Merge branch 'main' into revert-summer-commits

CMU-Robotics-Club · Aug 16, 2024 · 2e10993 · 2e10993
2 parents d8d2301 + d5ba5c5
commit 2e10993
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Showing 40 changed files with 481 additions and 1,448 deletions.
diff --git a/rb_ws/src/buggy/CMakeLists.txt b/rb_ws/src/buggy/CMakeLists.txt
@@ -54,6 +54,7 @@ add_message_files(
   FILES
   EncoderStatus.msg
   LoRaEvent.msg
+  TrajectoryMsg.msg
 )
 
 ## Generate services in the 'srv' folder

diff --git a/rb_ws/src/buggy/assets/cmutopo.dae b/rb_ws/src/buggy/assets/cmutopo.dae
diff --git a/rb_ws/src/buggy/assets/cmutopo.stl b/rb_ws/src/buggy/assets/cmutopo.stl
diff --git a/rb_ws/src/buggy/assets/cost_grid.png b/rb_ws/src/buggy/assets/cost_grid.png
diff --git a/rb_ws/src/buggy/assets/landmarks.json b/rb_ws/src/buggy/assets/landmarks.json
diff --git a/rb_ws/src/buggy/assets/sat_img.png b/rb_ws/src/buggy/assets/sat_img.png
diff --git a/rb_ws/src/buggy/assets/sat_img_resized.png b/rb_ws/src/buggy/assets/sat_img_resized.png
diff --git a/rb_ws/src/buggy/assets/satellite.png b/rb_ws/src/buggy/assets/satellite.png
diff --git a/rb_ws/src/buggy/assets/satellite_unflip.png b/rb_ws/src/buggy/assets/satellite_unflip.png
diff --git a/rb_ws/src/buggy/assets/satellite_unflip_crop_blacked.png b/rb_ws/src/buggy/assets/satellite_unflip_crop_blacked.png
diff --git a/rb_ws/src/buggy/assets/satellite_unflip_crop_raw.png b/rb_ws/src/buggy/assets/satellite_unflip_crop_raw.png
diff --git a/rb_ws/src/buggy/launch/sim_2d_2buggies.launch b/rb_ws/src/buggy/launch/sim_2d_2buggies.launch
@@ -1,13 +1,13 @@
 <launch>
     <arg name="sc_controller"     default="stanley" />
     <arg name="sc_start_pos"    default="Hill1_SC" />
-    <arg name="sc_velocity"         default="12.0" />
+    <arg name="sc_velocity"         default="15.0" />
 
     <arg name="nand_controller"     default="stanley" />
-    <arg name="nand_path"           default="buggycourse_safe_1.json" />
-    <arg name="sc_path"           default="buggycourse_safe_1.json" />
+    <arg name="nand_path"           default="buggycourse_safe.json" />
+    <arg name="sc_path"           default="buggycourse_safe.json" />
     <arg name="nand_start_pos"     default="Hill1_NAND" />
-    <arg name="nand_velocity"       default="10.0" />
+    <arg name="nand_velocity"       default="7.0" />
 
     <arg name="manual_vel"          default="false" />
     <arg name="auto_vel"            default="false" />
@@ -35,11 +35,11 @@
         args="$(arg nand_start_pos) $(arg nand_velocity) NAND"/>
 
     <!-- NAND is not aware of SC -->
-    <arg name="nand_autonsystem_args" default="--controller $(arg nand_controller) --dist 0.0 --traj $(arg nand_path) --self_name NAND --left_curb curb.json" />
+    <arg name="nand_autonsystem_args" default="--controller $(arg nand_controller) --dist 0.0 --traj $(arg nand_path) --self_name NAND" />
     <node name="nand_auton_system" pkg="buggy" type="autonsystem.py" output="screen"
         args="$(arg nand_autonsystem_args)"/>
 
-    <arg name="sc_autonsystem_args" default="--controller $(arg sc_controller) --dist 0.0 --traj $(arg sc_path) --self_name SC --other_name NAND --left_curb curb.json" />
+    <arg name="sc_autonsystem_args" default="--controller $(arg sc_controller) --dist 0.0 --traj $(arg sc_path) --self_name SC --other_name NAND" />
     <node name="sc_auton_system" pkg="buggy" type="autonsystem.py" output="screen"
         args="$(arg sc_autonsystem_args)"/>
 

diff --git a/rb_ws/src/buggy/launch/sim_2d_single.launch b/rb_ws/src/buggy/launch/sim_2d_single.launch
@@ -1,6 +1,6 @@
 <launch>
     <arg name="start_pos"        default="Hill1_SC" />
-    <arg name="autonsystem_args" default="--controller mpc --dist 0.0 --traj frew_test.json --self_name SC" />
+    <arg name="autonsystem_args" default="--controller stanley --dist 0.0 --traj buggycourse_safe.json --self_name SC" />
     <arg name="velocity"         default="15.0" />
     <arg name="buggy_name"       default="SC" />
 

diff --git a/rb_ws/src/buggy/msg/TrajectoryMsg.msg b/rb_ws/src/buggy/msg/TrajectoryMsg.msg
@@ -0,0 +1,4 @@
+float64 time
+float64 cur_idx
+float64[] easting
+float64[] northing
diff --git a/rb_ws/src/buggy/paths/curb.json → rb_ws/src/buggy/paths/buggycourse_curb.json b/rb_ws/src/buggy/paths/curb.json → rb_ws/src/buggy/paths/buggycourse_curb.json