From 843b92f060d995321159a4cd144bfec4122e9dcf Mon Sep 17 00:00:00 2001 From: Yoshihiro Kogure Date: Tue, 10 Sep 2024 04:46:43 +0900 Subject: [PATCH 01/11] add multiple courses Signed-off-by: Yoshihiro Kogure --- ...ecting_pure_pursuit_trajectory_follower.py | 4 +- .../data_collecting_trajectory_publisher.py | 799 ++++++++++++------ 2 files changed, 529 insertions(+), 274 deletions(-) diff --git a/control_data_collecting_tool/scripts/data_collecting_pure_pursuit_trajectory_follower.py b/control_data_collecting_tool/scripts/data_collecting_pure_pursuit_trajectory_follower.py index 202f1178..c142744d 100755 --- a/control_data_collecting_tool/scripts/data_collecting_pure_pursuit_trajectory_follower.py +++ b/control_data_collecting_tool/scripts/data_collecting_pure_pursuit_trajectory_follower.py @@ -131,7 +131,7 @@ def __init__(self): self.declare_parameter( "acc_noise_amp", - 0.00, + 0.01, ParameterDescriptor(description="Accel cmd additional sine noise amplitude [m/ss]"), ) @@ -149,7 +149,7 @@ def __init__(self): self.declare_parameter( "steer_noise_amp", - 0.00, + 0.01, ParameterDescriptor(description="Steer cmd additional sine noise amplitude [rad]"), ) diff --git a/control_data_collecting_tool/scripts/data_collecting_trajectory_publisher.py b/control_data_collecting_tool/scripts/data_collecting_trajectory_publisher.py index b49e7338..15625911 100755 --- a/control_data_collecting_tool/scripts/data_collecting_trajectory_publisher.py +++ b/control_data_collecting_tool/scripts/data_collecting_trajectory_publisher.py @@ -14,6 +14,8 @@ # See the License for the specific language governing permissions and # limitations under the License. +import threading + from autoware_planning_msgs.msg import Trajectory from autoware_planning_msgs.msg import TrajectoryPoint from geometry_msgs.msg import AccelWithCovarianceStamped @@ -28,15 +30,30 @@ from numpy import sin from rcl_interfaces.msg import ParameterDescriptor import rclpy +from rclpy.callback_groups import ReentrantCallbackGroup from rclpy.node import Node from scipy.spatial.transform import Rotation as R import seaborn as sns from visualization_msgs.msg import Marker from visualization_msgs.msg import MarkerArray -debug_matplotlib_plot_flag = True +COURSE_NAME = "eight_course" +# COURSE_NAME = "u_shaped_return" +# COURSE_NAME = "straight_line_positive" +# COURSE_NAME = "straight_line_negative" + +NUM_BINS_V = 10 +NUM_BINS_STEER = 10 +NUM_BINS_A = 10 +V_NUB, V_MAX = 0.0, 11.5 +STEER_MIN, STEER_MAX = -1.0, 1.0 +A_MIN, A_MAX = -1.0, 1.0 + + +debug_matplotlib_plot_flag = False +data_counts_matplotlib_plot_flag = True Differential_Smoothing_Flag = True -USE_CURVATURE_RADIUS_FLAG = True +USE_CURVATURE_RADIUS_FLAG = False def smooth_bounding(upper: np.ndarray, threshold: np.ndarray, x: np.ndarray): @@ -54,13 +71,40 @@ def getYaw(orientation_xyzw): return R.from_quat(orientation_xyzw.reshape(-1, 4)).as_euler("xyz")[:, 2] -def get_trajectory_points( +def get_eight_course_trajectory_points( long_side_length: float, short_side_length: float, step: float, total_distance: float ): a = short_side_length b = long_side_length + t_array = np.arange(start=0.0, stop=total_distance, step=step).astype("float") + x = t_array.copy() + y = t_array.copy() + yaw = t_array.copy() + # Boundary points between circular and linear trajectory + # _A = [-(b - a) / 2, a / 2] + # _B = [(b - a) / 2, a / 2] + C = [-(b - a) / 2, -a / 2] + D = [(b - a) / 2, -a / 2] + + # _O = [0.0, 0.0] # origin + R = a / 2 # radius of the circle + OL = [-(b - a) / 2, 0] # center of the left circle + OR = [(b - a) / 2, 0] # center of the right circle + OB = np.sqrt((b - a) ** 2 + a**2) / 2 # half length of the linear trajectory + AD = 2 * OB + θB = arctan(a / (b - a)) # Angle that OB makes with respect to x-axis + BD = pi * a / 2 # the length of arc BD + AC = BD + CO = OB + + curve = t_array.copy() + parts = ["part" for i in range(len(curve))] + achievement_rates = np.zeros(len(curve)) + + i_end = t_array.shape[0] + C = [-(b / 2 - (1.0 - np.sqrt(3) / 2) * a), -a / 2] D = [(b / 2 - (1.0 - np.sqrt(3) / 2) * a), -a / 2] @@ -71,7 +115,7 @@ def get_trajectory_points( (b / 2 + (1.0 - np.sqrt(3) / 2) * a) ** 2 + (a / 2) ** 2 ) # half length of the linear trajectory AD = 2 * OB - θB = arctan( + θB = np.arctan( a / 2 / (b / 2 + (1.0 - np.sqrt(3) / 2) * a) ) # Angle that OB makes with respect to x-axis BD = 2 * np.pi * R / 6 # the length of arc BD @@ -87,7 +131,6 @@ def get_trajectory_points( curve = t_array.copy() achievement_rates = t_array.copy() parts = ["part" for _ in range(len(t_array.copy()))] - i_end = t_array.shape[0] for i, t in enumerate(t_array): if t > OB + BD + AD + AC + CO: @@ -106,8 +149,8 @@ def get_trajectory_points( if OB <= t and t <= OB + BD: t1 = t - OB t1_rad = t1 / R - x[i] = OR[0] + R * cos(np.pi / 6 - t1_rad) - y[i] = OR[1] + R * sin(np.pi / 6 - t1_rad) + x[i] = OR[0] + R * np.cos(np.pi / 6 - t1_rad) + y[i] = OR[1] + R * np.sin(np.pi / 6 - t1_rad) yaw[i] = -t1_rad curve[i] = 1 / R parts[i] = "right_circle" @@ -126,8 +169,8 @@ def get_trajectory_points( if OB + BD + AD <= t and t <= OB + BD + AD + AC: t3 = t - (OB + BD + AD) t3_rad = t3 / R - x[i] = OL[0] - R * cos(-np.pi / 6 + t3_rad) - y[i] = OL[1] - R * sin(-np.pi / 6 + t3_rad) + x[i] = OL[0] - R * np.cos(-np.pi / 6 + t3_rad) + y[i] = OL[1] - R * np.sin(-np.pi / 6 + t3_rad) yaw[i] = np.pi + t3_rad curve[i] = 1 / R @@ -158,33 +201,154 @@ def get_trajectory_points( return np.array([x, y]).T, yaw, curve[:i_end], parts, achievement_rates +def get_straight_line_course_trajectory_points( + long_side_length: float, short_side_length: float, step: float +): + # a = short_side_length + b = long_side_length + + total_distance = b + + t_array = np.arange(start=0.0, stop=total_distance, step=step).astype("float") + + if COURSE_NAME == "straight_line_positive": + yaw = np.zeros(len(t_array)) + parts = ["linear_positive" for _ in range(len(t_array.copy()))] + x = np.linspace(-total_distance / 2, total_distance / 2, len(t_array)) + y = np.zeros(len(t_array)) + + elif COURSE_NAME == "straight_line_negative": + yaw = pi * np.ones(len(t_array)) + parts = ["linear_negative" for _ in range(len(t_array.copy()))] + x = np.linspace(total_distance / 2, -total_distance / 2, len(t_array)) + y = np.zeros(len(t_array)) + + curve = 1e-9 * np.ones(len(t_array)) + achievement_rates = np.linspace(0.0, 1.0, len(t_array)) + + if USE_CURVATURE_RADIUS_FLAG: + return np.vstack((x, y)).T, yaw, 1 / curve, parts, achievement_rates + else: + return np.vstack((x, y)).T, yaw, curve, parts, achievement_rates + + +def get_u_shaped_return_course_trajectory_points( + long_side_length: float, short_side_length: float, step: float, total_distance: float +): + a = short_side_length + b = long_side_length + + t_array = np.arange(start=0.0, stop=total_distance, step=step).astype("float") + x = t_array.copy() + y = t_array.copy() + yaw = t_array.copy() + + # Boundary points between circular and linear trajectory + A = [-(b - a) / 2, a / 2] + B = [(b - a) / 2, a / 2] + C = [-(b - a) / 2, -a / 2] + D = [(b - a) / 2, -a / 2] + + # _O = [0.0, 0.0] # origin + R = a / 2 # radius of the circle + OL = [-(b - a) / 2, 0] # center of the left circle + OR = [(b - a) / 2, 0] # center of the right circle + + AB = b - a + arc_BD = pi * R + DC = b - a + arc_CA = pi * R + + total_distance = 2 * AB + 2 * np.pi * R + + t_array = np.arange(start=0.0, stop=total_distance, step=step).astype("float") + x = [0.0 for i in range(len(t_array.copy()))] + y = [0.0 for i in range(len(t_array.copy()))] + yaw = t_array.copy() + curve = t_array.copy() + achievement_rates = t_array.copy() + parts = ["part" for _ in range(len(t_array.copy()))] + i_end = t_array.shape[0] + + for i, t in enumerate(t_array): + if t > AB + arc_BD + DC + arc_CA: + i_end = i + break + + if 0 <= t and t <= AB: + section_rate = t / AB + x[i] = section_rate * B[0] + (1 - section_rate) * A[0] + y[i] = section_rate * B[1] + (1 - section_rate) * A[1] + yaw[i] = 0.0 + curve[i] = 1e-10 + parts[i] = "linear_positive" + achievement_rates[i] = section_rate + + if AB <= t and t <= AB + arc_BD: + section_rate = (t - AB) / arc_BD + x[i] = OR[0] + R * cos(pi / 2 - pi * section_rate) + y[i] = OR[1] + R * sin(pi / 2 - pi * section_rate) + yaw[i] = pi / 2 - pi * section_rate - pi / 2 + curve[i] = 1.0 / R + parts[i] = "right_circle" + achievement_rates[i] = section_rate + + if AB + arc_BD <= t and t <= AB + arc_BD + DC: + section_rate = (t - AB - arc_BD) / DC + x[i] = section_rate * C[0] + (1 - section_rate) * D[0] + y[i] = section_rate * C[1] + (1 - section_rate) * D[1] + yaw[i] = pi + curve[i] = 1e-10 + parts[i] = "linear_negative" + achievement_rates[i] = section_rate + + if AB + arc_BD + DC <= t and t <= AB + arc_BD + DC + arc_CA: + section_rate = (t - AB - arc_BD - DC) / arc_CA + x[i] = OL[0] + R * cos(3 * pi / 2 - pi * section_rate) + y[i] = OL[1] + R * sin(3 * pi / 2 - pi * section_rate) + yaw[i] = 3 * pi / 2 - pi * section_rate - pi / 2 + curve[i] = 1.0 / R + parts[i] = "left_circle" + achievement_rates[i] = section_rate + + # drop rest + x = x[:i_end] + y = y[:i_end] + yaw = yaw[:i_end] + curve = curve[:i_end] + parts = parts[:i_end] + achievement_rates = achievement_rates[:i_end] + + if USE_CURVATURE_RADIUS_FLAG: + return np.array([x, y]).T, yaw, 1 / curve[:i_end], parts, achievement_rates + else: + return np.array([x, y]).T, yaw, curve[:i_end], parts, achievement_rates + + class DataCollectingTrajectoryPublisher(Node): def __init__(self): super().__init__("data_collecting_trajectory_publisher") # velocity and acceleration grid # velocity and steer grid - self.num_bins = 10 - self.v_min, self.v_max = 0, 11.2 - self.steer_min, self.steer_max = -1.0, 1.0 - self.a_min, self.a_max = -1.0, 1.0 + self.num_bins_v = NUM_BINS_V + self.num_bins_steer = NUM_BINS_STEER + self.num_bins_a = NUM_BINS_A + self.v_min, self.v_max = V_NUB, V_MAX + self.steer_min, self.steer_max = STEER_MIN, STEER_MAX + self.a_min, self.a_max = A_MIN, A_MAX - self.collected_data_counts_of_vel_acc = np.zeros((self.num_bins, self.num_bins)) - self.collected_data_counts_of_vel_steer = np.zeros((self.num_bins, self.num_bins)) + self.collected_data_counts_of_vel_acc = np.zeros((self.num_bins_v, self.num_bins_a)) + self.collected_data_counts_of_vel_steer = np.zeros((self.num_bins_v, self.num_bins_steer)) - self.v_bins = np.linspace(self.v_min, self.v_max, self.num_bins + 1) - self.steer_bins = np.linspace(self.steer_min, self.steer_max, self.num_bins + 1) - self.a_bins = np.linspace(self.a_min, self.a_max, self.num_bins + 1) + self.v_bins = np.linspace(self.v_min, self.v_max, self.num_bins_v + 1) + self.steer_bins = np.linspace(self.steer_min, self.steer_max, self.num_bins_steer + 1) + self.a_bins = np.linspace(self.a_min, self.a_max, self.num_bins_a + 1) self.v_bin_centers = (self.v_bins[:-1] + self.v_bins[1:]) / 2 self.steer_bin_centers = (self.steer_bins[:-1] + self.steer_bins[1:]) / 2 self.a_bin_centers = (self.a_bins[:-1] + self.a_bins[1:]) / 2 - self.fig, self.axs = plt.subplots(4, 1, figsize=(12, 20)) - self.grid_update_time_interval = 1 - self.last_grid_update_time = None - plt.ion() - self.trajectory_parts = None self.trajectory_achievement_rates = None @@ -197,12 +361,13 @@ def __init__(self): self.target_vel_on_line = 0.0 self.on_line_vel_flag = True - - self.previous_target_vel = 2.0 self.deceleration_rate = 0.6 - self.vel_hist = np.zeros(50) - self.acc_hist = np.zeros(50) + self.vel_hist = np.zeros(200) + self.acc_hist = np.zeros(200) + + self.vel_hist_for_plot = np.zeros(200) + self.acc_hist_for_plot = np.zeros(200) self.declare_parameter( "wheel_base", @@ -224,7 +389,7 @@ def __init__(self): self.declare_parameter( "lateral_error_threshold", - 5.0, + 