add vehicle adaptor

Signed-off-by: masayukiaino <[email protected]>
tier4 · Nov 27, 2024 · 7e57643 · 7e57643
1 parent b5def21
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diff --git a/vehicle/autoware_raw_vehicle_cmd_converter/CMakeLists.txt b/vehicle/autoware_raw_vehicle_cmd_converter/CMakeLists.txt
@@ -2,7 +2,12 @@ cmake_minimum_required(VERSION 3.14)
 project(autoware_raw_vehicle_cmd_converter)
 
 find_package(autoware_cmake REQUIRED)
+find_package(pybind11 REQUIRED)
+find_package(Eigen3 REQUIRED)
+find_package(yaml-cpp REQUIRED)
+find_package(Python REQUIRED COMPONENTS Development)
 autoware_package()
+add_compile_options(-fPIC)
 
 ament_auto_add_library(actuation_map_converter SHARED
   src/accel_map.cpp
@@ -15,13 +20,25 @@ ament_auto_add_library(actuation_map_converter SHARED
 
 ament_auto_add_library(vehicle_adaptor SHARED
   src/vehicle_adaptor/vehicle_adaptor.cpp
+  src/vehicle_adaptor/autoware_vehicle_adaptor/autoware_vehicle_adaptor/src/utils.cpp
+  src/vehicle_adaptor/autoware_vehicle_adaptor/autoware_vehicle_adaptor/src/inputs_prediction.cpp
+  src/vehicle_adaptor/autoware_vehicle_adaptor/autoware_vehicle_adaptor/src/nominal_dynamics.cpp
+  src/vehicle_adaptor/autoware_vehicle_adaptor/autoware_vehicle_adaptor/src/transform_vehicle_adaptor_model.cpp
+  src/vehicle_adaptor/autoware_vehicle_adaptor/autoware_vehicle_adaptor/src/linear_regression_compensator.cpp
+  src/vehicle_adaptor/autoware_vehicle_adaptor/autoware_vehicle_adaptor/src/inputs_ref_smoother.cpp
+)
+target_include_directories(vehicle_adaptor PRIVATE
+  ${CMAKE_CURRENT_SOURCE_DIR}/src/vehicle_adaptor/autoware_vehicle_adaptor/autoware_vehicle_adaptor/include
 )
-
 ament_auto_add_library(autoware_raw_vehicle_cmd_converter_node_component SHARED
   src/node.cpp
 )
-
-target_link_libraries(autoware_raw_vehicle_cmd_converter_node_component actuation_map_converter vehicle_adaptor)
+include_directories(
+    src/vehicle_adaptor/autoware_vehicle_adaptor/autoware_vehicle_adaptor/include
+    ${EIGEN3_INCLUDE_DIR}
+    ${Python_INCLUDE_DIRS}
+)
+target_link_libraries(autoware_raw_vehicle_cmd_converter_node_component actuation_map_converter vehicle_adaptor yaml-cpp ${Python_LIBRARIES} pybind11::embed)
 
 rclcpp_components_register_node(autoware_raw_vehicle_cmd_converter_node_component
   PLUGIN "autoware::raw_vehicle_cmd_converter::RawVehicleCommandConverterNode"
@@ -43,7 +60,7 @@ ament_auto_package(INSTALL_TO_SHARE
   launch
   test
 )
-
+target_compile_definitions(vehicle_adaptor PRIVATE BUILD_PATH=\"${CMAKE_CURRENT_SOURCE_DIR}/src/vehicle_adaptor/autoware_vehicle_adaptor\")
 install(PROGRAMS scripts/plot_accel_brake_map.py
   DESTINATION lib/${PROJECT_NAME}
 )
diff --git a/..._converter/include/autoware_raw_vehicle_cmd_converter/vehicle_adaptor/vehicle_adaptor.hpp b/..._converter/include/autoware_raw_vehicle_cmd_converter/vehicle_adaptor/vehicle_adaptor.hpp
@@ -21,6 +21,7 @@
 #include <autoware_vehicle_msgs/msg/steering_report.hpp>
 #include <geometry_msgs/msg/accel_with_covariance_stamped.hpp>
 #include <nav_msgs/msg/odometry.hpp>
+#include "utils.h"
 
 namespace autoware::raw_vehicle_cmd_converter
 {
@@ -44,6 +45,9 @@ class VehicleAdaptor
     [[maybe_unused]] const ControlHorizon & control_horizon);
 
 private:
+  Proxima::VehicleAdaptor proxima_vehicle_adaptor_;
+  double yaw_prev_ = 0.0;
+  bool initialized_ = false;
 };
 }  // namespace autoware::raw_vehicle_cmd_converter
 

diff --git a/...utoware_raw_vehicle_cmd_converter/src/vehicle_adaptor/autoware_vehicle_adaptor/.gitignore b/...utoware_raw_vehicle_cmd_converter/src/vehicle_adaptor/autoware_vehicle_adaptor/.gitignore
@@ -0,0 +1,7 @@
+.ipynb_checkpoints
+# Files generated when installing
+build/
+*.egg-info/
+.cspell.json
+
+*.so
diff --git a/...aw_vehicle_cmd_converter/src/vehicle_adaptor/autoware_vehicle_adaptor/README.md b/...aw_vehicle_cmd_converter/src/vehicle_adaptor/autoware_vehicle_adaptor/README.md
@@ -0,0 +1,176 @@
+# インストール
+
+autoware_vehicle_adaptorディレクトリ上で
+```bash
+pip3 install .
