0.5, 'Fixed', fontsize=9, color='red') + + # plt.title('4-Cone Full Course Trajectory') + # plt.xlabel('X') + # plt.ylabel('Y') + # plt.legend() + # plt.axis('equal') + # plt.grid(True) + # plt.show() + + # 4. Create trajectory + self.trajectory = to_gemstack_trajectory(x_full, y_full, v_full) + else: + x, y, _, _, v, _, _ = trajectory_generation(init_state, final_state, waypoints=flex_wps) + self.trajectory = to_gemstack_trajectory(x, y, v) + + self.travelled_distance = 0.0 + return self.trajectory + @staticmethod + def get_future_point_on_trajectory(trajectory, vehicle_position, lookahead_distance=80.0): + """ + Finds a point `lookahead_distance` ahead of the current vehicle position along the trajectory. + """ + traj_points = trajectory.points + current_pos = np.array(vehicle_position) + + # Step 1: Find the closest point on trajectory + dists = [np.linalg.norm(current_pos - np.array([p[0], p[1]])) for p in traj_points] + closest_idx = np.argmin(dists) + + # Step 2: Accumulate distance from closest_idx forward + accumulated = 0.0 + heading = 0 + for i in range(closest_idx + 1, len(traj_points)): + p1 = np.array([traj_points[i - 1][0], traj_points[i - 1][1]]) + p2 = np.array([traj_points[i][0], traj_points[i][1]]) + heading = np.arctan2(p2[1] - p1[1], p2[0] - p1[0]) + segment = np.linalg.norm(p2 - p1) + accumulated += segment + if accumulated >= lookahead_distance: + return i, traj_points[i], heading # Return future point + + p1 = np.array([traj_points[-2][0], traj_points[-2][1]]) + p2 = np.array([traj_points[-1][0], traj_points[-1][1]]) + heading = np.arctan2(p2[1] - p1[1], p2[0] - p1[0]) + # If not enough length, return the last point + return -1, traj_points[-1], heading + + def get_current_cone_idx(self, cones, init_state, forward_dist=50.0, angle_thresh=np.pi): + """ + Get the index of the nearest cone in front of the init_state. + If a 'STANDING' cone is found, previous cones are flipped and returned with the index of the standing cone. + + Args: + cones: List of cones. + init_state: Dict with keys 'x', 'y', 'psi'. + forward_dist: Max distance to search for cones ahead. + angle_thresh: Angle threshold to filter cones roughly in front. + + Returns: + idx: Index of the cone in front (after STANDING logic if needed). + updated_cones: Possibly updated cones with flipped orientations. + """ + pos = np.array([init_state['x'], init_state['y']]) + heading = init_state['psi'] + heading_vec = np.array([np.cos(heading), np.sin(heading)]) + + best_idx = None + next_idx = None # 2nd cone in front of init_state + min_dist = float('inf') + + # Search in the list of cones, which one is nearest ahead of init_state + for i, cone in enumerate(cones): + if cone['id'] in self.visited_cone_ids: + continue # Skip already visited cones + cone_pos = np.array([cone['x'], cone['y']]) + vec_to_cone = cone_pos - pos + dist = np.linalg.norm(vec_to_cone) + if dist > forward_dist: + continue + angle = np.arccos(np.clip(np.dot(heading_vec, vec_to_cone / (dist + 1e-8)), -1.0, 1.0)) + if angle < angle_thresh and dist < min_dist: + next_idx = best_idx + best_idx = i + min_dist = dist + print("getting cone idx.............") + + # If STANDING cone is ahead, flip previous cone directions + if best_idx is not None and cones[best_idx]['orientation'] == 'STANDING': + updated_cones = cones[:best_idx + 1] + [ + self.flip_cone_orientation(c) for c in cones[:best_idx][::-1] + ] + cones[best_idx + 1:] + print("updated cones: ", updated_cones) + return best_idx, next_idx, updated_cones + else: + return best_idx, next_idx, cones + + @staticmethod + def flip_cone_orientation(cone): + """ + Flip cone orientation LEFTโ†”RIGHT + """ + flipped = cone.copy() + flipped['id'] = cone['id'] + 'flipped' + if cone['orientation'] == 'LEFT': + flipped['orientation'] = 'RIGHT' + elif cone['orientation'] == 'RIGHT': + flipped['orientation'] = 'LEFT' + return flipped ######################################################################################################################## ######################################################################################################################## From a7ae625d22b19f935b1edde065d6a1211be9975f Mon Sep 17 00:00:00 2001 From: Avery Plote Date: Wed, 14 May 2025 16:43:59 -0400 Subject: [PATCH 78/99] Update launch files --- launch/racing_fixed_slalom.yaml | 2 +- launch/racing_fixed_slalom_online.yaml | 2 +- launch/racing_slalom.yaml | 95 ++++++++++++++++++++++++++ 3 files changed, 97 insertions(+), 2 deletions(-) create mode 100644 launch/racing_slalom.yaml diff --git a/launch/racing_fixed_slalom.yaml b/launch/racing_fixed_slalom.yaml index ca1db71ba..25c85d539 100644 --- a/launch/racing_fixed_slalom.yaml +++ b/launch/racing_fixed_slalom.yaml @@ -1,4 +1,4 @@ -description: "Drive the GEM vehicle along a fixed route (currently xyhead_highbay_backlot_p.csv)" +description: "Use the sensors to detect cones and drive a slalom route around them." mode: hardware vehicle_interface: gem_hardware.GEMHardwareInterface mission_execution: StandardExecutor diff --git a/launch/racing_fixed_slalom_online.yaml b/launch/racing_fixed_slalom_online.yaml index 0f92e056d..2e58979a8 100644 --- a/launch/racing_fixed_slalom_online.yaml +++ b/launch/racing_fixed_slalom_online.yaml @@ -1,4 +1,4 @@ -description: "Drive the GEM vehicle along a fixed route (currently xyhead_highbay_backlot_p.csv)" +description: "Use the sensors to detect cones and drive a slalom route around them." mode: hardware vehicle_interface: gem_hardware.GEMHardwareInterface mission_execution: StandardExecutor diff --git a/launch/racing_slalom.yaml b/launch/racing_slalom.yaml new file mode 100644 index 000000000..7591562d9 --- /dev/null +++ b/launch/racing_slalom.yaml @@ -0,0 +1,95 @@ +description: "Use the sensors to detect cones and drive a slalom route around them." +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 + obstacle_detection : + type: cone_detection.ConeDetector3D + args: + camera_name: front #[front, front_right] + camera_calib_file: ./GEMstack/knowledge/calibration/cameras.yaml + enable_tracking: True # True if you want to enable tracking + visualize_2d: False # True to see 2D detection visualization + use_cyl_roi: False # True to use a cylinder ROI + save_data: False # True to save sensor input data + orientation: False # True to detect flipped cones + use_start_frame: True # True to output in START frame + + 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','obstacle_detection'] + # 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" From 23f246add478adabe7d73f08ca085692e81b6c24 Mon Sep 17 00:00:00 2001 From: diegoasfmravpp Date: Wed, 14 May 2025 19:09:22 -0500 Subject: [PATCH 79/99] duplicated code segment --- GEMstack/state/trajectory.py | 21 --------------------- 1 file changed, 21 deletions(-) diff --git a/GEMstack/state/trajectory.py b/GEMstack/state/trajectory.py index 5b58d8f9f..95672960e 100644 --- a/GEMstack/state/trajectory.py +++ b/GEMstack/state/trajectory.py @@ -384,9 +384,6 @@ def trim(self, start : float, end : float) -> Trajectory: e = self.eval(end) return replace(self,points=[s]+self.points[sind+1:eind]+[e],times=[start]+self.times[sind+1:eind]+[end]) - - - def compute_headings(path : Path, smoothed = False) -> Path: """Converts a 2D (x,y) path into a 3D path (x,y,heading) or a 3D (x,y,z) path into a 5D path (x,y,z,heading,pitch). @@ -414,24 +411,6 @@ def compute_headings(path : Path, smoothed = False) -> Path: path.points = np.vstack((x_smooth, y_smooth)).T - # 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 = [] From fdf73b24032e12715cb3b67fcd23d9f4e725429b Mon Sep 17 00:00:00 2001 From: Avery Plote Date: Thu, 15 May 2025 10:50:23 -0400 Subject: [PATCH 80/99] Remove changes to dyanamics.py --- GEMstack/knowledge/vehicle/dynamics.py | 10 ++-------- 1 file changed, 2 insertions(+), 8 deletions(-) diff --git a/GEMstack/knowledge/vehicle/dynamics.py b/GEMstack/knowledge/vehicle/dynamics.py index 2a8ac935f..9bd33a92e 100644 --- a/GEMstack/knowledge/vehicle/dynamics.py +++ b/GEMstack/knowledge/vehicle/dynamics.py @@ -31,12 +31,11 @@ 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) elif model == 'kris_v1': @@ -67,11 +66,6 @@ def acceleration_to_pedal_positions(acceleration : float, velocity : float, pitc if abs(acceleration) < acceleration_deadband: #deadband? return (0,0,gear) - - #velocity threshold for switching gears - if abs(velocity) <= 0.01: - velocity = 0 - if velocity * acceleration < 0: accel_pos = 0 brake_pos = -acceleration / brake_max From 4e3a790a618190cd83946e379fa175d6b7e7a150 Mon Sep 17 00:00:00 2001 From: Avery Plote Date: Thu, 15 May 2025 10:51:40 -0400 Subject: [PATCH 81/99] Remove changes from dynamics.py correctly --- GEMstack/knowledge/vehicle/dynamics.py | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/GEMstack/knowledge/vehicle/dynamics.py b/GEMstack/knowledge/vehicle/dynamics.py index 9bd33a92e..3cbc2e77a 100644 --- a/GEMstack/knowledge/vehicle/dynamics.py +++ b/GEMstack/knowledge/vehicle/dynamics.py @@ -66,6 +66,11 @@ def acceleration_to_pedal_positions(acceleration : float, velocity : float, pitc if abs(acceleration) < acceleration_deadband: #deadband? return (0,0,gear) + + #velocity threshold for switching gears + if abs(velocity) <= 0.01: + velocity = 0 + if velocity * acceleration < 0: accel_pos = 0 brake_pos = -acceleration / brake_max From 2b551c6b1ba128aa7aed966e8dca109922b6890c Mon Sep 17 00:00:00 2001 From: Avery Plote Date: Thu, 15 May 2025 10:56:28 -0400 Subject: [PATCH 82/99] Remove unncessary changes per PR comments --- GEMstack/mathutils/transforms.py | 2 +- GEMstack/onboard/interface/gem_simulator.py | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/GEMstack/mathutils/transforms.py b/GEMstack/mathutils/transforms.py index a72f9c141..cd683c72d 100644 --- a/GEMstack/mathutils/transforms.py +++ b/GEMstack/mathutils/transforms.py @@ -127,7 +127,7 @@ def xy_to_lat_lon(x_east : float, y_north : float, lat_reference : float, lon_re Returns (lat,lon), where lat and lon are in degrees. """ - import alvinxy.alvinxy as axy + import alvinxy.alvinxy as axy # convert GNSS waypoints into local fixed frame reprented in x and y lat, lon = axy.xy2ll(x_east, y_north, lat_reference, lon_reference) return lat, lon diff --git a/GEMstack/onboard/interface/gem_simulator.py b/GEMstack/onboard/interface/gem_simulator.py index 88adf8433..7a2fe1a5f 100644 --- a/GEMstack/onboard/interface/gem_simulator.py +++ b/GEMstack/onboard/interface/gem_simulator.py @@ -176,7 +176,7 @@ def simulate(self, T : float, command : Optional[GEMVehicleCommand]): #simulate actuators accelerator_pedal_position = np.clip(self.last_command.accelerator_pedal_position,0.0,1.0) brake_pedal_position = np.clip(self.last_command.brake_pedal_position,0.0,1.0) - acceleration = pedal_positions_to_acceleration(accelerator_pedal_position,brake_pedal_position,v,0,1) + acceleration = pedal_positions_to_acceleration(accelerator_pedal_position,brake_pedal_position,v,0,self.last_command.gear) acceleration = np.clip(acceleration,*self.dubins.accelRange) phides = steer2front(self.last_command.steering_wheel_angle) phides = np.clip(phides,*self.dubins.wheelAngleRange) From add8734d6223bfd4e5063f3b07c76bc0e853fd41 Mon Sep 17 00:00:00 2001 From: Avery Plote Date: Thu, 15 May 2025 11:08:52 -0400 Subject: [PATCH 83/99] Turn off velocity profile plotting by default --- GEMstack/onboard/planning/velocity_profile.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/GEMstack/onboard/planning/velocity_profile.py b/GEMstack/onboard/planning/velocity_profile.py index 81a007444..4bed2ea38 100644 --- a/GEMstack/onboard/planning/velocity_profile.py +++ b/GEMstack/onboard/planning/velocity_profile.py @@ -236,7 +236,7 @@ def plot_x_y(axis, x, y, x_label, y_label): axis.set_ylabel(y_label) axis.grid(True) -def compute_velocity_profile(points, plot=True): +def compute_velocity_profile(points, plot=False): """ Compute a vehicle dynamics limited velocity profile for a set path From 611ed94323223b160abd7763087193bb1bc732e9 Mon Sep 17 00:00:00 2001 From: Avery Plote Date: Thu, 15 May 2025 11:10:45 -0400 Subject: [PATCH 84/99] remove formatting change from current.yaml --- GEMstack/knowledge/defaults/current.yaml | 96 ++++++++++++------------ 1 file changed, 48 insertions(+), 48 deletions(-) diff --git a/GEMstack/knowledge/defaults/current.yaml b/GEMstack/knowledge/defaults/current.yaml index 31877dad2..81e59e0c9 100644 --- a/GEMstack/knowledge/defaults/current.yaml +++ b/GEMstack/knowledge/defaults/current.yaml @@ -1,53 +1,53 @@ # ********* Main settings entry point for behavior stack *********** - # Configure settings for the vehicle / vehicle model - vehicle: !include ../vehicle/gem_e4.yaml +# 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: - stage_duration: 0.5 - # Stanley controller parameters (fine tune this) - stanley: - control_gain: 0.12 - softening_gain: 0.2 - desired_speed: racing # Speed reference source: can be "trajectory", "path", "racing" or a constant value +#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: + stage_duration: 0.5 + # Stanley controller parameters (fine tune this) + stanley: + control_gain: 0.12 + softening_gain: 0.2 + desired_speed: racing # Speed reference source: can be "trajectory", "path", "racing" or a constant value - longitudinal_control: - pid_p: 1.0 - pid_i: 0.7 - pid_d: 0.1 - 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 + longitudinal_control: + pid_p: 1.0 + pid_i: 0.7 + pid_d: 0.1 +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 +#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 From 5b6a46b4a8ca7ad368369b3a90e4b6096fd10cce Mon Sep 17 00:00:00 2001 From: Avery Plote Date: Thu, 15 May 2025 11:11:32 -0400 Subject: [PATCH 85/99] remove whitespace --- GEMstack/knowledge/defaults/current.yaml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/GEMstack/knowledge/defaults/current.yaml b/GEMstack/knowledge/defaults/current.yaml index 81e59e0c9..54b70ce7f 100644 --- a/GEMstack/knowledge/defaults/current.yaml +++ b/GEMstack/knowledge/defaults/current.yaml @@ -1,8 +1,8 @@ # ********* 