diff --git a/ROS 2 Packages/f1tenth/README.md b/ROS 2 Packages/f1tenth/README.md new file mode 100644 index 0000000..3a5f0f3 --- /dev/null +++ b/ROS 2 Packages/f1tenth/README.md @@ -0,0 +1,121 @@ +# f1tenth_system + +Drivers onboard f1tenth race cars. This branch is under development for migration to ROS2. See the [documentation of F1TENTH](https://f1tenth.readthedocs.io/en/foxy_test/getting_started/firmware/index.html) on how to get started. + +## Deadman's switch +On Logitech F-710 joysticks, the LB button is the deadman's switch for teleop, and the RB button is the deadman's switch for navigation. You can also remap buttons. See how on the readthedocs documentation. + +## Topics + +### Topics that the driver stack subscribe to +- `/drive`: Topic for autonomous navigation, uses `AckermannDriveStamped` messages. + +### Sensor topics published by the driver stack +- `/scan`: Topic for `LaserScan` messages. +- `/ego_racecar/odom`: Topic for `Odometry` messages. +- `/sensors/imu/raw`: Topic for `Imu` messages. +- `/sensors/core`: Topic for telemetry data from the VESC + +## External Dependencies + +1. ackermann_msgs [https://index.ros.org/r/ackermann_msgs/#foxy](https://index.ros.org/r/ackermann_msgs/#foxy). +2. urg_node [https://index.ros.org/p/urg_node/#foxy](https://index.ros.org/p/urg_node/#foxy). This is the driver for Hokuyo LiDARs. +3. joy [https://index.ros.org/p/joy/#foxy](https://index.ros.org/p/joy/#foxy). This is the driver for joysticks in ROS 2. +4. teleop_tools [https://index.ros.org/p/teleop_tools/#foxy](https://index.ros.org/p/teleop_tools/#foxy). This is the package for teleop with joysticks in ROS 2. +5. vesc [GitHub - f1tenth/vesc at ros2](https://github.com/f1tenth/vesc/tree/ros2). This is the driver for VESCs in ROS 2. +6. ackermann_mux [GitHub - f1tenth/ackermann_mux: Twist multiplexer](https://github.com/f1tenth/ackermann_mux). This is a package for multiplexing ackermann messages in ROS 2. + + +## Package in this repo + +1. f1tenth_stack: maintains the bringup launch and all parameter files + +## Nodes launched in bringup + +1. joy +2. joy_teleop +3. ackermann_to_vesc_node +4. vesc_to_odom_node +5. vesc_driver_node +6. urg_node +7. ackermann_mux + +## Parameters and topics for dependencies + +### vesc_driver + +1. Parameters: + - duty_cycle_min, duty_cycle_max + - current_min, current_max + - brake_min, brake_max + - speed_min, speed_max + - position_min, position_max + - servo_min, servo_max +2. Publishes to: + - sensors/core + - sensors/servo_position_command + - sensors/imu + - sensors/imu/raw +3. Subscribes to: + - commands/motor/duty_cycle + - commands/motor/current + - commands/motor/brake + - commands/motor/speed + - commands/motor/position + - commands/servo/position + +### ackermann_to_vesc + +1. Parameters: + - speed_to_erpm_gain + - speed_to_erpm_offset + - steering_angle_to_servo_gain + - steering_angle_to_servo_offset +2. Publishes to: + - ackermann_cmd +3. Subscribes to: + - commands/motor/speed + - commands/servo/position + +### vesc_to_odom + +1. Parameters: + - odom_frame + - base_frame + - use_servo_cmd_to_calc_angular_velocity + - speed_to_erpm_gain + - speed_to_erpm_offset + - steering_angle_to_servo_gain + - steering_angle_to_servo_offset + - wheelbase + - publish_tf +2. Publishes to: + - odom +3. Subscribes to: + - sensors/core + - sensors/servo_position_command + +### throttle_interpolator + +1. Parameters: + - rpm_input_topic + - rpm_output_topic + - servo_input_topic + - servo_output_topic + - max_acceleration + - speed_max + - speed_min + - throttle_smoother_rate + - speed_to_erpm_gain + - max_servo_speed + - steering_angle_to_servo_gain + - servo_smoother_rate + - servo_max + - servo_min + - steering_angle_to_servo_offset +2. Publishes to: + - topic described in rpm_output_topic + - topic described in servo_output_topic +3. Subscribes to: + - topic described in rpm_input_topic + - topic described in servo_input_topic diff --git a/ROS 2 Packages/f1tenth/ackermann_mux/.gitignore b/ROS 2 Packages/f1tenth/ackermann_mux/.gitignore new file mode 100644 index 0000000..0d20b64 --- /dev/null +++ b/ROS 2 Packages/f1tenth/ackermann_mux/.gitignore @@ -0,0 +1 @@ +*.pyc diff --git a/ROS 2 Packages/f1tenth/ackermann_mux/CHANGELOG.rst b/ROS 2 Packages/f1tenth/ackermann_mux/CHANGELOG.rst new file mode 100644 index 0000000..5ca7932 --- /dev/null +++ b/ROS 2 Packages/f1tenth/ackermann_mux/CHANGELOG.rst @@ -0,0 +1,50 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package ackermann mux +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.0.1 (2021-09-21) +------------------ +* moving from twist mux to ackermann mux +* Contributors: Hongrui Zheng + +4.0.0 (2021-06-16) +------------------ +* Foxy migration (`#25 `_) +* Contributors: Victor Lopez + +3.1.0 (2018-06-25) +------------------ + +3.0.0 (2016-07-12) +------------------ +* Merge pull request `#8 `_ from ros-teleop/update_jade_from_indigo_devel + fix queue_size SyntaxWarning +* fix queue_size SyntaxWarning +* Update README.md + Add documentation link and build status. +* Contributors: Enrique Fernández Perdomo, Jeremie Deray + +2.0.0 (2015-05-22) +------------------ +* Add rosindex tags + http://rosindex.github.io/contribute/metadata/#metadata-elements +* Add missed test dependencies on rospy, rostopic +* Add .gitignore for *.pyc in test +* Fix rostest dependency +* Contributors: Enrique Fernandez + +1.0.3 (2015-04-04) +------------------ +* Update maintainer email +* Contributors: Enrique Fernandez + +1.0.2 (2014-11-14) +------------------ +* Increase version to 1.0.1 for indigo release +* Add diagnostic_updater dependency +* Contributors: Enrique Fernández + +0.0.1 (2014-11-13) +------------------ +* Add twist multiplexer +* Contributors: Enrique Fernandez, Siegfried Gevatter, Paul Mathieu diff --git a/ROS 2 Packages/f1tenth/ackermann_mux/CMakeLists.txt b/ROS 2 Packages/f1tenth/ackermann_mux/CMakeLists.txt new file mode 100644 index 0000000..e3585e9 --- /dev/null +++ b/ROS 2 Packages/f1tenth/ackermann_mux/CMakeLists.txt @@ -0,0 +1,71 @@ +cmake_minimum_required(VERSION 3.5) + +project(ackermann_mux) + +if(NOT CMAKE_CXX_STANDARD) + set(CMAKE_CXX_STANDARD 14) +endif() + +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() + +find_package(ament_cmake REQUIRED) +find_package(rclcpp REQUIRED) +find_package(std_msgs REQUIRED) +find_package(ackermann_msgs REQUIRED) +find_package(diagnostic_updater REQUIRED) + +include_directories(include) + +set( + DEPENDENCIES + "rclcpp" + "std_msgs" + "ackermann_msgs" + "diagnostic_updater" +) + +add_executable(ackermann_mux + src/ackermann_mux.cpp + src/ackermann_mux_node.cpp + src/ackermann_mux_diagnostics.cpp +) +ament_target_dependencies(ackermann_mux ${DEPENDENCIES}) + +install( + TARGETS ackermann_mux + ARCHIVE DESTINATION lib + LIBRARY DESTINATION lib + RUNTIME DESTINATION lib/${PROJECT_NAME} +) + +# Pending to test ROS2 migration +#install( +# PROGRAMS scripts/joystick_relay.py +# DESTINATION lib/${PROJECT_NAME} +#) + +foreach(dir launch config) + install(DIRECTORY ${dir}/ + DESTINATION share/${PROJECT_NAME}/${dir}) +endforeach() + +install( + DIRECTORY include/ + DESTINATION include +) + +if(BUILD_TESTING) + find_package(ament_lint_auto REQUIRED) + ament_lint_auto_find_test_dependencies() + + # find_package(launch_testing_ament_cmake) + # add_launch_test(test/system.test.py) +endif() + +ament_export_include_directories(include) + +ament_export_dependencies(${DEPENDENCIES}) + +ament_package() diff --git a/ROS 2 Packages/f1tenth/ackermann_mux/CONTRIBUTING.md b/ROS 2 Packages/f1tenth/ackermann_mux/CONTRIBUTING.md new file mode 100644 index 0000000..357f91d --- /dev/null +++ b/ROS 2 Packages/f1tenth/ackermann_mux/CONTRIBUTING.md @@ -0,0 +1,57 @@ +# Contributing Guidelines +Thank you for your interest in contributing to this project +Whether it's a bug report, new feature, correction, or additional +documentation, we greatly value feedback and contributions from our community. + +Please read through this document before submitting any issues or pull requests to ensure we have all the necessary +information to effectively respond to your bug report or contribution. + + +## Reporting Bugs/Feature Requests +We welcome you to use the GitHub issue tracker to report bugs or suggest features. + +When filing an issue, please check existing open issues, or recently closed, issues to make sure + somebody else hasn't already reported the issue. +Please try to include as much information as you can. Details like these are incredibly useful: + +* A reproducible test case or series of steps +* The version of our code being used +* Any modifications you've made relevant to the bug +* Anything unusual about your environment or deployment + + +## Contributing via Pull Requests +Contributions via pull requests are much appreciated. +Before sending us a pull request, please ensure that: + +1. You are working against the latest source on the *master* branch. +2. You check existing open, and recently merged, pull requests to make sure someone else hasn't addressed the problem already. +3. You open an issue to discuss any significant work - we would hate for your time to be wasted. + +To send us a pull request, please: + +1. Fork the repository. +2. Modify the source; please focus on the specific change you are contributing. + If you also reformat all the code, it will be hard for us to focus on your change. +3. Ensure local tests pass. (`colcon test`) +4. 