+```
+2回目以降は
+```bash
+pip3 install -U .
+```
+動かなくなったらひとまずこのコマンドは叩いてみてください。
+
+setup.pyの
+```
+SKIP_PRE_INSTALL_FLAG = True
+```
+にするとpip3のインストールが速く終わる(C++ファイルの更新がなければこっちでやれば良い)
+
+
+それぞれのC++ファイルのビルドを試すには
+autoware_vehicle_adaptorディレクトリ上で
+```bash
+python3 build_test.py
+python3 build_actuation_map_2d_test.py
+```
+
+# python simulatorのテスト
+
+なんとなく試すにはpython_simulatorディレクトリ上で
+```bash
+python3 run_vehicle_adaptor.py
+```
+をやる。
+パラメータ変更しつつやるには
+```bash
+python3 run_auto_parameter_change_sim.py --root=time --param_name=steer_scaling
+```
+
+などやればできる。
+キャリブレーションのテストを動かすには
+
+```bash
+python3 run_accel_brake_map_calibrator.py
+```
+
+をやる。
+
+pythonファイルの中でシミュレータを動かすには
+
+```python
+from data_collection_utils import ControlType
+import python_simulator
+```
+
+save_dirを定義して
+
+```python
+simulator.drive_sim(control_type=ControlType.pp_eight, max_control_time=1500, save_dir=save_dir, max_lateral_accel=0.5)
+```
+
+で8の字走行。
+
+```python
+simulator.drive_sim(save_dir=save_dir)
+```
+
+でノミナルのMPC走行。
+python_simulatorにてコントローラ側加速度入力からアクセル・ブレーキ踏み込み量への変換マップ(キャリブレーションにより作成)をずらすには
+
+```python
+map_dir = "../actuation_cmd_maps/accel_brake_maps/low_quality_map"
+sim_setting_dict = {}
+sim_setting_dict["accel_brake_map_control_path"] = map_dir
+simulator.perturbed_sim(sim_setting_dict)
+```
+
+とする。
+python_simulatorにてアクセル・ブレーキ踏み込み量から入力加速度への変換マップ（車両特性）をずらすには
+
+```python
+map_dir = "../actuation_cmd_maps/accel_brake_maps/low_quality_map"
+sim_setting_dict = {}
+sim_setting_dict["accel_brake_map_sim_path"] = map_dir
+simulator.perturbed_sim(sim_setting_dict)
+```
+とする。
+
+map_dirで別のマップを指定すればそのディレクトリにあるアクセル・ブレーキマップを読む。
+
+# キャリブレーション
+
+```python
+from autoware_vehicle_adaptor.calibrator import accel_brake_map_calibrator
+calibrator = accel_brake_map_calibrator.CalibratorByNeuralNetwork()
+```
+でキャリブレータの準備。
+走行データのディレクトリcsv_dirがあったとき
+
+```python
+calibrator.add_data_from_csv(csv_dir)
+```
+
+でキャリブレータにデータを追加できる。
+
+マップを保存したいsave_dirを定義した上で
+```python
+map_accel = [0.0, 0.1, 0.2, 0.3, 0.4, 0.5]
+map_brake = [0.0, 0.1, 0.2, 0.3, 0.4, 0.5, 0.6, 0.7, 0.8]
+map_vel=[0.0,1.39,2.78,4.17,5.56,6.94,8.33,9.72,11.11,12.5,13.89]
+calibrator.calibrate_by_NN()
+calibrator.save_accel_brake_map_NN(map_vel,map_accel,map_brake,save_dir)
+```
+によってキャリブレーション結果を保存できる。
+NNではなく多項式回帰を用いる場合はdegreeを指定して
+```python
+calibrator.calibrate_by_polynomial_regression(degree=degree)
+calibrator.save_accel_brake_map_poly(map_vel,map_accel,map_brake,save_dir)
+```
+とすれば良い。
+
+
+# CSVデータの読み込み
+
+CSVデータの読み込みについて
+準備としてヨー角が連続的に変化するようにする関数。
+```python
+import numpy as np
