Updated documentation and improved upon acting debugging. #479
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Added a new acting_debug launch file which launches only the necessary components for debugging. Updated the documentation for how to use the debugging node. Fixed a visual bug in the debug node where the trajectory was visualized wrongly.
WalkthroughThis pull request introduces a new launch file, Changes
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Actionable comments posted: 0
🧹 Outside diff range and nitpick comments (7)
code/acting/launch/acting_debug.launch (2)
1-7: Enhance documentation for better clarity.Consider improving the header comment and argument documentation:
- Add prerequisites and usage instructions
- Document the unit for
control_loop_rate(seconds)- Explain the significance of the "hero" role name
<!-- -This launch file starts acting as well as the debug node. +This launch file initializes the acting system with debugging capabilities. + +Prerequisites: + - Carla simulator running + - ROS core running + +Usage: + roslaunch acting acting_debug.launch [args] --> <launch> <arg name="role_name" default="hero" /> - <arg name="control_loop_rate" default="0.05" /> + <arg name="control_loop_rate" default="0.05" doc="Control loop period in seconds (20Hz)" /> <arg name="show_rqt_plots_automatically" default="true" />
20-30: Consider making filter type configurable via launch arguments.Currently, the filter type is hardcoded to "Kalman". For better flexibility, consider making it configurable:
<launch> + <arg name="pos_filter_type" default="Kalman" /> + <arg name="heading_filter_type" default="Kalman" /> ... <node pkg="perception" type="position_heading_publisher_node.py" name="position_heading_publisher_node" output="screen"> <param name="control_loop_rate" value="$(arg control_loop_rate)" /> <param name="role_name" value="$(arg role_name)" /> - <param name="pos_filter" value="Kalman" /> - <param name="heading_filter" value="Kalman" /> + <param name="pos_filter" value="$(arg pos_filter_type)" /> + <param name="heading_filter" value="$(arg heading_filter_type)" /> </node>doc/acting/acting_testing.md (3)
13-14: Fix typo in documentationThere's a typo in the word "necesarry" which should be "necessary".
-There is a dedicated [acting_debug.launch](../../code/acting/launch/acting_debug.launch) file which starts the acting component **as well as the necesarry perception components** automatically. +There is a dedicated [acting_debug.launch](../../code/acting/launch/acting_debug.launch) file which starts the acting component **as well as the necessary perception components** automatically.
21-24: Add missing comma and improve clarityThe sentence needs a comma after "As mentioned above", and it would be helpful to suggest backing up original configurations.
-As mentioned above this includes everything we need. +As mentioned above, this includes everything we need.Consider adding a note about backing up the original configuration files before making changes:
+- Before making changes, it's recommended to backup your original configuration files. - In [dev.launch](../../code/agent/launch/dev.launch) the [agent.launch](../../code/agent/launch/agent.launch) file is included.🧰 Tools
🪛 LanguageTool
[uncategorized] ~22-~22: Possible missing comma found.
Context: ...om the acting package. As mentioned above this includes everything we need. - In ...(AI_HYDRA_LEO_MISSING_COMMA)
34-35: Consider expanding plot configuration documentationThe mention of plot configurations in rqt-window could benefit from more detailed information, such as:
- Available plot types
- Common configuration examples
- Best practices for different debugging scenarios
Would you like assistance in expanding this section with more detailed documentation?
code/acting/src/acting/Acting_Debug_Node.py (2)
181-190: LGTM! Consider enhancing documentation.The addition of position tracking variables and the
z_visualparameter effectively addresses the trajectory visualization bug mentioned in the PR. The comments explain the purpose well.Consider adding a more specific comment about what "adjustment" might be needed for
z_visualand under what circumstances. This would help future maintainers understand when and how to tune this parameter.
Line range hint
308-316: Please clarify or remove the TODO comment.The position tracking implementation looks good, but there's an unclear TODO comment about spawn point usage. Consider either:
- Implementing the spawn point functionality if it's needed
- Removing the TODO if it's not necessary
- Adding more context about why/when this might be needed
This will help maintain clear documentation and avoid confusion for future developers.
Would you like me to help implement the spawn point functionality or create a GitHub issue to track this task?