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+# - timeout : == 0.0 -> not used +# > 0.0 -> the lock is supposed to published at a certain frequency in order +# to detect that the publisher is alive; the timeout in seconds allows +# to detect that, and if the publisher dies we will enable the lock +# - priority: priority in the range [0, 255], so all the topics with priority lower than it +# will be stopped/disabled + +twist_mux: + ros__parameters: + locks: + pause: + topic : pause_navigation + timeout : 0.0 + # Same priority as joystick control, so it'll not block it. + priority: 100 + loop_closure: + topic : stop_closing_loop + timeout : 0.0 + priority: 200 + joystick : + topic : joy_priority + timeout : 0.0 + priority: 100 diff --git a/ROS 2 Packages/f1tenth/ackermann_mux/config/ackermann_mux_topics.yaml b/ROS 2 Packages/f1tenth/ackermann_mux/config/ackermann_mux_topics.yaml new file mode 100644 index 0000000..45628d4 --- /dev/null +++ b/ROS 2 Packages/f1tenth/ackermann_mux/config/ackermann_mux_topics.yaml @@ -0,0 +1,26 @@ +# Input topics handled/muxed. +# For each topic: +# - name : name identifier to select the topic (*sub-namespace, see below) +# - topic : input topic of geometry_msgs::Twist type +# - timeout : timeout in seconds to start discarding old messages, and use 0.0 speed instead +# - priority: priority in the range [0, 255]; the higher the more priority over other topics + +twist_mux: + ros__parameters: + topics: + navigation: + topic : nav_vel + timeout : 0.5 + priority: 10 + joystick: + topic : joy_vel + timeout : 0.5 + priority: 100 + keyboard: + topic : key_vel + timeout : 0.5 + priority: 90 + tablet: + topic : tab_vel + timeout : 0.5 + priority: 100 diff --git a/ROS 2 Packages/f1tenth/ackermann_mux/config/joystick.yaml b/ROS 2 Packages/f1tenth/ackermann_mux/config/joystick.yaml new file mode 100644 index 0000000..a328837 --- /dev/null +++ b/ROS 2 Packages/f1tenth/ackermann_mux/config/joystick.yaml @@ -0,0 +1,11 @@ +joystick_relay: + ros__parameters: + priority: True + turbo: + linear_forward_min : 0.5 + linear_forward_max : 1.0 + linear_backward_min : 0.25 + linear_backward_max : 0.5 + angular_min : 0.7 + angular_max : 1.2 + steps : 4 diff --git a/ROS 2 Packages/f1tenth/ackermann_mux/include/ackermann_mux/ackermann_mux.hpp b/ROS 2 Packages/f1tenth/ackermann_mux/include/ackermann_mux/ackermann_mux.hpp new file mode 100644 index 0000000..f036d21 --- /dev/null +++ b/ROS 2 Packages/f1tenth/ackermann_mux/include/ackermann_mux/ackermann_mux.hpp @@ -0,0 +1,113 @@ +// Copyright 2020 PAL Robotics S.L. +// +// Redistribution and use in source and binary forms, with or without +// modification, are permitted provided that the following conditions are met: +// +// * Redistributions of source code must retain the above copyright +// notice, this list of conditions and the following disclaimer. +// +// * Redistributions in binary form must reproduce the above copyright +// notice, this list of conditions and the following disclaimer in the +// documentation and/or other materials provided with the distribution. +// +// * Neither the name of the PAL Robotics S.L. nor the names of its +// contributors may be used to endorse or promote products derived from +// this software without specific prior written permission. +// +// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE +// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +// POSSIBILITY OF SUCH DAMAGE. + +/* + * @author Enrique Fernandez + * @author Siegfried Gevatter + * @author Jeremie Deray + * @author Hongrui Zheng + */ + +#ifndef ACKERMANN_MUX__ACKERMANN_MUX_HPP_ +#define ACKERMANN_MUX__ACKERMANN_MUX_HPP_ + +#include +#include +#include + +#include +#include +#include + +using std::chrono_literals::operator""s; + +namespace ackermann_mux +{ +// Forwarding declarations: +class AckermannMuxDiagnostics; +struct AckermannMuxDiagnosticsStatus; +class VelocityTopicHandle; +class LockTopicHandle; + +/** + * @brief The AckermannMux class implements a top-level ackermann multiplexer module + * that priorize different velocity command topic inputs according to locks. + */ +class AckermannMux : public rclcpp::Node +{ +public: + template + using handle_container = std::list; + + using velocity_topic_container = handle_container; + using lock_topic_container = handle_container; + + explicit AckermannMux(); + ~AckermannMux() = default; + + void init(); + + bool hasPriority(const VelocityTopicHandle & ackermann); + + void publishAckermann(const ackermann_msgs::msg::AckermannDriveStamped::ConstSharedPtr & msg); + + void updateDiagnostics(); + +protected: + typedef AckermannMuxDiagnostics diagnostics_type; + typedef AckermannMuxDiagnosticsStatus status_type; + + rclcpp::TimerBase::SharedPtr diagnostics_timer_; + + static constexpr std::chrono::duration DIAGNOSTICS_PERIOD = 1s; + + /** + * @brief velocity_hs_ Velocity topics' handles. + * Note that if we use a vector, as a consequence of the re-allocation and + * the fact that we have a subscriber inside with a pointer to 'this', we + * must reserve the number of handles initially. + */ + std::shared_ptr velocity_hs_; + std::shared_ptr lock_hs_; + + rclcpp::Publisher::SharedPtr cmd_pub_; + + ackermann_msgs::msg::AckermannDriveStamped last_cmd_; + + template + void getTopicHandles(const std::string & param_name, handle_container & topic_hs); + + int getLockPriority(); + + std::shared_ptr diagnostics_; + std::shared_ptr status_; +}; + +} // namespace ackermann_mux + +#endif // ACKERMANN_MUX__ACKERMANN_MUX_HPP_ diff --git a/ROS 2 Packages/f1tenth/ackermann_mux/include/ackermann_mux/ackermann_mux_diagnostics.hpp b/ROS 2 Packages/f1tenth/ackermann_mux/include/ackermann_mux/ackermann_mux_diagnostics.hpp new file mode 100644 index 0000000..9bbcca3 --- /dev/null +++ b/ROS 2 Packages/f1tenth/ackermann_mux/include/ackermann_mux/ackermann_mux_diagnostics.hpp @@ -0,0 +1,80 @@ +// Copyright 2020 PAL Robotics S.L. +// +// Redistribution and use in source and binary forms, with or without +// modification, are permitted provided that the following conditions are met: +// +// * Redistributions of source code must retain the above copyright +// notice, this list of conditions and the following disclaimer. +// +// * Redistributions in binary form must reproduce the above copyright +// notice, this list of conditions and the following disclaimer in the +// documentation and/or other materials provided with the distribution. +// +// * Neither the name of the PAL Robotics S.L. nor the names of its +// contributors may be used to endorse or promote products derived from +// this software without specific prior written permission. +// +// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE +// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +// POSSIBILITY OF SUCH DAMAGE. + +/* + * @author Enrique Fernandez + * @author Jeremie Deray + * @author Brighten Lee + * @author Hongrui Zheng + */ + +#ifndef ACKERMANN_MUX__ACKERMANN_MUX_DIAGNOSTICS_HPP_ +#define ACKERMANN_MUX__ACKERMANN_MUX_DIAGNOSTICS_HPP_ + +#include + +#include + +#include + +namespace ackermann_mux +{ +class AckermannMuxDiagnostics +{ +public: + typedef AckermannMuxDiagnosticsStatus status_type; + + static constexpr double MAIN_LOOP_TIME_MIN = 0.2; // [s] + static constexpr double READING_AGE_MIN = 3.0; // [s] + + explicit AckermannMuxDiagnostics(AckermannMux * mux); + virtual ~AckermannMuxDiagnostics() = default; + + void diagnostics(diagnostic_updater::DiagnosticStatusWrapper & stat); + + void update(); + + void updateStatus(const status_type::ConstPtr & status); + +private: + /** + * @brief Levels + */ + enum + { + OK = diagnostic_msgs::msg::DiagnosticStatus::OK, + WARN = diagnostic_msgs::msg::DiagnosticStatus::WARN, + ERROR = diagnostic_msgs::msg::DiagnosticStatus::ERROR + }; + + std::shared_ptr diagnostic_; + std::shared_ptr status_; +}; +} // namespace ackermann_mux + +#endif // ACKERMANN_MUX__ACKERMANN_MUX_DIAGNOSTICS_HPP_ diff --git a/ROS 2 Packages/f1tenth/ackermann_mux/include/ackermann_mux/ackermann_mux_diagnostics_status.hpp b/ROS 2 Packages/f1tenth/ackermann_mux/include/ackermann_mux/ackermann_mux_diagnostics_status.hpp new file mode 100644 index 0000000..767c6b7 --- /dev/null +++ b/ROS 2 Packages/f1tenth/ackermann_mux/include/ackermann_mux/ackermann_mux_diagnostics_status.hpp @@ -0,0 +1,78 @@ +// Copyright 2020 PAL Robotics S.L. +// +// Redistribution and use in source and binary forms, with or without +// modification, are permitted provided that the following conditions are met: +// +// * Redistributions of source code must retain the above copyright +// notice, this list of conditions and the following disclaimer. +// +// * Redistributions in binary form must reproduce the above copyright +// notice, this list of conditions and the following disclaimer in the +// documentation and/or other materials provided with the distribution. +// +// * Neither the name of the PAL Robotics S.L. nor the names of its +// contributors may be used to endorse or promote products derived from +// this software without specific prior written permission. +// +// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE +// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +// POSSIBILITY OF SUCH DAMAGE. + +/* + * @author Enrique Fernandez + * @author Jeremie Deray + * @author Brighten Lee + * @author Hongrui Zheng + */ + +#ifndef ACKERMANN_MUX__ACKERMANN_MUX_DIAGNOSTICS_STATUS_HPP_ +#define ACKERMANN_MUX__ACKERMANN_MUX_DIAGNOSTICS_STATUS_HPP_ + +#include +#include + +#include + +#include + +namespace ackermann_mux +{ +struct AckermannMuxDiagnosticsStatus +{ + typedef std::shared_ptr Ptr; + typedef std::shared_ptr ConstPtr; + + double reading_age; + rclcpp::Time last_loop_update; + double main_loop_time; + + LockTopicHandle::priority_type priority; + + std::shared_ptr velocity_hs; + std::shared_ptr lock_hs; + + AckermannMuxDiagnosticsStatus() + : reading_age(0), + last_loop_update(rclcpp::Clock().now()), + main_loop_time(0), + priority(0) + { + velocity_hs = std::make_shared(); + lock_hs = std::make_shared(); + } +}; + +typedef AckermannMuxDiagnosticsStatus::Ptr AckermannMuxDiagnosticsStatusPtr; +typedef AckermannMuxDiagnosticsStatus::ConstPtr AckermannMuxDiagnosticsStatusConstPtr; + +} // namespace ackermann_mux + +#endif // ACKERMANN_MUX__ACKERMANN_MUX_DIAGNOSTICS_STATUS_HPP_ diff --git a/ROS 2 Packages/f1tenth/ackermann_mux/include/ackermann_mux/params_helpers.hpp b/ROS 2 Packages/f1tenth/ackermann_mux/include/ackermann_mux/params_helpers.hpp new file mode 100644 index 0000000..9d62fc6 --- /dev/null +++ b/ROS 2 Packages/f1tenth/ackermann_mux/include/ackermann_mux/params_helpers.hpp @@ -0,0 +1,71 @@ +// Copyright 2020 PAL Robotics S.L. +// +// Redistribution and use in source and binary forms, with or without +// modification, are permitted provided that the following conditions are met: +// +// * Redistributions of source code must retain the above copyright +// notice, this list of conditions and the following disclaimer. +// +// * Redistributions in binary form must reproduce the above copyright +// notice, this list of conditions and the following disclaimer in the +// documentation and/or other materials provided with the distribution. +// +// * Neither the name of the PAL Robotics S.L. nor the names of its +// contributors may be used to endorse or promote products derived from +// this software without specific prior written permission. +// +// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE +// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +// POSSIBILITY OF SUCH DAMAGE. + +/* + * @author Paul Mathieu + * @author Jeremie Deray + * @author Hongrui Zheng + */ + +#ifndef ACKERMANN_MUX__PARAMS_HELPERS_HPP_ +#define ACKERMANN_MUX__PARAMS_HELPERS_HPP_ + +#include + +#include +#include +#include + +namespace ackermann_mux +{ +class ParamsHelperException : public std::runtime_error +{ +public: + explicit ParamsHelperException(const std::string & what) + : std::runtime_error(what) + { + } +}; + +template +void fetch_param(std::shared_ptr nh, const std::string & param_name, T & output) +{ + rclcpp::Parameter param; + if (!nh->get_parameter(param_name, param)) { + std::ostringstream err_msg; + err_msg << "could not load parameter '" << param_name << "'. (namespace: " << + nh->get_namespace() << ")"; + throw ParamsHelperException(err_msg.str()); + } + + output = param.get_value(); +} + +} // namespace ackermann_mux + +#endif // ACKERMANN_MUX__PARAMS_HELPERS_HPP_ diff --git a/ROS 2 Packages/f1tenth/ackermann_mux/include/ackermann_mux/topic_handle.hpp b/ROS 2 Packages/f1tenth/ackermann_mux/include/ackermann_mux/topic_handle.hpp new file mode 100644 index 0000000..13782e9 --- /dev/null +++ b/ROS 2 