+import scipy.interpolate
+from scipy.ndimage import gaussian_filter
+from scipy.spatial.transform import Rotation
+
+def yaw_transform(raw_yaw: np.ndarray) -> np.ndarray:
+    """Adjust and transform within a period of 2π so that the yaw angle is continuous."""
+    transformed_yaw = np.zeros(raw_yaw.shape)
+    transformed_yaw[0] = raw_yaw[0]
+    for i in range(raw_yaw.shape[0] - 1):
+        rotate_num = (raw_yaw[i + 1] - transformed_yaw[i]) // (2 * np.pi)
+        if raw_yaw[i + 1] - transformed_yaw[i] - 2 * rotate_num * np.pi < np.pi:
+            transformed_yaw[i + 1] = raw_yaw[i + 1] - 2 * rotate_num * np.pi
+        else:
+            transformed_yaw[i + 1] = raw_yaw[i + 1] - 2 * (rotate_num + 1) * np.pi
+    return transformed_yaw
+```
+CSVファイルが保存されたディレクトリsave_dirがあったとき
+
+```python
+kinematic = np.loadtxt(
+    dir_name + "/kinematic_state.csv", delimiter=",", usecols=[0, 1, 4, 5, 7, 8, 9, 10, 47]
+)
+acc_status = np.loadtxt(dir_name + "/acceleration.csv", delimiter=",", usecols=[0, 1, 3])
+steer_status = np.loadtxt(
+    dir_name + "/steering_status.csv", delimiter=",", usecols=[0, 1, 2]
+)
+control_cmd = np.loadtxt(
+    dir_name + "/control_cmd_orig.csv", delimiter=",", usecols=[0, 1, 8, 16]
+)
+
+
+pose_position_x = kinematic[:, 2]
+pose_position_y = kinematic[:, 3]
+vel = kinematic[:, 8]
+raw_yaw = Rotation.from_quat(kinematic[:, 4:8]).as_euler("xyz")[:, 2]
+yaw = yaw_transform(raw_yaw)
+acc = acc_status[:, 2]
+steer = steer_status[:, 2]
+
+acc_des = control_cmd[:, 3]
+steer_des = control_cmd[:, 2]
+```
+のようにすれば、実現された状態x,y,vel,yaw,acc,steerとコントローラの入力acc_des, steer_desが得られる。
+タイムスタンプは1列目(sec)と2列目(nanosec)に保存されている。
+例えばkinematicのタイムスタンプの配列は
+```python
+kinematic_timestamp = kinematic[:, 0] + 1e-9 * kinematic[:, 1]
+```
+により取得できる。
diff --git a/...onverter/src/vehicle_adaptor/autoware_vehicle_adaptor/autoware_vehicle_adaptor/.gitignore b/...onverter/src/vehicle_adaptor/autoware_vehicle_adaptor/autoware_vehicle_adaptor/.gitignore
@@ -0,0 +1,2 @@
+__pycache__/
+*.json
diff --git a/...nverter/src/vehicle_adaptor/autoware_vehicle_adaptor/autoware_vehicle_adaptor/__init__.py b/...nverter/src/vehicle_adaptor/autoware_vehicle_adaptor/autoware_vehicle_adaptor/__init__.py
diff --git a/...icle_adaptor/autoware_vehicle_adaptor/actuation_cmd_maps/accel_brake_maps/1/accel_map.csv b/...icle_adaptor/autoware_vehicle_adaptor/actuation_cmd_maps/accel_brake_maps/1/accel_map.csv
@@ -0,0 +1,7 @@
+default,0,1.39,2.78,4.17,5.56,6.94,8.33,9.72,11.11,12.5,13.89
+0,0.570,0.11,-0.04,-0.04,-0.041,-0.096,-0.137,-0.178,-0.234,-0.322,-0.456
