From 17ed54a47c942822675df0eb4a6939f57c1480ae Mon Sep 17 00:00:00 2001 From: JulianTrommer Date: Mon, 7 Oct 2024 11:19:19 +0200 Subject: [PATCH] Updated all occurences of name paf --- README.md | 2 +- build/config-comlipy.yml | 2 +- build/docker-compose_cicd.yaml | 2 +- build/docker/agent/Dockerfile | 2 +- build/docker/agent/Dockerfile_Submission | 2 +- code/agent/src/agent/agent.py | 6 +++--- .../src/position_heading_filter_debug_node.py | 6 +++--- code/planning/src/local_planner/utils.py | 2 +- doc/01_general/03_commands.md | 2 +- doc/02_development/12_discord_webhook.md | 2 +- .../01_acting/04_paf21_2_and_pylot_acting.md | 4 ++-- .../02_perception/05-autoware-perception.md | 4 ++-- .../02_perception/06_paf_21_1_perception.md | 2 +- doc/03_research/02_perception/LIDAR_data.md | 12 ++++++------ .../object-detection-model_evaluation/globals.py | 2 +- pc_setup_user.sh | 4 ++-- 16 files changed, 28 insertions(+), 28 deletions(-) diff --git a/README.md b/README.md index 4998d4ac..b4495249 100644 --- a/README.md +++ b/README.md @@ -1,4 +1,4 @@ -# Praktikum Autonomes Fahren 2023 - PAF23 +# Praktikum Autonomes Fahren - PAF This repository contains the source code for the "Praktikum Autonomes Fahren" at the Chair of Mechatronics from the University of Augsburg in the winter semester of 2023/2024. The goal of the project is to develop a self-driving car that can navigate through a simulated environment. diff --git a/build/config-comlipy.yml b/build/config-comlipy.yml index 9fffe84d..1eb36ffc 100644 --- a/build/config-comlipy.yml +++ b/build/config-comlipy.yml @@ -1,6 +1,6 @@ # comlipy config file (commit naming) global: - help: 'Help: https://github.com/ll7/paf22/blob/main/doc/developement/commit.md' + help: 'Help: https://github.com/una-auxme/paf/blob/main/doc/02_development/03_commit.md' rules: scope-min-length: diff --git a/build/docker-compose_cicd.yaml b/build/docker-compose_cicd.yaml index c792c6d0..7fd57177 100644 --- a/build/docker-compose_cicd.yaml +++ b/build/docker-compose_cicd.yaml @@ -6,7 +6,7 @@ include: services: agent: - image: ghcr.io/una-auxme/paf23:${AGENT_VERSION:-latest} + image: ghcr.io/una-auxme/paf:${AGENT_VERSION:-latest} init: true tty: true logging: diff --git a/build/docker/agent/Dockerfile b/build/docker/agent/Dockerfile index ea981056..107ece04 100644 --- a/build/docker/agent/Dockerfile +++ b/build/docker/agent/Dockerfile @@ -29,7 +29,7 @@ RUN apt-get install wget unzip # Download Carla PythonAPI (alternative to getting it from the Carla-Image, which is commented out above) # If the PythonAPI/Carla version changes, either update the link, or refer to the comment at the top of this file. -RUN wget https://github.com/una-auxme/paf23/releases/download/v0.0.1/PythonAPI_Leaderboard-2.0.zip -O PythonAPI.zip \ +RUN wget https://github.com/una-auxme/paf/releases/download/v0.0.1/PythonAPI_Leaderboard-2.0.zip -O PythonAPI.zip \ && unzip PythonAPI.zip \ && rm PythonAPI.zip \ && mkdir -p /opt/carla \ diff --git a/build/docker/agent/Dockerfile_Submission b/build/docker/agent/Dockerfile_Submission index bb6757d2..a329247e 100644 --- a/build/docker/agent/Dockerfile_Submission +++ b/build/docker/agent/Dockerfile_Submission @@ -26,7 +26,7 @@ RUN apt-get update \ # install dependencies for libgit2 and Carla PythonAPI RUN apt-get install wget unzip -RUN wget https://github.com/una-auxme/paf23/releases/download/v0.0.1/PythonAPI_Leaderboard-2.0.zip -O PythonAPI.zip \ +RUN wget https://github.com/una-auxme/paf/releases/download/v0.0.1/PythonAPI_Leaderboard-2.0.zip -O PythonAPI.zip \ && unzip PythonAPI.zip \ && rm PythonAPI.zip \ && mkdir -p /opt/carla \ diff --git a/code/agent/src/agent/agent.py b/code/agent/src/agent/agent.py index f3f7b4a0..5a97786b 100755 --- a/code/agent/src/agent/agent.py +++ b/code/agent/src/agent/agent.py @@ -4,10 +4,10 @@ def get_entry_point(): - return 'PAF22Agent' + return 'PAFAgent' -class PAF22Agent(ROS1Agent): +class PAFAgent(ROS1Agent): def setup(self, path_to_conf_file): self.track = Track.MAP @@ -88,4 +88,4 @@ def sensors(self): return sensors def destroy(self): - super(PAF22Agent, self).destroy() + super(PAFAgent, self).destroy() diff --git a/code/perception/src/position_heading_filter_debug_node.py