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78 feature filtering of sensordata #131

Merged
merged 15 commits into from
Dec 5, 2023
Merged

78 feature filtering of sensordata #131

merged 15 commits into from
Dec 5, 2023

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robertik10
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@robertik10 robertik10 commented Dec 3, 2023 •
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Description

Adds:
sensor_filter_debug.py
kalman_filter.py
kalman_filter.md
sensor_filter_debug.md

Fixes #78, #121

Type of change

  • Bug fix (non-breaking change which fixes an issue)
  • New feature (non-breaking change which adds functionality)

Does this PR introduce a breaking change?

no

Most important changes

Kalman Filter which doesn't work yet, but does'nt break anything either

Checklist:

  • My code follows the style guidelines of this project
  • I have performed a self-review of my own code
  • I have commented my code, particularly in hard-to-understand areas
  • I have made corresponding changes to the documentation
  • My changes generate no new warnings
  • I have added tests that prove my fix is effective or that my feature works (might be obsolete with CI later on)
  • New and existing unit tests pass locally with my changes (might be obsolete with CI later on)

@robertik10
feat(#78): Added test for sensor precision of GPS and IMU
38b8e94
@robertik10
feat(#78): GPS and IMU debug finished
d1f6183 
Added error_publisher for both heading_error (IMU Sensor) and location_error (GPS Sensor)
@robertik10
feat(#78): GPS and IMU debug finished
62dc437 
Added error_publisher for both heading_error (IMU Sensor) and location_error (GPS Sensor)
@robertik10
feat(#78): fixed optimal GPS
632d3bc
@robertik10
feat(#78): new coordinate Transformation package
609b5f5
@robertik10
feat(#78): Added test for sensor precision of GPS and IMU
01f34ad
@robertik10
feat(#78): GPS and IMU debug finished
9c4de0e 
Added error_publisher for both heading_error (IMU Sensor) and location_error (GPS Sensor)
@robertik10
feat(#78): GPS and IMU debug finished
d2a24e6 
Added error_publisher for both heading_error (IMU Sensor) and location_error (GPS Sensor)
@robertik10
feat(#78): fixed optimal GPS
8dcc0fd
@robertik10
feat(#78): new coordinate Transformation package
528c5d8
@robertik10
Merge branch '78-feature-filtering-of-sensordata' of https://github.c…
eab959a 
…om/una-auxme/paf23 into 78-feature-filtering-of-sensordata
@robertik10
feat(#78): add kalman filter and sensor filter debug
dc1b16e 
doc(#78): add doc for kalman filter and sensor filter debug
bug(#121): fixed bug in pos publishing when starts in dev mode
@robertik10
feat(#78): add kalman filter and sensor filter debug
8dcf9f7 
doc(#78): add doc for kalman filter and sensor filter debug
bug(#121): fixed bug in pos publishing when starts in dev mode
@robertik10
feat(#78): removed carla API from sensor_filter_debug.py
2d7a574
@robertik10 robertik10 linked an issue Dec 3, 2023 that may be closed by this pull request
[Bug]: Can't publish current_pos in dev launch, because OpenDrive doesn't get published #121
Closed
@github-actions GitHub Actions
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github-actions bot commented Dec 4, 2023

Simulation results

Metric Value
Avg. driving score 0.014624
Avg. route completion 0.065
Avg. infraction penalty 0.33041
Collisions with pedestrians 0.0
Collisions with vehicles 112.841
Collisions with layout 225.683
Red lights infractions 0.0
Stop sign infractions 0.0
Off-road infractions 0.002
Route deviations 0.0
Route timeouts 225.683
Agent blocked 0.0
Yield emergency vehicles infractions 0.0
Scenario timeouts 225.683
Min speed infractions 0.0

samuelkuehnel
samuelkuehnel reviewed Dec 4, 2023
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  • Change command in docker-compose.yml to start the evaluation not the test run
  • Reset offset for trajectory display
  • Nice bugfix!

MaxJa4
MaxJa4 reviewed Dec 4, 2023
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code/requirements.txt Outdated Show resolved Hide resolved
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github-actions bot commented Dec 4, 2023

Simulation results

Metric Value
Avg. driving score 0.049635
Avg. route completion 0.21
Avg. infraction penalty 0.23331
Collisions with pedestrians 0.0
Collisions with vehicles 68.32
Collisions with layout 68.32
Red lights infractions 0.0
Stop sign infractions 0.0
Off-road infractions 0.01
Route deviations 0.0
Route timeouts 34.16
Agent blocked 34.16
Yield emergency vehicles infractions 0.0
Scenario timeouts 34.16
Min speed infractions 0.0

samuelkuehnel
samuelkuehnel approved these changes Dec 5, 2023
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Requests from last comment are done.

@robertik10 robertik10 merged commit 72f781f into main Dec 5, 2023
3 checks passed
@robertik10 robertik10 deleted the 78-feature-filtering-of-sensordata branch December 5, 2023 19:45
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@MaxJa4 MaxJa4 MaxJa4 left review comments

@samuelkuehnel samuelkuehnel samuelkuehnel approved these changes

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@robertik10 @samuelkuehnel @MaxJa4