Packages/f1tenth/ackermann_mux/include/ackermann_mux/topic_handle.hpp @@ -0,0 +1,242 @@ +// Copyright 2020 PAL Robotics S.L. +// +// Redistribution and use in source and binary forms, with or without +// modification, are permitted provided that the following conditions are met: +// +// * Redistributions of source code must retain the above copyright +// notice, this list of conditions and the following disclaimer. +// +// * Redistributions in binary form must reproduce the above copyright +// notice, this list of conditions and the following disclaimer in the +// documentation and/or other materials provided with the distribution. +// +// * Neither the name of the PAL Robotics S.L. nor the names of its +// contributors may be used to endorse or promote products derived from +// this software without specific prior written permission. +// +// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE +// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +// POSSIBILITY OF SUCH DAMAGE. + +/* + * @author Enrique Fernandez + * @author Siegfried Gevatter + * @author Jeremie Deray + * @author Brighten Lee + * @author Hongrui Zheng + */ + +#ifndef ACKERMANN_MUX__TOPIC_HANDLE_HPP_ +#define ACKERMANN_MUX__TOPIC_HANDLE_HPP_ + +#include +#include +#include + +#include +#include + +#include +#include +#include + +namespace ackermann_mux +{ +template +class TopicHandle_ +{ +public: + // Not copy constructible + TopicHandle_(TopicHandle_ &) = delete; + TopicHandle_(const TopicHandle_ &) = delete; + + // Not copy assignable + TopicHandle_ & operator=(TopicHandle_ &) = delete; + TopicHandle_ & operator=(const TopicHandle_ &) = delete; + + typedef int priority_type; + + /** + * @brief TopicHandle_ + * @param nh Node handle + * @param name Name identifier + * @param topic Topic name + * @param timeout Timeout to consider that the messages are old; note + * that initially the message stamp is set to 0.0, so the message has + * expired + * @param priority Priority of the topic + */ + TopicHandle_( + const std::string & name, const std::string & topic, const rclcpp::Duration & timeout, + priority_type priority, AckermannMux * mux) + : name_(name), + topic_(topic), + timeout_(timeout), + priority_(clamp(priority, priority_type(0), priority_type(255))), + mux_(mux), + stamp_(0) + { + RCLCPP_INFO( + mux_->get_logger(), + "Topic handler '%s' subscribed to topic '%s': timeout = %s , priority = %d.", + name_.c_str(), topic_.c_str(), + ((timeout_.seconds() > 0) ? std::to_string(timeout_.seconds()) + "s" : "None").c_str(), + static_cast(priority_)); + } + + virtual ~TopicHandle_() = default; + + /** + * @brief hasExpired + * @return true if the message has expired; false otherwise. + * If the timeout is set to 0.0, this function always returns + * false + */ + bool hasExpired() const + { + return (timeout_.seconds() > 0.0) && ( + (mux_->now().seconds() - stamp_.seconds()) > timeout_.seconds()); + } + + const std::string & getName() const + { + return name_; + } + + const std::string & getTopic() const + { + return topic_; + } + + const rclcpp::Duration & getTimeout() const + { + return timeout_; + } + + /** + * @brief getPriority Priority getter + * @return Priority + */ + const priority_type & getPriority() const + { + return priority_; + } + + const T & getStamp() const + { + return stamp_; + } + + const T & getMessage() const + { + return msg_; + } + +protected: + std::string name_; + std::string topic_; + typename rclcpp::Subscription::SharedPtr subscriber_; + rclcpp::Duration timeout_; + priority_type priority_; + +protected: + AckermannMux * mux_; + + rclcpp::Time stamp_; + T msg_; +}; + +class VelocityTopicHandle : public TopicHandle_ +{ +private: + typedef TopicHandle_ base_type; + + // https://index.ros.org/doc/ros2/About-Quality-of-Service-Settings + // rmw_qos_profile_t ackermann_qos_profile = rmw_qos_profile_sensor_data; + +public: + typedef typename base_type::priority_type priority_type; + + VelocityTopicHandle( + const std::string & name, const std::string & topic, const rclcpp::Duration & timeout, + priority_type priority, AckermannMux * mux) + : base_type(name, topic, timeout, priority, mux) + { + subscriber_ = mux_->create_subscription( + topic_, rclcpp::SystemDefaultsQoS(), + std::bind(&VelocityTopicHandle::callback, this, std::placeholders::_1)); + + // subscriber_ = nh_.create_subscription( + // topic_, ackermann_qos_profile, + // std::bind(&VelocityTopicHandle::callback, this, std::placeholders::_1)); + } + + bool isMasked(priority_type lock_priority) const + { + // std::cout << hasExpired() << " / " << (getPriority() < lock_priority) << std::endl; + return hasExpired() || (getPriority() < lock_priority); + } + + void callback(const ackermann_msgs::msg::AckermannDriveStamped::ConstSharedPtr msg) + { + stamp_ = mux_->now(); + msg_ = *msg; + + // Check if this ackermann drive has priority. + // Note that we have to check all the locks because they might time out + // and since we have several topics we must look for the highest one in + // all the topic list; so far there's no O(1) solution. + if (mux_->hasPriority(*this)) { + mux_->publishAckermann(msg); + } + } +}; + +class LockTopicHandle : public TopicHandle_ +{ +private: + typedef TopicHandle_ base_type; + + // https://index.ros.org/doc/ros2/About-Quality-of-Service-Settings + // rmw_qos_profile_t lock_qos_profile = rmw_qos_profile_sensor_data; + +public: + typedef typename base_type::priority_type priority_type; + + LockTopicHandle( + const std::string & name, const std::string & topic, const rclcpp::Duration & timeout, + priority_type priority, AckermannMux * mux) + : base_type(name, topic, timeout, priority, mux) + { + subscriber_ = mux_->create_subscription( + topic_, rclcpp::SystemDefaultsQoS(), + std::bind(&LockTopicHandle::callback, this, std::placeholders::_1)); + } + + /** + * @brief isLocked + * @return true if has expired or locked (i.e. bool message data is true) + */ + bool isLocked() const + { + return hasExpired() || getMessage().data; + } + + void callback(const std_msgs::msg::Bool::ConstSharedPtr msg) + { + stamp_ = mux_->now(); + msg_ = *msg; + } +}; + +} // namespace ackermann_mux + +#endif // ACKERMANN_MUX__TOPIC_HANDLE_HPP_ diff --git a/ROS 2 Packages/f1tenth/ackermann_mux/include/ackermann_mux/utils.hpp b/ROS 2 Packages/f1tenth/ackermann_mux/include/ackermann_mux/utils.hpp new file mode 100644 index 0000000..affac3c --- /dev/null +++ b/ROS 2 Packages/f1tenth/ackermann_mux/include/ackermann_mux/utils.hpp @@ -0,0 +1,59 @@ +// Copyright 2020 PAL Robotics S.L. +// +// Redistribution and use in source and binary forms, with or without +// modification, are permitted provided that the following conditions are met: +// +// * Redistributions of source code must retain the above copyright +// notice, this list of conditions and the following disclaimer. +// +// * Redistributions in binary form must reproduce the above copyright +// notice, this list of conditions and the following disclaimer in the +// documentation and/or other materials provided with the distribution. +// +// * Neither the name of the PAL Robotics S.L. nor the names of its +// contributors may be used to endorse or promote products derived from +// this software without specific prior written permission. +// +// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE +// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +// POSSIBILITY OF SUCH DAMAGE. + +/* + * @author Enrique Fernandez + * @author Siegfried Gevatter + * @author Hongrui Zheng + */ + +#ifndef ACKERMANN_MUX__UTILS_HPP_ +#define ACKERMANN_MUX__UTILS_HPP_ + +// This could be taken from #include +// but it seems that all versions of Boost have it. + +/** + * @brief Clamp a value to the range [min, max] + * @param x Value + * @param min Min value of the range [min, max] + * @param max Max value of the range [min, max] + * @return Value clamped to the range [min, max] + */ +template +static T clamp(T x, T min, T max) +{ + if (x < min) { + x = min; + } else if (max < x) { + x = max; + } + return x; +} + +#endif // ACKERMANN_MUX__UTILS_HPP_ diff --git a/ROS 2 Packages/f1tenth/ackermann_mux/launch/ackermann_mux_launch.py b/ROS 2 Packages/f1tenth/ackermann_mux/launch/ackermann_mux_launch.py new file mode 100644 index 0000000..11af69f --- /dev/null +++ b/ROS 2 Packages/f1tenth/ackermann_mux/launch/ackermann_mux_launch.py @@ -0,0 +1,62 @@ +#!/usr/bin/env python3 +# Copyright 2020 Gaitech Korea Co., Ltd. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +# Author: Brighten Lee +# Hongrui Zheng + +import os +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument +from launch.substitutions import LaunchConfiguration +from launch_ros.actions import Node + + +def generate_launch_description(): + default_config_locks = os.path.join(get_package_share_directory('ackermann_mux'), + 'config', 'ackermann_mux_locks.yaml') + default_config_topics = os.path.join(get_package_share_directory('ackermann_mux'), + 'config', 'ackermann_mux_topics.yaml') + default_config_joystick = os.path.join(get_package_share_directory('ackermann_mux'), + 'config', 'joystick.yaml') + + return LaunchDescription([ + DeclareLaunchArgument( + 'config_locks', + default_value=default_config_locks, + description='Default locks config file'), + DeclareLaunchArgument( + 'config_topics', + default_value=default_config_topics, + description='Default topics config file'), + DeclareLaunchArgument( + 'config_joy', + default_value=default_config_joystick, + description='Default joystick config file'), + DeclareLaunchArgument( + 'cmd_vel_out', + default_value='ackermann_mux/cmd_vel', + description='cmd vel output topic'), + Node( + package='ackermann_mux', + executable='ackermann_mux', + output='screen', + remappings={('/cmd_vel_out', LaunchConfiguration('cmd_vel_out'))}, + parameters=[ + LaunchConfiguration('config_locks'), + LaunchConfiguration('config_topics'), + LaunchConfiguration('config_joy')] + ), + ]) diff --git a/ROS 2 Packages/f1tenth/ackermann_mux/package.xml b/ROS 2 Packages/f1tenth/ackermann_mux/package.xml new file mode 100644 index 0000000..9303a7c --- /dev/null +++ b/ROS 2 Packages/f1tenth/ackermann_mux/package.xml @@ -0,0 +1,40 @@ + + + + ackermann_mux + 0.0.1 + + Ackermann multiplexer, which multiplex several velocity commands (topics) and + allows to priorize or disable them (locks). + + + + Hongrui Zheng + Apache License 2.0 + + Brighten Lee + Jeremie Deray + Enrique Fernandez + Siegfried-A. Gevatter Pujals + Hongrui Zheng + + ament_cmake + + rclcpp + std_msgs + ackermann_msgs + diagnostic_updater + + ament_lint_auto + + ament_cmake_xmllint + ament_lint_common + launch + launch_testing + launch_testing_ament_cmake + launch_testing_ros + + + ament_cmake + + diff --git a/ROS 2 Packages/f1tenth/ackermann_mux/scripts/joystick_relay.py b/ROS 2 Packages/f1tenth/ackermann_mux/scripts/joystick_relay.py new file mode 100644 index 0000000..9882006 --- /dev/null +++ b/ROS 2 Packages/f1tenth/ackermann_mux/scripts/joystick_relay.py @@ -0,0 +1,290 @@ +#! /usr/bin/python3 +# -*- coding: utf-8 -*- + +# +# twist_mux: joystick_relay.py +# +# Copyright (c) 