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 From 73fd274f60a2de875924f075a4702bb10f2b014f Mon Sep 17 00:00:00 2001 From: Avery Plote Date: Thu, 15 May 2025 11:15:35 -0400 Subject: [PATCH 86/99] remove extra comments from gem_e4_dyanamics --- GEMstack/knowledge/vehicle/gem_e4_dynamics.yaml | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/GEMstack/knowledge/vehicle/gem_e4_dynamics.yaml b/GEMstack/knowledge/vehicle/gem_e4_dynamics.yaml index dce078d22..02f649bf4 100644 --- a/GEMstack/knowledge/vehicle/gem_e4_dynamics.yaml +++ b/GEMstack/knowledge/vehicle/gem_e4_dynamics.yaml @@ -1,9 +1,9 @@ mass: 700.0 #kg gravity: 9.81 #m/s^2 -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) +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 - 0.0 - 5.0 max_accelerator_acceleration_reverse: 2.5 #m/s^2. Acceleration (backwards) in reverse gear From 1e4b388e754555b07e696ccd939a5d1dc19acb39 Mon Sep 17 00:00:00 2001 From: Avery Plote Date: Thu, 15 May 2025 11:27:52 -0400 Subject: [PATCH 87/99] Update launch files --- GEMstack/mathutils/transforms.py | 4 +- launch/planner_sim.yaml | 83 -------------------------- launch/racing_fixed_slalom.yaml | 2 +- launch/racing_fixed_slalom_online.yaml | 82 ------------------------- 4 files changed, 3 insertions(+), 168 deletions(-) delete mode 100644 launch/planner_sim.yaml delete mode 100644 launch/racing_fixed_slalom_online.yaml diff --git a/GEMstack/mathutils/transforms.py b/GEMstack/mathutils/transforms.py index cd683c72d..7a5a7a8dd 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 @@ -127,7 +127,7 @@ def xy_to_lat_lon(x_east : float, y_north : float, lat_reference : float, lon_re Returns (lat,lon), where lat and lon are in degrees. """ - import alvinxy.alvinxy as axy + import alvinxy.alvinxy as axy # convert GNSS waypoints into local fixed frame reprented in x and y lat, lon = axy.xy2ll(x_east, y_north, lat_reference, lon_reference) return lat, lon diff --git a/launch/planner_sim.yaml b/launch/planner_sim.yaml deleted file mode 100644 index 7eebe7d90..000000000 --- a/launch/planner_sim.yaml +++ /dev/null @@ -1,83 +0,0 @@ -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 index 25c85d539..3a3f4013e 100644 --- a/launch/racing_fixed_slalom.yaml +++ b/launch/racing_fixed_slalom.yaml @@ -1,4 +1,4 @@ -description: "Use the sensors to detect cones and drive a slalom route around them." +description: "Use the sensors to detect cones and drive a slalom route around them. Use this file for Sim." mode: hardware vehicle_interface: gem_hardware.GEMHardwareInterface mission_execution: StandardExecutor diff --git a/launch/racing_fixed_slalom_online.yaml b/launch/racing_fixed_slalom_online.yaml deleted file mode 100644 index 2e58979a8..000000000 --- a/launch/racing_fixed_slalom_online.yaml +++ /dev/null @@ -1,82 +0,0 @@ -description: "Use the sensors to detect cones and drive a slalom route around them." -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" From fda3f62f5f1695a5f65e9235b4c24a400acbf49b Mon Sep 17 00:00:00 2001 From: shilan Date: Thu, 15 May 2025 15:43:13 +0000 Subject: [PATCH 88/99] remove route in launch file --- launch/racing_fixed_slalom.yaml | 3 --- launch/racing_slalom.yaml | 4 ---- 2 files changed, 7 deletions(-) diff --git a/launch/racing_fixed_slalom.yaml b/launch/racing_fixed_slalom.yaml index 3a3f4013e..b71867c38 100644 --- a/launch/racing_fixed_slalom.yaml +++ b/launch/racing_fixed_slalom.yaml @@ -14,9 +14,6 @@ drive: state_estimation : GNSSStateEstimator perception_normalization : StandardPerceptionNormalizer planning: - route_planning: - type: StaticRoutePlanner - args: [!relative_path '../GEMstack/knowledge/routes/forward_50m.csv'] motion_planning: type: racing_planning.SlalomTrajectoryPlanner trajectory_tracking: diff --git a/launch/racing_slalom.yaml b/launch/racing_slalom.yaml index 7591562d9..7ec27602c 100644 --- a/launch/racing_slalom.yaml +++ b/launch/racing_slalom.yaml @@ -27,15 +27,11 @@ drive: 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: From 9dc784318c0ae5d31b5a7f7f1896bd9deed44f96 Mon Sep 17 00:00:00 2001 From: Hua-Ta Liang Date: Thu, 15 May 2025 11:39:36 -0500 Subject: [PATCH 89/99] Clean up racing planner code --- GEMstack/onboard/planning/racing_planning.py | 364 ++++++++----------- 1 file changed, 155 insertions(+), 209 deletions(-) diff --git a/GEMstack/onboard/planning/racing_planning.py b/GEMstack/onboard/planning/racing_planning.py index ecbfd6dbc..80fa25493 100644 --- a/GEMstack/onboard/planning/racing_planning.py +++ b/GEMstack/onboard/planning/racing_planning.py @@ -317,7 +317,6 @@ def dynamics_constraints(p): return x_full, y_full, psi_full, c_full, v_full, eps_, final_error -######## more dynamics version def trajectory_generation_dynamics(init_state, final_state, N=30, Lr=1.5, a_min=-3.0, a_max=3.0, eps_min=-0.2, eps_max=0.2, @@ -459,7 +458,6 @@ def total_cost(p): } return x_full, y_full, psi_full, c_full, v_full, a, eps, T_total, 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): """ @@ -657,13 +655,8 @@ def __init__(self, **kwargs): self.travelled_distance = 0.0 self.cones = [] # ---------------------------- - # Predifined-Cones Simulation - # self.run_fake_plan = True - # self.onboard = False - - # # Onboard - self.run_fake_plan = False - self.onboard = True + self.run_fake_plan = False # Set to True if you want to run the Predifined-Cones Simulation + self.onboard = True # Set to False if you want to run the Predifined-Cones Simulation # ---------------------------- # Planner runs on different thread self.plan_thread = None @@ -746,14 +739,6 @@ def plan(): # If no cones detected, drive forward if len(self.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: @@ -786,19 +771,6 @@ def plan(): # '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 @@ -1024,74 +996,166 @@ def flip_cone_orientation(cone): ######################################################################################################################## # ------------ Test Code START -------------- +if __name__ == "__main__": + ########## Testing Block 1 ############## + # Hardcoded slalom testing without simulation + def test_4_cone_slalom(): + vehicle_state = { + 'position': [0.0, 0.0], + 'heading': 0.0, + 'velocity': 5.0 + } -# ======= 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'} + ] - 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) - flex_wps, fixed_wps = waypoint_search_optimization(vehicle_state, cones, search_attempts=1) + current_pos = np.array(vehicle_state['position']) - 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) - x_all, y_all = [], [] + 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}") - 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_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() + # Hardcoded course testing without simulation + 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 } - 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}") + 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'} + ] - x_all += list(x) - y_all += list(y) + current_pos = np.array(vehicle_state['position']) + current_heading = vehicle_state['heading'] + current_steering = 0.0 - plot_trajectory(x, y, v, c, eps, waypoint=flex_wp) + x_all, y_all = [], [] - current_pos = np.array(fixed_wp) + 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 - # Plot overall trajectory - plt.figure() - plt.plot(x_all, y_all, label='Overall Trajectory') + # 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 - # 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') + else: # no previous cone + target_heading = current_heading - np.pi / 2 + np.pi / 18 - plt.title('4-Cone Full Course Trajectory') - plt.xlabel('X') - plt.ylabel('Y') - plt.legend() - plt.axis('equal') - plt.grid(True) - plt.show() + # 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 __name__ == "__main__": + 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() + ######################################### + + ########## Testing Block 2 ############## + # Trajectory plot 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") @@ -1131,7 +1195,7 @@ def plot_trajectory(x, y, v, c, eps, waypoint=None): plt.tight_layout() plt.show() - # --- Test Case 1: pass a cone in slalom --- + # --- Trajectory Generation Test case 1. One 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} @@ -1149,7 +1213,7 @@ def trajectory_generation_test1(): for k, e in final_error.items(): print(f"{k}: {e:.6f}") - # --- Test case 2: 90 degree turn --- + # --- Trajectory Generation 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} @@ -1167,9 +1231,7 @@ def trajectory_generation_test2(): for k, e in final_error.items(): print(f"{k}: {e:.6f}") - ############# - ######################### - # --- Test Case --- + # Testing feasibility check function def test_feasibility_check(): N = 50 y_traj = np.linspace(0, 10, N) @@ -1199,105 +1261,10 @@ def test_feasibility_check(): 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 - # -------------------------- + ########## Testing Block 3 ############## + # Waypoint generation plotting def plot_results(vehicle_state, cones, wpt_flexes=None, wpt_fixed=None, scenario_label=""): plt.figure(figsize=(10, 5)) ax = plt.gca() @@ -1350,18 +1317,13 @@ def plot_results(vehicle_state, cones, wpt_flexes=None, wpt_fixed=None, scenario 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 - # -------------------------- + # Generate Fake Cones def generate_test_cones(case='slalom'): if case == 'slalom': cones = [] @@ -1374,10 +1336,7 @@ def generate_test_cones(case='slalom'): elif case == 'u_turn': return [{'x': 10, 'y': 0, 'orientation': 'standing'}] - - # -------------------------- - # Step 2: Define Fake Vehicle - # -------------------------- + # Generate Fake Vehicle def get_test_vehicle_state(vehicle_state=None): if vehicle_state is not None: return vehicle_state @@ -1386,10 +1345,7 @@ def get_test_vehicle_state(vehicle_state=None): 'heading': 0.0 * 180/np.pi, # Facing right 'velocity': 10.0 } - - # -------------------------- - # Step 3: Run Scenario + Waypoints - # -------------------------- + # Testing Scenario + Waypoints def test_waypoint_generation(case='slalom', test_loop=1): vehicle_state = get_test_vehicle_state() cones = generate_test_cones(case) @@ -1402,17 +1358,7 @@ def test_waypoint_generation(case='slalom', test_loop=1): 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 - # -------------------------- + # Comprehensive Testing def test_planning(case='slalom', test_loop=2): vehicle_state = get_test_vehicle_state() cones = generate_test_cones(case) @@ -1435,5 +1381,5 @@ def test_planning(case='slalom', test_loop=2): 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 From 42d887c41b15297b526b641c89a5a34cc0d14f95 Mon Sep 17 00:00:00 2001 From: Avery Plote Date: Thu, 15 May 2025 15:29:32 -0400 Subject: [PATCH 90/99] remove changes to cone_detection.py --- GEMstack/onboard/perception/cone_detection.py | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/GEMstack/onboard/perception/cone_detection.py b/GEMstack/onboard/perception/cone_detection.py index 72eaedd38..ab83d03df 100644 --- a/GEMstack/onboard/perception/cone_detection.py +++ b/GEMstack/onboard/perception/cone_detection.py @@ -16,8 +16,7 @@ import time import os import yaml -import json -import matplotlib.pyplot as plt + class ConeDetector3D(Component): """ @@ -274,6 +273,7 @@ def update(self, vehicle: VehicleState) -> Dict[str, Obstacle]: 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) @@ -506,4 +506,4 @@ def box_to_fake_obstacle(box): if __name__ == '__main__': - pass + pass \ No newline at end of file From 6bf4b55ebd4ae661ad60fc37841e46f61d949199 Mon Sep 17 00:00:00 2001 From: Avery Plote Date: Thu, 15 May 2025 22:52:03 -0400 Subject: [PATCH 91/99] remove changes to gem_e4_dyanmics --- GEMstack/knowledge/vehicle/gem_e4_dynamics.yaml | 16 ++++++++-------- 1 file changed, 8 insertions(+), 8 deletions(-) diff --git a/GEMstack/knowledge/vehicle/gem_e4_dynamics.yaml b/GEMstack/knowledge/vehicle/gem_e4_dynamics.yaml index 02f649bf4..a2ac7c9de 100644 --- a/GEMstack/knowledge/vehicle/gem_e4_dynamics.yaml +++ b/GEMstack/knowledge/vehicle/gem_e4_dynamics.yaml @@ -1,4 +1,4 @@ -mass: 700.0 #kg +mass: 300.0 #kg gravity: 9.81 #m/s^2 longitudinal_friction : 1.0 # unitless lateral_friction : 1.0 # unitless @@ -7,16 +7,16 @@ max_accelerator_acceleration: #m/s^2. Acceleration at max accelerator pedal, by - 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 (updated from website) +max_accelerator_power: #Watts. Power at max accelerator pedal, by gear - 0.0 - - 5000.0 -max_accelerator_power_reverse: 5000.0 #Watts. Power (backwards) in reverse gear + - 10000.0 +max_accelerator_power_reverse: 10000.0 #Watts. Power (backwards) in reverse gear -acceleration_model : hang_v1 -accelerator_active_range : [0.2, 1.0] #range of accelerator pedal where output acceleration is not flat -brake_active_range : [0.5,1] #range of brake pedal where output deceleration is not flat +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 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 \ No newline at end of file +acceleration_deadband: 0.1 #m/s^2: minimum acceleration to be considered non-zero From 2edbfcd8d4c83d6cf0219f6f3113b5f668f3408a Mon Sep 17 00:00:00 2001 From: Avery Plote Date: Thu, 15 May 2025 23:09:17 -0400 Subject: [PATCH 92/99] Separate racing tuning parameters in current.yaml for stanley and pure_pursuite --- GEMstack/knowledge/defaults/current.yaml | 22 +++++++++++++++++----- GEMstack/onboard/planning/pure_pursuit.py | 9 ++++++++- GEMstack/onboard/planning/stanley.py | 9 ++++++++- 3 files changed, 33 insertions(+), 7 deletions(-) diff --git a/GEMstack/knowledge/defaults/current.yaml b/GEMstack/knowledge/defaults/current.yaml index 54b70ce7f..d7e892a33 100644 --- a/GEMstack/knowledge/defaults/current.yaml +++ b/GEMstack/knowledge/defaults/current.yaml @@ -13,14 +13,12 @@ control: brake_speed : 2.0 pure_pursuit: lookahead: 2.0 - lookahead_scale: 2.0 - crosstrack_gain: 0.3 + lookahead_scale: 3.0 + crosstrack_gain: 1.0 desired_speed: trajectory #racing - launch_control: - stage_duration: 