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Auton overtake feature, as well as pylint fixes #39

Merged
merged 12 commits into from
Feb 14, 2024
Merged

Auton overtake feature, as well as pylint fixes #39

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4aaab3d
updated path planner and autonsystem, added option for building traje…
Jackack Nov 27, 2023
2322283
[BETA] obstacle avoidance
Jackack Jan 20, 2024
6749321
added halfplane constraints to MPC
Jackack Jan 30, 2024
8ce841d
Switched path planning to use offsets along the path normal
Jackack Feb 3, 2024
bf3438f
Cleaned up unused code, added comments
Jackack Feb 3, 2024
87acd66
CI (#19)
christianvluu Nov 30, 2023
af61d0c
pylint fixes
Jackack Feb 3, 2024
41f88ed
removed ROSbags
Jackack Feb 3, 2024
ed628da
added changes requested
Jackack Feb 4, 2024
334c3df
Merge branch 'main' into AutonOvertake
Jackack Feb 14, 2024
e5f891c
Fixed merge issues
Jackack Feb 14, 2024
13f7d10
Updated velocity ui window title
Jackack Feb 14, 2024
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Empty file modified rb_ws/src/buggy/launch/main.launch
100644 → 100755
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66 changes: 37 additions & 29 deletions rb_ws/src/buggy/launch/sim_2d_2buggies.launch
100644 → 100755
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Original file line number Diff line number Diff line change
@@ -1,40 +1,48 @@
<!-- roslaunch buggy main.launch simulation:=true -->
<!-- roslaunch buggy main.launch simulation:=false -->
<!-- <arg name="name" value="INS" /> -->

<launch>
<arg name="sc_controller" default="stanley" />
<arg name="sc_start_dist" default="0.0" />
<arg name="sc_path" default="buggycourse_safe_1.json" />
<arg name="sc_starting_pose" default="Hill1_SC" />
<arg name="sc_velocity" default="15.0" />

<arg name="nand_controller" default="stanley" />
<arg name="nand_start_dist" default="30.0" />
<arg name="nand_path" default="buggycourse_safe_1.json" />

<arg name="nand_starting_pose" default="Hill1_NAND" />
<arg name="nand_velocity" default="12.0" />

<arg name="nand_velocity" default="10.0" />
<arg name="manual_vel" default="true" />
<arg name="auto_vel" default="false" />

<group if="$(arg auto_vel)">
<!-- Run the auto velocity updater -->
<node name="nand_vel_updater" pkg="buggy" type="velocity_updater.py"
output="screen" args="$(arg nand_velocity) NAND"/>
<node name="sc_vel_updater" pkg="buggy" type="velocity_updater.py"
output="screen" args="$(arg sc_velocity) SC"/>
</group>

<group if="$(arg manual_vel)">
<!-- Run the manual velocity updater -->
<node name="sc_velocity_ui" pkg="buggy" type="velocity_ui.py"
output="screen" args="$(arg sc_velocity) SC"/>
<node name="nand_velocity_ui" pkg="buggy" type="velocity_ui.py"
output="screen" args="$(arg nand_velocity) NAND"/>
</group>

<node name="foxglove" pkg="foxglove_bridge" type="foxglove_bridge" />


<node name="nand_sim_2d_engine" pkg="buggy" type="engine.py" output="screen"
args="$(arg nand_starting_pose) $(arg nand_velocity) NAND"/>

<!-- NAND is not aware of SC -->
<arg name="nand_autonsystem_args" default="--controller stanley --dist 0.0 --traj buggycourse_safe_1.json --self_name NAND" />
<node name="nand_auton_system" pkg="buggy" type="autonsystem.py" output="screen"
args="$(arg nand_autonsystem_args)"/>

<node name="sc_sim_2d_engine" pkg="buggy" type="engine.py" output="screen"
args="$(arg sc_starting_pose) $(arg sc_velocity) SC"/>
<node name="sc_vel_updater" pkg="buggy" type="velocity_updater.py"
output="screen" args="$(arg sc_velocity) SC"/>
<node name="sc_velocity_ui" pkg="buggy" type="velocity_ui.py"
output="screen" args="$(arg sc_velocity) SC"/>

<!-- autonsystem args: controller start_dist path buggy_name is_sim -->
<node name="sc_auton_system" pkg="buggy" type="autonsystem.py" output="screen"
args="$(arg sc_controller) $(arg sc_start_dist) $(arg sc_path) SC True"/>

<node name="nand_sim_2d_engine" pkg="buggy" type="engine.py" output="screen"
args="$(arg nand_starting_pose) $(arg nand_velocity) Nand"/>
<node name="nand_vel_updater" pkg="buggy" type="velocity_updater.py"
output="screen" args="$(arg nand_velocity) Nand"/>
<node name="nand_velocity_ui" pkg="buggy" type="velocity_ui.py"
output="screen" args="$(arg nand_velocity) Nand"/>

<node name="nand_auton_system" pkg="buggy" type="autonsystem.py" output="screen"
args="$(arg nand_controller) $(arg nand_start_dist) $(arg nand_path) Nand True"/>

<arg name="sc_autonsystem_args" default="--controller stanley --dist 0.0 --traj buggycourse_safe_1.json --self_name SC --other_name NAND" />
<node name="sc_auton_system" pkg="buggy" type="autonsystem.py" output="screen"
args="$(arg sc_autonsystem_args)"/>