b/code/perception/src/position_heading_filter_debug_node.py index 4f3e0caf..f43763e1 100755 --- a/code/perception/src/position_heading_filter_debug_node.py +++ b/code/perception/src/position_heading_filter_debug_node.py @@ -40,7 +40,7 @@ def __init__(self): self.control_loop_rate = self.get_param("control_loop_rate", "0.05") # carla attributes - CARLA_HOST = os.environ.get('CARLA_HOST', 'paf23-carla-simulator-1') + CARLA_HOST = os.environ.get('CARLA_HOST', 'paf-carla-simulator-1') CARLA_PORT = int(os.environ.get('CARLA_PORT', '2000')) self.client = carla.Client(CARLA_HOST, CARLA_PORT) self.world = None @@ -189,7 +189,7 @@ def save_position_data(self): """ This method saves the current location errors in a csv file. in the folders of - paf23/doc/06_perception/00_Experiments/kalman_datasets + paf/doc/06_perception/00_Experiments/kalman_datasets It does this for a limited amount of time. """ # stop saving data when max is reached @@ -222,7 +222,7 @@ def save_heading_data(self): """ This method saves the current heading errors in a csv file. in the folders of - paf23/doc/06_perception/00_Experiments/kalman_datasets + paf/doc/06_perception/00_Experiments/kalman_datasets It does this for a limited amount of time. """ # if rospy.get_time() > 45 stop saving data: diff --git a/code/planning/src/local_planner/utils.py b/code/planning/src/local_planner/utils.py index da84a7cd..63cf5600 100644 --- a/code/planning/src/local_planner/utils.py +++ b/code/planning/src/local_planner/utils.py @@ -152,7 +152,7 @@ def spawn_car(distance): Args: distance (float): distance """ - CARLA_HOST = os.environ.get('CARLA_HOST', 'paf23-carla-simulator-1') + CARLA_HOST = os.environ.get('CARLA_HOST', 'paf-carla-simulator-1') CARLA_PORT = int(os.environ.get('CARLA_PORT', '2000')) client = carla.Client(CARLA_HOST, CARLA_PORT) diff --git a/doc/01_general/03_commands.md b/doc/01_general/03_commands.md index 3a731218..e25324e3 100644 --- a/doc/01_general/03_commands.md +++ b/doc/01_general/03_commands.md @@ -1,6 +1,6 @@ # ⌨️ Available commands -A specific `b5` workflow for gpu installation in this project is specified in an issue comment: +A specific `b5` workflow for gpu installation in this project is specified in an issue comment: ## General commands diff --git a/doc/02_development/12_discord_webhook.md b/doc/02_development/12_discord_webhook.md index f9b427f5..b93de316 100644 --- a/doc/02_development/12_discord_webhook.md +++ b/doc/02_development/12_discord_webhook.md @@ -4,6 +4,6 @@ Author: Lennart Luttkus, 15.11.2023 The discord bot has access to the `#gitupdates` text channel on our discord server. It is an Integration as a Webhook. -Settings for this webhook can be found in the repository settings . +Settings for this webhook can be found in the repository settings . The Webhook post updates from the repository in the `#gitupdates` channel. Helpful tutorial can be found here: diff --git a/doc/03_research/01_acting/04_paf21_2_and_pylot_acting.md b/doc/03_research/01_acting/04_paf21_2_and_pylot_acting.md index b1e76d19..bb372dd6 100644 --- a/doc/03_research/01_acting/04_paf21_2_and_pylot_acting.md +++ b/doc/03_research/01_acting/04_paf21_2_and_pylot_acting.md @@ -15,7 +15,7 @@ ![Untitled](../../00_assets/research_assets/stanley_controller.png) -### [List of Inputs/Outputs](https://github.com/una-auxme/paf23/blob/main/doc/03_research/01_acting/02_acting_implementation.md#list-of-inputsoutputs) +### [List of Inputs/Outputs](https://github.com/una-auxme/paf/blob/main/doc/03_research/01_acting/02_acting_implementation.md#list-of-inputsoutputs) - Subscribes to: - [nav_msgs/Odometry Message](http://docs.ros.org/en/noetic/api/nav_msgs/html/msg/Odometry.html) : to get the current position and heading @@ -25,7 +25,7 @@ - Publishes: - [CarlaEgoVehicleControl.msg](https://carla.readthedocs.io/projects/ros-bridge/en/latest/ros_msgs/#carlaegovehiclecontrolmsg) : to actually control the vehicles throttle, steering -### [Challenges](https://github.com/una-auxme/paf23/blob/main/doc/03_research/01_acting/02_acting_implementation.md#challenges) +### [Challenges](https://github.com/una-auxme/paf/blob/main/doc/03_research/01_acting/02_acting_implementation.md#challenges) A short list of challenges for