2020 PAL Robotics S.L. All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. +# +# Authors: +# * Enrique Fernandez +# * Siegfried-A. Gevatter +# * Jeremie Deray + + +import rclpy +import numpy as np + +from geometry_msgs.msg import Twist +from rclpy.action import ActionServer +from rclpy.node import Node +from std_msgs.msg import Bool +from twist_mux_msgs.action import JoyPriority, JoyTurbo +from visualization_msgs.msg import Marker + + +class Velocity(object): + + def __init__(self, min_velocity, max_velocity, num_steps): + assert min_velocity > 0 and max_velocity > 0 and num_steps > 0 + self._min = min_velocity + self._max = max_velocity + self._num_steps = num_steps + if self._num_steps > 1: + self._step_incr = (max_velocity - min_velocity) / \ + (self._num_steps - 1) + else: + # If num_steps is one, we always use the minimum velocity. + self._step_incr = 0 + + def __call__(self, value, step=1): + """ + Compute the velocity. + + Take a value in the range [0, 1] and the step and returns the + velocity (usually m/s or rad/s). + """ + assert step > 0 and step <= self._num_steps + max_value = self._min + self._step_incr * (step - 1) + return value * max_value + + +class ServiceLikeActionServer(object): + + def __init__(self, node, action_name, action_type, callback): + self._action_type = action_type + self._callback = callback + self._server = ActionServer( + node, + action_type, + action_name, + self._cb) + + def _cb(self, goal): + self._callback() + goal.succeed() + return self._action_type().Result() + + +class VelocityControl: + + def __init__(self, node): + self._node = node + self._num_steps = self._node.declare_parameter('turbo/steps', 1) + + forward_min = self._node.declare_parameter( + 'turbo/linear_forward_min', 1.0) + forward_max = self._node.declare_parameter( + 'turbo/linear_forward_max', 1.0) + self._forward = Velocity(forward_min, forward_max, self._num_steps) + + backward_min = self._node.declare_parameter( + 'turbo/linear_backward_min', forward_min) + backward_max = self._node.declare_parameter( + 'turbo/linear_backward_max', forward_max) + self._backward = Velocity(backward_min, backward_max, self._num_steps) + + lateral_min = self._node.declare_parameter( + 'turbo/linear_lateral_min', 1.0) + lateral_max = self._node.declare_parameter( + 'turbo/linear_lateral_max', 1.0) + self._lateral = Velocity(lateral_min, lateral_max, self._num_steps) + + angular_min = self._node.declare_parameter('turbo/angular_min', 1.0) + angular_max = self._node.declare_parameter('turbo/angular_max', 1.0) + self._angular = Velocity(angular_min, angular_max, self._num_steps) + + default_init_step = np.floor((self._num_steps + 1)/2.0) + init_step = self._node.declare_parameter( + 'turbo/init_step', default_init_step) + + if init_step < 0 or init_step > self._num_steps: + self._init_step = default_init_step + self._node.get_logger().warn('Initial step %d outside range [1, %d]!' + ' Falling back to default %d' % + (init_step, self._num_steps, default_init_step)) + else: + self._init_step = init_step + + self.reset_turbo() + + def validate_twist(self, cmd): + if cmd.linear.z or cmd.angular.x or cmd.angular.y: + self._node.get_logger().error( + 'Joystick provided invalid values, only linear.x, ' + 'linear.y and angular.z may be non-zero.') + return False + if abs(cmd.linear.x) > 1.0 or abs(cmd.linear.y) > 1.0 or abs(cmd.angular.z) > 1.0: + self._node.get_logger().error( + "Joystick provided invalid values (%d, %d, %d), not in [-1, 1] range." + % (cmd.linear.x, cmd.linear.y, cmd.angular.z)) + return False + return True + + def scale_twist(self, cmd): + twist = Twist() + if self.validate_twist(cmd): + if cmd.linear.x >= 0: + twist.linear.x = self._forward( + cmd.linear.x, self._current_step) + else: + twist.linear.x = self._backward( + cmd.linear.x, self._current_step) + twist.linear.y = self._lateral(cmd.linear.y, self._current_step) + twist.angular.z = self._angular( + cmd.angular.z, self._current_angular_step) + return twist + + def increase_turbo(self): + if self._current_step < self._num_steps: + self._current_step += 1 + self.increase_angular_turbo() + + def decrease_turbo(self): + if self._current_step > 1: + self._current_step -= 1 + self.decrease_angular_turbo() + + def increase_angular_turbo(self): + if self._current_angular_step < self._num_steps: + self._current_angular_step += 1 + + def decrease_angular_turbo(self): + if self._current_angular_step > 1: + self._current_angular_step -= 1 + + def reset_turbo(self): + self._current_step = self._init_step + self._current_angular_step = self._init_step + + +class TextMarker(object): + + def __init__(self, node, scale=1.0, z=0.0): + # TODO latch + self._pub = node.create_publisher(Marker, 'text_marker', 1) + + self._scale = scale + self._z = z + + # Build marker + self._marker = Marker() + + self._marker.id = 0 + self._marker.type = Marker.TEXT_VIEW_FACING + + self._marker.header.frame_id = "base_footprint" + + self._marker.pose.position.z = self._z + + self._marker.pose.orientation.w = 1.0 + + self._marker.scale.z = self._scale + + self._marker.color.a = 1.0 + self._marker.color.r = 1.0 + self._marker.color.g = 1.0 + self._marker.color.b = 1.0 + + def update(self, joystick_priority, add=True): + if add: + self._marker.action = Marker.ADD + + self._marker.text = "Manual" if joystick_priority else "Autonomous" + else: + self._marker.action = Marker.DELETE + + self._pub.publish(self._marker) + + +class JoystickRelay(Node): + + def __init__(self): + super().__init__('joystick_relay') + + self._current_priority = self.declare_parameter('priority', True) + self._velocity_control = VelocityControl() + + self._marker = TextMarker(self, 0.5, 2.0) + + self._pub_cmd = self.create_publisher(Twist, 'joy_vel_out', 1) + self._subscriber = self.create_subscription( + Twist, 'joy_vel_in', self._forward_cmd, 1) + + # TODO Latch + self._pub_priority = self.create_publisher(Bool, 'joy_priority', 1) + + # Wait for subscribers and publish initial joy_priority: + self._pub_priority.publish(self._current_priority) + self._marker.update(self._current_priority) + + # Marker timer (required to update the marker when the robot doesn't receive velocities): + self._timer = self.create_timer(1.0, self._timer_callback) + + # Action servers to change priority & the currently active turbo step. + # We aren't using services because they aren't supported by joy_teleop. + self._server_priority = ServiceLikeActionServer( + self, 'joy_priority_action', JoyPriority, + self._toggle_priority) + self._server_increase = ServiceLikeActionServer( + self, 'joy_turbo_increase', JoyTurbo, + self._velocity_control.increase_turbo) + self._server_decrease = ServiceLikeActionServer( + self, 'joy_turbo_decrease', JoyTurbo, + self._velocity_control.decrease_turbo) + self._server_angular_increase = ServiceLikeActionServer( + self, 'joy_turbo_angular_increase', JoyTurbo, + self._velocity_control.increase_angular_turbo) + self._server_angular_decrease = ServiceLikeActionServer( + self, 'joy_turbo_angular_decrease', JoyTurbo, + self._velocity_control.decrease_angular_turbo) + self._server_reset = ServiceLikeActionServer( + self, 'joy_turbo_reset', JoyTurbo, + self._velocity_control.reset_turbo) + + def _forward_cmd(self, cmd): + if self._current_priority: + self._pub_cmd.publish(self._velocity_control.scale_twist(cmd)) + + self._marker.update(self._current_priority) + + def _toggle_priority(self): + self._current_priority = not self._current_priority + self.get_logger().info("Toggled joy_priority, current status is: %s", + self._current_priority) + self._pub_priority.publish(self._current_priority) + self._marker.update(self._current_priority) + + # Reset velocity to 0: + if self._current_priority: + self._pub_cmd.publish(Twist()) + + def _timer_callback(self, event): + self._marker.update(self._current_priority) + + +def main(args=None): + rclpy.init(args=args) + + node = JoystickRelay() + + rclpy.spin(node) + + node.destroy_node() + rclpy.shutdown() + + +if __name__ == '__main__': + main() diff --git a/ROS 2 Packages/f1tenth/ackermann_mux/src/ackermann_mux.cpp b/ROS 2 Packages/f1tenth/ackermann_mux/src/ackermann_mux.cpp new file mode 100644 index 0000000..79d8d53 --- /dev/null +++ b/ROS 2 Packages/f1tenth/ackermann_mux/src/ackermann_mux.cpp @@ -0,0 +1,192 @@ +// Copyright 2020 PAL Robotics S.L. +// +// Redistribution and use in source and binary forms, with or without +// modification, are permitted provided that the following conditions are met: +// +// * Redistributions of source code must retain the above copyright +// notice, this list of conditions and the following disclaimer. +// +// * Redistributions in binary form must reproduce the above copyright +// notice, this list of conditions and the following disclaimer in the +// documentation and/or other materials provided with the distribution. +// +// * Neither the name of the PAL Robotics S.L. nor the names of its +// contributors may be used to endorse or promote products derived from +// this software without specific prior written permission. +// +// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE +// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +// POSSIBILITY OF SUCH DAMAGE. + +/* + * @author Enrique Fernandez + * @author Siegfried Gevatter + * @author Jeremie Deray + * @author Hongrui Zheng + */ + +#include +#include +#include +#include +#include +#include + +#include +#include +#include + +/** + * @brief hasIncreasedAbsVelocity Check if the absolute velocity has increased + * in any of the components: linear (abs(x)) or angular (abs(yaw)) + * @param old_drive Old velocity + * @param new_drive New velocity + * @return true is any of the absolute velocity components has increased + */ +bool hasIncreasedAbsVelocity( + const ackermann_msgs::msg::AckermannDriveStamped & old_drive, + const ackermann_msgs::msg::AckermannDriveStamped & new_drive) +{ + const auto old_linear_x = std::abs(old_drive.drive.speed); + const auto new_linear_x = std::abs(new_drive.drive.speed); + + // const auto old_angular_z = std::abs(old_drive.drive.angular.z); + // const auto new_angular_z = std::abs(new_drive.drive.angular.z); + + // return (old_linear_x < new_linear_x) || (old_angular_z < new_angular_z); + return (old_linear_x < new_linear_x); +} + +namespace ackermann_mux +{ +// see e.g. https://stackoverflow.com/a/40691657 +constexpr std::chrono::duration AckermannMux::DIAGNOSTICS_PERIOD; + +AckermannMux::AckermannMux() +: Node("ackermann_mux", "", + rclcpp::NodeOptions().allow_undeclared_parameters( + true).automatically_declare_parameters_from_overrides(true)) +{ +} + +void AckermannMux::init() +{ + /// Get topics and locks: + velocity_hs_ = std::make_shared(); + lock_hs_ = std::make_shared(); + getTopicHandles("topics", *velocity_hs_); + getTopicHandles("locks", *lock_hs_); + + /// Publisher for output topic: + cmd_pub_ = + this->create_publisher( + "ackermann_cmd", + rclcpp::QoS(rclcpp::KeepLast(1))); + + /// Diagnostics: + diagnostics_ = std::make_shared(this); + status_ = std::make_shared(); + status_->velocity_hs = velocity_hs_; + status_->lock_hs = lock_hs_; + + diagnostics_timer_ = this->create_wall_timer( + DIAGNOSTICS_PERIOD, [this]() -> void { + updateDiagnostics(); + }); +} + +void AckermannMux::updateDiagnostics() +{ + status_->priority = getLockPriority(); + diagnostics_->updateStatus(status_); +} + +void AckermannMux::publishAckermann(const ackermann_msgs::msg::AckermannDriveStamped::ConstSharedPtr & msg) +{ + cmd_pub_->publish(*msg); +} + +template +void AckermannMux::getTopicHandles(const std::string & param_name, std::list & topic_hs) +{ + RCLCPP_DEBUG(get_logger(), "getTopicHandles: %s", param_name.c_str()); + + rcl_interfaces::msg::ListParametersResult list = list_parameters({param_name}, 10); + + try { + for (auto prefix : list.prefixes) { + RCLCPP_DEBUG(get_logger(), "Prefix: %s", prefix.c_str()); + + std::string topic; + double timeout = 0; + int priority = 0; + + auto nh = std::shared_ptr(this, [](rclcpp::Node *) {}); + + fetch_param(nh, prefix + ".topic", topic); + fetch_param(nh, prefix + ".timeout", timeout); + fetch_param(nh, prefix + ".priority", priority); + + RCLCPP_DEBUG(get_logger(), "Retrieved topic: %s", topic.c_str()); + RCLCPP_DEBUG(get_logger(), "Listed prefix: %.2f", timeout); + RCLCPP_DEBUG(get_logger(), "Listed prefix: %d", priority); + + topic_hs.emplace_back(prefix, topic, std::chrono::duration(timeout), priority, this); + } + } catch (const ParamsHelperException & e) { + RCLCPP_FATAL(get_logger(), "Error parsing params '%s':\n\t%s", param_name.c_str(), e.what()); + throw e; + } +} + +int AckermannMux::getLockPriority() +{ + LockTopicHandle::priority_type priority = 0; + + /// max_element on the priority of lock topic handles satisfying + /// that is locked: + for (const auto & lock_h : *lock_hs_) { + if (lock_h.isLocked()) { + auto tmp = lock_h.getPriority(); + if (priority < tmp) { + priority = tmp; + } + } + } + + RCLCPP_DEBUG(get_logger(), "Priority = %d.", static_cast(priority)); + + return priority; +} + +bool AckermannMux::hasPriority(const VelocityTopicHandle & ackermann) +{ + const auto lock_priority = getLockPriority(); + + LockTopicHandle::priority_type priority = 0; + std::string velocity_name = "NULL"; + + /// max_element on the priority of velocity topic handles satisfying + /// that is NOT masked by the lock priority: + for (const auto & velocity_h : *velocity_hs_) { + if (!velocity_h.isMasked(lock_priority)) { + const auto velocity_priority = velocity_h.getPriority(); + if (priority < velocity_priority) { + priority = velocity_priority; + velocity_name = velocity_h.getName(); + } + } + } + + return ackermann.getName() == velocity_name; +} + +} // namespace ackermann_mux diff --git a/ROS 2 Packages/f1tenth/ackermann_mux/src/ackermann_mux_diagnostics.cpp b/ROS 2 Packages/f1tenth/ackermann_mux/src/ackermann_mux_diagnostics.cpp new file mode 100644 index 0000000..76da5d2 --- /dev/null +++ b/ROS 2 Packages/f1tenth/ackermann_mux/src/ackermann_mux_diagnostics.cpp @@ -0,0 +1,104 @@ +// Copyright 2020 PAL Robotics S.L. +// +// Redistribution and use in source and binary forms, with or without +// modification, are permitted provided that the following conditions are met: +// +// * Redistributions of source code must retain the above copyright +// notice, this list of conditions and the following disclaimer. +// +// * Redistributions in binary form must reproduce the above copyright +// notice, this list of conditions and the following disclaimer in the +// documentation and/or other materials provided with the distribution. +// +// * Neither the name of the PAL Robotics S.L. nor the names of its +// contributors may be used to endorse or promote products derived from +// this software without specific prior written permission. +// +// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE +// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +// POSSIBILITY OF SUCH DAMAGE. + + +/* + * @author Enrique Fernandez + * @author Brighten Lee + * @author Hongrui Zheng + */ + +#include +#include + +#include + +#include + +namespace ackermann_mux +{ +AckermannMuxDiagnostics::AckermannMuxDiagnostics(AckermannMux * mux) +{ + diagnostic_ = std::make_shared(mux); + status_ = std::make_shared(); + + diagnostic_->add("Ackermann mux status", this, &AckermannMuxDiagnostics::diagnostics); + diagnostic_->setHardwareID("none"); +} + +void AckermannMuxDiagnostics::update() +{ + diagnostic_->force_update(); +} + +void AckermannMuxDiagnostics::updateStatus(const status_type::ConstPtr & status) +{ + status_->velocity_hs = status->velocity_hs; + status_->lock_hs = status->lock_hs; + status_->priority = status->priority; + + status_->main_loop_time = status->main_loop_time; + status_->reading_age = status->reading_age; + + update(); +} + +void AckermannMuxDiagnostics::diagnostics(diagnostic_updater::DiagnosticStatusWrapper & stat) +{ + /// Check if the loop period is quick enough + if (status_->main_loop_time > MAIN_LOOP_TIME_MIN) { + stat.summary(ERROR, "loop time too long"); + } else if (status_->reading_age > READING_AGE_MIN) { + stat.summary(ERROR, "data received is too old"); + } else { + stat.summary(OK, "ok"); + } + + for (auto & velocity_h : *status_->velocity_hs) { + stat.addf( + "velocity " + velocity_h.getName(), " %s (listening to %s @ %fs with priority #%d)", + (velocity_h.isMasked(status_->priority) ? "masked" : "unmasked"), + velocity_h.getTopic().c_str(), + velocity_h.getTimeout().seconds(), static_cast(velocity_h.getPriority())); + } + + for (const auto & lock_h : *status_->lock_hs) { + stat.addf( + "lock " + lock_h.getName(), " %s (listening to %s @ %fs with priority #%d)", + (lock_h.isLocked() ? "locked" : "free"), lock_h.getTopic().c_str(), + lock_h.getTimeout().seconds(), + static_cast(lock_h.getPriority())); + } + + stat.add("current priority", static_cast(status_->priority)); + + stat.add("loop time in [sec]", status_->main_loop_time); + stat.add("data age in [sec]", status_->reading_age); +} + +} // namespace ackermann_mux diff --git a/ROS 2 Packages/f1tenth/ackermann_mux/src/ackermann_mux_node.cpp b/ROS 2 Packages/f1tenth/ackermann_mux/src/ackermann_mux_node.cpp new file mode 100644 index 0000000..a121db4 --- /dev/null +++ b/ROS 2 Packages/f1tenth/ackermann_mux/src/ackermann_mux_node.cpp @@ -0,0 +1,53 @@ +// Copyright 2020 PAL Robotics S.L. +// +// Redistribution and use in source and binary forms, with or without +// modification, are permitted provided that the following conditions are met: +// +// * Redistributions of source code must retain the above copyright +// notice, this list of conditions and the following disclaimer. +// +// * Redistributions in binary form must reproduce the above copyright +// notice, this list of conditions and the following disclaimer in the +// documentation and/or other materials provided with the distribution. +// +// * Neither the name of the PAL Robotics S.L. nor the names of its +// contributors may be used to endorse or promote products derived from +// this software without specific prior written permission. +// +// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE +// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +// POSSIBILITY OF SUCH DAMAGE. + +/* + * @author Enrique Fernandez + * @author Siegfried Gevatter + * @author Jeremie Deray + * @author Hongrui Zheng + */ + +#include + +#include + +int main(int argc, char * argv[]) +{ + rclcpp::init(argc, argv); + + auto ackermann_mux_node = std::make_shared(); + + ackermann_mux_node->init(); + + rclcpp::spin(ackermann_mux_node); + + rclcpp::shutdown(); + + return EXIT_SUCCESS; +} diff --git a/ROS 2 Packages/f1tenth/ackermann_mux/test/rate_publishers.py b/ROS 2 Packages/f1tenth/ackermann_mux/test/rate_publishers.py new file mode 100644 index 0000000..32868eb --- /dev/null +++ b/ROS 2 Packages/f1tenth/ackermann_mux/test/rate_publishers.py @@ -0,0 +1,160 @@ +#!/usr/bin/env python +# Copyright (c) 2020 PAL Robotics S.L. All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + + +# Authors: +# * Siegfried-A. Gevatter + +import sys +import _thread +from time import sleep + +import rclpy +from rclpy.node import Node +from rclpy.qos import QoSProfile, QoSDurabilityPolicy + + +class _RatePublisher(Node): + + # How many seconds before the expected time a message may + # be published. + _tolerance = 0.01 + + def __init__(self, topic, msg_type, context, latch=False): + super().__init__('rate_publisher_'+topic, context=context) + self._topic = topic + latching_qos = QoSProfile( + depth=1, + durability=QoSDurabilityPolicy.RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL) + self._publisher = self.create_publisher( + msg_type, topic, qos_profile=latching_qos) + self._message = None + self._period = None # 1 / freq + self._last_pub = 0 + + def pub(self, message, rate=None): + self._message = message + self._period = (1. / rate) if rate else None + self.publish_once() + + def stop(self): + self._period = None + + def publish_once(self): + msg = self._message() if callable(self._message) else self._message + self._publisher.publish(msg) + self._last_pub = self.get_clock().now() + + def spin_once(self): + """ + Give _RatePublisher a chance to publish a stored message. + + This method returns the remaining time until the next scheduled + publication (or -1). + """ + if not self._period: + return -1 + elapsed = (self.get_clock().now() - self._last_pub).nanoseconds / 1e9 + if elapsed >= (self._period - self._tolerance): + self.publish_once() + return self._period + return self._period - elapsed + + +class RatePublishers(object): + """ + Manages several ROS publishers repeating messages with different rates. + + The main purpose of this class is for unit testing. + """ + + def __init__(self, context): + self._publishers = {} + self._context = context + + def add_topic(self, topic, msg_type): + """ + Add a topic for future publication. + + This creates a rospy.Publisher internally. Note that the + publisher will latch the topic; if that wasn't the case, + clients might need to sleep before publishing something + for the first time to give subscribers enough time to + connect. + """ + assert topic not in self._publishers + rate_publisher = _RatePublisher( + topic, msg_type, self._context, latch=True) + self._publishers[topic] = rate_publisher + return rate_publisher + + def pub(self, topic, message, rate=None): + """ + Publish `message' on the given topic. + + If `rate' is not None, the message will be repeated at the + given rate (expected to be in Hz) until pub() or stop() + are invoked again. + + Note that `rate' may also be a function, in which case + it'll be invoked for each publication to obtain the message. + """ + self._publishers[topic].pub(message, rate) + + def stop(self, topic): + """Stop repeating any message on the given topic.""" + self._publishers[topic].stop() + + def spin_once(self): + """ + Publish scheduled messages. + + Return the amount of time until it should be called again. + """ + # TODO: Create a class that spawns a global thread and provides + # createTimer and createWallTimer, just like NodeHandle + # does in rospy? + next_timeout = sys.maxsize + for topic, pub in self._publishers.items(): + next_timeout = min(pub.spin_once(), next_timeout) + return next_timeout + + +# TODO: Make this class more generic (keeping track of timeouts itself)? +class TimeoutManager(object): + + def __init__(self): + self._shutdown = False + self._members = [] + + def add(self, m): + self._members.append(m) + + def spin(self): + while rclpy.ok() and not self._shutdown: + try: + for m in self._members: + m.spin_once() + sleep(0.01) # FIXME + except Exception as e: + print(str(e)) + raise e + + def spin_thread(self): + print("Spawning thread for TopicTestManager...") + _thread.start_new_thread(self.spin, ()) + + def shutdown(self): + self._shutdown = True diff --git a/ROS 2 Packages/f1tenth/ackermann_mux/test/system.test b/ROS 2 Packages/f1tenth/ackermann_mux/test/system.test new file mode 100644 index 0000000..2cee4fc --- /dev/null +++ b/ROS 2 Packages/f1tenth/ackermann_mux/test/system.test @@ -0,0 +1,7 @@ + + + + + + + diff --git a/ROS 2 Packages/f1tenth/ackermann_mux/test/system.test.py b/ROS 2 Packages/f1tenth/ackermann_mux/test/system.test.py new file mode 100644 index 0000000..a8ea4a9 --- /dev/null +++ b/ROS 2 Packages/f1tenth/ackermann_mux/test/system.test.py @@ -0,0 +1,211 @@ +# Copyright 2019 Canonical, Ltd +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +from rate_publishers import RatePublishers, TimeoutManager +import os +import unittest +import sys + +import launch +from launch.actions.execute_process import ExecuteProcess + +import launch_ros.actions + +import launch_testing + +import time +import threading +from rclpy.executors import MultiThreadedExecutor + +import rclpy + +from std_msgs.msg import Bool +from geometry_msgs.msg import Twist + +sys.path.append(os.path.abspath(os.path.dirname(os.path.realpath(__file__)))) + + +def generate_test_description(): + # Necessary to get real-time stdout from python processes: + proc_env = os.environ.copy() + proc_env['PYTHONUNBUFFERED'] = '1' + + dir_path = os.path.dirname(os.path.realpath(__file__)) + + parameters_file = os.path.join( + dir_path, 'system_config.yaml' + ) + + twist_mux = launch_ros.actions.Node( + package='twist_mux', executable='twist_mux', + parameters=[parameters_file], env=proc_env) + + publisher = ExecuteProcess( + cmd=['ros2 topic pub /lock_1 std_msgs/Bool "data: False" -r 20'], + shell=True, env=proc_env + ) + + # system_blackbox = launch_ros.actions.Node( + # package='twist_mux', node_executable='system_blackbox.py', env=proc_env) + + return launch.LaunchDescription([ + twist_mux, + publisher, + # system_blackbox, + # Start tests right away - no need to wait for anything + launch_testing.actions.ReadyToTest(), + ]) + + +def twist(x=0.0, r=0.0): + """Return a Twist for the given linear and rotation speed.""" + t = Twist() + t.linear.x = x + t.angular.z = r + return t + + +class TestTwistMux(unittest.TestCase): + + # Maximum time (in seconds) that it may take for a message + # to be received by the target node. + MESSAGE_TIMEOUT = 0.3 + + # Value (in seconds) >= the highest topic/lock timeout. + TOPIC_TIMEOUT = 1.0 + + @classmethod + def setUpClass(cls): + + cls.context = rclpy.Context() + rclpy.init(context=cls.context) + + cls.node = rclpy.create_node( + 'node', namespace='ns', context=cls.context) + + # Aim at emulating a 'wait_for_msg' + cls._subscription = cls.node.create_subscription( + Twist, 'cmd_vel_out', cls._cb, 1) + cls._msg = None + + cls.executor = MultiThreadedExecutor( + context=cls.context, num_threads=2) + cls.executor.add_node(cls.node) + + cls._publishers = RatePublishers(cls.context) + cls._vel1 = cls._publishers.add_topic('vel_1', Twist) + cls._vel2 = cls._publishers.add_topic('vel_2', Twist) + cls._vel3 = cls._publishers.add_topic('vel_3', Twist) + + cls._lock1 = cls._publishers.add_topic('lock_1', Bool) + cls._lock2 = cls._publishers.add_topic('lock_2', Bool) + + cls.executor.add_node(cls._vel1) + cls.executor.add_node(cls._vel2) + cls.executor.add_node(cls._vel3) + cls.executor.add_node(cls._lock1) + cls.executor.add_node(cls._lock2) + + cls._timeout_manager = TimeoutManager() + cls._timeout_manager.add(cls._publishers) + cls._timeout_manager.spin_thread() + + cls.exec_thread = threading.Thread(target=cls.executor.spin) + cls.exec_thread.start() + + def _cb(self, msg): + self._msg = msg + + def _wait(self, timeout): + start = self.node.get_clock().now() + self._msg = None + while (timeout > ((self.node.get_clock().now() - start).nanoseconds / 1e9)): + if self._msg is not None: + return self._msg + time.sleep(0.01) + return self._msg + + def tearDown(self): + # Reset all topics. + twist_msg = twist(0.0, 0.0) + unlock = Bool() + unlock.data = False + + self._vel1.pub(twist_msg) + self._vel2.pub(twist_msg) + self._vel3.pub(twist_msg) + + self._lock1.pub(unlock) + self._lock2.pub(unlock) + + # Wait for previously published messages to time out, + # since we aren't restarting twist_mux. + # + # This sleeping time must be higher than any of the + # timeouts in system_test_config.yaml. + # + # TODO(artivis) use rate once available + time.sleep(self.MESSAGE_TIMEOUT + self.TOPIC_TIMEOUT) + + self.node.destroy_node() + rclpy.shutdown(context=self.context) + + @classmethod + def _vel_cmd(cls): + # TODO(artivis) use rate once available + time.sleep(cls.MESSAGE_TIMEOUT) + # TODO wait_for_msg-like functionnality not yet available + # https://github.com/ros2/rclcpp/issues/520 + return cls._wait(cls, cls.MESSAGE_TIMEOUT) + + def test_empty(self): + try: + self._vel_cmd() + self.fail('twist_mux should not be publishing without any input') + except Exception: + e = sys.exc_info()[0] + print(e) + pass + + def test_basic(self): + t = twist(2.0) + self._vel1.pub(t, rate=5) + self.assertEqual(t, self._vel_cmd()) + +# def test_basic_with_priorities(self): +# t1 = twist(2.0) +# t2 = twist(0.0, 1.0) + +# # Publish twist from input1 @ 3Hz, it should be used. +# self._vel1.pub(t1, rate=5) +# self.assertEqual(t1, self._vel_cmd()) + +# # Publish twist from input3, it should have priority +# # over the one from input1. +# # self._vel3.pub(t2, rate=10) +# self.assertEqual(t2, self._vel_cmd()) + +# # Stop publishing input 3 and wait for it to timeout. +# # Speed should fall back to input 1. +# # self._vel3.stop() +# time.sleep(0.5) # input is 0.3 in .yaml file +# self.assertEqual(t1, self._vel_cmd()) + + +@launch_testing.post_shutdown_test() +class TestProcessOutput(unittest.TestCase): + + def test_exit_code(self): + # Check that all processes in the launch exit with code 0 + launch_testing.asserts.assertExitCodes(self.proc_info) diff --git a/ROS 2 Packages/f1tenth/ackermann_mux/test/system_blackbox.py b/ROS 2 Packages/f1tenth/ackermann_mux/test/system_blackbox.py new file mode 100644 index 0000000..f044c58 --- /dev/null +++ b/ROS 2 Packages/f1tenth/ackermann_mux/test/system_blackbox.py @@ -0,0 +1,135 @@ +#!/usr/bin/env python +# -*- coding: utf-8 -*- +# +# twist_mux: system_blackbox.py +# +# Copyright (c) 2020 PAL Robotics S.L. All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + + +# Authors: +# * Siegfried-A. Gevatter + +import unittest + +import rospy +import time + +from std_msgs.msg import Bool +from geometry_msgs.msg import Twist + +from rate_publishers import RatePublishers, TimeoutManager + + +def twist(x=0.0, r=0.0): + """Return a Twist for the given linear and rotation speed.""" + t = Twist() + t.linear.x = x + t.angular.z = r + return t + + +class TestTwistMux(unittest.TestCase): + + # Maximum time (in seconds) that it may take for a message + # to be received by the target node. + MESSAGE_TIMEOUT = 0.3 + + # Value (in seconds) >= the highest topic/lock timeout. + TOPIC_TIMEOUT = 1.0 + + @classmethod + def setUpClass(cls): + cls._publishers = RatePublishers() + cls._vel1 = cls._publishers.add_topic('vel_1', Twist) + cls._vel2 = cls._publishers.add_topic('vel_2', Twist) + cls._vel3 = cls._publishers.add_topic('vel_3', Twist) + + cls._lock1 = cls._publishers.add_topic('lock_1', Bool) + cls._lock2 = cls._publishers.add_topic('lock_2', Bool) + + cls._timeout_manager = TimeoutManager() + cls._timeout_manager.add(cls._publishers) + cls._timeout_manager.spin_thread() + + def tearDown(self): + # Reset all topics. + twist_msg = twist(0, 0) + unlock = Bool(False) + + self._vel1.pub(twist_msg) + self._vel2.pub(twist_msg) + self._vel3.pub(twist_msg) + + self._lock1.pub(unlock) + self._lock2.pub(unlock) + + # Wait for previously published messages to time out, + # since we aren't restarting twist_mux. + # + # This sleeping time must be higher than any of the + # timeouts in system_test_config.yaml. + # + # TODO(artivis) use rate once available + time.sleep(self.MESSAGE_TIMEOUT + self.TOPIC_TIMEOUT) + + @classmethod + def _vel_cmd(cls): + # TODO(artivis) use rate once available + time.sleep(cls.MESSAGE_TIMEOUT) + # TODO wait_for_msg-like functionnality not yet available + # https://github.com/ros2/rclcpp/issues/520 + return rospy.wait_for_message('cmd_vel_out', Twist, + timeout=cls.MESSAGE_TIMEOUT) + + def test_empty(self): + try: + self._vel_cmd() + self.fail('twist_mux should not be publishing without any input') + except rospy.ROSException: + pass + + def test_basic(self): + t = twist(2.0) + self._vel1.pub(t, rate=5) + self.assertEqual(t, self._vel_cmd()) + + def test_basic_with_priorities(self): + t1 = twist(2.0) + t2 = twist(0, 1.0) + + # Publish twist from input1 @ 3Hz, it should be used. + self._vel1.pub(t1, rate=5) + self.assertEqual(t1, self._vel_cmd()) + + # Publish twist from input3, it should have priority + # over the one from input1. + self._vel3.pub(t2, rate=10) + self.assertEqual(t2, self._vel_cmd()) + + # Stop publishing input 3 and wait for it to timeout. + # Speed should fall back to input 1. + self._vel3.stop() + rospy.sleep(0.5) # input is 0.3 in .yaml file + self.assertEqual(t1, self._vel_cmd()) + +# TODO: test limits, test timeouts, etc. + + +if __name__ == '__main__': + import rostest + PKG_NAME = 'twist_mux' + TEST_NAME = '%s_system_blackbox_test' % PKG_NAME + rospy.init_node(TEST_NAME) + rostest.rosrun(PKG_NAME, TEST_NAME, TestTwistMux) diff --git a/ROS 2 Packages/f1tenth/ackermann_mux/test/system_config.yaml b/ROS 2 Packages/f1tenth/ackermann_mux/test/system_config.yaml new file mode 100644 index 0000000..278e6b4 --- /dev/null +++ b/ROS 2 Packages/f1tenth/ackermann_mux/test/system_config.yaml @@ -0,0 +1,24 @@ +twist_mux: + ros__parameters: + topics: + input1: + topic : vel_1 + timeout : 0.7 + priority: 5 + input2: + topic : vel_2 + timeout : 0.0 + priority: 1 + input3: + topic : vel_3 + timeout : 0.3 + priority: 10 + locks: + emergency_255: + topic : lock_1 + timeout : 0.5 + priority: 255 + emergency_10: + topic : lock_2 + timeout : 0.0 + priority: 10 diff --git a/ROS 2 Packages/f1tenth/f1tenth_stack/config/f1tenth_online_async.yaml b/ROS 2 Packages/f1tenth/f1tenth_stack/config/f1tenth_online_async.yaml new file mode 100644 index 0000000..ed4b7bd --- /dev/null +++ b/ROS 2 Packages/f1tenth/f1tenth_stack/config/f1tenth_online_async.yaml @@ -0,0 +1,73 @@ +slam_toolbox: + ros__parameters: + + # Plugin params + solver_plugin: solver_plugins::CeresSolver + ceres_linear_solver: SPARSE_NORMAL_CHOLESKY + ceres_preconditioner: SCHUR_JACOBI + ceres_trust_strategy: LEVENBERG_MARQUARDT + ceres_dogleg_type: TRADITIONAL_DOGLEG + ceres_loss_function: None + + # ROS Parameters + odom_frame: odom + map_frame: map + base_frame: laser + scan_topic: /scan + mode: mapping #localization + + # if you'd like to immediately start continuing a map at a given pose + # or at the dock, but they are mutually exclusive, if pose is given + # will use pose + #map_file_name: test_steve + # map_start_pose: [0.0, 0.0, 0.0] + #map_start_at_dock: true + + debug_logging: false + throttle_scans: 1 + transform_publish_period: 0.02 #if 0 never publishes odometry + map_update_interval: 5.0 + resolution: 0.05 + max_laser_range: 20.0 #for rastering images + minimum_time_interval: 0.5 + transform_timeout: 1.0 + tf_buffer_duration: 30. + stack_size_to_use: 40000000 #// program needs a larger stack size to serialize large maps + enable_interactive_mode: true + + # General Parameters + use_scan_matching: true + use_scan_barycenter: true + minimum_travel_distance: 0.5 + minimum_travel_heading: 0.5 + scan_buffer_size: 10 + scan_buffer_maximum_scan_distance: 10.0 + link_match_minimum_response_fine: 0.1 + link_scan_maximum_distance: 1.5 + loop_search_maximum_distance: 3.0 + do_loop_closing: true + loop_match_minimum_chain_size: 10 + loop_match_maximum_variance_coarse: 3.0 + loop_match_minimum_response_coarse: 0.35 + loop_match_minimum_response_fine: 0.45 + + # Correlation Parameters - Correlation Parameters + correlation_search_space_dimension: 0.5 + correlation_search_space_resolution: 0.01 + correlation_search_space_smear_deviation: 0.1 + + # Correlation Parameters - Loop Closure Parameters + loop_search_space_dimension: 8.0 + loop_search_space_resolution: 0.05 + loop_search_space_smear_deviation: 0.03 + + # Scan Matcher Parameters + distance_variance_penalty: 0.5 + angle_variance_penalty: 1.0 + + fine_search_angle_offset: 0.00349 + coarse_search_angle_offset: 0.349 + coarse_angle_resolution: 0.0349 + minimum_angle_penalty: 0.9 + minimum_distance_penalty: 0.5 + use_response_expansion: true \ No newline at end of file diff --git a/ROS 2 Packages/f1tenth/f1tenth_stack/config/joy_teleop.yaml b/ROS 2 Packages/f1tenth/f1tenth_stack/config/joy_teleop.yaml new file mode 100644 index 0000000..988d5e9 --- /dev/null +++ b/ROS 2 Packages/f1tenth/f1tenth_stack/config/joy_teleop.yaml @@ -0,0 +1,47 @@ +joy: + ros__parameters: + # device_name: /dev/input/joypad-f710 + device_id: 0 + deadzone: 0.01 + autorepeat_rate: 20.0 + coalesce_interval: 0.01 + +joy_teleop: + ros__parameters: + default: + type: topic + interface_type: ackermann_msgs/msg/AckermannDriveStamped + topic_name: teleop + axis_mappings: + drive-speed: + axis: 1 + scale: 0.0 + offset: 0.0 + drive-steering_angle: + axis: 3 + scale: 0.0 + offset: 0.0 + + human_control: + type: topic + interface_type: ackermann_msgs/msg/AckermannDriveStamped + topic_name: teleop + deadman_buttons: [4] + axis_mappings: + drive-speed: + axis: 1 + scale: 1.0 + offset: 0.0 + drive-steering_angle: + axis: 3 + scale: 0.34 + offset: 0.0 + + autonomous_control: + type: topic + interface_type: std_msgs/msg/Int8 + topic_name: /dev/null + deadman_buttons: [5] + message_value: + data: + value: 0 diff --git a/ROS 2 Packages/f1tenth/f1tenth_stack/config/mux.yaml b/ROS 2 Packages/f1tenth/f1tenth_stack/config/mux.yaml new file mode 100644 index 0000000..1a02c9f --- /dev/null +++ b/ROS 2 Packages/f1tenth/f1tenth_stack/config/mux.yaml @@ -0,0 +1,11 @@ +ackermann_mux: + ros__parameters: + topics: + navigation: + topic : drive + timeout : 0.2 + priority: 10 + joystick: + topic : teleop + timeout : 0.2 + priority: 100 \ No newline at end of file diff --git a/ROS 2 Packages/f1tenth/f1tenth_stack/config/sensors.yaml b/ROS 2 Packages/f1tenth/f1tenth_stack/config/sensors.yaml new file mode 100644 index 0000000..6739039 --- /dev/null +++ b/ROS 2 Packages/f1tenth/f1tenth_stack/config/sensors.yaml @@ -0,0 +1,21 @@ +urg_node: + ros__parameters: + angle_max: 3.14 + angle_min: -3.14 + # If you’re using an ethernet based LiDAR, set the ip_address field to the corresponding ip address of your LiDAR. + # If you’re using a USB based LiDAR, comment out the ip_address field, and uncomment the line with the serial_port field. + ip_address: "192.168.0.10" + ip_port: 10940 + # serial_port: "/dev/sensors/hokuyo" + # serial_baud: 115200 + laser_frame_id: "laser" + calibrate_time: false + default_user_latency: 0.0 + diagnostics_tolerance: 0.05 + diagnostics_window_time: 5.0 + error_limit: 4 + get_detailed_status: false + publish_intensity: false + publish_multiecho: false + cluster: 1 + skip: 0 diff --git a/ROS 2 Packages/f1tenth/f1tenth_stack/config/vesc.yaml b/ROS 2 Packages/f1tenth/f1tenth_stack/config/vesc.yaml new file mode 100644 index 0000000..ea0abfa --- /dev/null +++ b/ROS 2 Packages/f1tenth/f1tenth_stack/config/vesc.yaml @@ -0,0 +1,56 @@ +/**: + # general parameters shared by all vesc-related nodes + ros__parameters: + # erpm (electrical rpm) = speed_to_erpm_gain * speed (meters / second) + speed_to_erpm_offset + speed_to_erpm_gain: 7400 # If the odometry estimate is larger than the actual distance traveled increase the gain, else decrease + speed_to_erpm_offset: 0.0 # This term will constantly correct odometry drift (change ONLY for a "drifting" VESC) + + # servo value (0 to 1) = steering_angle_to_servo_gain * steering angle (radians) + steering_angle_to_servo_offset + steering_angle_to_servo_gain: -1.2135 # This term defines the steering limit (tune for smallest absolute value which achieves steer limit) and axis convention (e.g. set -ve gain for CCW/left-turn +ve convention) + steering_angle_to_servo_offset: 0.5619 # This term defines zero-steer offset (tune for near-perfect straight line motion) + + port: /dev/sensors/vesc + duty_cycle_min: 0.0 + duty_cycle_max: 0.8 + current_min: 0.0 + current_max: 100.0 + brake_min: -20000.0 + brake_max: 200000.0 + speed_min: -60000.0 + speed_max: 60000.0 + position_min: 0.0 + position_max: 0.0 + servo_min: 0.15 + servo_max: 0.85 + +# No longer needed, all parameters are shared +# ackermann_to_vesc_node: +# ros__parameters: + +vesc_to_odom_node: + ros__parameters: + odom_frame: odom + base_frame: base_link + # publish odom to base link tf + publish_tf: true + use_servo_cmd_to_calc_angular_velocity: true + # car wheelbase is 0.324 m + wheelbase: 0.324 + +# No longer needed, all parameters are shared +# vesc_driver: +# ros__parameters: + +throttle_interpolator: + ros__parameters: + rpm_input_topic: commands/motor/unsmoothed_speed + rpm_output_topic: commands/motor/speed + servo_input_topic: commands/servo/unsmoothed_position + servo_output_topic: commands/servo/position + + # servo smoother - limits acceleration and smooths anything above limit + max_acceleration: 2.5 # meters/second^2 + throttle_smoother_rate: 75.0 # messages/sec + # servo smoother - limits rotation speed and smooths anything above limit + max_servo_speed: 3.2 # radians/second + servo_smoother_rate: 75.0 # messages/sec \ No newline at end of file diff --git a/ROS 2 Packages/f1tenth/f1tenth_stack/f1tenth_stack/__init__.py b/ROS 2 Packages/f1tenth/f1tenth_stack/f1tenth_stack/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/ROS 2 Packages/f1tenth/f1tenth_stack/f1tenth_stack/tf_publisher.py b/ROS 2 Packages/f1tenth/f1tenth_stack/f1tenth_stack/tf_publisher.py new file mode 100644 index 0000000..574e214 --- /dev/null +++ b/ROS 2 Packages/f1tenth/f1tenth_stack/f1tenth_stack/tf_publisher.py @@ -0,0 +1,50 @@ +from geometry_msgs.msg import TransformStamped +import rclpy +from rclpy.node import Node +from tf2_ros import TransformBroadcaster + +class FramePublisher(Node): + + def __init__(self): + super().__init__('f1tenth_tf_publisher') + + self.br = TransformBroadcaster(self) + self.timer = self.create_timer(0.001, self.timer_callback) + + def timer_callback(self): + t = TransformStamped() + t.header.stamp = self.get_clock().now().to_msg() + t.header.frame_id = 'base_link' + t.child_frame_id = 'laser' + t.transform.translation.x = 0.27 + t.transform.translation.y = 0.0 + t.transform.translation.z = 0.11 + t.transform.rotation.x = 0.0 + t.transform.rotation.y = 0.0 + t.transform.rotation.z = 0.0 + t.transform.rotation.w = 1.0 + self.br.sendTransform(t) + + t2 = TransformStamped() + t2.header.stamp = self.get_clock().now().to_msg() + t2.header.frame_id = 'base_link' + t2.child_frame_id = 'odom' + t2.transform.translation.x = 0.0 + t2.transform.translation.y = 0.0 + t2.transform.translation.z = 0.0 + t2.transform.rotation.x = 0.0 + t2.transform.rotation.y = 0.0 + t2.transform.rotation.z = 0.0 + t2.transform.rotation.w = 1.0 + self.br.sendTransform(t2) + + +def main(): + rclpy.init() + node = FramePublisher() + try: + rclpy.spin(node) + except KeyboardInterrupt: + pass + + rclpy.shutdown() \ No newline at end of file diff --git a/ROS 2 Packages/f1tenth/f1tenth_stack/f1tenth_stack/throttle_interpolator.py b/ROS 2 Packages/f1tenth/f1tenth_stack/f1tenth_stack/throttle_interpolator.py new file mode 100644 index 0000000..f8c6314 --- /dev/null +++ b/ROS 2 Packages/f1tenth/f1tenth_stack/f1tenth_stack/throttle_interpolator.py @@ -0,0 +1,125 @@ +# MIT License + +# Copyright (c) 2020 Hongrui Zheng + +# Permission is hereby granted, free of charge, to any person obtaining a copy +# of this software and associated documentation files (the "Software"), to deal +# in the Software without restriction, including without limitation the rights +# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +# copies of the Software, and to permit persons to whom the Software is +# furnished to do so, subject to the following conditions: + +# The above copyright notice and this permission notice shall be included in all +# copies or substantial portions of the Software. + +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +# SOFTWARE. + +import rclpy +from rclpy.node import Node + +from std_msgs.msg import Float64 + +class ThrottleInterpolator(Node): + def __init__(self): + super().