2.0, ParameterDescriptor( description="Lateral error threshold where applying velocity limit [m/s]" ), @@ -248,7 +413,7 @@ def __init__(self): self.declare_parameter( "mov_ave_window", - 200, + 50, ParameterDescriptor(description="Moving average smoothing window size"), ) @@ -260,7 +425,7 @@ def __init__(self): self.declare_parameter( "longitudinal_velocity_noise_amp", - 0.0, + 0.01, ParameterDescriptor( description="Target longitudinal velocity additional sine noise amplitude [m/s]" ), @@ -316,10 +481,40 @@ def __init__(self): ) self.sub_data_collecting_area_ + self.callback_group = ReentrantCallbackGroup() + self.lock = threading.Lock() + self.timer_period_callback = 0.03 # 30ms self.traj_step = 0.1 + self.timer_traj = self.create_timer( + self.timer_period_callback, self.timer_callback_traj, callback_group=self.callback_group + ) + + if data_counts_matplotlib_plot_flag: + self.collected_data_counts_of_vel_acc_for_plot = np.zeros( + (self.num_bins_v, self.num_bins_a) + ) + self.collected_data_counts_of_vel_steer_for_plot = np.zeros( + (self.num_bins_v, self.num_bins_steer) + ) + + self.v_bin_centers_for_plot = (self.v_bins[:-1] + self.v_bins[1:]) / 2 + self.steer_bin_centers_for_plot = (self.steer_bins[:-1] + self.steer_bins[1:]) / 2 + self.a_bin_centers_for_plot = (self.a_bins[:-1] + self.a_bins[1:]) / 2 - self.timer = self.create_timer(self.timer_period_callback, self.timer_callback) + self.fig, self.axs = plt.subplots(3, 1, figsize=(12, 20)) + self.grid_update_time_interval = 2.0 + plt.ion() + + self.timer_plot = self.create_timer( + self.grid_update_time_interval, + self.timer_callback_plot, + callback_group=self.callback_group, + ) + + if debug_matplotlib_plot_flag: + self.fig_debug, self.axs_debug = plt.subplots(figsize=(12, 6)) + plt.ion() self._present_kinematic_state = None self._present_acceleration = None @@ -349,6 +544,181 @@ def onDataCollectingArea(self, msg): self._data_collecting_area_polygon = msg self.updateNominalTargetTrajectory() + def get_target_velocity(self, nearestIndex): + part = self.trajectory_parts[ + nearestIndex + ] # "left_circle", "right_circle", "linear_positive", "linear_negative" + achievement_rate = self.trajectory_achievement_rates[nearestIndex] + current_vel = self._present_kinematic_state.twist.twist.linear.x + current_acc = self._present_acceleration.accel.accel.linear.x + + acc_kp_of_pure_pursuit = self.get_parameter("acc_kp").get_parameter_value().double_value + N_V = self.num_bins_v + N_A = self.num_bins_a + + self.acc_hist[:-1] = 1.0 * self.acc_hist[1:] + self.acc_hist[-1] = current_acc + self.vel_hist[:-1] = 1.0 * self.vel_hist[1:] + self.vel_hist[-1] = current_vel + + max_lateral_accel = ( + self.get_parameter("max_lateral_accel").get_parameter_value().double_value + ) + if USE_CURVATURE_RADIUS_FLAG: + max_vel_from_lateral_acc = np.sqrt( + max_lateral_accel * self.trajectory_curvature_data[nearestIndex] + ) + else: + max_vel_from_lateral_acc = np.sqrt( + max_lateral_accel / self.trajectory_curvature_data[nearestIndex] + ) + + target_vel = min([self.v_max / N_V, max_vel_from_lateral_acc]) + + # set self.target_acc_on_line and self.target_vel_on_line after vehicle from circle part to linear part + min_data_num_margin = 5 + min_index_list = [] + if ( + (self.prev_part == "left_circle" or self.prev_part == "right_circle") + and (part == "linear_positive" or part == "linear_negative") + or ( + (part == "linear_positive" or part == "linear_negative") and achievement_rate < 0.05 + ) + ): + self.on_line_vel_flag = True + min_num_data = 1e12 + + # do not collect data when velocity and acceleration are low + exclude_idx_list = [(0, 0), (1, 0), (2, 0), (0, 1), (1, 1), (0, 2)] + # do not collect data when velocity and acceleration are high + exclude_idx_list += [ + (-1 + N_V, -1 + N_A), + (-2 + N_V, -1 + N_A), + (-3 + N_V, -1 + N_A), + (-1 + N_V, -2 + N_A), + (-2 + N_V, -2 + N_A), + (-1 + N_V, -3 + N_A), + ] + + for i in range(0, N_V): + for j in range(0, N_A): + if (i, j) not in exclude_idx_list: + if ( + min_num_data - min_data_num_margin + > self.collected_data_counts_of_vel_acc[i, j] + ): + min_num_data = self.collected_data_counts_of_vel_acc[i, j] + min_index_list.clear() + min_index_list.append((j, i)) + + elif ( + min_num_data + min_data_num_margin + > self.collected_data_counts_of_vel_acc[i, j] + ): + min_index_list.append((j, i)) + + self.acc_idx, self.vel_idx = min_index_list[np.random.randint(0, len(min_index_list))] + self.target_acc_on_line = self.a_bin_centers[self.acc_idx] + self.target_vel_on_line = self.v_bin_centers[self.vel_idx] + + if ( + COURSE_NAME == "u_shaped_return" + or COURSE_NAME == "straight_line_positive" + or COURSE_NAME == "straight_line_negative" + ): + if self.target_vel_on_line > self.v_max * 3.0 / 4.0: + self.deceleration_rate = 0.55 + 0.15 + elif self.target_vel_on_line > self.v_max / 2.0: + self.deceleration_rate = 0.65 + 0.25 + else: + self.deceleration_rate = 0.85 + 0.1 + + elif COURSE_NAME == "eight_course": + if self.target_vel_on_line > self.v_max * 3.0 / 4.0: + self.deceleration_rate = 0.55 + elif self.target_vel_on_line > self.v_max / 2.0: + self.deceleration_rate = 0.65 + else: + self.deceleration_rate = 0.85 + + # set target velocity on linear part + if part == "linear_positive" or part == "linear_negative": + if ( + current_vel > self.target_vel_on_line - self.v_max / N_V / 8.0 + and self.target_vel_on_line >= self.v_max / 2.0 + ): + self.on_line_vel_flag = False + elif ( + abs(current_vel - self.target_vel_on_line) < self.v_max / N_V / 4.0 + and self.target_vel_on_line < self.v_max / 2.0 + ): + self.on_line_vel_flag = False + + # accelerate until vehicle reaches target_vel_on_line + if 0.0 <= achievement_rate and achievement_rate < 0.45 and self.on_line_vel_flag: + target_vel = self.target_vel_on_line + + if ( + current_vel > self.target_vel_on_line - self.v_max / N_V * 0.5 + and self.target_acc_on_line > 2.0 * self.a_max / N_A + ): + target_vel = current_vel + self.target_acc_on_line / acc_kp_of_pure_pursuit + + # collect target_acceleration data when current velocity is close to target_vel_on_line + elif ( + achievement_rate < self.deceleration_rate + or self.target_vel_on_line < self.v_max / 2.0 + ): + if self.collected_data_counts_of_vel_acc[self.vel_idx, self.acc_idx] > 50: + self.acc_idx = np.argmin(self.collected_data_counts_of_vel_acc[self.vel_idx, :]) + self.target_acc_on_line = self.a_bin_centers[self.acc_idx] + + if ( + current_vel + < max( + [self.target_vel_on_line - 1.5 * self.v_max / N_V, self.v_max / N_V / 2.0] + ) + and self.target_acc_on_line < 0.0 + ): + self.acc_idx = np.argmin( + self.collected_data_counts_of_vel_acc[self.vel_idx, int(N_A / 2.0) : N_A] + ) + int(N_A / 2) + self.target_acc_on_line = self.a_bin_centers[self.acc_idx] + + elif ( + current_vel > self.target_vel_on_line + 1.5 * self.v_max / N_V + and self.target_acc_on_line > 0.0 + ): + self.acc_idx = np.argmin( + self.collected_data_counts_of_vel_acc[self.vel_idx, 0 : int(N_A / 2.0)] + ) + self.target_acc_on_line = self.a_bin_centers[self.acc_idx] + + target_vel = current_vel + self.target_acc_on_line / acc_kp_of_pure_pursuit + + # deceleration + if self.deceleration_rate <= achievement_rate: + if COURSE_NAME == "eight_course" or COURSE_NAME == "u_shaped_return": + target_vel = np.min([self.v_max / 10.0, max_vel_from_lateral_acc / 2.0]) + elif ( + COURSE_NAME == "straight_line_positive" + or COURSE_NAME == "straight_line_negative" + ): + target_vel = 0.0 + + # set target velocity on circle part + if part == "left_circle" or part == "right_circle": + if achievement_rate < 0.10 and self.target_vel_on_line > self.v_max / 2.0: + target_vel = np.min([self.v_max / 10.0, max_vel_from_lateral_acc / 2.0]) + elif achievement_rate < 0.50: + target_vel = max_vel_from_lateral_acc / 2.0 + else: + target_vel = max_vel_from_lateral_acc + + self.prev_part = part + + return target_vel + def updateNominalTargetTrajectory(self): data_collecting_area = np.array( [ @@ -414,18 +784,54 @@ def updateNominalTargetTrajectory(self): actual_long_side = max(long_side_length - long_side_margin, 1.1) actual_short_side = max(short_side_length - long_side_margin, 1.0) - ( - trajectory_position_data, - trajectory_yaw_data, - trajectory_curvature_data, - self.trajectory_parts, - self.trajectory_achievement_rates, - ) = get_trajectory_points( - actual_long_side, - actual_short_side, - self.traj_step, - total_distance, - ) + + if COURSE_NAME == "eight_course": + ( + trajectory_position_data, + trajectory_yaw_data, + trajectory_curvature_data, + self.trajectory_parts, + self.trajectory_achievement_rates, + ) = get_eight_course_trajectory_points( + actual_long_side, + actual_short_side, + self.traj_step, + total_distance, + ) + + elif COURSE_NAME == "straight_line_positive" or COURSE_NAME == "straight_line_negative": + ( + trajectory_position_data, + trajectory_yaw_data, + trajectory_curvature_data, + self.trajectory_parts, + self.trajectory_achievement_rates, + ) = get_straight_line_course_trajectory_points( + actual_long_side, + actual_short_side, + self.traj_step, + ) + + elif COURSE_NAME == "u_shaped_return": + ( + trajectory_position_data, + trajectory_yaw_data, + trajectory_curvature_data, + self.trajectory_parts, + self.trajectory_achievement_rates, + ) = get_u_shaped_return_course_trajectory_points( + actual_long_side, + actual_short_side, + self.traj_step, + total_distance, + ) + + else: + self.trajectory_position_data = None + self.trajectory_yaw_data = None + self.trajectory_longitudinal_velocity_data = None + self.trajectory_curvature_data = None + for i in range(len(trajectory_yaw_data)): if trajectory_yaw_data[i] > np.pi: trajectory_yaw_data[i] -= 2 * np.pi @@ -435,8 +841,8 @@ def updateNominalTargetTrajectory(self): # [2-2] translation and rotation of origin rot_matrix = np.array( [ - [cos(yaw_offset), -sin(yaw_offset)], - [sin(yaw_offset), cos(yaw_offset)], + [np.cos(yaw_offset), -np.sin(yaw_offset)], + [np.sin(yaw_offset), np.cos(yaw_offset)], ] ) trajectory_position_data = (rot_matrix @ trajectory_position_data.T).T @@ -502,13 +908,12 @@ def updateNominalTargetTrajectory(self): trajectory_curvature_data = ( 1 * np.convolve(augmented_curvature_data, w, mode="same")[window:-window] ) - # [2-4] nominal velocity target_longitudinal_velocity = ( self.get_parameter("target_longitudinal_velocity").get_parameter_value().double_value ) - trajectory_longitudinal_velocity_data = target_longitudinal_velocity * np.ones( + trajectory_longitudinal_velocity_data = target_longitudinal_velocity * np.zeros( len(trajectory_position_data) ) self.current_target_longitudinal_velocity = 1 * target_longitudinal_velocity @@ -525,93 +930,85 @@ def count_observations(self, v, a, steer): steer_bin = np.digitize(steer, self.steer_bins) - 1 a_bin = np.digitize(a, self.a_bins) - 1 - if 0 <= v_bin < self.num_bins and 0 <= a_bin < self.num_bins: + if 0 <= v_bin < self.num_bins_v and 0 <= a_bin < self.num_bins_a: self.collected_data_counts_of_vel_acc[v_bin, a_bin] += 1 - if 0 <= v_bin < self.num_bins and 0 <= steer_bin < self.num_bins: + if 0 <= v_bin < self.num_bins_v and 0 <= steer_bin < self.num_bins_steer: self.collected_data_counts_of_vel_steer[v_bin, steer_bin] += 1 - def plot_data_collection_grid(self, part, rate): - # do not update if enough time has not passed - if self.last_grid_update_time is not None: - time_elapsed = self.get_clock().now() - self.last_grid_update_time - if self.grid_update_time_interval > time_elapsed.nanoseconds / 1e9: - return + def plot_data_collection_grid(self): + self.axs[0].cla() + self.axs[0].scatter(self.acc_hist_for_plot, self.vel_hist_for_plot) + self.axs[0].plot(self.acc_hist_for_plot, self.vel_hist_for_plot) + self.axs[0].set_xlim([-2.0, 