Merge branch 'main' into 500-general-add-an-overview-of-the-perceptio…

…n-in-the-documentation

.github/ISSUE_TEMPLATE/BUG.yml

@@ -35,13 +35,6 @@ body:
         - The car detects traffic lights on Map1 correctly.
         - The issue no longer occurs in similar scenarios.
 
-  - type: input
-    id: effort_estimate
-    attributes:
-      label: Effort Estimate
-      description: Approximate effort required (e.g., hours).
-      placeholder: Enter effort estimate.
-
   - type: textarea
     id: testability
     attributes:
@@ -59,16 +52,25 @@ body:
   - type: markdown
     attributes:
       value: |
-        **Add Priority Label**:
-        - p1: Immediate attention
-        - p2: High priority
-        - p3: Standard priority
-        - p4: Low priority
-
         **Add Group Label**:
         - perception: Related to sensor processing and scene understanding
         - planning: Related to path planning and decision making
         - acting: Related to vehicle control and actuation
         - system: Related to the general behavior of the system
         - research: Related to research and experimentation
         - infrastructure: Related to system infrastructure and setup
+
+        **Add Labels on the Project Board**:
+        **Priority:**
+        - `Urgent`: Critical bug causing system crash, needs immediate fix.
+        - `High`: Major feature request or significant bug affecting many users.
+        - `Medium`: Minor feature request or bug with a workaround.
+        - `Low`: Cosmetic changes or minor improvements.
+
+        **Size:**
+        - `Tiny`: Small typo fix or minor code refactor. Estimated time: 30 minutes.
+        - `Small`: Simple bug fix or small feature addition. Estimated time: 1-2 hours.
+        - `Medium`: Moderate feature addition or multiple bug fixes. Estimated time: 1-2 days.
+        - `Large`: Major feature implementation or significant refactor. Estimated time: 1-2 weeks.
+        - `X-Large`: Large-scale feature or complete module overhaul. Estimated time: 2-4 weeks. Especially `EPIC` issues should
+          be tagged with this size.

.github/ISSUE_TEMPLATE/FEATURE.yml

@@ -19,13 +19,6 @@ body:
         - Detects 90% of traffic lights.
         - Correctly identifies 90% of traffic light states.
 
-  - type: input
-    id: effort_estimate
-    attributes:
-      label: Effort Estimate
-      description: Approximate effort required (e.g., hours).
-      placeholder: Enter effort estimate.
-
   - type: textarea
     id: testability
     attributes:
@@ -43,11 +36,6 @@ body:
   - type: markdown
     attributes:
       value: |
-        **Add Priority Label**:
-        - p1: Immediate attention
-        - p2: High priority
-        - p3: Standard priority
-        - p4: Low priority
 
         **Add Group Label**:
         - perception: Related to sensor processing and scene understanding
@@ -56,3 +44,18 @@ body:
         - system: Related to the general behavior of the system
         - research: Related to research and experimentation
         - infrastructure: Related to system infrastructure and setup
+
+        **Add Labels on the Project Board**:
+        **Priority:**
+        - `Urgent`: Critical bug causing system crash, needs immediate fix.
+        - `High`: Major feature request or significant bug affecting many users.
+        - `Medium`: Minor feature request or bug with a workaround.
+        - `Low`: Cosmetic changes or minor improvements.
+
+        **Size:**
+        - `Tiny`: Small typo fix or minor code refactor. Estimated time: 30 minutes.
+        - `Small`: Simple bug fix or small feature addition. Estimated time: 1-2 hours.
+        - `Medium`: Moderate feature addition or multiple bug fixes. Estimated time: 1-2 days.
+        - `Large`: Major feature implementation or significant refactor. Estimated time: 1-2 weeks.
+        - `X-Large`: Large-scale feature or complete module overhaul. Estimated time: 2-4 weeks. Especially `EPIC` issues should
+          be tagged with this size.

.github/ISSUE_TEMPLATE/ISSUE.yml

@@ -25,13 +25,6 @@ body:
         - Code review passed
         - All tests passing
 
-  - type: input
-    id: effort_estimate
-    attributes:
-      label: Effort Estimate
-      description: Approximate effort required (e.g., hours).
-      placeholder: Enter effort estimate.
-
   - type: textarea
     id: testability
     attributes:
@@ -58,16 +51,25 @@ body:
         - question: Further information is requested
         - wontfix: This will not be worked on
 