+0.1,0.836,0.57,0.379,0.17,0.08,0.07,0.068,0.027,-0.03,-0.117,-0.251
+0.2,1.129,0.863,0.672,0.542,0.4,0.38,0.361,0.32,0.263,0.176,0.042
+0.3,1.559,1.293,1.102,0.972,0.887,0.832,0.791,0.75,0.694,0.606,0.472
+0.4,2.176,1.909,1.718,1.588,1.503,1.448,1.408,1.367,1.31,1.222,1.089
+0.5,3.027,2.76,2.57,2.439,2.354,2.299,2.259,2.218,2.161,2.074,1.94
diff --git a/...icle_adaptor/autoware_vehicle_adaptor/actuation_cmd_maps/accel_brake_maps/1/brake_map.csv b/...icle_adaptor/autoware_vehicle_adaptor/actuation_cmd_maps/accel_brake_maps/1/brake_map.csv
@@ -0,0 +1,10 @@
+default,0,1.39,2.78,4.17,5.56,6.94,8.33,9.72,11.11,12.5,13.89
+0,0.570,0.11,-0.04,-0.04,-0.041,-0.096,-0.137,-0.178,-0.234,-0.322,-0.456
+0.1,0.466,0.08,-0.1,-0.121,-0.206,-0.261,-0.302,-0.343,-0.399,-0.487,-0.621
+0.2,0.1,0.05,-0.165,-0.296,-0.381,-0.436,-0.476,-0.517,-0.574,-0.661,-0.795
+0.3,-0.1,-0.207,-0.398,-0.528,-0.613,-0.668,-0.709,-0.75,-0.807,-0.894,-1.028
+0.4,-0.281,-0.547,-0.738,-0.868,-0.953,-1.008,-1.049,-1.09,-1.146,-1.234,-1.367
+0.5,-0.776,-1.042,-1.233,-1.364,-1.449,-1.504,-1.544,-1.585,-1.642,-1.729,-1.863
+0.6,-1.476,-1.743,-1.934,-2.064,-2.149,-2.204,-2.244,-2.285,-2.342,-2.43,-2.563
+0.7,-2.43,-2.697,-2.887,-3.018,-3.103,-3.158,-3.198,-3.239,-3.296,-3.383,-3.517
+0.8,-3.687,-3.953,-4.144,-4.274,-4.359,-4.414,-4.455,-4.496,-4.552,-4.64,-4.774
diff --git a/...cle_adaptor/autoware_vehicle_adaptor/actuation_cmd_maps/accel_brake_maps/10/accel_map.csv b/...cle_adaptor/autoware_vehicle_adaptor/actuation_cmd_maps/accel_brake_maps/10/accel_map.csv
@@ -0,0 +1,7 @@
+default,0,1.39,2.78,4.17,5.56,6.94,8.33,9.72,11.11,12.5,13.89
+0,0.570,0.11,-0.04,-0.04,-0.041,-0.096,-0.137,-0.178,-0.234,-0.322,-0.456
+0.1,0.836,0.57,0.379,0.17,0.08,0.07,0.068,0.027,-0.03,-0.117,-0.251
+0.2,1.129,0.863,0.672,0.542,0.4,0.38,0.361,0.32,0.263,0.176,0.042
+0.3,1.559,1.293,1.102,0.972,0.887,0.832,0.791,0.75,0.694,0.606,0.472
+0.4,2.176,1.909,1.718,1.588,1.503,1.448,1.408,1.367,1.31,1.222,1.089
+0.5,3.027,2.76,2.57,2.439,2.354,2.299,2.259,2.218,2.161,2.074,1.94
diff --git a/...cle_adaptor/autoware_vehicle_adaptor/actuation_cmd_maps/accel_brake_maps/10/brake_map.csv b/...cle_adaptor/autoware_vehicle_adaptor/actuation_cmd_maps/accel_brake_maps/10/brake_map.csv
@@ -0,0 +1,10 @@
+default,0,1.39,2.78,4.17,5.56,6.94,8.33,9.72,11.11,12.5,13.89
+0,0.570,0.11,-0.04,-0.04,-0.041,-0.096,-0.137,-0.178,-0.234,-0.322,-0.456
+0.1,0.466,0.08,-0.1,-0.121,-0.206,-0.261,-0.302,-0.343,-0.399,-0.487,-0.621
+0.2,0.1,0.05,-0.165,-0.296,-0.381,-0.436,-0.476,-0.517,-0.574,-0.661,-0.795
