From 44a371128b08ece6c0c8ed6d9c3f4461fc6bf240 Mon Sep 17 00:00:00 2001 From: PatXue <95881915+PatXue@users.noreply.github.com> Date: Mon, 18 Mar 2024 19:16:09 -0400 Subject: [PATCH 1/9] Split launch NAND and SC launch files --- .../launch/{main.launch => nand-main.launch} | 0 rb_ws/src/buggy/launch/sc-main.launch | 42 +++++++++++++++++++ 2 files changed, 42 insertions(+) rename rb_ws/src/buggy/launch/{main.launch => nand-main.launch} (100%) create mode 100755 rb_ws/src/buggy/launch/sc-main.launch diff --git a/rb_ws/src/buggy/launch/main.launch b/rb_ws/src/buggy/launch/nand-main.launch similarity index 100% rename from rb_ws/src/buggy/launch/main.launch rename to rb_ws/src/buggy/launch/nand-main.launch diff --git a/rb_ws/src/buggy/launch/sc-main.launch b/rb_ws/src/buggy/launch/sc-main.launch new file mode 100755 index 00000000..a51b212d --- /dev/null +++ b/rb_ws/src/buggy/launch/sc-main.launch @@ -0,0 +1,42 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + From 403c7c6aab9845ca8cb5133982366b5454115fea Mon Sep 17 00:00:00 2001 From: PatXue <95881915+PatXue@users.noreply.github.com> Date: Mon, 18 Mar 2024 19:23:32 -0400 Subject: [PATCH 2/9] NAND can only use stanley controller --- rb_ws/src/buggy/launch/nand-main.launch | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/rb_ws/src/buggy/launch/nand-main.launch b/rb_ws/src/buggy/launch/nand-main.launch index a51b212d..e4771cd6 100755 --- a/rb_ws/src/buggy/launch/nand-main.launch +++ b/rb_ws/src/buggy/launch/nand-main.launch @@ -1,9 +1,9 @@ - + - + From 4ca39522878c81baf2b44c3c84c49411b2e28d5f Mon Sep 17 00:00:00 2001 From: PatXue <95881915+PatXue@users.noreply.github.com> Date: Mon, 18 Mar 2024 19:38:25 -0400 Subject: [PATCH 3/9] Remove conditional launch for NAND --- rb_ws/src/buggy/launch/nand-main.launch | 13 ++----------- 1 file changed, 2 insertions(+), 11 deletions(-) diff --git a/rb_ws/src/buggy/launch/nand-main.launch b/rb_ws/src/buggy/launch/nand-main.launch index e4771cd6..54b7257f 100755 --- a/rb_ws/src/buggy/launch/nand-main.launch +++ b/rb_ws/src/buggy/launch/nand-main.launch @@ -28,15 +28,6 @@ - - - - - - - - - - - + + From 307233b1a6844b35047471e06d3a7128d085974d Mon Sep 17 00:00:00 2001 From: PatXue <95881915+PatXue@users.noreply.github.com> Date: Mon, 18 Mar 2024 19:45:00 -0400 Subject: [PATCH 4/9] Can no longer directly set autonsystem_args --- rb_ws/src/buggy/launch/nand-main.launch | 2 +- rb_ws/src/buggy/launch/sc-main.launch | 4 ++-- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/rb_ws/src/buggy/launch/nand-main.launch b/rb_ws/src/buggy/launch/nand-main.launch index 54b7257f..df206d02 100755 --- a/rb_ws/src/buggy/launch/nand-main.launch +++ b/rb_ws/src/buggy/launch/nand-main.launch @@ -28,6 +28,6 @@ - + diff --git a/rb_ws/src/buggy/launch/sc-main.launch b/rb_ws/src/buggy/launch/sc-main.launch index a51b212d..0b1ee767 100755 --- a/rb_ws/src/buggy/launch/sc-main.launch +++ b/rb_ws/src/buggy/launch/sc-main.launch @@ -32,11 +32,11 @@ - + - + From 5a5a2ac6c36e668f63ae8659ac3966bb0e3b72de Mon Sep 17 00:00:00 2001 From: PatXue <95881915+PatXue@users.noreply.github.com> Date: Mon, 18 Mar 2024 19:47:25 -0400 Subject: [PATCH 5/9] Change buggy name in remapping --- rb_ws/src/buggy/launch/nand-main.launch | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/rb_ws/src/buggy/launch/nand-main.launch b/rb_ws/src/buggy/launch/nand-main.launch index df206d02..9148b6a6 100755 --- a/rb_ws/src/buggy/launch/nand-main.launch +++ b/rb_ws/src/buggy/launch/nand-main.launch @@ -9,8 +9,8 @@ - - + + From 14efc36a62b94171c430d5a9eb0fdc62b0bcc1fe Mon Sep 17 00:00:00 2001 From: PatXue <95881915+PatXue@users.noreply.github.com> Date: Sun, 24 Mar 2024 13:01:44 -0400 Subject: [PATCH 6/9] Change serial port name to be correct --- rb_ws/src/buggy/launch/nand-main.launch | 6 +----- 1 file changed, 1 insertion(+), 5 deletions(-) diff --git a/rb_ws/src/buggy/launch/nand-main.launch b/rb_ws/src/buggy/launch/nand-main.launch index 9148b6a6..c0445de3 100755 --- a/rb_ws/src/buggy/launch/nand-main.launch +++ b/rb_ws/src/buggy/launch/nand-main.launch @@ -13,13 +13,9 @@ - + - - - - From 443934a45eb33510f12b2d729c0d2a16b8c86c34 Mon Sep 17 00:00:00 2001 From: PatXue <95881915+PatXue@users.noreply.github.com> Date: Sun, 24 Mar 2024 13:05:58 -0400 Subject: [PATCH 7/9] Remove microstrain filter --- rb_ws/src/buggy/launch/nand-main.launch | 4 ---- 1 file changed, 4 deletions(-) diff --git a/rb_ws/src/buggy/launch/nand-main.launch b/rb_ws/src/buggy/launch/nand-main.launch index c0445de3..08593c00 100755 --- a/rb_ws/src/buggy/launch/nand-main.launch +++ b/rb_ws/src/buggy/launch/nand-main.launch @@ -5,10 +5,6 @@ - - - - From 0c715fc7e161410eaa10308cdbf0e8291c61aa2a Mon Sep 17 00:00:00 2001 From: PatXue <95881915+PatXue@users.noreply.github.com> Date: Sun, 24 Mar 2024 13:16:55 -0400 Subject: [PATCH 8/9] Update README.md --- README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/README.md b/README.md index 9f0606ff..67387a90 100755 --- a/README.md +++ b/README.md @@ -122,7 +122,7 @@ Then `$ cd RoboBuggy2` - Go to docker container `$ docker_exec` - Open foxglove and do local connection to “ws://192.168.1.217/8765” -- Roslauch in docker container by `$ roslaunch buggy main.launch` +- Roslauch in docker container by `$ roslaunch buggy sc-main.launch` (or `$ roslaunch buggy nand-main.launch` for NAND) (wait until no longer prints “waiting for covariance to be better”) When shutting down the buggy: From e554b1362f2bdd0ec49649709a18f65790c5dfdd Mon Sep 17 00:00:00 2001 From: PatXue <95881915+PatXue@users.noreply.github.com> Date: Mon, 25 Mar 2024 18:10:30 -0400 Subject: [PATCH 9/9] Change wheelbase variable based on buggy_name --- rb_ws/src/buggy/scripts/auton/controller.py | 6 +++++- 1 file changed, 5 insertions(+), 1 deletion(-) diff --git a/rb_ws/src/buggy/scripts/auton/controller.py b/rb_ws/src/buggy/scripts/auton/controller.py index cf7120f8..08be1013 100755 --- a/rb_ws/src/buggy/scripts/auton/controller.py +++ b/rb_ws/src/buggy/scripts/auton/controller.py @@ -19,11 +19,15 @@ class Controller(ABC): NAND_WHEELBASE = 1.3 SC_WHEELBASE = 1.104 - WHEELBASE = SC_WHEELBASE current_traj_index = 0 def __init__(self, start_index, buggy_name) -> None: self.buggy_name = buggy_name + if buggy_name.upper() == 'NAND': + Controller.WHEELBASE = self.NAND_WHEELBASE + else: + Controller.WHEELBASE = self.SC_WHEELBASE + # self.trajectory_forward_1 = rospy.Publisher( # buggy_name + "/auton/debug/forward1_navsat", NavSatFix, queue_size=1 # )