2.0]) + self.axs[0].set_ylim([0.0, self.v_max + 1.0]) + self.axs[0].set_xlabel("Acceleration") + self.axs[0].set_ylabel("Velocity") # update collected acceleration and velocity grid - for collection in self.axs[2].collections: + for collection in self.axs[1].collections: if collection.colorbar is not None: collection.colorbar.remove() - self.axs[2].cla() + self.axs[1].cla() self.heatmap = sns.heatmap( - self.collected_data_counts_of_vel_acc.T, + self.collected_data_counts_of_vel_acc_for_plot.T, annot=True, cmap="coolwarm", - xticklabels=np.round(self.v_bin_centers, 2), - yticklabels=np.round(self.a_bin_centers, 2), - ax=self.axs[2], + xticklabels=np.round(self.v_bin_centers_for_plot, 2), + yticklabels=np.round(self.a_bin_centers_for_plot, 2), + ax=self.axs[1], linewidths=0.1, linecolor="gray", ) - self.axs[2].set_xlabel("Velocity bins") - self.axs[2].set_ylabel("Acceleration bins") + self.axs[1].set_xlabel("Velocity bins") + self.axs[1].set_ylabel("Acceleration bins") - for collection in self.axs[3].collections: + for collection in self.axs[2].collections: if collection.colorbar is not None: collection.colorbar.remove() - self.axs[3].cla() + self.axs[2].cla() self.heatmap = sns.heatmap( - self.collected_data_counts_of_vel_steer.T, + self.collected_data_counts_of_vel_steer_for_plot.T, annot=True, cmap="coolwarm", - xticklabels=np.round(self.v_bin_centers, 2), - yticklabels=np.round(self.steer_bin_centers, 2), - ax=self.axs[3], + xticklabels=np.round(self.v_bin_centers_for_plot, 2), + yticklabels=np.round(self.steer_bin_centers_for_plot, 2), + ax=self.axs[2], linewidths=0.1, linecolor="gray", ) # update collected steer and velocity grid - self.axs[3].set_xlabel("Velocity bins") - self.axs[3].set_ylabel("Steer bins") + self.axs[2].set_xlabel("Velocity bins") + self.axs[2].set_ylabel("Steer bins") - self.axs[1].cla() - self.axs[1].scatter(self.acc_hist, self.vel_hist) - self.axs[1].plot(self.acc_hist, self.vel_hist) - self.axs[1].set_xlim([-2.0, 2.0]) - self.axs[1].set_ylim([0.0, self.v_max + 1.0]) - self.axs[1].set_xlabel("Acceleration") - self.axs[1].set_ylabel("Velocity") - self.last_grid_update_time = self.get_clock().now() + self.fig.canvas.draw() - data_collecting_area = np.array( - [ - np.array( - [ - self._data_collecting_area_polygon.polygon.points[i].x, - self._data_collecting_area_polygon.polygon.points[i].y, - self._data_collecting_area_polygon.polygon.points[i].z, - ] - ) - for i in range(4) - ] - ) + plt.pause(0.005) - l1 = np.sqrt(((data_collecting_area[0, :2] - data_collecting_area[1, :2]) ** 2).sum()) - l2 = np.sqrt(((data_collecting_area[1, :2] - data_collecting_area[2, :2]) ** 2).sum()) - l3 = np.sqrt(((data_collecting_area[2, :2] - data_collecting_area[3, :2]) ** 2).sum()) - l4 = np.sqrt(((data_collecting_area[3, :2] - data_collecting_area[0, :2]) ** 2).sum()) - la = (l1 + l3) / 2 - lb = (l2 + l4) / 2 - title_of_fig = "rectangle : (la,lb) = " + str((la, lb)) - self.fig.suptitle(title_of_fig) + def timer_callback_plot(self): + with self.lock: + self.collected_data_counts_of_vel_acc_for_plot = ( + self.collected_data_counts_of_vel_acc.copy() + ) + self.collected_data_counts_of_vel_steer_for_plot = ( + self.collected_data_counts_of_vel_steer.copy() + ) - self.fig.canvas.draw() + self.acc_hist_for_plot = self.acc_hist.copy() + self.vel_hist_for_plot = self.vel_hist.copy() - def timer_callback(self): + self.v_bin_centers_for_plot = self.v_bin_centers + self.steer_bin_centers_for_plot = self.steer_bin_centers + self.a_bin_centers_for_plot = self.a_bin_centers + + self.plot_data_collection_grid() + plt.pause(0.01) + + def timer_callback_traj(self): if ( self._present_kinematic_state is not None and self._present_acceleration is not None @@ -632,11 +1029,12 @@ def timer_callback(self): # update velocity and acceleration bin if ego vehicle is moving if self._present_kinematic_state.twist.twist.linear.x > 1e-3: - self.count_observations( - self._present_kinematic_state.twist.twist.linear.x, - self._present_acceleration.accel.accel.linear.x, - steer, - ) + with self.lock: + self.count_observations( + self._present_kinematic_state.twist.twist.linear.x, + self._present_acceleration.accel.accel.linear.x, + steer, + ) # [0] update nominal target trajectory if changing related ros2 params target_longitudinal_velocity = ( @@ -717,7 +1115,7 @@ def timer_callback(self): ) # 4 is minimum noise_data_num for i in range(noise_data_num): self.vel_noise_list.append( - tmp_noise_vel * sin(2.0 * np.pi * i / noise_data_num) + tmp_noise_vel * np.sin(2.0 * np.pi * i / noise_data_num) ) self.vel_noise_list.pop(0) @@ -748,161 +1146,12 @@ def timer_callback(self): self.one_round_progress_rate = 1.0 * nearestIndex / len(trajectory_position_data) # set target velocity - part = self.trajectory_parts[ - nearestIndex - ] # "left_circle", "right_circle", "linear_positive", "linear_negative" - achievement_rate = self.trajectory_achievement_rates[nearestIndex] - current_vel = self._present_kinematic_state.twist.twist.linear.x - current_acc = self._present_acceleration.accel.accel.linear.x - - acc_kp_of_pure_pursuit = self.get_parameter("acc_kp").get_parameter_value().double_value - N = self.num_bins - - self.acc_hist[:-1] = 1.0 * self.acc_hist[1:] - self.acc_hist[-1] = current_acc - self.vel_hist[:-1] = 1.0 * self.vel_hist[1:] - self.vel_hist[-1] = current_vel - - max_lateral_accel = ( - self.get_parameter("max_lateral_accel").get_parameter_value().double_value - ) - if USE_CURVATURE_RADIUS_FLAG: - max_vel_from_lateral_acc = np.sqrt( - max_lateral_accel * trajectory_curvature_data[nearestIndex] - ) - else: - max_vel_from_lateral_acc = np.sqrt( - max_lateral_accel / trajectory_curvature_data[nearestIndex] - ) - - target_vel = min([self.v_max / N, max_vel_from_lateral_acc]) - - # set self.target_acc_on_line and self.target_vel_on_line after vehicle from circle part to linear part - min_data_num_margin = 10 - min_index_list = [] - if (self.prev_part == "left_circle" or self.prev_part == "right_circle") and ( - part == "linear_positive" or part == "linear_negative" - ): - self.on_line_vel_flag = True - min_num_data = 1e12 - - # do not collect data when velocity and acceleration are low - exclude_idx_list = [(0, 0), (1, 0), (2, 0), (0, 1), (1, 1), (0, 2)] - # do not collect data when velocity and acceleration are high - exclude_idx_list += [ - (-1 + N, -1 + N), - (-2 + N, -1 + N), - (-3 + N, -1 + N), - (-1 + N, -2 + N), - (-2 + N, -2 + N), - (-1 + N, -3 + N), - ] - - for i in range(0, N): - for j in range(0, N): - if (i, j) not in exclude_idx_list: - if ( - min_num_data - min_data_num_margin - > self.collected_data_counts_of_vel_acc[i, j] - ): - min_num_data = self.collected_data_counts_of_vel_acc[i, j] - min_index_list.clear() - min_index_list.append((j, i)) - - elif ( - min_num_data + min_data_num_margin - > self.collected_data_counts_of_vel_acc[i, j] - ): - min_index_list.append((j, i)) - - self.acc_idx, self.vel_idx = min_index_list[ - np.random.randint(0, len(min_index_list)) - ] - self.target_acc_on_line = self.a_bin_centers[self.acc_idx] - self.target_vel_on_line = self.v_bin_centers[self.vel_idx] - - if self.target_vel_on_line > self.v_max * 3.0 / 4.0: - self.deceleration_rate = 0.55 - elif self.target_vel_on_line > self.v_max / 2.0: - self.deceleration_rate = 0.60 - else: - self.deceleration_rate = 1.0 - - # set target velocity on linear part - if part == "linear_positive" or part == "linear_negative": - if ( - current_vel > self.target_vel_on_line - self.v_max / N / 8.0 - and self.target_vel_on_line >= self.v_max / 2.0 - ): - self.on_line_vel_flag = False - elif ( - abs(current_vel - self.target_vel_on_line) < self.v_max / N / 4.0 - and self.target_vel_on_line < self.v_max / 2.0 - ): - self.on_line_vel_flag = False - - # accelerate until vehicle reaches target_vel_on_line - if 0.0 <= achievement_rate and achievement_rate < 0.45 and self.on_line_vel_flag: - target_vel = self.target_vel_on_line - - if ( - current_vel > self.target_vel_on_line - self.v_max / N - and self.target_acc_on_line > 2.0 * self.a_max / N - ): - target_vel = current_vel + self.target_acc_on_line / acc_kp_of_pure_pursuit - - # collect target_acceleration data when current velocity is close to target_vel_on_line - elif ( - achievement_rate < self.deceleration_rate - or self.target_vel_on_line < self.v_max / 2.0 - ): - if self.collected_data_counts_of_vel_acc[self.vel_idx, self.acc_idx] > 50: - self.acc_idx = np.argmin( - self.collected_data_counts_of_vel_acc[self.vel_idx, :] - ) - self.target_acc_on_line = self.a_bin_centers[self.acc_idx] - - if ( - current_vel - < max([self.target_vel_on_line - 1.0 * self.v_max / N, self.v_max / N]) - and self.target_acc_on_line < 0.0 - ): - self.acc_idx = np.argmin( - self.collected_data_counts_of_vel_acc[self.vel_idx, int(N / 2.0) : N] - ) + int(N / 2) - self.target_acc_on_line = self.a_bin_centers[self.acc_idx] - - elif ( - current_vel > self.target_vel_on_line + 1.0 * self.v_max / N - and self.target_acc_on_line >= 0.0 - ): - self.acc_idx = np.argmin( - self.collected_data_counts_of_vel_acc[self.vel_idx, 0 : int(N / 2.0)] - ) - self.target_acc_on_line = self.a_bin_centers[self.acc_idx] - - target_vel = current_vel + self.target_acc_on_line / acc_kp_of_pure_pursuit - - # deceleration - if ( - self.deceleration_rate <= achievement_rate - and self.target_vel_on_line > self.v_max / 2.0 - ): - target_vel = 2.0 * self.v_max / N - - # set target velocity on circle part - if part == "left_circle" or part == "right_circle": - if achievement_rate < 0.10 and self.target_vel_on_line > self.v_max / 2.0: - target_vel = self.v_max / N - elif achievement_rate < 0.50: - target_vel = max_vel_from_lateral_acc / 2.0 - else: - target_vel = max_vel_from_lateral_acc + with self.lock: + target_vel = self.get_target_velocity(nearestIndex) trajectory_longitudinal_velocity_data = np.array( [target_vel for _ in range(len(trajectory_longitudinal_velocity_data))] ) - self.prev_part = part # [5] modify target velocity # [5-1] add noise @@ -927,6 +1176,9 @@ def timer_callback(self): ) # [5-2] apply lateral accel limit + max_lateral_accel = ( + self.get_parameter("max_lateral_accel").get_parameter_value().double_value + ) if USE_CURVATURE_RADIUS_FLAG: lateral_acc_limit = np.sqrt(max_lateral_accel * trajectory_curvature_data) else: @@ -996,8 +1248,12 @@ def timer_callback(self): tmp_traj_point.pose.orientation.x = 0.0 tmp_traj_point.pose.orientation.y = 0.0 - tmp_traj_point.pose.orientation.z = sin(trajectory_yaw_data[i + nearestIndex] / 2) - tmp_traj_point.pose.orientation.w = cos(trajectory_yaw_data[i + nearestIndex] / 2) + tmp_traj_point.pose.orientation.z = np.sin( + trajectory_yaw_data[i + nearestIndex] / 2 + ) + tmp_traj_point.pose.orientation.w = np.cos( + trajectory_yaw_data[i + nearestIndex] / 2 + ) tmp_traj_point.longitudinal_velocity_mps = trajectory_longitudinal_velocity_data[ i + nearestIndex @@ -1073,7 +1329,7 @@ def timer_callback(self): self.data_collecting_trajectory_marker_array_pub_.publish(marker_array) if debug_matplotlib_plot_flag: - self.axs[0].cla() + self.axs_debug.cla() step_size_array = np.sqrt( ((trajectory_position_data[1:] - trajectory_position_data[:-1]) ** 2).sum( axis=1 @@ -1091,9 +1347,9 @@ def timer_callback(self): timestamp[i] = timestamp[i - 1] + time_width_array[i - 1] timestamp -= timestamp[nearestIndex] - self.axs[0].plot(0, present_linear_velocity[0], "o", label="current vel") + self.axs_debug.plot(0, present_linear_velocity[0], "o", label="current vel") - self.axs[0].plot( + self.axs_debug.plot( timestamp[nearestIndex : nearestIndex + pub_traj_len], trajectory_longitudinal_velocity_data_without_limit[ nearestIndex : nearestIndex + pub_traj_len @@ -1101,32 +1357,31 @@ def timer_callback(self): "--", label="target vel before applying limit", ) - self.axs[0].plot( + self.axs_debug.plot( timestamp[nearestIndex : nearestIndex + pub_traj_len], lateral_acc_limit[nearestIndex : nearestIndex + pub_traj_len], "--", label="lateral acc limit (always)", ) - self.axs[0].plot( + self.axs_debug.plot( timestamp[nearestIndex : nearestIndex + pub_traj_len], velocity_limit_by_tracking_error * np.ones(pub_traj_len), "--", label="vel limit by tracking error (only when exceeding threshold)", ) - self.axs[0].plot( + self.axs_debug.plot( timestamp[nearestIndex : nearestIndex + pub_traj_len], trajectory_longitudinal_velocity_data[ nearestIndex : nearestIndex + pub_traj_len ], label="actual target vel", ) - self.axs[0].set_xlim([-0.5, 10.5]) - self.axs[0].set_ylim([-0.5, 12.5]) + self.axs_debug.set_xlim([-0.5, 10.5]) + self.axs_debug.set_ylim([-0.5, 12.5]) - self.axs[0].set_xlabel("future timestamp [s]") - self.axs[0].set_ylabel("longitudinal_velocity [m/s]") - self.axs[0].legend(fontsize=8) - self.plot_data_collection_grid(part, achievement_rate) + self.axs_debug.set_xlabel("future timestamp [s]") + self.axs_debug.set_ylabel("longitudinal_velocity [m/s]") + self.axs_debug.legend(fontsize=8) plt.pause(0.01) From 8ece4b1e1578646e58003269e15e5b1ca7009bb5 Mon Sep 17 00:00:00 2001 From: Yoshihiro Kogure Date: Mon, 23 Sep 2024 21:14:41 +0900 Subject: [PATCH 02/11] modify steer calculation Signed-off-by: Yoshihiro Kogure --- .../data_collecting_trajectory_publisher.py | 14 +++----------- 1 file changed, 3 insertions(+), 11 deletions(-) diff --git a/control_data_collecting_tool/scripts/data_collecting_trajectory_publisher.py b/control_data_collecting_tool/scripts/data_collecting_trajectory_publisher.py index 15625911..df94b2af 100755 --- a/control_data_collecting_tool/scripts/data_collecting_trajectory_publisher.py +++ b/control_data_collecting_tool/scripts/data_collecting_trajectory_publisher.py @@ -1014,18 +1014,10 @@ def timer_callback_traj(self): and self._present_acceleration is not None and self.trajectory_position_data is not None ): - yaw = getYaw( - np.array( - [ - self._present_kinematic_state.pose.pose.orientation.x, - self._present_kinematic_state.pose.pose.orientation.y, - self._present_kinematic_state.pose.pose.orientation.z, - self._present_kinematic_state.pose.pose.orientation.w, - ] - ) - ) + #calculate steer + angular_z = self._present_kinematic_state.twist.twist.angular.z wheel_base = self.get_parameter("wheel_base").get_parameter_value().double_value - steer = np.arctan2(wheel_base * yaw, self._present_kinematic_state.twist.twist.linear.x) + steer = np.arctan2(wheel_base * angular_z, self._present_kinematic_state.twist.twist.linear.x) # update velocity and acceleration bin if ego vehicle is moving if self._present_kinematic_state.twist.twist.linear.x > 1e-3: From 9a798cbc0f878639e7bd3e19b375f072f071a562 Mon Sep 17 00:00:00 2001 From: Yoshihiro Kogure Date: Mon, 23 Sep 2024 21:33:29 +0900 Subject: [PATCH 03/11] reformat file Signed-off-by: Yoshihiro Kogure --- .../data_collecting_trajectory_publisher.py | 67 +++++-------------- 1 file changed, 16 insertions(+), 51 deletions(-) diff --git a/control_data_collecting_tool/scripts/data_collecting_trajectory_publisher.py b/control_data_collecting_tool/scripts/data_collecting_trajectory_publisher.py index df94b2af..cf411294 100755 --- a/control_data_collecting_tool/scripts/data_collecting_trajectory_publisher.py +++ b/control_data_collecting_tool/scripts/data_collecting_trajectory_publisher.py @@ -24,7 +24,7 @@ import matplotlib.pyplot as plt from nav_msgs.msg import Odometry import numpy as np -from numpy import arctan +from numpy import arctan2 from numpy import cos from numpy import pi from numpy import sin @@ -37,8 +37,8 @@ from visualization_msgs.msg import Marker from visualization_msgs.msg import MarkerArray -COURSE_NAME = "eight_course" -# COURSE_NAME = "u_shaped_return" +# COURSE_NAME = "eight_course" +COURSE_NAME = "u_shaped_return" # COURSE_NAME = "straight_line_positive" # COURSE_NAME = "straight_line_negative" @@ -72,39 +72,13 @@ def getYaw(orientation_xyzw): def get_eight_course_trajectory_points( - long_side_length: float, short_side_length: float, step: float, total_distance: float + long_side_length: float, + short_side_length: float, + step: float, ): a = short_side_length b = long_side_length - t_array = np.arange(start=0.0, stop=total_distance, step=step).astype("float") - x = t_array.copy() - y = t_array.copy() - yaw = t_array.copy() - - # Boundary points between circular and linear trajectory - # _A = [-(b - a) / 2, a / 2] - # _B = [(b - a) / 2, a / 2] - C = [-(b - a) / 2, -a / 2] - D = [(b - a) / 2, -a / 2] - - # _O = [0.0, 0.0] # origin - R = a / 2 # radius of the circle - OL = [-(b - a) / 2, 0] # center of the left circle - OR = [(b - a) / 2, 0] # center of the right circle - OB = np.sqrt((b - a) ** 2 + a**2) / 2 # half length of the linear trajectory - AD = 2 * OB - θB = arctan(a / (b - a)) # Angle that OB makes with respect to x-axis - BD = pi * a / 2 # the length of arc BD - AC = BD - CO = OB - - curve = t_array.copy() - parts = ["part" for i in range(len(curve))] - achievement_rates = np.zeros(len(curve)) - - i_end = t_array.shape[0] - C = [-(b / 2 - (1.0 - np.sqrt(3) / 2) * a), -a / 2] D = [(b / 2 - (1.0 - np.sqrt(3) / 2) * a), -a / 2] @@ -131,6 +105,7 @@ def get_eight_course_trajectory_points( curve = t_array.copy() achievement_rates = t_array.copy() parts = ["part" for _ in range(len(t_array.copy()))] + i_end = t_array.shape[0] for i, t in enumerate(t_array): if t > OB + BD + AD + AC + CO: @@ -208,7 +183,6 @@ def get_straight_line_course_trajectory_points( b = long_side_length total_distance = b - t_array = np.arange(start=0.0, stop=total_distance, step=step).astype("float") if COURSE_NAME == "straight_line_positive": @@ -233,16 +207,11 @@ def get_straight_line_course_trajectory_points( def get_u_shaped_return_course_trajectory_points( - long_side_length: float, short_side_length: float, step: float, total_distance: float + long_side_length: float, short_side_length: float, step: float ): a = short_side_length b = long_side_length - t_array = np.arange(start=0.0, stop=total_distance, step=step).astype("float") - x = t_array.copy() - y = t_array.copy() - yaw = t_array.copy() - # Boundary points between circular and linear trajectory A = [-(b - a) / 2, a / 2] B = [(b - a) / 2, a / 2] @@ -742,7 +711,7 @@ def updateNominalTargetTrajectory(self): lb = (l2 + l4) / 2 if np.abs(la - lb) < 1e-6: la += 0.1 # long_side_length must not be equal to short_side_length - ld = np.sqrt(la**2 + lb**2) + # ld = np.sqrt(la**2 + lb**2) rectangle_center_position = np.zeros(2) for i in range(4): rectangle_center_position[0] += data_collecting_area[i, 0] / 4.0 @@ -780,7 +749,7 @@ def updateNominalTargetTrajectory(self): long_side_margin = 5 long_side_margin = 5 - total_distance = ld * (1 + np.pi) * 2 + # total_distance = ld * (1 + np.pi) * 2 actual_long_side = max(long_side_length - long_side_margin, 1.1) actual_short_side = max(short_side_length - long_side_margin, 1.0) @@ -793,10 +762,7 @@ def updateNominalTargetTrajectory(self): self.trajectory_parts, self.trajectory_achievement_rates, ) = get_eight_course_trajectory_points( - actual_long_side, - actual_short_side, - self.traj_step, - total_distance, + actual_long_side, actual_short_side, self.traj_step ) elif COURSE_NAME == "straight_line_positive" or COURSE_NAME == "straight_line_negative": @@ -820,10 +786,7 @@ def updateNominalTargetTrajectory(self): self.trajectory_parts, self.trajectory_achievement_rates, ) = get_u_shaped_return_course_trajectory_points( - actual_long_side, - actual_short_side, - self.traj_step, - total_distance, + actual_long_side, actual_short_side, self.traj_step ) else: @@ -1014,10 +977,12 @@ def timer_callback_traj(self): and self._present_acceleration is not None and self.trajectory_position_data is not None ): - #calculate steer + # calculate steer angular_z = self._present_kinematic_state.twist.twist.angular.z wheel_base = self.get_parameter("wheel_base").get_parameter_value().double_value - steer = np.arctan2(wheel_base * angular_z, self._present_kinematic_state.twist.twist.linear.x) + steer = arctan2( + wheel_base * angular_z, self._present_kinematic_state.twist.twist.linear.x + ) # update velocity and acceleration bin if ego vehicle is moving if self._present_kinematic_state.twist.twist.linear.x > 1e-3: From 0fd4f17a2851da9961550643d60b7d31e39f6fe9 Mon Sep 17 00:00:00 2001 From: Yoshihiro Kogure Date: Tue, 24 Sep 2024 00:59:57 +0900 Subject: [PATCH 04/11] add parameter file Signed-off-by: Yoshihiro Kogure --- control_data_collecting_tool/CMakeLists.txt | 5 +++ .../config/param.yaml | 15 +++++++++ .../data_collecting_trajectory_publisher.py | 31 ++++++++++++------- 3 files changed, 39 insertions(+), 12 deletions(-) create mode 100644 control_data_collecting_tool/config/param.yaml diff --git a/control_data_collecting_tool/CMakeLists.txt b/control_data_collecting_tool/CMakeLists.txt index f7c14530..331366c5 100644 --- a/control_data_collecting_tool/CMakeLists.txt +++ b/control_data_collecting_tool/CMakeLists.txt @@ -10,6 +10,11 @@ install(PROGRAMS DESTINATION lib/${PROJECT_NAME} ) +install( + DIRECTORY config/ + DESTINATION share/${PROJECT_NAME}/config +) + find_package(Qt5 REQUIRED Core Widgets) set(QT_LIBRARIES Qt5::Widgets) diff --git a/control_data_collecting_tool/config/param.yaml b/control_data_collecting_tool/config/param.yaml new file mode 100644 index 00000000..72a246f1 --- /dev/null +++ b/control_data_collecting_tool/config/param.yaml @@ -0,0 +1,15 @@ +COURSE_NAME: "eight_course" +# COURSE_NAME: "u_shaped_return" +# COURSE_NAME: "straight_line_positive" +# COURSE_NAME: "straight_line_negative" + +heatmap_param: + NUM_BINS_V: 10 + NUM_BINS_STEER: 10 + NUM_BINS_A: 10 + V_MIN: 0.0 + V_MAX: 11.5 + STEER_MIN: -1.0 + STEER_MAX: 1.0 + A_MIN: -1.0 + A_MAX: 1.0 diff --git a/control_data_collecting_tool/scripts/data_collecting_trajectory_publisher.py b/control_data_collecting_tool/scripts/data_collecting_trajectory_publisher.py index cf411294..bfad9e7d 100755 --- a/control_data_collecting_tool/scripts/data_collecting_trajectory_publisher.py +++ b/control_data_collecting_tool/scripts/data_collecting_trajectory_publisher.py @@ -15,7 +15,7 @@ # limitations under the License. import threading - +from ament_index_python.packages import get_package_share_directory from autoware_planning_msgs.msg import Trajectory from autoware_planning_msgs.msg import TrajectoryPoint from geometry_msgs.msg import AccelWithCovarianceStamped @@ -36,18 +36,25 @@ import seaborn as sns from visualization_msgs.msg import Marker from visualization_msgs.msg import MarkerArray +import yaml + +package_share_directory = get_package_share_directory("control_data_collecting_tool") +with open( package_share_directory + "/config/param.yaml", 'r', encoding='utf-8') as yml: + data_collecting_param= yaml.safe_load(yml) -# COURSE_NAME = "eight_course" -COURSE_NAME = "u_shaped_return" -# COURSE_NAME = "straight_line_positive" -# COURSE_NAME = "straight_line_negative" +#load course name +COURSE_NAME = data_collecting_param["COURSE_NAME"] -NUM_BINS_V = 10 -NUM_BINS_STEER = 10 -NUM_BINS_A = 10 -V_NUB, V_MAX = 0.0, 11.5 -STEER_MIN, STEER_MAX = -1.0, 1.0 -A_MIN, A_MAX = -1.0, 1.0 +#load heat map params +NUM_BINS_V = data_collecting_param["heatmap_param"]["NUM_BINS_V"] +NUM_BINS_STEER = data_collecting_param["heatmap_param"]["NUM_BINS_STEER"] +NUM_BINS_A = data_collecting_param["heatmap_param"]["NUM_BINS_A"] +V_MIN = data_collecting_param["heatmap_param"]["V_MIN"] +V_MAX = data_collecting_param["heatmap_param"]["V_MAX"] +STEER_MIN = data_collecting_param["heatmap_param"]["STEER_MIN"] +STEER_MAX = data_collecting_param["heatmap_param"]["STEER_MAX"] +A_MIN = data_collecting_param["heatmap_param"]["A_MIN"] +A_MAX = data_collecting_param["heatmap_param"]["A_MAX"] debug_matplotlib_plot_flag = False @@ -303,7 +310,7 @@ def __init__(self): self.num_bins_v = NUM_BINS_V self.num_bins_steer = NUM_BINS_STEER self.num_bins_a = NUM_BINS_A - self.v_min, self.v_max = V_NUB, V_MAX + self.v_min, self.v_max = V_MIN, V_MAX self.steer_min, self.steer_max = STEER_MIN, STEER_MAX self.a_min, self.a_max = A_MIN, A_MAX From c921ee784d28b0210d8781bb3533f42727a8a712 Mon Sep 17 00:00:00 2001 From: Yoshihiro Kogure Date: Tue, 24 Sep 2024 02:16:48 +0900 Subject: [PATCH 05/11] modify parameter files and readme Signed-off-by: Yoshihiro Kogure --- control_data_collecting_tool/README.md | 35 ++-- .../config/param.yaml | 68 ++++++-- .../control_data_collecting_tool.launch.py | 7 +- .../data_collecting_trajectory_publisher.py | 162 ++++++++++++------ 4 files changed, 191 insertions(+), 81 deletions(-) diff --git a/control_data_collecting_tool/README.md b/control_data_collecting_tool/README.md index 5bf1ab6a..74ac8197 100644 --- a/control_data_collecting_tool/README.md +++ b/control_data_collecting_tool/README.md @@ -83,17 +83,30 @@ ros2 topic pub /data_collecting_stop_request std_msgs/msg/Bool "data: false" --o ROS 2 params in `/data_collecting_trajectory_publisher` node: -| Name | Type | Description | Default value | -| :--------------------------------------- | :------- | :-------------------------------------------------------------------- | :------------ | -| `max_lateral_accel` | `double` | Max lateral acceleration limit [m/ss] | 0.5 | -| `lateral_error_threshold` | `double` | Lateral error threshold where applying velocity limit [m/s] | 5.0 | -| `yaw_error_threshold` | `double` | Yaw error threshold where applying velocity limit [rad] | 0.75 | -| `velocity_limit_by_tracking_error` | `double` | Velocity limit applied when tracking error exceeds threshold [m/s] | 1.0 | -| `mov_ave_window` | `int` | Moving average smoothing window size | 50 | -| `target_longitudinal_velocity` | `double` | Target longitudinal velocity [m/s] | 6.0 | -| `longitudinal_velocity_noise_amp` | `double` | Target longitudinal velocity additional sine noise amplitude [m/s] | 0.01 | -| `longitudinal_velocity_noise_min_period` | `double` | Target longitudinal velocity additional sine noise minimum period [s] | 5.0 | -| `longitudinal_velocity_noise_max_period` | `double` | Target longitudinal velocity additional sine noise maximum period [s] | 20.0 | +| Name | Type | Description | Default value | +| :--------------------------------------- | :------- | :--------------------------------------------------------------------------------------------------- | :------------ | +| `COURSE_NAME` | `string` | Course name [`eight_course`, `u_shaped_return`, `straight_line_positive`, `straight_line_negative`] |`eight_course` | +| `NUM_BINS_V` | `int` | Number of bins of velocity in heatmap | 10 | +| `NUM_BINS_STEER` | `int` | Number of bins of steer in heatmap | 10 | +| `NUM_BINS_ACCELERATION` | `int` | Number of bins of acceleration in heatmap | 10 | +| `V_MIN` | `double` | Minimum velocity in heatmap | -1.0 | +| `V_MAX` | `double` | Maximum velocity in heatmap | 1.0 | +| `STEER_MIN` | `double` | Minimum steer in heatmap | -1.0 | +| `STEER_MAX` | `double` | Maximum steer in heatmap | 1.0 | +| `A_MIN` | `double` | Minimum acceleration in heatmap | -1.0 | +| `A_MAX` | `double` | Maximum acceleration in heatmap | 1.0 | +| `wheel_base` | `double` | Wheel base [m] | 2.79 | +| `acc_kp` | `double` | Accel command proportional gain | 1.0 | +| `max_lateral_accel` | `double` | Max lateral acceleration limit [m/ss] | 0.5 | +| `lateral_error_threshold` | `double` | Lateral error threshold where applying velocity limit [m/s] | 5.0 | +| `yaw_error_threshold` | `double` | Yaw error threshold where applying velocity limit [rad] | 0.75 | +| `velocity_limit_by_tracking_error` | `double` | Velocity limit applied when tracking error exceeds threshold [m/s] | 1.0 | +| `mov_ave_window` | `int` | Moving average smoothing window size | 50 | +| `target_longitudinal_velocity` | `double` | Target longitudinal velocity [m/s] | 6.0 | +| `longitudinal_velocity_noise_amp` | `double` | Target longitudinal velocity additional sine noise amplitude [m/s] | 0.01 | +| `longitudinal_velocity_noise_min_period` | `double` | Target longitudinal velocity additional sine noise minimum period [s] | 5.0 | +| `longitudinal_velocity_noise_max_period` | `double` | Target longitudinal velocity additional sine noise maximum period [s] | 20.0 | + ROS 2 params in `/data_collecting_pure_pursuit_trajectory_follower` node: diff --git a/control_data_collecting_tool/config/param.yaml b/control_data_collecting_tool/config/param.yaml index 72a246f1..e938be8d 100644 --- a/control_data_collecting_tool/config/param.yaml +++ b/control_data_collecting_tool/config/param.yaml @@ -1,15 +1,53 @@ -COURSE_NAME: "eight_course" -# COURSE_NAME: "u_shaped_return" -# COURSE_NAME: "straight_line_positive" -# COURSE_NAME: "straight_line_negative" - -heatmap_param: - NUM_BINS_V: 10 - NUM_BINS_STEER: 10 - NUM_BINS_A: 10 - V_MIN: 0.0 - V_MAX: 11.5 - STEER_MIN: -1.0 - STEER_MAX: 1.0 - A_MIN: -1.0 - A_MAX: 1.0 +common_parameters: + ros__parameters: + wheel_base: 2.79 + acc_kp: 1.0 + + +data_collecting_trajectory_publisher: + ros__parameters: + COURSE_NAME: "eight_course" + # COURSE_NAME: "u_shaped_return" + # COURSE_NAME: "straight_line_positive" + # COURSE_NAME: "straight_line_negative" + + NUM_BINS_V: 10 + NUM_BINS_STEER: 10 + NUM_BINS_A: 10 + V_MIN: 0.0 + V_MAX: 11.5 + STEER_MIN: -1.0 + STEER_MAX: 1.0 + A_MIN: -1.0 + A_MAX: 1.0 + + max_lateral_accel: 0.5 + lateral_error_threshold: 2.0 + yaw_error_threshold: 0.75 + velocity_limit_by_tracking_error: 1.0 + mov_ave_window: 50 + target_longitudinal_velocity: 6.0 + longitudinal_velocity_noise_amp: 0.01 + longitudinal_velocity_noise_min_period: 5.0 + longitudinal_velocity_noise_max_period: 20.0 + + +data_collecting_pure_pursuit_trajectory_follower: + ros__parameters: + pure_pursuit_type: "linearized" + lookahead_time: 2.0 + min_lookahead: 2.0 + linearized_pure_pursuit_steer_kp_param: 2.0 + linearized_pure_pursuit_steer_kd_param: 2.0 + stop_acc: -2.0 + stop_jerk_lim: 2.0 + lon_acc_lim: 2.0 + lon_jerk_lim: 5.0 + steer_lim: 1.0 + steer_rate_lim: 1.0 + acc_noise_amp: 0.01 + acc_noise_min_period: 5.0 + acc_noise_max_period: 20.0 + steer_noise_amp: 0.01 + steer_noise_min_period: 5.0 + steer_noise_max_period: 20.0 diff --git a/control_data_collecting_tool/launch/control_data_collecting_tool.launch.py b/control_data_collecting_tool/launch/control_data_collecting_tool.launch.py index ec3f1cc7..07618ba9 100644 --- a/control_data_collecting_tool/launch/control_data_collecting_tool.launch.py +++ b/control_data_collecting_tool/launch/control_data_collecting_tool.launch.py @@ -17,20 +17,25 @@ import launch from launch import LaunchService from launch_ros.actions import Node - +from ament_index_python.packages import get_package_share_directory +import os def generate_launch_description(): + package_share_directory = get_package_share_directory("control_data_collecting_tool") + param_file_path = os.path.join(package_share_directory, 'config', 'param.yaml') return launch.LaunchDescription( [ Node( package="control_data_collecting_tool", executable="data_collecting_pure_pursuit_trajectory_follower.py", name="data_collecting_pure_pursuit_trajectory_follower", + parameters=[param_file_path], ), Node( package="control_data_collecting_tool", executable="data_collecting_trajectory_publisher.py", name="data_collecting_trajectory_publisher", + parameters=[param_file_path], ), ] ) diff --git a/control_data_collecting_tool/scripts/data_collecting_trajectory_publisher.py b/control_data_collecting_tool/scripts/data_collecting_trajectory_publisher.py index bfad9e7d..775882b1 100755 --- a/control_data_collecting_tool/scripts/data_collecting_trajectory_publisher.py +++ b/control_data_collecting_tool/scripts/data_collecting_trajectory_publisher.py @@ -39,22 +39,22 @@ import yaml package_share_directory = get_package_share_directory("control_data_collecting_tool") -with open( package_share_directory + "/config/param.yaml", 'r', encoding='utf-8') as yml: - data_collecting_param= yaml.safe_load(yml) +#with open( package_share_directory + "/config/param.yaml", 'r', encoding='utf-8') as yml: + #data_collecting_param= yaml.safe_load(yml) #load course name -COURSE_NAME = data_collecting_param["COURSE_NAME"] +#self.COURSE_NAME = data_collecting_param["self.COURSE_NAME"] #load heat map params -NUM_BINS_V = data_collecting_param["heatmap_param"]["NUM_BINS_V"] -NUM_BINS_STEER = data_collecting_param["heatmap_param"]["NUM_BINS_STEER"] -NUM_BINS_A = data_collecting_param["heatmap_param"]["NUM_BINS_A"] -V_MIN = data_collecting_param["heatmap_param"]["V_MIN"] -V_MAX = data_collecting_param["heatmap_param"]["V_MAX"] -STEER_MIN = data_collecting_param["heatmap_param"]["STEER_MIN"] -STEER_MAX = data_collecting_param["heatmap_param"]["STEER_MAX"] -A_MIN = data_collecting_param["heatmap_param"]["A_MIN"] -A_MAX = data_collecting_param["heatmap_param"]["A_MAX"] +#NUM_BINS_V = data_collecting_param["heatmap_param"]["NUM_BINS_V"] +#NUM_BINS_STEER = data_collecting_param["heatmap_param"]["NUM_BINS_STEER"] +##NUM_BINS_A = data_collecting_param["heatmap_param"]["NUM_BINS_A"] +#V_MIN = data_collecting_param["heatmap_param"]["V_MIN"] +#V_MAX = data_collecting_param["heatmap_param"]["V_MAX"] +#STEER_MIN = data_collecting_param["heatmap_param"]["STEER_MIN"] +#STEER_MAX = data_collecting_param["heatmap_param"]["STEER_MAX"] +#A_MIN = data_collecting_param["heatmap_param"]["A_MIN"] +#A_MAX = data_collecting_param["heatmap_param"]["A_MAX"] debug_matplotlib_plot_flag = False @@ -192,13 +192,13 @@ def get_straight_line_course_trajectory_points( total_distance = b t_array = np.arange(start=0.0, stop=total_distance, step=step).astype("float") - if COURSE_NAME == "straight_line_positive": + if self.COURSE_NAME == "straight_line_positive": yaw = np.zeros(len(t_array)) parts = ["linear_positive" for _ in range(len(t_array.copy()))] x = np.linspace(-total_distance / 2, total_distance / 2, len(t_array)) y = np.zeros(len(t_array)) - elif COURSE_NAME == "straight_line_negative": + elif self.COURSE_NAME == "straight_line_negative": yaw = pi * np.ones(len(t_array)) parts = ["linear_negative" for _ in range(len(t_array.copy()))] x = np.linspace(total_distance / 2, -total_distance / 2, len(t_array)) @@ -305,45 +305,55 @@ class DataCollectingTrajectoryPublisher(Node): def __init__(self): super().