Merge branch '212-feature-unstuck-routine' of https://github.com/una-…

…auxme/paf23 into 212-feature-unstuck-routine

doc/05_acting/01_acting_testing.md

@@ -1,36 +1,58 @@
-# How to test acting components
+# Testing of Acting
 
-**Summary:** This page shows ways to verify that acting components work as expected
+**Summary:** This page shows ways to verify/test/tune/debug acting components.
 
 ---
 
 ## Author
 
-Julian Graf
+Alexander Hellmann
 
 ## Date
 
-09.01.2023
+19.03.2024
 
+---
 <!-- TOC -->
-* [How to test acting components](#how-to-test-acting-components)
-  * [Author](#author)
-  * [Date](#date)
-  * [velocity_controller](#velocitycontroller)
-  * [Dummys](#dummys)
+- [Testing of Acting](#testing-of-acting)
+  - [Author](#author)
+  - [Date](#date)
+  - [Acting\_Debug\_Node](#acting_debug_node)
+  - [velocity\_controller](#velocity_controller)
+  - [Steering Controllers](#steering-controllers)
+  - [Dummys](#dummys)
 <!-- TOC -->
 
+---
+
+## Acting_Debug_Node
+
+To test acting components independently from Perception and Planning, use the Acting_Debug_Node.py class in Acting.
+
+For this to work properly you have to manually disable all Planning and most of the Perception Components in your testing-branch:
+
+- Go to the planning.launch file (.../code/planning/launch/planning.launch) and disable every active node by commenting them out.
+- Go to the perception.launch file (.../code/perception/launch/perception.launch) and disable every other node EXCEPT the Position_Publisher_Node.py and the kalman_filter.py by commenting them out.
+
+If you want to test/debug/tune under perfect conditions we also recommend following changes:
+
+- In the docker-compose.yml file (.../build/docker-compose.yml) you can switch to a developer enviroment by uncommenting the dev.launch (Line 65) and commenting the leaderboard (Line 66).
+- In the dev_objects.json file (.../code/agent/config/dev_objects.json) you will find the GPS and IMU sensors. To use ideal sensors, set all noises to 0.
+- In the perception.launch file, set the Position_Publisher_Node.py's pos_filter and heading_filter to None to get the ideal sensors' data (position and heading) unfiltered.
+
 ## velocity_controller
 
 To test the velocity controller, set the parameter ```enabled``` in the acting launch-file true. Now the velocity_publisher_dummy will publish dummy target speeds. Use ```rqt_plot /carla/hero/velocity_as_float /carla/hero/max_velocity``` to visualize target and current speeds.
 
 ![image not found](./../00_assets/testing_velocity_pid.png)
 
+## Steering Controllers
+
 ## Dummys
 
 To test the steering controllers and the acc there are two dummys:
 
-* the ```DummyTrajectoryPub``` publishes a simple path to test the steering controllers on,
-* the ```AccDistancePublisherDummy``` publishes a dummy distances to an imaginary vehicle in front
+- the ```DummyTrajectoryPub``` publishes a simple path to test the steering controllers on,
+- the ```AccDistancePublisherDummy``` publishes a dummy distances to an imaginary vehicle in front
 
 To activate these dummys, make sure that they are started in the launch file and ```<param name="enabled" value="True" />``` is set in the launch file.

doc/05_acting/04_main_frame_publisher.md

@@ -15,12 +15,12 @@ Julian Graf
 ---
 
 <!-- TOC -->
-* [Main frame publisher](#main-frame-publisher)
-  * [Author](#author)
-  * [Date](#date)
-  * [Main frame publisher](#main-frame-publisher-1)
-  * [How to use](#how-to-use)
-  * [Known issues](#known-issues)
+- [Main frame publisher](#main-frame-publisher)
+  - [Author](#author)
+  - [Date](#date)
+  - [Main frame publisher](#main-frame-publisher-1)
+  - [How to use](#how-to-use)
+  - [Known issues](#known-issues)
 <!-- TOC -->
 
 ## Main frame publisher