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📒 Files selected for processing (3)
code/acting/launch/acting_debug.launch(1 hunks)code/acting/src/acting/Acting_Debug_Node.py(2 hunks)doc/acting/acting_testing.md(2 hunks)
🧰 Additional context used
🪛 LanguageTool
doc/acting/acting_testing.md
[uncategorized] ~22-~22: Possible missing comma found.
Context: ...om the acting package. As mentioned above this includes everything we need. - In ...
(AI_HYDRA_LEO_MISSING_COMMA)
🔇 Additional comments (5)
code/acting/launch/acting_debug.launch (3)
9-12: LGTM! Parameters are correctly forwarded to the base launch file.
32-39: Verify RViz configuration and consider making plot topics configurable.
- The RViz configuration is referenced from a different package (
agent). Let's verify its existence. - The rqt_plot topics seem specific to velocity testing. Consider making them configurable for different debugging scenarios.
#!/bin/bash
# Description: Verify RViz configuration file exists
# Test: Check if the rviz config exists
fd "rviz_config.rviz" --type f <launch>
+ <arg name="debug_plot_topics" default="/carla/hero/Speed /paf/hero/target_velocity /paf/hero/throttle /paf/hero/brake" />
...
<group if="$(arg show_rqt_plots_automatically)">
<node pkg="rqt_plot" type="rqt_plot" output="screen" name="velocity_test"
- args="/carla/hero/Speed /paf/hero/target_velocity /paf/hero/throttle /paf/hero/brake"/>
+ args="$(arg debug_plot_topics)"/>
</group>14-18: Verify debug node implementation.
The node configuration looks correct, but let's verify the implementation.
✅ Verification successful
Node implementation verified successfully
The Acting_Debug_Node correctly implements both required parameters:
role_nameviaself.get_param("role_name", "ego_vehicle")control_loop_rateviaself.get_param("control_loop_rate", 0.05)
🏁 Scripts executed
The following scripts were executed for the analysis:
Script:
#!/bin/bash
# Description: Verify Acting_Debug_Node.py exists and implements required parameters
# Test 1: Check if the node file exists
fd "Acting_Debug_Node.py" --type f
# Test 2: Verify parameter usage in the node
rg -A 5 "rospy.get_param\(['\"]control_loop_rate['\"]|rospy.get_param\(['\"]role_name['\"]" Acting_Debug_Node.py
Length of output: 328
Script:
#!/bin/bash
# Let's verify the node implementation with the correct path
rg -A 5 "rospy.get_param\(['\"]control_loop_rate['\"]|rospy.get_param\(['\"]role_name['\"]" code/acting/src/acting/Acting_Debug_Node.py
# Also check the general structure of the node
cat code/acting/src/acting/Acting_Debug_Node.py
Length of output: 17616
doc/acting/acting_testing.md (1)
Line range hint 1-43: Documentation successfully meets PR objectives
The documentation effectively covers all aspects mentioned in the PR objectives:
- Clear instructions for the new
acting_debug.launchfile - Comprehensive debugging setup guidance
- Configuration options for addressing visualization issues
The structure is well-organized and provides a good balance of high-level overview and detailed instructions.
🧰 Tools
🪛 LanguageTool
[uncategorized] ~22-~22: Possible missing comma found.
Context: ...om the acting package. As mentioned above this includes everything we need. - In ...
(AI_HYDRA_LEO_MISSING_COMMA)
code/acting/src/acting/Acting_Debug_Node.py (1)
300-300: LGTM! Good fix for trajectory visualization.
Replacing the hardcoded z-coordinate with the configurable z_visual parameter is a good improvement. This makes the trajectory height adjustable and fixes the visualization bug mentioned in the PR.
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seitzseb
deleted the
477-bug-update-documentation-for-acting_testingmd
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Added a new acting_debug launch file which launches only the necessary components for debugging. Updated the documentation for how to use the debugging node. Fixed a visual bug in the debug node where the trajectory was visualized wrongly.
Description
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Fixes # (issue)
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Summary by CodeRabbit
New Features
acting_debug.launch) for easier startup of acting and debugging components.Acting_Debug_Nodefor improved handling and visualization of agent positions.Documentation
acting_testing.mdwith clearer instructions for testing and tuning acting components, including new setup guides and operational details for theActing_Debug_Node.