145 distance of objects

[okrusch]

Description

• Minimum Distance Publisher (Issue: 144) -> Calculates Distance of closest object in a corridor right in front of the vehicle
• Mapping of LIDAR-Data into Image-Space

Fixes #144, #145

Type of change

Please delete options that are not relevant.

• New feature (non-breaking change which adds functionality)

Does this PR introduce a breaking change?

We should be able to avoid obstacles now. Also the LIDAR-Position has changes slightly in agent.py, because the Camera an the LIDAR have to be in the exact same posisiton.

Most important changes

Most important changes happened in lidar_distance.py.

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)

[github-actions]

Simulation results

Metric	Value
Avg. driving score	0.014925
Avg. route completion	0.245
Avg. infraction penalty	0.253853
Collisions with pedestrians	0.0
Collisions with vehicles	60.552
Collisions with layout	121.103
Red lights infractions	0.0
Stop sign infractions	0.0
Off-road infractions	0.015
Route deviations	0.0
Route timeouts	30.276
Agent blocked	30.276
Yield emergency vehicles infractions	0.0
Scenario timeouts	30.276
Min speed infractions	0.0

[github-actions]

Simulation results

Metric	Value
Avg. driving score	0.01962
Avg. route completion	0.145
Avg. infraction penalty	0.289448
Collisions with pedestrians	0.0
Collisions with vehicles	102.024
Collisions with layout	102.024
Red lights infractions	0.0
Stop sign infractions	0.0
Off-road infractions	0.009
Route deviations	0.0
Route timeouts	51.012
Agent blocked	51.012
Yield emergency vehicles infractions	0.0
Scenario timeouts	51.012
Min speed infractions	0.0

[MaxJa4]

Looks good!

Looking forward to the presentation of it today and its future application in PAF.

[github-actions]

Simulation results

Metric	Value
Avg. driving score	0.006825
Avg. route completion	0.015
Avg. infraction penalty	0.455
Collisions with pedestrians	0.0
Collisions with vehicles	0.0
Collisions with layout	930.763
Red lights infractions	0.0
Stop sign infractions	0.0
Off-road infractions	0
Route deviations	0.0
Route timeouts	930.763
Agent blocked	0.0
Yield emergency vehicles infractions	0.0
Scenario timeouts	930.763
Min speed infractions	0.0