+0.3,-0.1,-0.207,-0.398,-0.528,-0.613,-0.668,-0.709,-0.75,-0.807,-0.894,-1.028
+0.4,-0.281,-0.547,-0.738,-0.868,-0.953,-1.008,-1.049,-1.09,-1.146,-1.234,-1.367
+0.5,-0.776,-1.042,-1.233,-1.364,-1.449,-1.504,-1.544,-1.585,-1.642,-1.729,-1.863
+0.6,-1.476,-1.743,-1.934,-2.064,-2.149,-2.204,-2.244,-2.285,-2.342,-2.43,-2.563
+0.7,-2.43,-2.697,-2.887,-3.018,-3.103,-3.158,-3.198,-3.239,-3.296,-3.383,-3.517
+0.8,-3.687,-3.953,-4.144,-4.274,-4.359,-4.414,-4.455,-4.496,-4.552,-4.64,-4.774
diff --git a/...icle_adaptor/autoware_vehicle_adaptor/actuation_cmd_maps/accel_brake_maps/2/accel_map.csv b/...icle_adaptor/autoware_vehicle_adaptor/actuation_cmd_maps/accel_brake_maps/2/accel_map.csv
@@ -0,0 +1,7 @@
+default,0,1.39,2.78,4.17,5.56,6.94,8.33,9.72,11.11,12.5,13.89
+0,0.570,0.11,-0.04,-0.04,-0.041,-0.096,-0.137,-0.178,-0.234,-0.322,-0.456
+0.1,0.836,0.57,0.379,0.17,0.08,0.07,0.068,0.027,-0.03,-0.117,-0.251
+0.2,1.129,0.863,0.672,0.542,0.4,0.38,0.361,0.32,0.263,0.176,0.042
+0.3,1.559,1.293,1.102,0.972,0.887,0.832,0.791,0.75,0.694,0.606,0.472
+0.4,2.176,1.909,1.718,1.588,1.503,1.448,1.408,1.367,1.31,1.222,1.089
+0.5,3.027,2.76,2.57,2.439,2.354,2.299,2.259,2.218,2.161,2.074,1.94
diff --git a/...icle_adaptor/autoware_vehicle_adaptor/actuation_cmd_maps/accel_brake_maps/2/brake_map.csv b/...icle_adaptor/autoware_vehicle_adaptor/actuation_cmd_maps/accel_brake_maps/2/brake_map.csv
@@ -0,0 +1,10 @@
+default,0,1.39,2.78,4.17,5.56,6.94,8.33,9.72,11.11,12.5,13.89
+0,0.570,0.11,-0.04,-0.04,-0.041,-0.096,-0.137,-0.178,-0.234,-0.322,-0.456
+0.1,0.466,0.08,-0.1,-0.121,-0.206,-0.261,-0.302,-0.343,-0.399,-0.487,-0.621
+0.2,0.1,0.05,-0.165,-0.296,-0.381,-0.436,-0.476,-0.517,-0.574,-0.661,-0.795
+0.3,-0.1,-0.207,-0.398,-0.528,-0.613,-0.668,-0.709,-0.75,-0.807,-0.894,-1.028
+0.4,-0.281,-0.547,-0.738,-0.868,-0.953,-1.008,-1.049,-1.09,-1.146,-1.234,-1.367
+0.5,-0.776,-1.042,-1.233,-1.364,-1.449,-1.504,-1.544,-1.585,-1.642,-1.729,-1.863
+0.6,-1.476,-1.743,-1.934,-2.064,-2.149,-2.204,-2.244,-2.285,-2.342,-2.43,-2.563
+0.7,-2.43,-2.697,-2.887,-3.018,-3.103,-3.158,-3.198,-3.239,-3.296,-3.383,-3.517
+0.8,-3.687,-3.953,-4.144,-4.274,-4.359,-4.414,-4.455,-4.496,-4.552,-4.64,-4.774
diff --git a/...icle_adaptor/autoware_vehicle_adaptor/actuation_cmd_maps/accel_brake_maps/3/accel_map.csv b/...icle_adaptor/autoware_vehicle_adaptor/actuation_cmd_maps/accel_brake_maps/3/accel_map.csv
@@ -0,0 +1,7 @@
+default,0,1.39,2.78,4.17,5.56,6.94,8.33,9.72,11.11,12.5,13.89
+0,0.554,0.0263,-0.319,-0.32,-0.321,-0.322,-0.323,-0.324,-0.325,-0.326,-0.456