__init__("data_collecting_trajectory_publisher") - # velocity and acceleration grid - # velocity and steer grid - self.num_bins_v = NUM_BINS_V - self.num_bins_steer = NUM_BINS_STEER - self.num_bins_a = NUM_BINS_A - self.v_min, self.v_max = V_MIN, V_MAX - self.steer_min, self.steer_max = STEER_MIN, STEER_MAX - self.a_min, self.a_max = A_MIN, A_MAX - - self.collected_data_counts_of_vel_acc = np.zeros((self.num_bins_v, self.num_bins_a)) - self.collected_data_counts_of_vel_steer = np.zeros((self.num_bins_v, self.num_bins_steer)) + self.declare_parameter( + "COURSE_NAME", + "eight_course" + ) - self.v_bins = np.linspace(self.v_min, self.v_max, self.num_bins_v + 1) - self.steer_bins = np.linspace(self.steer_min, self.steer_max, self.num_bins_steer + 1) - self.a_bins = np.linspace(self.a_min, self.a_max, self.num_bins_a + 1) + self.declare_parameter( + "NUM_BINS_V", + 10 + ) - self.v_bin_centers = (self.v_bins[:-1] + self.v_bins[1:]) / 2 - self.steer_bin_centers = (self.steer_bins[:-1] + self.steer_bins[1:]) / 2 - self.a_bin_centers = (self.a_bins[:-1] + self.a_bins[1:]) / 2 + self.declare_parameter( + "NUM_BINS_STEER", + 10 + ) - self.trajectory_parts = None - self.trajectory_achievement_rates = None + self.declare_parameter( + "NUM_BINS_A", + 10 + ) - self.prev_part = "left_circle" + self.declare_parameter( + "V_MIN", + -1.0 + ) - self.acc_idx = 0 - self.vel_idx = 0 + self.declare_parameter( + "V_MAX", + 1.0 + ) - self.target_acc_on_line = 0.0 - self.target_vel_on_line = 0.0 + self.declare_parameter( + "STEER_MIN", + -1.0 + ) - self.on_line_vel_flag = True - self.deceleration_rate = 0.6 + self.declare_parameter( + "STEER_MAX", + 1.0 + ) - self.vel_hist = np.zeros(200) - self.acc_hist = np.zeros(200) + self.declare_parameter( + "A_MIN", + -1.0 + ) - self.vel_hist_for_plot = np.zeros(200) - self.acc_hist_for_plot = np.zeros(200) + self.declare_parameter( + "A_MAX", + 1.0 + ) self.declare_parameter( "wheel_base", @@ -457,6 +467,50 @@ def __init__(self): ) self.sub_data_collecting_area_ + + #set course name + self.COURSE_NAME = self.get_parameter('COURSE_NAME').value + + # velocity and acceleration grid + # velocity and steer grid + self.num_bins_v = self.get_parameter('NUM_BINS_V').get_parameter_value().integer_value + self.num_bins_steer = self.get_parameter('NUM_BINS_STEER').get_parameter_value().integer_value + self.num_bins_a = self.get_parameter('NUM_BINS_A').get_parameter_value().integer_value + self.v_min, self.v_max = self.get_parameter('V_MIN').get_parameter_value().double_value, self.get_parameter('V_MAX').get_parameter_value().double_value + self.steer_min, self.steer_max = self.get_parameter('STEER_MIN').get_parameter_value().double_value, self.get_parameter('STEER_MAX').get_parameter_value().double_value + self.a_min, self.a_max = self.get_parameter('A_MIN').get_parameter_value().double_value, self.get_parameter('A_MAX').get_parameter_value().double_value + + self.collected_data_counts_of_vel_acc = np.zeros((self.num_bins_v, self.num_bins_a)) + self.collected_data_counts_of_vel_steer = np.zeros((self.num_bins_v, self.num_bins_steer)) + + self.v_bins = np.linspace(self.v_min, self.v_max, self.num_bins_v + 1) + self.steer_bins = np.linspace(self.steer_min, self.steer_max, self.num_bins_steer + 1) + self.a_bins = np.linspace(self.a_min, self.a_max, self.num_bins_a + 1) + + self.v_bin_centers = (self.v_bins[:-1] + self.v_bins[1:]) / 2 + self.steer_bin_centers = (self.steer_bins[:-1] + self.steer_bins[1:]) / 2 + self.a_bin_centers = (self.a_bins[:-1] + self.a_bins[1:]) / 2 + + self.trajectory_parts = None + self.trajectory_achievement_rates = None + + self.prev_part = "left_circle" + + self.acc_idx = 0 + self.vel_idx = 0 + + self.target_acc_on_line = 0.0 + self.target_vel_on_line = 0.0 + + self.on_line_vel_flag = True + self.deceleration_rate = 0.6 + + self.vel_hist = np.zeros(200) + self.acc_hist = np.zeros(200) + + self.vel_hist_for_plot = np.zeros(200) + self.acc_hist_for_plot = np.zeros(200) + self.callback_group = ReentrantCallbackGroup() self.lock = threading.Lock() @@ -598,9 +652,9 @@ def get_target_velocity(self, nearestIndex): self.target_vel_on_line = self.v_bin_centers[self.vel_idx] if ( - COURSE_NAME == "u_shaped_return" - or COURSE_NAME == "straight_line_positive" - or COURSE_NAME == "straight_line_negative" + self.COURSE_NAME == "u_shaped_return" + or self.COURSE_NAME == "straight_line_positive" + or self.COURSE_NAME == "straight_line_negative" ): if self.target_vel_on_line > self.v_max * 3.0 / 4.0: self.deceleration_rate = 0.55 + 0.15 @@ -609,7 +663,7 @@ def get_target_velocity(self, nearestIndex): else: self.deceleration_rate = 0.85 + 0.1 - elif COURSE_NAME == "eight_course": + elif self.COURSE_NAME == "eight_course": if self.target_vel_on_line > self.v_max * 3.0 / 4.0: self.deceleration_rate = 0.55 elif self.target_vel_on_line > self.v_max / 2.0: @@ -674,11 +728,11 @@ def get_target_velocity(self, nearestIndex): # deceleration if self.deceleration_rate <= achievement_rate: - if COURSE_NAME == "eight_course" or COURSE_NAME == "u_shaped_return": + if self.COURSE_NAME == "eight_course" or self.COURSE_NAME == "u_shaped_return": target_vel = np.min([self.v_max / 10.0, max_vel_from_lateral_acc / 2.0]) elif ( - COURSE_NAME == "straight_line_positive" - or COURSE_NAME == "straight_line_negative" + self.COURSE_NAME == "straight_line_positive" + or self.COURSE_NAME == "straight_line_negative" ): target_vel = 0.0 @@ -761,7 +815,7 @@ def updateNominalTargetTrajectory(self): actual_long_side = max(long_side_length - long_side_margin, 1.1) actual_short_side = max(short_side_length - long_side_margin, 1.0) - if COURSE_NAME == "eight_course": + if self.COURSE_NAME == "eight_course": ( trajectory_position_data, trajectory_yaw_data, @@ -772,7 +826,7 @@ def updateNominalTargetTrajectory(self): actual_long_side, actual_short_side, self.traj_step ) - elif COURSE_NAME == "straight_line_positive" or COURSE_NAME == "straight_line_negative": + elif self.COURSE_NAME == "straight_line_positive" or self.COURSE_NAME == "straight_line_negative": ( trajectory_position_data, trajectory_yaw_data, @@ -785,7 +839,7 @@ def updateNominalTargetTrajectory(self): self.traj_step, ) - elif COURSE_NAME == "u_shaped_return": + elif self.COURSE_NAME == "u_shaped_return": ( trajectory_position_data, trajectory_yaw_data, From 03d339df106c03031e3ac6d88cf620b3e8dbf5de Mon Sep 17 00:00:00 2001 From: Yoshihiro Kogure Date: Tue, 24 Sep 2024 02:40:48 +0900 Subject: [PATCH 06/11] modify readme Signed-off-by: Yoshihiro Kogure --- control_data_collecting_tool/README.md | 24 ++++++++++---- .../resource/figure_eight.png | Bin 0 -> 334706 bytes .../resource/straight_line.png | Bin 0 -> 316365 bytes .../resource/u_shaped.png | Bin 0 -> 325102 bytes .../data_collecting_trajectory_publisher.py | 30 ++++++++++++------ 5 files changed, 38 insertions(+), 16 deletions(-) create mode 100644 control_data_collecting_tool/resource/figure_eight.png create mode 100644 control_data_collecting_tool/resource/straight_line.png create mode 100644 control_data_collecting_tool/resource/u_shaped.png diff --git a/control_data_collecting_tool/README.md b/control_data_collecting_tool/README.md index 74ac8197..f3eae9ac 100644 --- a/control_data_collecting_tool/README.md +++ b/control_data_collecting_tool/README.md @@ -79,6 +79,18 @@ This package provides tools for automatically collecting data using pure pursuit ros2 topic pub /data_collecting_stop_request std_msgs/msg/Bool "data: false" --once ``` +## Change Courses +You can change the course by selecting `COURSE_NAME` in `config/param.yaml` from [`eight_course`, `u_shaped_return`, `straight_line_positive`, `straight_line_negative`]. +- `COURSE_NAME: "eight_course"` + + +- `COURSE_NAME: "u_shaped_return"` + + +- `COURSE_NAME: "straight_line_positive"` or `COURSE_NAME: "straight_line_negative"` +( Both "straight_line_positive" and "straight_line_negative" represent straight line courses, but the direction of travel of the course is reversed.) + + ## Parameter ROS 2 params in `/data_collecting_trajectory_publisher` node: @@ -89,12 +101,12 @@ ROS 2 params in `/data_collecting_trajectory_publisher` node: | `NUM_BINS_V` | `int` | Number of bins of velocity in heatmap | 10 | | `NUM_BINS_STEER` | `int` | Number of bins of steer in heatmap | 10 | | `NUM_BINS_ACCELERATION` | `int` | Number of bins of acceleration in heatmap | 10 | -| `V_MIN` | `double` | Minimum velocity in heatmap | -1.0 | -| `V_MAX` | `double` | Maximum velocity in heatmap | 1.0 | -| `STEER_MIN` | `double` | Minimum steer in heatmap | -1.0 | -| `STEER_MAX` | `double` | Maximum steer in heatmap | 1.0 | -| `A_MIN` | `double` | Minimum acceleration in heatmap | -1.0 | -| `A_MAX` | `double` | Maximum acceleration in heatmap | 1.0 | +| `V_MIN` | `double` | Minimum velocity in heatmap [m/s] | 0.0 | +| `V_MAX` | `double` | Maximum velocity in heatmap [m/s] | 11.5 | +| `STEER_MIN` | `double` | Minimum steer in heatmap [rad] | -1.0 | +| `STEER_MAX` | `double` | Maximum steer in heatmap [rad] | 1.0 | +| `A_MIN` | `double` | Minimum acceleration in heatmap [m/ss] | -1.0 | +| `A_MAX` | `double` | Maximum acceleration in heatmap [m/ss] | 1.0 | | `wheel_base` | `double` | Wheel base [m] | 2.79 | | `acc_kp` | `double` | Accel command proportional gain | 1.0 | | `max_lateral_accel` | `double` | Max lateral acceleration limit [m/ss] | 0.5 | diff --git a/control_data_collecting_tool/resource/figure_eight.png b/control_data_collecting_tool/resource/figure_eight.png new file mode 100644 index 0000000000000000000000000000000000000000..77aaa4928fd438156a548ee2b5724d8dc4a22f6b GIT binary patch literal 334706 zcmXtA1yodBy9PnJkw!qIr5&Xkq(d3Hn~`pi?k?$;Zjh4h?h=qL0Rd_0x|{D`m*p~G z)|oSBzxBjxsFH#tCK@Rk92^{`w3PTKI5>nHI5_wa6eRE+EhU`?@CTxUs5BG>e0iW4 zhk$>RI7+BHD%+Skx)|7-z?oUwSedXm7}=YcSUZ^8I36Li3xXHDg+bLF#q3QC9AP%r 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ztQza6^sjA9Jp=4M7*8hH`wfa0X@mWl8D?0`EyN7Rs=dXb3Qq1z!}>#8R|Zh Date: Tue, 24 Sep 2024 02:49:12 +0900 Subject: [PATCH 07/11] modification via pre-commit Signed-off-by: Yoshihiro Kogure --- control_data_collecting_tool/README.md | 63 +++++++++-------- .../config/param.yaml | 12 ++-- .../control_data_collecting_tool.launch.py | 8 ++- .../data_collecting_trajectory_publisher.py | 70 +++++++++---------- 4 files changed, 74 insertions(+), 79 deletions(-) diff --git a/control_data_collecting_tool/README.md b/control_data_collecting_tool/README.md index f3eae9ac..9d308d8b 100644 --- a/control_data_collecting_tool/README.md +++ b/control_data_collecting_tool/README.md @@ -80,45 +80,46 @@ ros2 topic pub /data_collecting_stop_request std_msgs/msg/Bool "data: false" --o ``` ## Change Courses + You can change the course by selecting `COURSE_NAME` in `config/param.yaml` from [`eight_course`, `u_shaped_return`, `straight_line_positive`, `straight_line_negative`]. -- `COURSE_NAME: "eight_course"` - -- `COURSE_NAME: "u_shaped_return"` - +- `COURSE_NAME: eight_course` + + +- `COURSE_NAME: u_shaped_return` + -- `COURSE_NAME: "straight_line_positive"` or `COURSE_NAME: "straight_line_negative"` -( Both "straight_line_positive" and "straight_line_negative" represent straight line courses, but the direction of travel of the course is reversed.) - +- `COURSE_NAME: straight_line_positive` or `COURSE_NAME: straight_line_negative` + ( Both "straight_line_positive" and "straight_line_negative" represent straight line courses, but the direction of travel of the course is reversed.) + ## Parameter ROS 2 params in `/data_collecting_trajectory_publisher` node: -| Name | Type | Description | Default value | -| :--------------------------------------- | :------- | :--------------------------------------------------------------------------------------------------- | :------------ | -| `COURSE_NAME` | `string` | Course name [`eight_course`, `u_shaped_return`, `straight_line_positive`, `straight_line_negative`] |`eight_course` | -| `NUM_BINS_V` | `int` | Number of bins of velocity in heatmap | 10 | -| `NUM_BINS_STEER` | `int` | Number of bins of steer in heatmap | 10 | -| `NUM_BINS_ACCELERATION` | `int` | Number of bins of acceleration in heatmap | 10 | -| `V_MIN` | `double` | Minimum velocity in heatmap [m/s] | 0.0 | -| `V_MAX` | `double` | Maximum velocity in heatmap [m/s] | 11.5 | -| `STEER_MIN` | `double` | Minimum steer in heatmap [rad] | -1.0 | -| `STEER_MAX` | `double` | Maximum steer in heatmap [rad] | 1.0 | -| `A_MIN` | `double` | Minimum acceleration in heatmap [m/ss] | -1.0 | -| `A_MAX` | `double` | Maximum acceleration in heatmap [m/ss] | 1.0 | -| `wheel_base` | `double` | Wheel base [m] | 2.79 | -| `acc_kp` | `double` | Accel command proportional gain | 1.0 | -| `max_lateral_accel` | `double` | Max lateral acceleration