0.5 # Stanley controller parameters (fine tune this) stanley: - control_gain: 0.12 + control_gain: 1.5 softening_gain: 0.2 desired_speed: racing # Speed reference source: can be "trajectory", "path", "racing" or a constant value @@ -28,6 +26,20 @@ control: pid_p: 1.0 pid_i: 0.7 pid_d: 0.1 + racing: # These tuning parameters will be used if the speed source is 'racing' + pure_pursuit: + lookahead: 2.0 + lookahead_scale: 2.0 + crosstrack_gain: 0.3 + stanley: + control_gain: 0.12 + softening_gain: 0.2 + longitudinal_control: + pid_p: 1.0 + pid_i: 0.7 + pid_d: 0.1 + launch_control: + stage_duration: 0.5 planning: longitudinal_plan: mode: 'real' # 'real' or 'sim' diff --git a/GEMstack/onboard/planning/pure_pursuit.py b/GEMstack/onboard/planning/pure_pursuit.py index 538969828..914567185 100644 --- a/GEMstack/onboard/planning/pure_pursuit.py +++ b/GEMstack/onboard/planning/pure_pursuit.py @@ -32,6 +32,12 @@ def __init__(self, lookahead = None, lookahead_scale = None, crosstrack_gain = N self.max_decel = settings.get('vehicle.limits.max_deceleration') # m/s^2 self.pid_speed = PID(settings.get('control.longitudinal_control.pid_p',0.5), settings.get('control.longitudinal_control.pid_d',0.0), settings.get('control.longitudinal_control.pid_i',0.1), windup_limit=20) + if (self.desired_speed_source == 'racing'): + self.look_ahead = settings.get('control.racing.pure_pursuit.lookahead',4.0) + self.look_ahead_scale = settings.get('control.racing.pure_pursuit.lookahead_scale') + self.crosstrack_gain = settings.get('control.racing.pure_pursuit.crosstrack_gain',0.41) + self.pid_speed = PID(settings.get('control.racing.longitudinal_control.pid_p',0.5), settings.get('control.racing.longitudinal_control.pid_d',0.0), settings.get('control.racing.longitudinal_control.pid_i',0.1), windup_limit=20) + self.path_arg = None self.path = None # type: Trajectory #if trajectory = None, then only an untimed path was provided and we can't use the path velocity as the reference @@ -43,6 +49,7 @@ def __init__(self, lookahead = None, lookahead_scale = None, crosstrack_gain = N self.launch_control = launch_control + def set_path(self, path : Path): if path == self.path_arg: return @@ -212,7 +219,7 @@ def __init__(self,vehicle_interface=None, **args): self.vehicle_interface = vehicle_interface launch_control_enabled = self.pure_pursuit.launch_control if launch_control_enabled: - stage_duration = settings.get('control.launch_control.stage_duration', 0.5) + stage_duration = settings.get('control.racing.launch_control.stage_duration', 0.5) self.launch_control = LaunchControl(stage_duration, stop_threshold=0.1) else: self.launch_control = None diff --git a/GEMstack/onboard/planning/stanley.py b/GEMstack/onboard/planning/stanley.py index cd67b1dc2..9e79321c7 100644 --- a/GEMstack/onboard/planning/stanley.py +++ b/GEMstack/onboard/planning/stanley.py @@ -84,6 +84,13 @@ def __init__( else: self.desired_speed = None + if (self.desired_speed_source == 'racing'): + self.k = settings.get('control.racing.stanley.control_gain') + self.k_soft = settings.get('control.racing.stanley.softening_gain') + p = settings.get('control.racing.longitudinal_control.pid_p') + d = settings.get('control.racing.longitudinal_control.pid_d') + i = settings.get('control.racing.longitudinal_control.pid_i') + # For path/trajectory self.path_arg = None self.path = None @@ -327,7 +334,7 @@ def __init__(self, vehicle_interface=None, **kwargs): launch_control_enabled = self.stanley.launch_control if launch_control_enabled: - stage_duration = settings.get('control.launch_control.stage_duration', 0.5) + stage_duration = settings.get('control.racing.launch_control.stage_duration', 0.5) self.launch_control = LaunchControl(stage_duration, stop_threshold=0.1) else: self.launch_control = None From 4429f1ecbfd47062bd915cfb247f83b878b1e237 Mon Sep 17 00:00:00 2001 From: diegoasfmravpp Date: Thu, 15 May 2025 22:56:05 -0500 Subject: [PATCH 93/99] changing desired speed for PID back to derivative eval and changing max speed back to 10.0 --- .../knowledge/vehicle/gem_e2_fast_limits.yaml | 2 +- GEMstack/onboard/planning/stanley.py | 59 +++++++------------ GEMstack/state/trajectory.py | 3 +- 3 files changed, 24 insertions(+), 40 deletions(-) diff --git a/GEMstack/knowledge/vehicle/gem_e2_fast_limits.yaml b/GEMstack/knowledge/vehicle/gem_e2_fast_limits.yaml index 1fcbd12ad..ccd374398 100644 --- a/GEMstack/knowledge/vehicle/gem_e2_fast_limits.yaml +++ b/GEMstack/knowledge/vehicle/gem_e2_fast_limits.yaml @@ -1,5 +1,5 @@ max_steering_rate: 4.0 #radians/s -max_speed: 6.0 #m/s, approx 20 mph +max_speed: 10.0 #m/s, approx 20 mph max_reverse_speed: 2.5 #m/s, approx 5 mph max_acceleration: 3.0 #m/s^2 max_deceleration: 5.0 #m/s^2 diff --git a/GEMstack/onboard/planning/stanley.py b/GEMstack/onboard/planning/stanley.py index 9e79321c7..011624bd0 100644 --- a/GEMstack/onboard/planning/stanley.py +++ b/GEMstack/onboard/planning/stanley.py @@ -220,44 +220,29 @@ def compute(self, state: VehicleState, component: Component = None): desired_steering_angle = 0.0 else: - # Use racing velocity profile as target - if self.desired_speed_source == 'racing': - desired_speed = self.trajectory.velocities[index] - desired_speed = min(desired_speed, self.speed_limit) - - next_desired_speed = self.trajectory.velocities[index + 1] - next_desired_speed = min(next_desired_speed, self.speed_limit) - 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 + if self.desired_speed_source == 'path': + current_trajectory_time = self.trajectory.parameter_to_time(self.current_path_parameter) 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) + 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 diff --git a/GEMstack/state/trajectory.py b/GEMstack/state/trajectory.py index 95672960e..b8d1f4390 100644 --- a/GEMstack/state/trajectory.py +++ b/GEMstack/state/trajectory.py @@ -88,7 +88,7 @@ def racing_velocity_profile(self) -> Trajectory: times = [0.0] points = self.points times, velocities = compute_velocity_profile(points) - return Trajectory(frame=self.frame,points=points,times=times, velocities=velocities) + return Trajectory(frame=self.frame,points=points,times=times) def closest_point(self, x : List[float], edges = True) -> Tuple[float,float]: """Returns the closest point on the path to the given point. If @@ -273,7 +273,6 @@ def det(matrix): 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""" From 8055e275994a933ba94fd64c6beb01d873ba6f54 Mon Sep 17 00:00:00 2001 From: Avery Plote Date: Fri, 16 May 2025 15:06:59 -0400 Subject: [PATCH 94/99] add changes from control group --- GEMstack/onboard/planning/stanley.py | 105 +++++++++++++++++++++++++++ 1 file changed, 105 insertions(+) diff --git a/GEMstack/onboard/planning/stanley.py b/GEMstack/onboard/planning/stanley.py index 011624bd0..cb4d077b7 100644 --- a/GEMstack/onboard/planning/stanley.py +++ b/GEMstack/onboard/planning/stanley.py @@ -151,6 +151,111 @@ def _find_front_axle_position(self, x, y, yaw): fy = y + self.wheelbase * sin(yaw) return fx, fy + def _find_rear_axle_position(self, x, y, yaw): + """Compute rear-axle world position from the vehicle's reference point and yaw.""" + rx = x - self.wheelbase * cos(yaw) + ry = y - self.wheelbase * sin(yaw) + return rx, ry + + def initialize_state_and_direction(self, state: VehicleState): + # Initializes the controller's state and determines initial driving direction (forward/reverse). + if self.path is None: + raise ValueError("Stanley: Path must be set before initializing state and direction.") + 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 + fx, fy = self._find_front_axle_position(curr_x, curr_y, curr_yaw) + path_domain_start, path_domain_end = self.path.domain() + search_end = min(path_domain_end, path_domain_start + 5.0) + search_domain_start = [path_domain_start, search_end] + _, closest_param_at_start = self.path.closest_point_local((fx, fy), search_domain_start) + tangent_at_start = self.path.eval_tangent(closest_param_at_start) + initial_reverse = False + if np.linalg.norm(tangent_at_start) > 1e-6: + path_yaw_at_start = atan2(tangent_at_start[1], tangent_at_start[0]) + heading_diff = normalise_angle(path_yaw_at_start - curr_yaw) + initial_reverse = abs(heading_diff) > (np.pi / 2.0) + self.pid_speed.reset() + self.current_path_parameter = closest_param_at_start + if self.trajectory: + self.current_traj_parameter = self.trajectory.domain()[0] + return initial_reverse + + def is_target_behind_vehicle(self, vehicle_pose, target_point_coords): + """Checks if a target point is behind the vehicle.""" + curr_x = vehicle_pose.x + curr_y = vehicle_pose.y + curr_yaw = vehicle_pose.yaw + if curr_yaw is None: + return False + target_x = target_point_coords[0] + target_y = target_point_coords[1] + vec_x = target_x - curr_x + vec_y = target_y - curr_y + if abs(vec_x) < 1e-6 and abs(vec_y) < 1e-6: + return False + heading_x = cos(curr_yaw) + heading_y = sin(curr_yaw) + dot_product = vec_x * heading_x + vec_y * heading_y + return (dot_product < 0) + + def _check_sharp_turn_ahead(self, lookahead_s=3.0, threshold_angle=np.pi/2.0, num_steps=4): + """Checks for sharp turns within a lookahead distance on the path.""" + if not self.path: + return False + + path = self.path + current_s = self.current_path_parameter + domain_start, domain_end = path.domain() + + if current_s >= domain_end - 1e-3: + return False + + step_s = lookahead_s / num_steps + s_prev = current_s + + try: + tangent_prev = path.eval_tangent(s_prev) + if np.linalg.norm(tangent_prev) < 1e-6: + s_prev_adjusted = min(s_prev + step_s / 2, domain_end) + if s_prev_adjusted <= s_prev: + return False + tangent_prev = path.eval_tangent(s_prev_adjusted) + if np.linalg.norm(tangent_prev) < 1e-6: + return False + s_prev = s_prev_adjusted + + angle_prev = atan2(tangent_prev[1], tangent_prev[0]) + + except Exception as e: + return False + + for i in range(num_steps): + s_next = s_prev + step_s + s_next = min(s_next, domain_end) + + if s_next <= s_prev + 1e-6: + break + + try: + tangent_next = path.eval_tangent(s_next) + if np.linalg.norm(tangent_next) < 1e-6: + s_prev = s_next + continue + + angle_next = atan2(tangent_next[1], tangent_next[0]) + except Exception as e: + break + + angle_change = abs(normalise_angle(angle_next - angle_prev)) + + if angle_change > threshold_angle: + return True + + angle_prev = angle_next + s_prev = s_next + return False + def compute(self, state: VehicleState, component: Component = None): """Compute the control outputs: (longitudinal acceleration, front wheel angle).""" t = state.pose.t From cdc2b8e8484047e795f2417c2d963bb3c5917d59 Mon Sep 17 00:00:00 2001 From: Avery Plote Date: Fri, 16 May 2025 15:47:37 -0400 Subject: [PATCH 95/99] Manual integration of control team logic --- GEMstack/onboard/planning/stanley.py | 241 ++++++++++++++++++--------- 1 file changed, 162 insertions(+), 79 deletions(-) diff --git a/GEMstack/onboard/planning/stanley.py b/GEMstack/onboard/planning/stanley.py index cb4d077b7..5224eb2f8 100644 --- a/GEMstack/onboard/planning/stanley.py +++ b/GEMstack/onboard/planning/stanley.py @@ -54,18 +54,16 @@ def __init__( :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') + self.reverse_speed_limit = settings.get('vehicle.limits.max_reverse_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') @@ -91,27 +89,29 @@ def __init__( d = settings.get('control.racing.longitudinal_control.pid_d') i = settings.get('control.racing.longitudinal_control.pid_i') - # For path/trajectory + # Initialize state variables 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 + self.reverse = None + self.sharp_turn = False self.launch_control = launch_control def set_path(self, path: Path): - """Sets the path or trajectory to track.""" + # Sets the path for the controller. if path == self.path_arg: return self.path_arg = path - # If the path has more than 2D, reduce to (x,y) + # Ensure path is 2D if len(path.points[0]) > 2: path = path.get_dims([0,1]) - # If no timing info, we can't rely on 'path'/'trajectory' speed + # Parameterize path by arc length if not isinstance(path, Trajectory): self.path = path.arc_length_parameterize() self.trajectory = None @@ -257,11 +257,13 @@ def _check_sharp_turn_ahead(self, lookahead_s=3.0, threshold_angle=np.pi/2.0, nu return False def compute(self, state: VehicleState, component: Component = None): - """Compute the control outputs: (longitudinal acceleration, front wheel angle).""" + # Computes the control commands (acceleration and steering angle). t = state.pose.t if self.t_last is None: self.t_last = t - dt = t - self.t_last + dt = 0 + else: + dt = t - self.t_last # Current vehicle states curr_x = state.pose.x @@ -269,12 +271,15 @@ def compute(self, state: VehicleState, component: Component = None): curr_yaw = state.pose.yaw if state.pose.yaw is not None else 0.0 speed = state.v + # Handle no path case if self.path is None: if component: component.debug_event("No path provided to Stanley controller. Doing nothing.") + self.t_last = t + self.pid_speed.reset() return (0.0, 0.0) - # Ensure same frame + # Transform path and trajectory to vehicle frame if necessary 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}") @@ -285,103 +290,190 @@ def compute(self, state: VehicleState, component: Component = None): 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 - 10 - search_end = self.current_path_parameter + 10 + # Initialize reverse direction if not set + if self.reverse is None: + self.reverse = self.initialize_state_and_direction(state) + + # Find front or rear axle position based on direction + if self.reverse: + fx, fy = self._find_rear_axle_position(curr_x, curr_y, curr_yaw) + else: + fx, fy = self._find_front_axle_position(curr_x, curr_y, curr_yaw) + + # Find the closest point on the path + search_start = self.current_path_parameter - 10.0 + search_end = self.current_path_parameter + 10.0 closest_dist, closest_parameter = self.path.closest_point_local((fx, fy), [search_start, search_end]) - self.current_path_parameter = closest_parameter + 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) + # Get target point