-        **Add Priority Label**:
-        - p1: Immediate attention
-        - p2: High priority
-        - p3: Standard priority
-        - p4: Low priority
-
         **Add Group Label**:
         - perception: Related to sensor processing and scene understanding
         - planning: Related to path planning and decision making
         - acting: Related to vehicle control and actuation
         - system: Related to the general behavior of the system
         - research: Related to research and experimentation
         - infrastructure: Related to system infrastructure and setup
+
+        **Add Labels on the Project Board**:
+        **Priority:**
+        - `Urgent`: Critical bug causing system crash, needs immediate fix.
+        - `High`: Major feature request or significant bug affecting many users.
+        - `Medium`: Minor feature request or bug with a workaround.
+        - `Low`: Cosmetic changes or minor improvements.
+
+        **Size:**
+        - `Tiny`: Small typo fix or minor code refactor. Estimated time: 30 minutes.
+        - `Small`: Simple bug fix or small feature addition. Estimated time: 1-2 hours.
+        - `Medium`: Moderate feature addition or multiple bug fixes. Estimated time: 1-2 days.
+        - `Large`: Major feature implementation or significant refactor. Estimated time: 1-2 weeks.
+        - `X-Large`: Large-scale feature or complete module overhaul. Estimated time: 2-4 weeks. Especially `EPIC` issues should
+          be tagged with this size.

.vscode/extensions.json

@@ -12,6 +12,7 @@
         "richardkotze.git-mob",
         "ms-vscode-remote.remote-containers",
         "valentjn.vscode-ltex",
-        "ms-python.black-formatter"
+        "ms-python.black-formatter",
+        "augustocdias.tasks-shell-input"
     ]
 }

.vscode/launch.json

@@ -0,0 +1,23 @@
+{
+    // Use IntelliSense to learn about possible attributes.
+    // Hover to view descriptions of existing attributes.
+    // For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
+    "version": "0.2.0",
+    "configurations": [
+        {
+            "name": "53000 leaderboard attach",
+            "type": "debugpy",
+            "request": "attach",
+            "connect": {
+                "host": "localhost",
+                "port": 53000
+            },
+            "pathMappings": [
+                {
+                    "localRoot": "${workspaceFolder}/code",
+                    "remoteRoot": "${env:PAF_CATKIN_CODE_ROOT}"
+                }
+            ]
+        }
+    ],
+}

.vscode/tasks.json

@@ -0,0 +1,22 @@
+{
+    "version": "2.0.0",
+    "tasks": [
+        {
+            "label": "Run 'catkin_make' in docker container. Choose container from list of running containers.",
+            "type": "shell",
+            "command": "docker exec -it ${input:container_name} bash -c 'cd ../../catkin_ws && source /opt/ros/noetic/setup.bash && bash devel/setup.bash && catkin_make'",
+            "problemMatcher": [],
+            "detail": "Executes 'catkin_make' selected container. Requires Tasks Shell Input Extension, in order to generate the list of containers.",
+        }
+    ],
+    "inputs": [
+        {
+            "id": "container_name",
+            "type": "command",
+            "command": "shellCommand.execute",
+            "args": {
+                "command": "docker ps --format '{{.Names}}'",
+            }
+        }
+    ]
+}

build/agent_service.yaml

@@ -30,6 +30,7 @@ services:
       - ROS_HOSTNAME=agent
       - XDG_RUNTIME_DIR=/tmp/runtime-carla
       - ROUTE=/opt/leaderboard/data/routes_devtest.xml
+      - DEBUG_WRAPPER_DEFAULT_HOST=0.0.0.0
       # Simple route without special scenarios
       # - ROUTE=/workspace/code/routes/routes_simple.xml
     volumes:

build/docker-compose.leaderboard.yaml

@@ -8,4 +8,11 @@ services:
     extends:
       file: agent_service.yaml
       service: agent
-    command: bash -c "sleep 10 && sudo chown -R ${USER_UID}:${USER_GID} ../ && sudo chmod -R a+w ../ && python3 /opt/leaderboard/leaderboard/leaderboard_evaluator.py --debug=0 --routes=$${ROUTE} --agent=/workspace/code/agent/src/agent/agent.py --host=$${CARLA_SIM_HOST} --track=MAP"
+    ports:
+      # Reserved ports for the debugger
+      - "53000-53100:53000-53100"
+    command: |-
+      bash -c "sleep 10 && sudo chown -R ${USER_UID}:${USER_GID} ../ && \
+      sudo chmod -R a+w ../ && sudo mkdir -p $${XDG_RUNTIME_DIR} && sudo chmod 0700 $${XDG_RUNTIME_DIR} && sudo chown -R ${USER_UID}:${USER_GID} $${XDG_RUNTIME_DIR} && \
+      (rqt_console &) && disown -a && \
+      python3 /opt/leaderboard/leaderboard/leaderboard_evaluator.py --debug=0 --routes=$${ROUTE} --agent=/workspace/code/agent/src/agent/agent.py --host=$${CARLA_SIM_HOST} --track=MAP"

build/docker/agent/Dockerfile

@@ -162,8 +162,10 @@ RUN source ~/.bashrc && pip install -r /workspace/requirements.txt
 # Add agent code
 COPY --chown=$USERNAME:$USERNAME ./code /workspace/code/
 
+# For debugger
+ENV PAF_CATKIN_CODE_ROOT=/catkin_ws/src/code
 # Link code into catkin workspace
-RUN ln -s /workspace/code /catkin_ws/src
+RUN ln -s -T /workspace/code ${PAF_CATKIN_CODE_ROOT}
 