+0.1,0.839,0.512,0.133,-0.0174,-0.132,-0.133,-0.134,-0.135,-0.136,-0.137,-0.251
+0.2,1.13,1.01,0.617,0.41,0.38,0.311,0.31,0.309,0.163,0.163,0.042
+0.3,1.56,1.29,1.1,1.02,0.894,0.832,0.69,0.689,0.68,0.606,0.472
+0.4,2.18,1.91,1.72,1.59,1.5,1.45,1.41,1.37,1.31,1.22,1.09
+0.5,3.03,2.76,2.57,2.44,2.35,2.3,2.26,2.22,2.16,2.07,1.94
diff --git a/...icle_adaptor/autoware_vehicle_adaptor/actuation_cmd_maps/accel_brake_maps/3/brake_map.csv b/...icle_adaptor/autoware_vehicle_adaptor/actuation_cmd_maps/accel_brake_maps/3/brake_map.csv
@@ -0,0 +1,10 @@
+default,0,1.39,2.78,4.17,5.56,6.94,8.33,9.72,11.11,12.5,13.89
+0,0.554,0.0263,-0.319,-0.32,-0.321,-0.322,-0.323,-0.324,-0.325,-0.326,-0.456
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diff --git a/...icle_adaptor/autoware_vehicle_adaptor/actuation_cmd_maps/accel_brake_maps/4/accel_map.csv b/...icle_adaptor/autoware_vehicle_adaptor/actuation_cmd_maps/accel_brake_maps/4/accel_map.csv
@@ -0,0 +1,7 @@
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diff --git a/...icle_adaptor/autoware_vehicle_adaptor/actuation_cmd_maps/accel_brake_maps/4/brake_map.csv b/...icle_adaptor/autoware_vehicle_adaptor/actuation_cmd_maps/accel_brake_maps/4/brake_map.csv
@@ -0,0 +1,10 @@
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diff --git a/...icle_adaptor/autoware_vehicle_adaptor/actuation_cmd_maps/accel_brake_maps/5/accel_map.csv b/...icle_adaptor/autoware_vehicle_adaptor/actuation_cmd_maps/accel_brake_maps/5/accel_map.csv
@@ -0,0 +1,7 @@
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diff --git a/...icle_adaptor/autoware_vehicle_adaptor/actuation_cmd_maps/accel_brake_maps/5/brake_map.csv b/...icle_adaptor/autoware_vehicle_adaptor/actuation_cmd_maps/accel_brake_maps/5/brake_map.csv
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diff --git a/...icle_adaptor/autoware_vehicle_adaptor/actuation_cmd_maps/accel_brake_maps/6/accel_map.csv b/...icle_adaptor/autoware_vehicle_adaptor/actuation_cmd_maps/accel_brake_maps/6/accel_map.csv
@@ -0,0 +1,7 @@
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diff --git a/...icle_adaptor/autoware_vehicle_adaptor/actuation_cmd_maps/accel_brake_maps/6/brake_map.csv b/...icle_adaptor/autoware_vehicle_adaptor/actuation_cmd_maps/accel_brake_maps/6/brake_map.csv
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diff --git a/...icle_adaptor/autoware_vehicle_adaptor/actuation_cmd_maps/accel_brake_maps/7/accel_map.csv b/...icle_adaptor/autoware_vehicle_adaptor/actuation_cmd_maps/accel_brake_maps/7/accel_map.csv
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