and tangent on the path + target_x, target_y = self.path.eval(self.current_path_parameter) + tangent = self.path.eval_tangent(self.current_path_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 + desired_x = target_x + desired_y = target_y - # 4) Heading error + # Check for sharp turn ahead and potentially switch to reverse + if not self.reverse: + try: + is_sharp_turn_ahead = self._check_sharp_turn_ahead( + lookahead_s=2.0, + threshold_angle=np.pi/2.0 + ) + except Exception as e: + is_sharp_turn_ahead = False + if is_sharp_turn_ahead and not self.sharp_turn: + self.sharp_turn = True + use_reverse = self.is_target_behind_vehicle(state.pose, (target_x, target_y)) + if use_reverse and self.sharp_turn: + self.reverse = True + self.sharp_turn = False + + # Calculate cross-track error based on direction + if self.reverse: + cross_track_error = dx * (-tangent[1]) + dy * tangent[0] + else: + 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 + + # Calculate yaw 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 +# ~~~~~~~~298 + if (self.desired_speed): + desired_speed = abs(self.desired_speed) + else: + desired_speed = None feedforward_accel = 0.0 - - 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.") + + # Stanley control logic for reverse direction + if self.reverse: + heading_term = -yaw_error + cross_term_input = self.k * (-cross_track_error) / (self.k_soft + abs(speed)) + cross_term = atan2(cross_term_input, 1.0) + desired_steering_angle = heading_term + cross_term + + # Determine desired speed from trajectory in reverse + if self.trajectory and self.desired_speed_source in ['path', 'trajectory']: + current_trajectory_param_for_eval = self.current_path_parameter + if hasattr(self.trajectory, 'parameter_to_time'): + current_trajectory_param_for_eval = self.trajectory.parameter_to_time(self.current_path_parameter) + + if self.trajectory is not None: + deriv = self.trajectory.eval_derivative(current_trajectory_param_for_eval) + path_speed_magnitude = np.linalg.norm(deriv) + else: + path_speed_magnitude = 0.0 + + desired_speed = min(path_speed_magnitude, self.reverse_speed_limit) + + desired_speed = desired_speed * -1.0 + + # Handle reaching the start in reverse + is_at_start_backward = self.current_path_parameter <= self.path.domain()[0] + 1e-3 + + if is_at_start_backward: desired_speed = 0.0 - feedforward_accel = -2.0 - desired_steering_angle = 0.0 + feedforward_accel = -2.0 * -1.0 + # Calculate feedforward acceleration for reverse 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) + difference_dt = 0.1 + current_speed_abs = abs(speed) + if current_speed_abs < 0.1: estimated_path_step = 0.1 * difference_dt * -1.0 + else: estimated_path_step = current_speed_abs * difference_dt * -1.0 - deriv = self.trajectory.eval_derivative(current_trajectory_time) + future_parameter = self.current_path_parameter + estimated_path_step - # deriv 0 at time 0 - if np.isnan(deriv[0]): - desired_speed = 0.0 + future_parameter = np.clip(future_parameter, self.path.domain()[0], self.path.domain()[-1]) + + future_trajectory_param_for_eval = future_parameter + if hasattr(self.trajectory, 'parameter_to_time'): + future_trajectory_param_for_eval = self.trajectory.parameter_to_time(future_parameter) + + if self.trajectory is not None: + future_deriv = self.trajectory.eval_derivative(future_trajectory_param_for_eval) + next_path_speed_magnitude = min(np.linalg.norm(future_deriv), self.speed_limit) else: - desired_speed = min(np.linalg.norm(deriv), self.speed_limit) + next_path_speed_magnitude = 0.0 + + next_desired_speed = next_path_speed_magnitude * -1.0 - 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) + + # Reduce speed based on cross-track error in reverse + desired_speed_magnitude_slowed = abs(desired_speed) * np.exp(-abs(cross_track_error) * 0.6) + desired_speed = desired_speed_magnitude_slowed * -1.0 if desired_speed_magnitude_slowed != 0 else 0.0 + + # Stanley control logic for forward direction else: - if desired_speed is None: - desired_speed = 4.0 + cross_term = atan2(self.k * cross_track_error, self.k_soft + speed) + desired_steering_angle = yaw_error + cross_term + + # Determine desired speed from trajectory in forward + 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]: + if component: + component.debug_event("Stanley: Past the end of trajectory, stopping.") + desired_speed = 0.0 + feedforward_accel = -2.0 + 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 + + deriv = self.trajectory.eval_derivative(current_trajectory_time) + desired_speed = min(np.linalg.norm(deriv), self.speed_limit) - # 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) + # Calculate feedforward acceleration for forward + 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) + # Use constant desired speed if no trajectory or source is not path/trajectory else: + if desired_speed is None: + desired_speed = 4.0 + + # Reduce speed based on cross-track error in forward desired_speed *= np.exp(-abs(cross_track_error) * 0.6) - # Clip to speed limit - if desired_speed > self.speed_limit: + # Apply speed limits + if self.reverse and abs(desired_speed) > self.reverse_speed_limit: + desired_speed = self.reverse_speed_limit * -1.0 if desired_speed != 0 else 0.0 + elif not self.reverse and desired_speed > self.speed_limit: desired_speed = self.speed_limit - # PID for longitudinal control + # Longitudinal control using PID speed_error = desired_speed - speed output_accel = self.pid_speed.advance(e=speed_error, t=t, feedforward_term=feedforward_accel) - - # Clip acceleration + # Clamp acceleration to limits 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 + # Stop acceleration if at target speed and decelerating if desired_speed == 0 and abs(speed) < 0.01 and output_accel < 0: output_accel = 0.0 - # Debug + # Debugging information 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("desired_x",target_x) + component.debug("desired_y",target_y) component.debug("Stanley: path param", self.current_path_parameter) component.debug("Stanley: crosstrack dist", closest_dist) component.debug("crosstrack error", cross_track_error) @@ -390,15 +482,6 @@ def compute(self, state: VehicleState, component: Component = None): 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) From 98cc525c7b23d1bd00ba29c46f537fcaa3789236 Mon Sep 17 00:00:00 2001 From: Hua-Ta Liang Date: Fri, 16 May 2025 17:27:31 -0500 Subject: [PATCH 96/99] Fix minor issue with unused reference test code indicated by autocheck. --- GEMstack/onboard/planning/racing_planning.py | 22 ++++++++++---------- 1 file changed, 11 insertions(+), 11 deletions(-) diff --git a/GEMstack/onboard/planning/racing_planning.py b/GEMstack/onboard/planning/racing_planning.py index 80fa25493..bb485e6c1 100644 --- a/GEMstack/onboard/planning/racing_planning.py +++ b/GEMstack/onboard/planning/racing_planning.py @@ -503,7 +503,7 @@ def waypoint_search_optimization(vehicle_state, cones, search_attempts=3): 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) + scenario, flex_wps, fixed_wp = waypoint_generate(current_state, cones_copy, cone_idx=i, next_cone_idx=i+1, prev_cone_idx=i-1) if flex_wps is None or fixed_wp is None: break @@ -524,7 +524,7 @@ def waypoint_search_optimization(vehicle_state, cones, search_attempts=3): } try: - x, y, psi, c, v, eps, final_error = trajectory_generation(init_state, final_state, waypoint=flex_wp) + x, y, psi, c, v, eps, final_error = trajectory_generation(init_state, final_state, waypoints=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}") @@ -556,7 +556,7 @@ def plan_full_slalom_trajectory(vehicle_state, cones): 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) + scenario, flex_wps, fixed_wp, target_heading = waypoint_generate(vehicle_state, cones, cone_idx, next_cone_idx=cone_idx+1, prev_cone_idx=cone_idx-1) print(f"Scenario: {scenario}, Cone: {cone}, Flex WP: {flex_wps}, Fixed WP: {fixed_wp}") if not flex_wps or fixed_wp is None: continue @@ -1027,7 +1027,7 @@ def test_4_cone_slalom(): 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) + x, y, psi, c, v, eps, final_error = trajectory_generation(init_state, final_state, waypoints=flex_wp) print(f"\nSegment {idx + 1}:") print(f" Waypoint: {flex_wp}") @@ -1082,7 +1082,7 @@ def test_fixed_course(): for cone_idx, cone in enumerate(cones): print("current cone: ", cone) - scenario, flex_wps, fixed_wp = waypoint_generate(vehicle_state, [cone]) + scenario, flex_wps, fixed_wp = waypoint_generate(vehicle_state, [cone], cone_idx, next_cone_idx=cone_idx+1, prev_cone_idx=cone_idx-1) if not flex_wps or fixed_wp is None: continue @@ -1200,11 +1200,11 @@ 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) + waypoint = [(8.0, 6.0)] # Solve x, y, psi, c, v, eps, final_error = trajectory_generation( - init_state, final_state, waypoint=waypoint + init_state, final_state, waypoints=waypoint ) plot_trajectory(x, y, v, c, eps, waypoint) @@ -1218,11 +1218,11 @@ 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) + waypoint = [(13.0, 3.0)] # Solve x, y, psi, c, v, eps, final_error = trajectory_generation( - init_state, final_state, waypoint=waypoint + init_state, final_state, waypoints=waypoint ) plot_trajectory(x, y, v, c, eps, waypoint) @@ -1353,7 +1353,7 @@ def test_waypoint_generation(case='slalom', test_loop=1): 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) + scenario, wpt_flexes, wpt_fixed = waypoint_generate(vehicle_state, cones, cone_idx=i, next_cone_idx=i+1, prev_cone_idx=i-1) plot_results(vehicle_state, cones, wpt_flexes, wpt_fixed, scenario_label) vehicle_state = drive(vehicle_state) if case == 'slalom': @@ -1367,7 +1367,7 @@ def test_planning(case='slalom', test_loop=2): # Way Points scenario = scenario_check(vehicle_state, cones) scenario_label = f"Scenario: {scenario}" - scenario, wpt_flexes, wpt_fixed = waypoint_generate(vehicle_state, cones) + scenario, wpt_flexes, wpt_fixed = waypoint_generate(vehicle_state, cones, cone_idx=i, next_cone_idx=i+1, prev_cone_idx=i-1) 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} From 2968d06a6095c28238353cb9f0bfac35805fdd20 Mon Sep 17 00:00:00 2001 From: Hua-Ta Liang Date: Fri, 16 May 2025 17:31:44 -0500 Subject: [PATCH 97/99] Fix warning of velocity_profile --- GEMstack/onboard/planning/velocity_profile.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/GEMstack/onboard/planning/velocity_profile.py b/GEMstack/onboard/planning/velocity_profile.py index 4bed2ea38..f2ec97a62 100644 --- a/GEMstack/onboard/planning/velocity_profile.py +++ b/GEMstack/onboard/planning/velocity_profile.py @@ -36,9 +36,9 @@ def compute_spline_curvature(x, y, s=0.0, num=1000): kappa (float): curvature profile along the trajectory """ # Fit parametric spline - num = len(x) + nums = len(x) tck, _ = splprep([x, y], s=s) - u_fine = np.linspace(0, 1, num) + u_fine = np.linspace(0, 1, nums) # Evaluate spline and its first and second derivatives dx, dy = splev(u_fine, tck, der=1) From 53d9b09e2ee3affd795bfa7e645c084aa6789c52 Mon Sep 17 00:00:00 2001 From: Avery Plote Date: Fri, 16 May 2025 18:48:07 -0400 Subject: [PATCH 98/99] Remove cone agents and scenes for simulation --- GEMstack/onboard/interface/gem_simulator.py | 4 --- GEMstack/state/agent.py | 1 - GEMstack/utils/klampt_visualization.py | 1 - scenes/racing_sim_circle.yaml | 34 --------------------- scenes/racing_sim_slalom.yaml | 33 -------------------- 5 files changed, 73 deletions(-) delete mode 100644 scenes/racing_sim_circle.yaml delete mode 100644 scenes/racing_sim_slalom.yaml diff --git a/GEMstack/onboard/interface/gem_simulator.py b/GEMstack/onboard/interface/gem_simulator.py index 7a2fe1a5f..9855249f8 100644 --- a/GEMstack/onboard/interface/gem_simulator.py +++ b/GEMstack/onboard/interface/gem_simulator.py @@ -20,7 +20,6 @@ 'car' : (4.0,2.5,1.4), 'medium_truck': (6.0,2.5,3.0), 'large_truck': (10.0,2.5,3.5), - 'cone' : (0.5,0.5,1.0) } AGENT_TYPE_TO_ENUM = { @@ -29,7 +28,6 @@ 'car' : AgentEnum.CAR, 'medium_truck': AgentEnum.MEDIUM_TRUCK, 'large_truck': AgentEnum.LARGE_TRUCK, - 'cone': AgentEnum.CONE } AGENT_NOMINAL_VELOCITY = { @@ -38,7 +36,6 @@ 'car' : 20.0, 'medium_truck': 15.0, 'large_truck': 10.0, - 'cone' : 0.0 } AGENT_NOMINAL_ACCELERATION = { @@ -47,7 +44,6 @@ 'car' : 5.0, 'medium_truck': 3.0, 'large_truck': 2.0, - 'cone' : 0.0 } class AgentSimulation: diff --git a/GEMstack/state/agent.py b/GEMstack/state/agent.py index 06d4be772..e295fbba8 100644 --- a/GEMstack/state/agent.py +++ b/GEMstack/state/agent.py @@ -11,7 +11,6 @@ class AgentEnum(Enum): LARGE_TRUCK = 2 PEDESTRIAN = 3 BICYCLIST = 4 - CONE = 5 class AgentActivityEnum(Enum): diff --git a/GEMstack/utils/klampt_visualization.py b/GEMstack/utils/klampt_visualization.py index 6347b33c2..063f690c7 100644 --- a/GEMstack/utils/klampt_visualization.py +++ b/GEMstack/utils/klampt_visualization.py @@ -16,7 +16,6 @@ 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/scenes/racing_sim_circle.yaml b/scenes/racing_sim_circle.yaml deleted file mode 100644 index b64345db5..000000000 --- a/scenes/racing_sim_circle.yaml +++ /dev/null @@ -1,34 +0,0 @@ -# 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 deleted file mode 100644 index 6065b0dbb..000000000 --- a/scenes/racing_sim_slalom.yaml +++ /dev/null @@ -1,33 +0,0 @@ -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 From 64c91964df832f3c8abd7c85bc95e72dc83dd99c Mon Sep 17 00:00:00 2001 From: Avery Plote Date: Fri, 16 May 2025 18:49:25 -0400 Subject: [PATCH 99/99] remove racing_fixed_slalom --- launch/racing_fixed_slalom.yaml | 79 --------------------------------- 1 file changed, 79 deletions(-) delete mode 100644 launch/racing_fixed_slalom.yaml diff --git a/launch/racing_fixed_slalom.yaml b/launch/racing_fixed_slalom.yaml deleted file mode 100644 index b71867c38..000000000 --- a/launch/racing_fixed_slalom.yaml +++ /dev/null @@ -1,79 +0,0 @@ -description: "Use the sensors to detect cones and drive a slalom route around them. Use this file for Sim." -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: - 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"

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