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added buggystate file #101

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added buggystate file #101

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5bce68d
unfinished name changes
TiaSinghania Jun 9, 2024
b6e2f2f
renamed fields in pose
TiaSinghania Jun 9, 2024
3babdfb
added custom ros message
TiaSinghania Jun 9, 2024
3e42179
undid ros message and added unfinished translator class
TiaSinghania Jun 9, 2024
e74ef54
created skeleton of buggy-state
TiaSinghania Jun 10, 2024
5f9882b
updated auton_system to use buggy_state, added in todos
TiaSinghania Jun 11, 2024
00485fc
added gps update into buggystate
TiaSinghania Jun 12, 2024
ceb9750
added buggystate - NOTE: BREAKING COMMIT (haven't replaced instances …
TiaSinghania Jun 27, 2024
837bae4
Revert "Mehulg/pruning (#93)"
TiaSinghania Jun 27, 2024
57ad779
fixed last reverts, non-breaking code
TiaSinghania Jun 27, 2024
9520c84
oops reverted too far
TiaSinghania Jun 27, 2024
08da94a
pylint
TiaSinghania Jun 27, 2024
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420 changes: 210 additions & 210 deletions rb_ws/src/buggy/CMakeLists.txt
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121 changes: 121 additions & 0 deletions rb_ws/src/buggy/assets/cmutopo.dae
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Binary file added rb_ws/src/buggy/assets/cmutopo.stl
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Binary file added rb_ws/src/buggy/assets/cost_grid.png
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314 changes: 314 additions & 0 deletions rb_ws/src/buggy/assets/landmarks.json
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Original file line number Diff line number Diff line change
@@ -0,0 +1,314 @@
[
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"time": "213721.00",
"quality": "5",
"num_sats": "12",
"key": "walkoflife-213721.00",
"lat": 40.444168,
"lon": -79.94299933333333,
"active": false
},
{
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],
"time": "213933.00",
"quality": "5",
"num_sats": "12",
"key": "cfacut-213933.00",
"lat": 40.44388133333334,
"lon": -79.94313766666667,
"active": false
},
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],
"time": "214347.00",
"quality": "4",
"num_sats": "12",
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"lat": 40.44316983333333,
"lon": -79.94344550000001,
"active": false
},
{
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],
"time": "214535.00",
"quality": "5",
"num_sats": "12",
"key": "cutfence-214535.00",
"lat": 40.44286,
"lon": -79.94349766666666,
"active": false
},
{
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],
"time": "214704.00",
"quality": "5",
"num_sats": "12",
"key": "midcut-214704.00",
"lat": 40.44258766666667,
"lon": -79.94339450000001,
"active": false
},
{
"pixel": [
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],
"time": "214813.00",
"quality": "5",
"num_sats": "12",
"key": "fence-214813.00",
"lat": 40.442260499999996,
"lon": -79.94358066666668,
"active": false
},
{
"pixel": [
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],
"time": "214936.00",
"quality": "5",
"num_sats": "12",
"key": "mallfence-214936.00",
"lat": 40.44212,
"lon": -79.943908,
"active": false
},
{
"pixel": [
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],
"time": "215056.00",
"quality": "5",
"num_sats": "12",
"key": "dohertyleft-215056.00",
"lat": 40.442053,
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{
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"time": "215229.00",
"quality": "5",
"num_sats": "12",
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"lat": 40.442141666666664,
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{
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"time": "215428.00",
"quality": "2",
"num_sats": "12",
"key": "wean-215428.00",
"lat": 40.4423355,
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{
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"time": "215546.00",
"quality": "4",
"num_sats": "12",
"key": "porter-215546.00",
"lat": 40.44209816666667,
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{
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"time": "215747.00",
"quality": "4",
"num_sats": "12",
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"lat": 40.441795166666665,
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"time": "215942.00",
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{
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"time": "221202.00",
"quality": "4",
"num_sats": "12",
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{
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"time": "221458.00",
"quality": "4",
"num_sats": "12",
"key": "compass-221458.00",
"lat": 40.4422465,
"lon": -79.939632,
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{
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"time": "221745.00",
"quality": "5",
"num_sats": "12",
"key": "resnik-221745.00",
"lat": 40.442363166666674,
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{
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"time": "221921.00",
"quality": "4",
"num_sats": "12",
"key": "track-221921.00",
"lat": 40.4426285,
"lon": -79.93948016666667,
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{
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"time": "222114.00",
"quality": "4",
"num_sats": "12",
"key": "bballcourt-222114.00",
"lat": 40.44244466666667,
"lon": -79.94051433333334,
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{
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"time": "222257.00",
"quality": "2",
"num_sats": "12",
"key": "truck-222257.00",
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"lon": -79.94115933333333,
"active": false
}
]
Binary file added rb_ws/src/buggy/assets/sat_img.png
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Binary file added rb_ws/src/buggy/assets/sat_img_resized.png
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Binary file added rb_ws/src/buggy/assets/satellite.png
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Binary file added rb_ws/src/buggy/assets/satellite_unflip.png
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Binary file added rb_ws/src/buggy/assets/satellite_unflip_crop_blacked.png
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Binary file added rb_ws/src/buggy/assets/satellite_unflip_crop_raw.png
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2 changes: 1 addition & 1 deletion rb_ws/src/buggy/launch/sim_2d_single.launch
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Original file line number Diff line number Diff line change
@@ -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 mpc --dist 0.0 --traj buggycourse_safe_1.json --self_name SC" />
<arg name="velocity" default="15.0" />
<arg name="buggy_name" default="SC" />

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