 # re-make the catkin workspace
 RUN source /opt/ros/noetic/setup.bash && catkin_make

code/acting/launch/acting.launch

@@ -1,41 +1,21 @@
 <!---->
 <launch>
     <arg name="role_name" default="hero" />
-    <arg name="control_loop_rate" default="0.05" /> 
+    <arg name="control_loop_rate" default="0.05" />
 
-    <node pkg="acting" type="velocity_controller.py" name="velocity_controller" output="screen">
-        <param name="control_loop_rate" value="$(arg control_loop_rate)" />
-        <param name="role_name" value="$(arg role_name)" />
-    </node>
-
-    <node pkg="acting" type="stanley_controller.py" name="stanley_controller" output="screen">
-        <param name="control_loop_rate" value="$(arg control_loop_rate)" />
+    <!--Passthrough
+    all messages the control package needs-->
+    <node pkg="acting" type="passthrough.py" name="passthrough" output="screen">
         <param name="role_name" value="$(arg role_name)" />
-    </node>
-
-    <node pkg="acting" type="pure_pursuit_controller.py" name="pure_pursuit_controller" output="screen">
         <param name="control_loop_rate" value="$(arg control_loop_rate)" />
-        <param name="role_name" value="$(arg role_name)" />
-    </node>
-
-     <node pkg="acting" type="vehicle_controller.py" name="vehicle_controller" output="screen">
-        <param name="control_loop_rate" value="$(arg control_loop_rate)"  /> <!-- leaderboard expects commands every 0.05 seconds OTHERWISE IT LAGS REALLY BADLY-->
-        <param name="role_name" value="$(arg role_name)" />
     </node>
 
     <node pkg="acting" type="MainFramePublisher.py" name="MainFramePublisher" output="screen">
-        <param name="control_loop_rate" value="$(arg control_loop_rate)"  />
-        <param name="role_name" value="$(arg role_name)" />
-    </node>
-
-    <!-- UNCOMMENT THIS TO USE THE DEBUG_NODE FOR ACTING-TESTING -->
-    <!-- <node pkg="acting" type="Acting_Debug_Node.py" name="Acting_Debug_Node" output="screen">
-        <param name="control_loop_rate" value="$(arg control_loop_rate)"  />
+        <param name="control_loop_rate" value="$(arg control_loop_rate)" />
         <param name="role_name" value="$(arg role_name)" />
     </node>
-     -->
-
-    <!-- If you want a live rqt_plots to show up automatically, include them like following example-plot for Velocity-Controller-Testing -->
-    <!--node pkg="rqt_plot" type="rqt_plot" output="screen" name="velocity_test" args="/carla/hero/Speed /paf/hero/target_velocity /paf/hero/throttle /paf/hero/brake"/-->
 
-</launch>
+    <include file="$(find control)/launch/control.launch">
+        <arg name="control_loop_rate" value="$(arg control_loop_rate)" />
+    </include>
+</launch>

code/acting/src/acting/MainFramePublisher.py

@@ -1,6 +1,4 @@
 #!/usr/bin/env python
-
-from math import pi, cos, sin
 import ros_compatibility as roscomp
 import rospy
 from geometry_msgs.msg import PoseStamped
@@ -9,6 +7,8 @@
 from scipy.spatial.transform import Rotation as R
 from std_msgs.msg import Float32
 
+import numpy as np
+
 
 class MainFramePublisher(CompatibleNode):
 
@@ -49,27 +49,28 @@ def loop(timer_event=None):
             if self.current_pos is None:
                 # conversion only works if pos is known
                 return
-            rot = -self.current_heading
-            pos = [0, 0, 0]
-            pos[0] = (
-                cos(rot) * self.current_pos.pose.position.x
-                - sin(rot) * self.current_pos.pose.position.y
-            )
-            pos[1] = (
-                sin(rot) * self.current_pos.pose.position.x
-                + cos(rot) * self.current_pos.pose.position.y
+
+            # The following converts the current_pos as well as the current_heading
+            # messages we receive into tf transforms.
+
+            position = np.array(
+                [
+                    self.current_pos.pose.position.x,
+                    self.current_pos.pose.position.y,
+                    self.current_pos.pose.position.z,
+                ]
             )
-            pos[2] = -self.current_pos.pose.position.z
-            rot_quat = R.from_euler(
-                "xyz", [0, 0, -self.current_heading + pi], degrees=False
-            ).as_quat()
 
+            rotation = R.from_euler("z", self.current_heading, degrees=False).as_quat()
+
+            # The position and rotation are "the hero frame in global coordinates"
+            # Therefore we publish the child hero with respect to the parent global
             br.sendTransform(
-                pos,
-                rot_quat,
-                rospy.Time.now(),
-                "global",
-                "hero",
+                translation=position,
+                rotation=rotation,
+                time=rospy.Time.now(),
+                child="hero",
+                parent="global",
             )
 
         self.new_timer(self.control_loop_rate, loop)