limit [m/ss] | 0.5 | -| `lateral_error_threshold` | `double` | Lateral error threshold where applying velocity limit [m/s] | 5.0 | -| `yaw_error_threshold` | `double` | Yaw error threshold where applying velocity limit [rad] | 0.75 | -| `velocity_limit_by_tracking_error` | `double` | Velocity limit applied when tracking error exceeds threshold [m/s] | 1.0 | -| `mov_ave_window` | `int` | Moving average smoothing window size | 50 | -| `target_longitudinal_velocity` | `double` | Target longitudinal velocity [m/s] | 6.0 | -| `longitudinal_velocity_noise_amp` | `double` | Target longitudinal velocity additional sine noise amplitude [m/s] | 0.01 | -| `longitudinal_velocity_noise_min_period` | `double` | Target longitudinal velocity additional sine noise minimum period [s] | 5.0 | -| `longitudinal_velocity_noise_max_period` | `double` | Target longitudinal velocity additional sine noise maximum period [s] | 20.0 | - +| Name | Type | Description | Default value | +| :--------------------------------------- | :------- | :-------------------------------------------------------------------------------------------------- | :------------- | +| `COURSE_NAME` | `string` | Course name [`eight_course`, `u_shaped_return`, `straight_line_positive`, `straight_line_negative`] | `eight_course` | +| `NUM_BINS_V` | `int` | Number of bins of velocity in heatmap | 10 | +| `NUM_BINS_STEER` | `int` | Number of bins of steer in heatmap | 10 | +| `NUM_BINS_ACCELERATION` | `int` | Number of bins of acceleration in heatmap | 10 | +| `V_MIN` | `double` | Minimum velocity in heatmap [m/s] | 0.0 | +| `V_MAX` | `double` | Maximum velocity in heatmap [m/s] | 11.5 | +| `STEER_MIN` | `double` | Minimum steer in heatmap [rad] | -1.0 | +| `STEER_MAX` | `double` | Maximum steer in heatmap [rad] | 1.0 | +| `A_MIN` | `double` | Minimum acceleration in heatmap [m/ss] | -1.0 | +| `A_MAX` | `double` | Maximum acceleration in heatmap [m/ss] | 1.0 | +| `wheel_base` | `double` | Wheel base [m] | 2.79 | +| `acc_kp` | `double` | Accel command proportional gain | 1.0 | +| `max_lateral_accel` | `double` | Max lateral acceleration limit [m/ss] | 0.5 | +| `lateral_error_threshold` | `double` | Lateral error threshold where applying velocity limit [m/s] | 5.0 | +| `yaw_error_threshold` | `double` | Yaw error threshold where applying velocity limit [rad] | 0.75 | +| `velocity_limit_by_tracking_error` | `double` | Velocity limit applied when tracking error exceeds threshold [m/s] | 1.0 | +| `mov_ave_window` | `int` | Moving average smoothing window size | 50 | +| `target_longitudinal_velocity` | `double` | Target longitudinal velocity [m/s] | 6.0 | +| `longitudinal_velocity_noise_amp` | `double` | Target longitudinal velocity additional sine noise amplitude [m/s] | 0.01 | +| `longitudinal_velocity_noise_min_period` | `double` | Target longitudinal velocity additional sine noise minimum period [s] | 5.0 | +| `longitudinal_velocity_noise_max_period` | `double` | Target longitudinal velocity additional sine noise maximum period [s] | 20.0 | ROS 2 params in `/data_collecting_pure_pursuit_trajectory_follower` node: diff --git a/control_data_collecting_tool/config/param.yaml b/control_data_collecting_tool/config/param.yaml index e938be8d..ca90f6eb 100644 --- a/control_data_collecting_tool/config/param.yaml +++ b/control_data_collecting_tool/config/param.yaml @@ -3,13 +3,12 @@ common_parameters: wheel_base: 2.79 acc_kp: 1.0 - data_collecting_trajectory_publisher: ros__parameters: - COURSE_NAME: "eight_course" - # COURSE_NAME: "u_shaped_return" - # COURSE_NAME: "straight_line_positive" - # COURSE_NAME: "straight_line_negative" + COURSE_NAME: eight_course + # COURSE_NAME: u_shaped_return + # COURSE_NAME: straight_line_positive + # COURSE_NAME: straight_line_negative NUM_BINS_V: 10 NUM_BINS_STEER: 10 @@ -31,10 +30,9 @@ data_collecting_trajectory_publisher: longitudinal_velocity_noise_min_period: 5.0 longitudinal_velocity_noise_max_period: 20.0 - data_collecting_pure_pursuit_trajectory_follower: ros__parameters: - pure_pursuit_type: "linearized" + pure_pursuit_type: linearized lookahead_time: 2.0 min_lookahead: 2.0 linearized_pure_pursuit_steer_kp_param: 2.0 diff --git a/control_data_collecting_tool/launch/control_data_collecting_tool.launch.py b/control_data_collecting_tool/launch/control_data_collecting_tool.launch.py index 07618ba9..f1b15476 100644 --- a/control_data_collecting_tool/launch/control_data_collecting_tool.launch.py +++ b/control_data_collecting_tool/launch/control_data_collecting_tool.launch.py @@ -14,15 +14,17 @@ # See the License for the specific language governing permissions and # limitations under the License. +import os + +from ament_index_python.packages import get_package_share_directory import launch from launch import LaunchService from launch_ros.actions import Node -from ament_index_python.packages import get_package_share_directory -import os + def generate_launch_description(): package_share_directory = get_package_share_directory("control_data_collecting_tool") - param_file_path = os.path.join(package_share_directory, 'config', 'param.yaml') + param_file_path = os.path.join(package_share_directory, "config", "param.yaml") return launch.LaunchDescription( [ Node( diff --git a/control_data_collecting_tool/scripts/data_collecting_trajectory_publisher.py b/control_data_collecting_tool/scripts/data_collecting_trajectory_publisher.py index 01c1f4b1..add9f77a 100755 --- a/control_data_collecting_tool/scripts/data_collecting_trajectory_publisher.py +++ b/control_data_collecting_tool/scripts/data_collecting_trajectory_publisher.py @@ -14,8 +14,9 @@ # See the License for the specific language governing permissions and # limitations under the License. + import threading -from ament_index_python.packages import get_package_share_directory + from autoware_planning_msgs.msg import Trajectory from autoware_planning_msgs.msg import TrajectoryPoint from geometry_msgs.msg import AccelWithCovarianceStamped @@ -36,26 +37,6 @@ import seaborn as sns from visualization_msgs.msg import Marker from visualization_msgs.msg import MarkerArray -import yaml - -package_share_directory = get_package_share_directory("control_data_collecting_tool") -#with open( package_share_directory + "/config/param.yaml", 'r', encoding='utf-8') as yml: - #data_collecting_param= yaml.safe_load(yml) - -#load course name -#self.COURSE_NAME = data_collecting_param["self.COURSE_NAME"] - -#load heat map params -#NUM_BINS_V = data_collecting_param["heatmap_param"]["NUM_BINS_V"] -#NUM_BINS_STEER = data_collecting_param["heatmap_param"]["NUM_BINS_STEER"] -##NUM_BINS_A = data_collecting_param["heatmap_param"]["NUM_BINS_A"] -#V_MIN = data_collecting_param["heatmap_param"]["V_MIN"] -#V_MAX = data_collecting_param["heatmap_param"]["V_MAX"] -#STEER_MIN = data_collecting_param["heatmap_param"]["STEER_MIN"] -#STEER_MAX = data_collecting_param["heatmap_param"]["STEER_MAX"] -#A_MIN = data_collecting_param["heatmap_param"]["A_MIN"] -#A_MAX = data_collecting_param["heatmap_param"]["A_MAX"] - debug_matplotlib_plot_flag = False data_counts_matplotlib_plot_flag = True @@ -184,7 +165,7 @@ def get_eight_course_trajectory_points( def get_straight_line_course_trajectory_points( - long_side_length: float, short_side_length: float, step: float + long_side_length: float, short_side_length: float, step: float, COURSE_NAME ): # a = short_side_length b = long_side_length @@ -192,13 +173,13 @@ def get_straight_line_course_trajectory_points( total_distance = b t_array = np.arange(start=0.0, stop=total_distance, step=step).astype("float") - if self.COURSE_NAME == "straight_line_positive": + if COURSE_NAME == "straight_line_positive": yaw = np.zeros(len(t_array)) parts = ["linear_positive" for _ in range(len(t_array.copy()))] x = np.linspace(-total_distance / 2, total_distance / 2, len(t_array)) y = np.zeros(len(t_array)) - elif self.COURSE_NAME == "straight_line_negative": + elif COURSE_NAME == "straight_line_negative": yaw = pi * np.ones(len(t_array)) parts = ["linear_negative" for _ in range(len(t_array.copy()))] x = np.linspace(total_distance / 2, -total_distance / 2, len(t_array)) @@ -308,7 +289,9 @@ def __init__(self): self.declare_parameter( "COURSE_NAME", "eight_course", - ParameterDescriptor(description="Course name [eight_course, u_shaped_return, straight_line_positive, straight_line_negative]"), + ParameterDescriptor( + description="Course name [eight_course, u_shaped_return, straight_line_positive, straight_line_negative]" + ), ) self.declare_parameter( @@ -477,18 +460,28 @@ def __init__(self): ) self.sub_data_collecting_area_ - - #set course name - self.COURSE_NAME = self.get_parameter('COURSE_NAME').value + # set course name + self.COURSE_NAME = self.get_parameter("COURSE_NAME").value # velocity and acceleration grid # velocity and steer grid - self.num_bins_v = self.get_parameter('NUM_BINS_V').get_parameter_value().integer_value - self.num_bins_steer = self.get_parameter('NUM_BINS_STEER').get_parameter_value().integer_value - self.num_bins_a = self.get_parameter('NUM_BINS_A').get_parameter_value().integer_value - self.v_min, self.v_max = self.get_parameter('V_MIN').get_parameter_value().double_value, self.get_parameter('V_MAX').get_parameter_value().double_value - self.steer_min, self.steer_max = self.get_parameter('STEER_MIN').get_parameter_value().double_value, self.get_parameter('STEER_MAX').get_parameter_value().double_value - self.a_min, self.a_max = self.get_parameter('A_MIN').get_parameter_value().double_value, self.get_parameter('A_MAX').get_parameter_value().double_value + self.num_bins_v = self.get_parameter("NUM_BINS_V").get_parameter_value().integer_value + self.num_bins_steer = ( + self.get_parameter("NUM_BINS_STEER").get_parameter_value().integer_value + ) + self.num_bins_a = self.get_parameter("NUM_BINS_A").get_parameter_value().integer_value + self.v_min, self.v_max = ( + self.get_parameter("V_MIN").get_parameter_value().double_value, + self.get_parameter("V_MAX").get_parameter_value().double_value, + ) + self.steer_min, self.steer_max = ( + self.get_parameter("STEER_MIN").get_parameter_value().double_value, + self.get_parameter("STEER_MAX").get_parameter_value().double_value, + ) + self.a_min, self.a_max = ( + self.get_parameter("A_MIN").get_parameter_value().double_value, + self.get_parameter("A_MAX").get_parameter_value().double_value, + ) self.collected_data_counts_of_vel_acc = np.zeros((self.num_bins_v, self.num_bins_a)) self.collected_data_counts_of_vel_steer = np.zeros((self.num_bins_v, self.num_bins_steer)) @@ -836,7 +829,10 @@ def updateNominalTargetTrajectory(self): actual_long_side, actual_short_side, self.traj_step ) - elif self.COURSE_NAME == "straight_line_positive" or self.COURSE_NAME == "straight_line_negative": + elif ( + self.COURSE_NAME == "straight_line_positive" + or self.COURSE_NAME == "straight_line_negative" + ): ( trajectory_position_data, trajectory_yaw_data, @@ -844,9 +840,7 @@ def updateNominalTargetTrajectory(self): self.trajectory_parts, self.trajectory_achievement_rates, ) = get_straight_line_course_trajectory_points( - actual_long_side, - actual_short_side, - self.traj_step, + actual_long_side, actual_short_side, self.traj_step, self.COURSE_NAME ) elif self.COURSE_NAME == "u_shaped_return": From 2cea50eb23a4fadc4b91f7e340eb4d6cf9a5483f Mon Sep 17 00:00:00 2001 From: Yoshihiro Kogure Date: Thu, 26 Sep 2024 12:57:52 +0900 Subject: [PATCH 08/11] modify params Signed-off-by: Yoshihiro Kogure --- control_data_collecting_tool/README.md | 4 ++-- control_data_collecting_tool/config/param.yaml | 7 ++++--- .../scripts/data_collecting_trajectory_publisher.py | 4 ++-- 3 files changed, 8 insertions(+), 7 deletions(-) diff --git