</launch>
35 changes: 21 additions & 14 deletions rb_ws/src/buggy/launch/sim_2d_single.launch
100644 → 100755
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Original file line number Diff line number Diff line change
@@ -1,23 +1,30 @@
<!-- roslaunch buggy main.launch simulation:=true -->
<!-- roslaunch buggy main.launch simulation:=false -->
<!-- <arg name="name" value="INS" /> -->

<launch>
<arg name="buggy_name" default="SC" />
<arg name="controller" default="stanley" />
<arg name="start_dist" default="0.0" />
<arg name="path" default="buggycourse_safe_1.json" />
<arg name="autonsystem_args" default="--controller stanley --dist 0.0 --traj buggycourse_safe_1.json --self_name SC" />
<arg name="starting_pose" default="Hill1_SC" />
<arg name="velocity" default="15.0" />

<arg name="buggy_name" default="SC" />

<node name="foxglove" pkg="foxglove_bridge" type="foxglove_bridge" />

<arg name="manual_vel" default="true" />
<arg name="auto_vel" default="false" />

<group if="$(arg auto_vel)">
<!-- Run the auto velocity updater -->
<node name="sc_vel_updater" pkg="buggy" type="velocity_updater.py"
output="screen" args="$(arg velocity) SC"/>
</group>

<group if="$(arg manual_vel)">
<!-- Run the manual velocity updater -->
<node name="sc_velocity_ui" pkg="buggy" type="velocity_ui.py"
output="screen" args="$(arg velocity) SC"/>
</group>

<node name="sim_2d_engine" pkg="buggy" type="engine.py" output="screen"
args="$(arg starting_pose) $(arg velocity) $(arg buggy_name)"/>
<node name="vel_updater" pkg="buggy" type="velocity_updater.py"
output="screen" args="$(arg velocity) $(arg buggy_name)"/>
<!-- autonsystem args: controller start_dist path buggy_name is_sim -->
<node name="auton_system" pkg="buggy" type="autonsystem.py" output="screen"
args="$(arg controller) $(arg start_dist) $(arg path) $(arg buggy_name) True"/>

<node name="auton_system" pkg="buggy" type="autonsystem.py" output="screen"
args="$(arg autonsystem_args)"/>

</launch>
22 changes: 13 additions & 9 deletions rb_ws/src/buggy/scripts/2d_sim/engine.py
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Original file line number Diff line number Diff line change
@@ -1,13 +1,15 @@
#! /usr/bin/env python3

import sys
import threading

import rospy
from geometry_msgs.msg import Pose, Twist, PoseWithCovariance, TwistWithCovariance
from std_msgs.msg import Float64
from sensor_msgs.msg import NavSatFix
from nav_msgs.msg import Odometry
import numpy as np
import utm
import rospy


class Simulator:
Expand Down Expand Up @@ -44,14 +46,16 @@ def __init__(self, starting_pose, velocity, buggy_name):
buggy_name + "/state/pose_navsat", NavSatFix, queue_size=1
)

# to plot on Foxglove (with noise)
self.navsatfix_noisy_publisher = rospy.Publisher(
buggy_name + "/state/pose_navsat_noisy", NavSatFix, queue_size=1
)
if Simulator.NOISE:
# to plot on Foxglove (with noise)
self.navsatfix_noisy_publisher = rospy.Publisher(
buggy_name + "/state/pose_navsat_noisy", NavSatFix, queue_size=1
)

# (UTM east, UTM north, HEADING(degs))
self.starting_poses = {
"Hill1_SC": (Simulator.UTM_EAST_ZERO + 60, Simulator.UTM_NORTH_ZERO + 150, -110),
"Hill1_NAND": (Simulator.UTM_EAST_ZERO + 55, Simulator.UTM_NORTH_ZERO + 165, -125),
"Hill1_NAND": (Simulator.UTM_EAST_ZERO + 0, Simulator.UTM_NORTH_ZERO + 0, -110),
"Hill1_SC": (Simulator.UTM_EAST_ZERO + 20, Simulator.UTM_NORTH_ZERO + 30, -110),
}

# Start position for End of Hill 2
Expand All @@ -70,8 +74,8 @@ def __init__(self, starting_pose, velocity, buggy_name):
self.velocity = velocity # m/s

self.steering_angle = 0 # degrees
self.rate = 100 # Hz
self.pub_skip = 10 # publish every pub_skip ticks
self.rate = 200 # Hz
self.pub_skip = 1 # publish every pub_skip ticks

self.lock = threading.Lock()

Expand Down
4 changes: 2 additions & 2 deletions rb_ws/src/buggy/scripts/2d_sim/velocity_ui.py
100644 → 100755
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Original file line number Diff line number Diff line change
Expand Up @@ -13,7 +13,7 @@ def __init__(self, init_vel: float, buggy_name: str):

self.root = tk.Tk()

self.root.title('Manual Velocity')
self.root.title(buggy_name + ' Manual Velocity: scale = 0.1m/s')
self.root.geometry('600x100')
self.root.configure(background = '#342d66')

Expand All @@ -24,7 +24,7 @@ def __init__(self, init_vel: float, buggy_name: str):
self.root.bind("<Down>", lambda d: self.scale.set(self.scale.get() - 2))

def step(self):
"""sets velocity of buggy to the current scale value
"""sets velocity of buggy to the current scale value
called once every tick
"""
self.root.update_idletasks()
Expand Down
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