the implementation of a basic acting domain and how they these could be tackled based on the requirements mentioned above. diff --git a/doc/03_research/02_perception/05-autoware-perception.md b/doc/03_research/02_perception/05-autoware-perception.md index fa9f8418..42fb6256 100644 --- a/doc/03_research/02_perception/05-autoware-perception.md +++ b/doc/03_research/02_perception/05-autoware-perception.md @@ -2,7 +2,7 @@ ## 1.Architecture -![image](https://github.com/una-auxme/paf23/assets/102369315/6b3fb964-e650-442a-a674-8e0471d931a9) +![image](https://github.com/una-auxme/paf/assets/102369315/6b3fb964-e650-442a-a674-8e0471d931a9) Focus on: @@ -16,7 +16,7 @@ Focus on: Autowares perception is very complex and uses a variety of mechnaism to gather as much information as possible about the surroundings of the car. -![image](https://github.com/una-auxme/paf23/assets/102369315/23f9699e-85c7-44c6-b9fa-a603dc73afcf) +![image](https://github.com/una-auxme/paf/assets/102369315/23f9699e-85c7-44c6-b9fa-a603dc73afcf) For the perception Autoware mainly uses the following Sensors: diff --git a/doc/03_research/02_perception/06_paf_21_1_perception.md b/doc/03_research/02_perception/06_paf_21_1_perception.md index 6d2d0903..4538d028 100644 --- a/doc/03_research/02_perception/06_paf_21_1_perception.md +++ b/doc/03_research/02_perception/06_paf_21_1_perception.md @@ -2,7 +2,7 @@ ## 1. Architecture -![image](https://github.com/una-auxme/paf23/assets/102369315/07328c78-83d7-425c-802e-8cc49430e6c1) +![image](https://github.com/una-auxme/paf/assets/102369315/07328c78-83d7-425c-802e-8cc49430e6c1) ### **Key Features** diff --git a/doc/03_research/02_perception/LIDAR_data.md b/doc/03_research/02_perception/LIDAR_data.md index 528620dc..b55cf7e4 100644 --- a/doc/03_research/02_perception/LIDAR_data.md +++ b/doc/03_research/02_perception/LIDAR_data.md @@ -9,22 +9,22 @@ LIDAR-Data comes in Pointclouds from a specific LIDAR-Topic. `rospy.Subscriber(rospy.get_param('~source_topic', "/carla/hero/LIDAR"), PointCloud2, self.callback)` -Read more about the LIDAR-Sensor [here](https://github.com/una-auxme/paf23/blob/main/doc/06_perception/03_lidar_distance_utility.md) +Read more about the LIDAR-Sensor [here](https://github.com/una-auxme/paf/blob/main/doc/06_perception/03_lidar_distance_utility.md) ## Processing The goal is to identify Objects and their distance. Therefor we need to calculate distances from the pointcloud data. To do this the lidar-distance node first converts pointcloud data to an array, which contains cartesian coordinates. -`paf23-agent-1 | (76.12445 , -1.6572031e+01, 13.737187 , 0.7287409 )` +`paf-agent-1 | (76.12445 , -1.6572031e+01, 13.737187 , 0.7287409 )` -`paf23-agent-1 | (71.9434 , -1.8718828e+01, 13.107929 , 0.7393809 )` +`paf-agent-1 | (71.9434 , -1.8718828e+01, 13.107929 , 0.7393809 )` -`paf23-agent-1 | (-0.3482422 , -1.6367188e-02, -0.20128906, 0.99839103)` +`paf-agent-1 | (-0.3482422 , -1.6367188e-02, -0.20128906, 0.99839103)` -`paf23-agent-1 | (-0.3486328 , -1.4062500e-02, -0.20152344, 0.99838954)` +`paf-agent-1 | (-0.3486328 , -1.4062500e-02, -0.20152344, 0.99838954)` -`paf23-agent-1 | (-0.35070312, -2.3828126e-03, -0.2025 , 0.99838144)` +`paf-agent-1 | (-0.35070312, -2.3828126e-03, -0.2025 , 0.99838144)` The first three values of each row correspon to x, y, z. diff --git a/doc/06_perception/experiments/object-detection-model_evaluation/globals.py b/doc/06_perception/experiments/object-detection-model_evaluation/globals.py index df8a9d5c..5cb86c0a 100644 --- a/doc/06_perception/experiments/object-detection-model_evaluation/globals.py +++ b/doc/06_perception/experiments/object-detection-model_evaluation/globals.py @@ -1,4 +1,4 @@ -IMAGE_BASE_FOLDER = '/home/maxi/paf23/code/output/12-dev/rgb/center' +IMAGE_BASE_FOLDER = '/home/maxi/paf/code/output/12-dev/rgb/center' IMAGES_FOR_TEST = { 'start': '1600.png', diff --git a/pc_setup_user.sh b/pc_setup_user.sh index 7d752f35..7efd778d 100755 --- a/pc_setup_user.sh +++ b/pc_setup_user.sh @@ -1,7 +1,7 @@ cd mkdir git cd git -git clone https://github.com/una-auxme/paf23.git +git clone https://github.com/una-auxme/paf.git -cd paf23 +cd paf ./dc-run-file.sh build/docker-compose.yaml \ No newline at end of file