a/control_data_collecting_tool/README.md b/control_data_collecting_tool/README.md index 9d308d8b..f8e7d14e 100644 --- a/control_data_collecting_tool/README.md +++ b/control_data_collecting_tool/README.md @@ -113,9 +113,9 @@ ROS 2 params in `/data_collecting_trajectory_publisher` node: | `acc_kp` | `double` | Accel command proportional gain | 1.0 | | `max_lateral_accel` | `double` | Max lateral acceleration limit [m/ss] | 0.5 | | `lateral_error_threshold` | `double` | Lateral error threshold where applying velocity limit [m/s] | 5.0 | -| `yaw_error_threshold` | `double` | Yaw error threshold where applying velocity limit [rad] | 0.75 | +| `yaw_error_threshold` | `double` | Yaw error threshold where applying velocity limit [rad] | 0.50 | | `velocity_limit_by_tracking_error` | `double` | Velocity limit applied when tracking error exceeds threshold [m/s] | 1.0 | -| `mov_ave_window` | `int` | Moving average smoothing window size | 50 | +| `mov_ave_window` | `int` | Moving average smoothing window size | 100 | | `target_longitudinal_velocity` | `double` | Target longitudinal velocity [m/s] | 6.0 | | `longitudinal_velocity_noise_amp` | `double` | Target longitudinal velocity additional sine noise amplitude [m/s] | 0.01 | | `longitudinal_velocity_noise_min_period` | `double` | Target longitudinal velocity additional sine noise minimum period [s] | 5.0 | diff --git a/control_data_collecting_tool/config/param.yaml b/control_data_collecting_tool/config/param.yaml index ca90f6eb..5d82c6b0 100644 --- a/control_data_collecting_tool/config/param.yaml +++ b/control_data_collecting_tool/config/param.yaml @@ -22,10 +22,10 @@ data_collecting_trajectory_publisher: max_lateral_accel: 0.5 lateral_error_threshold: 2.0 - yaw_error_threshold: 0.75 + yaw_error_threshold: 0.50 velocity_limit_by_tracking_error: 1.0 - mov_ave_window: 50 - target_longitudinal_velocity: 6.0 + mov_ave_window: 100 + target_longitudinl_velocity: 6.0 longitudinal_velocity_noise_amp: 0.01 longitudinal_velocity_noise_min_period: 5.0 longitudinal_velocity_noise_max_period: 20.0 @@ -33,6 +33,7 @@ data_collecting_trajectory_publisher: data_collecting_pure_pursuit_trajectory_follower: ros__parameters: pure_pursuit_type: linearized + # pure_pursuit_type: naive lookahead_time: 2.0 min_lookahead: 2.0 linearized_pure_pursuit_steer_kp_param: 2.0 diff --git a/control_data_collecting_tool/scripts/data_collecting_trajectory_publisher.py b/control_data_collecting_tool/scripts/data_collecting_trajectory_publisher.py index add9f77a..01d76b5e 100755 --- a/control_data_collecting_tool/scripts/data_collecting_trajectory_publisher.py +++ b/control_data_collecting_tool/scripts/data_collecting_trajectory_publisher.py @@ -376,7 +376,7 @@ def __init__(self): self.declare_parameter( "yaw_error_threshold", - 0.75, + 0.50, ParameterDescriptor( description="Yaw error threshold where applying velocity limit [rad]" ), @@ -392,7 +392,7 @@ def __init__(self): self.declare_parameter( "mov_ave_window", - 50, + 100, ParameterDescriptor(description="Moving average smoothing window size"), ) From 7a938552c5d29b1f85467f3312bab844bac4df12 Mon Sep 17 00:00:00 2001 From: Yoshihiro Kogure Date: Thu, 26 Sep 2024 15:19:50 +0900 Subject: [PATCH 09/11] Revert "modify params" This reverts commit 369fb1202ba1f5dd3b3ced24b633e8ac9654514c. Signed-off-by: Yoshihiro Kogure --- control_data_collecting_tool/README.md | 4 ++-- control_data_collecting_tool/config/param.yaml | 7 +++---- .../scripts/data_collecting_trajectory_publisher.py | 4 ++-- 3 files changed, 7 insertions(+), 8 deletions(-) diff --git a/control_data_collecting_tool/README.md b/control_data_collecting_tool/README.md index f8e7d14e..9d308d8b 100644 --- a/control_data_collecting_tool/README.md +++ b/control_data_collecting_tool/README.md @@ -113,9 +113,9 @@ ROS 2 params in `/data_collecting_trajectory_publisher` node: | `acc_kp` | `double` | Accel command proportional gain | 1.0 | | `max_lateral_accel` | `double` | Max lateral acceleration limit [m/ss] | 0.5 | | `lateral_error_threshold` | `double` | Lateral error threshold where applying velocity limit [m/s] | 5.0 | -| `yaw_error_threshold` | `double` | Yaw error threshold where applying velocity limit [rad] | 0.50 | +| `yaw_error_threshold` | `double` | Yaw error threshold where applying velocity limit [rad] | 0.75 | | `velocity_limit_by_tracking_error` | `double` | Velocity limit applied when tracking error exceeds threshold [m/s] | 1.0 | -| `mov_ave_window` | `int` | Moving average smoothing window size | 100 | +| `mov_ave_window` | `int` | Moving average smoothing window size | 50 | | `target_longitudinal_velocity` | `double` | Target longitudinal velocity [m/s] | 6.0 | | `longitudinal_velocity_noise_amp` | `double` | Target longitudinal velocity additional sine noise amplitude [m/s] | 0.01 | | `longitudinal_velocity_noise_min_period` | `double` | Target longitudinal velocity additional sine noise minimum period [s] | 5.0 | diff --git a/control_data_collecting_tool/config/param.yaml b/control_data_collecting_tool/config/param.yaml index 5d82c6b0..ca90f6eb 100644 --- a/control_data_collecting_tool/config/param.yaml +++ b/control_data_collecting_tool/config/param.yaml @@ -22,10 +22,10 @@ data_collecting_trajectory_publisher: max_lateral_accel: 0.5 lateral_error_threshold: 2.0 - yaw_error_threshold: 0.50 + yaw_error_threshold: 0.75 velocity_limit_by_tracking_error: 1.0 - mov_ave_window: 100 - target_longitudinl_velocity: 6.0 + mov_ave_window: 50 + target_longitudinal_velocity: 6.0 longitudinal_velocity_noise_amp: 0.01 longitudinal_velocity_noise_min_period: 5.0 longitudinal_velocity_noise_max_period: 20.0 @@ -33,7 +33,6 @@ data_collecting_trajectory_publisher: data_collecting_pure_pursuit_trajectory_follower: ros__parameters: pure_pursuit_type: linearized - # pure_pursuit_type: naive lookahead_time: 2.0 min_lookahead: 2.0 linearized_pure_pursuit_steer_kp_param: 2.0 diff --git a/control_data_collecting_tool/scripts/data_collecting_trajectory_publisher.py b/control_data_collecting_tool/scripts/data_collecting_trajectory_publisher.py index 01d76b5e..add9f77a 100755 --- a/control_data_collecting_tool/scripts/data_collecting_trajectory_publisher.py +++ b/control_data_collecting_tool/scripts/data_collecting_trajectory_publisher.py @@ -376,7 +376,7 @@ def __init__(self): self.declare_parameter( "yaw_error_threshold", - 0.50, + 0.75, ParameterDescriptor( description="Yaw error threshold where applying velocity limit [rad]" ), @@ -392,7 +392,7 @@ def __init__(self): self.declare_parameter( "mov_ave_window", - 100, + 50, ParameterDescriptor(description="Moving average smoothing window size"), ) From 952420d2d6acbb3bf5a3d558a586f4de084709c3 Mon Sep 17 00:00:00 2001 From: Yoshihiro Kogure Date: Fri, 27 Sep 2024 10:27:25 +0900 Subject: [PATCH 10/11] remove unnecesary comments Signed-off-by: Yoshihiro Kogure --- .../scripts/data_collecting_trajectory_publisher.py | 7 ++----- 1 file changed, 2 insertions(+), 5 deletions(-) diff --git a/control_data_collecting_tool/scripts/data_collecting_trajectory_publisher.py b/control_data_collecting_tool/scripts/data_collecting_trajectory_publisher.py index add9f77a..019ab5fa 100755 --- a/control_data_collecting_tool/scripts/data_collecting_trajectory_publisher.py +++ b/control_data_collecting_tool/scripts/data_collecting_trajectory_publisher.py @@ -167,7 +167,6 @@ def get_eight_course_trajectory_points( def get_straight_line_course_trajectory_points( long_side_length: float, short_side_length: float, step: float, COURSE_NAME ): - # a = short_side_length b = long_side_length total_distance = b @@ -206,7 +205,6 @@ def get_u_shaped_return_course_trajectory_points( C = [-(b - a) / 2, -a / 2] D = [(b - a) / 2, -a / 2] - # _O = [0.0, 0.0] # origin R = a / 2 # radius of the circle OL = [-(b - a) / 2, 0] # center of the left circle OR = [(b - a) / 2, 0] # center of the right circle @@ -774,8 +772,8 @@ def updateNominalTargetTrajectory(self): la = (l1 + l3) / 2 lb = (l2 + l4) / 2 if np.abs(la - lb) < 1e-6: - la += 0.1 # long_side_length must not be equal to short_side_length - # ld = np.sqrt(la**2 + lb**2) + la += 0.1 # long_side_length must not be equal to short_side_length7 + rectangle_center_position = np.zeros(2) for i in range(4): rectangle_center_position[0] += data_collecting_area[i, 0] / 4.0 @@ -813,7 +811,6 @@ def updateNominalTargetTrajectory(self): long_side_margin = 5 long_side_margin = 5 - # total_distance = ld * (1 + np.pi) * 2 actual_long_side = max(long_side_length - long_side_margin, 1.1) actual_short_side = max(short_side_length - long_side_margin, 1.0) From cfe0d4c2f2902dd0370a38f5be34baa3e80523b0 Mon Sep 17 00:00:00 2001 From: Yoshihiro Kogure Date: Fri, 27 Sep 2024 10:47:04 +0900 Subject: [PATCH 11/11] modify params Signed-off-by: Yoshihiro Kogure --- control_data_collecting_tool/README.md | 4 ++-- control_data_collecting_tool/config/param.yaml | 4 ++-- .../scripts/data_collecting_trajectory_publisher.py | 4 ++-- 3 files changed, 6 insertions(+), 6 deletions(-) diff --git a/control_data_collecting_tool/README.md b/control_data_collecting_tool/README.md index 9d308d8b..f8e7d14e 100644 --- a/control_data_collecting_tool/README.md +++ b/control_data_collecting_tool/README.md @@ -113,9 +113,9 @@ ROS 2 params in `/data_collecting_trajectory_publisher` node: | `acc_kp` | `double` | Accel command proportional gain | 1.0 | | `max_lateral_accel` | `double` | Max lateral acceleration limit [m/ss] | 0.5 | | `lateral_error_threshold` | `double` | Lateral error threshold where applying velocity limit [m/s] | 5.0 | -| `yaw_error_threshold` | `double` | Yaw error threshold where applying velocity limit [rad] | 0.75 | +| `yaw_error_threshold` | `double` | Yaw error threshold where applying velocity limit [rad] | 0.50 | | `velocity_limit_by_tracking_error` | `double` | Velocity limit applied when tracking error exceeds threshold [m/s] | 1.0 | -| `mov_ave_window` | `int` | Moving average smoothing window size | 50 | +| `mov_ave_window` | `int` | Moving average smoothing window size | 100 | | `target_longitudinal_velocity` | `double` | Target longitudinal velocity [m/s] | 6.0 | | `longitudinal_velocity_noise_amp` | `double` | Target longitudinal velocity additional sine noise amplitude [m/s] | 0.01 | | `longitudinal_velocity_noise_min_period` | `double` | Target longitudinal velocity additional sine noise minimum period [s] | 5.0 | diff --git a/control_data_collecting_tool/config/param.yaml b/control_data_collecting_tool/config/param.yaml index ca90f6eb..cc6177f6 100644 --- a/control_data_collecting_tool/config/param.yaml +++ b/control_data_collecting_tool/config/param.yaml @@ -22,9 +22,9 @@ data_collecting_trajectory_publisher: max_lateral_accel: 0.5 lateral_error_threshold: 2.0 - yaw_error_threshold: 0.75 + yaw_error_threshold: 0.50 velocity_limit_by_tracking_error: 1.0 - mov_ave_window: 50 + mov_ave_window: 100 target_longitudinal_velocity: 6.0 longitudinal_velocity_noise_amp: 0.01 longitudinal_velocity_noise_min_period: 5.0 diff --git a/control_data_collecting_tool/scripts/data_collecting_trajectory_publisher.py b/control_data_collecting_tool/scripts/data_collecting_trajectory_publisher.py index 019ab5fa..00af7fe8 100755 --- a/control_data_collecting_tool/scripts/data_collecting_trajectory_publisher.py +++ b/control_data_collecting_tool/scripts/data_collecting_trajectory_publisher.py @@ -374,7 +374,7 @@ def __init__(self): self.declare_parameter( "yaw_error_threshold", - 0.75, + 0.50, ParameterDescriptor( description="Yaw error threshold where applying velocity limit [rad]" ), @@ -390,7 +390,7 @@ def __init__(self): self.declare_parameter( "mov_ave_window", - 50, + 100, ParameterDescriptor(description="Moving average smoothing window size"), )