__init__('throttle_interpolator') + + self.declare_parameter('rpm_input_topic', 'commands/motor/unsmoothed_speed') + self.declare_parameter('rpm_output_topic', 'commands/motor/speed') + self.declare_parameter('servo_input_topic', 'commands/servo/unsmoothed_position') + self.declare_parameter('servo_output_topic', 'commands/servo/position') + self.declare_parameter('max_acceleration') + self.declare_parameter('speed_max') + self.declare_parameter('speed_min') + self.declare_parameter('throttle_smoother_rate') + self.declare_parameter('speed_to_erpm_gain') + self.declare_parameter('max_servo_speed') + self.declare_parameter('steering_angle_to_servo_gain') + self.declare_parameter('servo_smoother_rate') + self.declare_parameter('servo_max') + self.declare_parameter('servo_min') + self.declare_parameter('steering_angle_to_servo_offset') + + self.rpm_input_topic = self.get_parameter('rpm_input_topic').value + self.rpm_output_topic = self.get_parameter('rpm_output_topic').value + self.servo_input_topic = self.get_parameter('servo_input_topic').value + self.servo_output_topic = self.get_parameter('servo_output_topic').value + self.max_acceleration = self.get_parameter('max_acceleration').value + self.max_rpm = self.get_parameter('speed_max').value + self.min_rpm = self.get_parameter('speed_min').value + self.throttle_smoother_rate = self.get_parameter('throttle_smoother_rate').value + self.speed_to_erpm_gain = self.get_parameter('speed_to_erpm_gain').value + self.max_servo_speed = self.get_parameter('max_servo_speed').value + self.steering_angle_to_servo_gain = self.get_parameter('steering_angle_to_servo_gain').value + self.servo_smoother_rate = self.get_parameter('servo_smoother_rate').value + self.max_servo = self.get_parameter('servo_max').value + self.min_servo = self.get_parameter('servo_min').value + self.last_servo = self.get_parameter('steering_angle_to_servo_offset').value + + self.last_rpm = 0 + self.desired_rpm = self.last_rpm + self.desired_servo_position = self.last_servo + + self.rpm_output = self.create_publisher(Float64, self.rpm_output_topic, 1) + self.servo_output = self.create_publisher(Float64, self.servo_output_topic, 1) + + self.rpm_sub = self.create_subscription( + Float64, + self.rpm_input_topic, + self._process_throttle_command, + 1) + self.servo_sub = self.create_subscription( + Float64, + self.servo_input_topic, + self._process_servo_command, + 1) + + self.max_delta_servo = abs(self.steering_angle_to_servo_gain * self.max_servo_speed / self.servo_smoother_rate) + self.servo_timer = self.create_timer(1.0/self.servo_smoother_rate, self._publish_servo_command) + + self.max_delta_rpm = abs(self.speed_to_erpm_gain * self.max_acceleration / self.throttle_smoother_rate) + self.rmp_timer = self.create_timer(1.0/self.throttle_smoother_rate, self._publish_throttle_command) + + def _publish_throttle_command(self): + desired_delta = self.desired_rpm-self.last_rpm + clipped_delta = max(min(desired_delta, self.max_delta_rpm), -self.max_delta_rpm) + smoothed_rpm = self.last_rpm + clipped_delta + self.last_rpm = smoothed_rpm + rpm_msg = Float64() + rpm_msg.data = float(smoothed_rpm) + self.rpm_output.publish(rpm_msg) + + def _process_throttle_command(self,msg): + input_rpm = msg.data + # Do some sanity clipping + input_rpm = min(max(input_rpm, self.min_rpm), self.max_rpm) + self.desired_rpm = input_rpm + + def _publish_servo_command(self): + desired_delta = self.desired_servo_position-self.last_servo + clipped_delta = max(min(desired_delta, self.max_delta_servo), -self.max_delta_servo) + smoothed_servo = self.last_servo + clipped_delta + self.last_servo = smoothed_servo + servo_msg = Float64() + servo_msg.data = float(smoothed_servo) + self.servo_output.publish(servo_msg) + + def _process_servo_command(self,msg): + input_servo = msg.data + # Do some sanity clipping + input_servo = min(max(input_servo, self.min_servo), self.max_servo) + # set the target servo position + self.desired_servo_position = input_servo + +def main(args=None): + rclpy.init(args=args) + p = ThrottleInterpolator() + rclpy.spin(p) + +if __name__ == '__main__': + main() diff --git a/ROS 2 Packages/f1tenth/f1tenth_stack/launch/bringup_launch.py b/ROS 2 Packages/f1tenth/f1tenth_stack/launch/bringup_launch.py new file mode 100644 index 0000000..cb164bc --- /dev/null +++ b/ROS 2 Packages/f1tenth/f1tenth_stack/launch/bringup_launch.py @@ -0,0 +1,144 @@ +# MIT License + +# Copyright (c) 2020 Hongrui Zheng + +# Permission is hereby granted, free of charge, to any person obtaining a copy +# of this software and associated documentation files (the "Software"), to deal +# in the Software without restriction, including without limitation the rights +# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +# copies of the Software, and to permit persons to whom the Software is +# furnished to do so, subject to the following conditions: + +# The above copyright notice and this permission notice shall be included in all +# copies or substantial portions of the Software. + +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +# SOFTWARE. + +from launch import LaunchDescription +from launch_ros.actions import Node +from launch.substitutions import Command +from launch.substitutions import LaunchConfiguration +from launch.actions import DeclareLaunchArgument +from launch.actions import IncludeLaunchDescription +from launch_xml.launch_description_sources import XMLLaunchDescriptionSource +from ament_index_python.packages import get_package_share_directory +import os + +def generate_launch_description(): + joy_teleop_config = os.path.join( + get_package_share_directory('f1tenth_stack'), + 'config', + 'joy_teleop.yaml' + ) + vesc_config = os.path.join( + get_package_share_directory('f1tenth_stack'), + 'config', + 'vesc.yaml' + ) + sensors_config = os.path.join( + get_package_share_directory('f1tenth_stack'), + 'config', + 'sensors.yaml' + ) + mux_config = os.path.join( + get_package_share_directory('f1tenth_stack'), + 'config', + 'mux.yaml' + ) + + joy_la = DeclareLaunchArgument( + 'joy_config', + default_value=joy_teleop_config, + description='Descriptions for joy and joy_teleop configs') + vesc_la = DeclareLaunchArgument( + 'vesc_config', + default_value=vesc_config, + description='Descriptions for vesc configs') + sensors_la = DeclareLaunchArgument( + 'sensors_config', + default_value=sensors_config, + description='Descriptions for sensor configs') + mux_la = DeclareLaunchArgument( + 'mux_config', + default_value=mux_config, + description='Descriptions for ackermann mux configs') + + ld = LaunchDescription([joy_la, vesc_la, sensors_la, mux_la]) + + joy_node = Node( + package='joy', + executable='joy_node', + name='joy', + parameters=[LaunchConfiguration('joy_config')] + ) + joy_teleop_node = Node( + package='joy_teleop', + executable='joy_teleop', + name='joy_teleop', + parameters=[LaunchConfiguration('joy_config')] + ) + ackermann_to_vesc_node = Node( + package='vesc_ackermann', + executable='ackermann_to_vesc_node', + name='ackermann_to_vesc_node', + parameters=[LaunchConfiguration('vesc_config')] + ) + vesc_to_odom_node = Node( + package='vesc_ackermann', + executable='vesc_to_odom_node', + name='vesc_to_odom_node', + parameters=[LaunchConfiguration('vesc_config')], + remappings=[ + ("/odom", "/ego_racecar/odom") + ] + ) + vesc_driver_node = Node( + package='vesc_driver', + executable='vesc_driver_node', + name='vesc_driver_node', + parameters=[LaunchConfiguration('vesc_config')] + ) + throttle_interpolator_node = Node( + package='f1tenth_stack', + executable='throttle_interpolator', + name='throttle_interpolator', + parameters=[LaunchConfiguration('vesc_config')] + ) + urg_node = Node( + package='urg_node', + executable='urg_node_driver', + name='urg_node', + parameters=[LaunchConfiguration('sensors_config')] + ) + ackermann_mux_node = Node( + package='ackermann_mux', + executable='ackermann_mux', + name='ackermann_mux', + parameters=[LaunchConfiguration('mux_config')], + remappings=[('ackermann_cmd_out', 'ackermann_drive')] + ) + static_tf_node = Node( + package='tf2_ros', + executable='static_transform_publisher', + name='static_baselink_to_laser', + arguments=['0.27', '0.0', '0.11', '0.0', '0.0', '0.0', 'base_link', 'laser'] + ) + + # finalize + ld.add_action(joy_node) + ld.add_action(joy_teleop_node) + ld.add_action(ackermann_to_vesc_node) + ld.add_action(vesc_to_odom_node) + ld.add_action(vesc_driver_node) + # ld.add_action(throttle_interpolator_node) + ld.add_action(urg_node) + ld.add_action(ackermann_mux_node) + ld.add_action(static_tf_node) + + return ld \ No newline at end of file diff --git a/ROS 2 Packages/f1tenth/f1tenth_stack/package.xml b/ROS 2 Packages/f1tenth/f1tenth_stack/package.xml new file mode 100644 index 0000000..828cd9a --- /dev/null +++ b/ROS 2 Packages/f1tenth/f1tenth_stack/package.xml @@ -0,0 +1,27 @@ + + + + f1tenth_stack + 0.0.1 + Onboard drivers for vesc and sensors for F1TENTH vehicles. + Hongrui Zheng + MIT + + ackermann_msgs + urg_node + joy + joy_teleop + rosbridge_server + vesc + ackermann_mux + std_msgs + + ament_copyright + ament_flake8 + ament_pep257 + python3-pytest + + + ament_python + + diff --git a/ROS 2 Packages/f1tenth/f1tenth_stack/resource/f1tenth_stack b/ROS 2 Packages/f1tenth/f1tenth_stack/resource/f1tenth_stack new file mode 100644 index 0000000..e69de29 diff --git a/ROS 2 Packages/f1tenth/f1tenth_stack/setup.cfg b/ROS 2 Packages/f1tenth/f1tenth_stack/setup.cfg new file mode 100644 index 0000000..3814012 --- /dev/null +++ b/ROS 2 Packages/f1tenth/f1tenth_stack/setup.cfg @@ -0,0 +1,4 @@ +[develop] +script-dir=$base/lib/f1tenth_stack +[install] +install-scripts=$base/lib/f1tenth_stack diff --git a/ROS 2 Packages/f1tenth/f1tenth_stack/setup.py b/ROS 2 Packages/f1tenth/f1tenth_stack/setup.py new file mode 100644 index 0000000..c5a9992 --- /dev/null +++ b/ROS 2 Packages/f1tenth/f1tenth_stack/setup.py @@ -0,0 +1,31 @@ +from setuptools import setup +import os +from glob import glob + +package_name = 'f1tenth_stack' + +setup( + name=package_name, + version='0.0.1', + packages=[package_name], + data_files=[ + ('share/ament_index/resource_index/packages', + ['resource/' + package_name]), + ('share/' + package_name, ['package.xml']), + (os.path.join('share', package_name, 'launch'), glob('launch/*.py')), + (os.path.join('share', package_name, 'config'), glob('config/*.yaml')), + ], + install_requires=['setuptools'], + zip_safe=True, + maintainer='Hongrui Zheng', + maintainer_email='billyzheng.bz@gmail.com', + description='Onboard drivers for vesc and sensors for F1TENTH vehicles.', + license='MIT', + tests_require=['pytest'], + entry_points={ + 'console_scripts': [ + 'throttle_interpolator = f1tenth_stack.throttle_interpolator:main', + 'tf_publisher = f1tenth_stack.tf_publisher:main' + ], + }, +) diff --git a/ROS 2 Packages/f1tenth/f1tenth_stack/test/test_copyright.py b/ROS 2 Packages/f1tenth/f1tenth_stack/test/test_copyright.py new file mode 100644 index 0000000..cc8ff03 --- /dev/null +++ b/ROS 2 Packages/f1tenth/f1tenth_stack/test/test_copyright.py @@ -0,0 +1,23 @@ +# Copyright 2015 Open Source Robotics Foundation, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +from ament_copyright.main import main +import pytest + + +@pytest.mark.copyright +@pytest.mark.linter +def test_copyright(): + rc = main(argv=['.', 'test']) + assert rc == 0, 'Found errors' diff --git a/ROS 2 Packages/f1tenth/f1tenth_stack/test/test_flake8.py b/ROS 2 Packages/f1tenth/f1tenth_stack/test/test_flake8.py new file mode 100644 index 0000000..27ee107 --- /dev/null +++ b/ROS 2 Packages/f1tenth/f1tenth_stack/test/test_flake8.py @@ -0,0 +1,25 @@ +# Copyright 2017 Open Source Robotics Foundation, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +from ament_flake8.main import main_with_errors +import pytest + + +@pytest.mark.flake8 +@pytest.mark.linter +def test_flake8(): + rc, errors = main_with_errors(argv=[]) + assert rc == 0, \ + 'Found %d code style errors / warnings:\n' % len(errors) + \ + '\n'.join(errors) diff --git a/ROS 2 Packages/f1tenth/f1tenth_stack/test/test_pep257.py b/ROS 2 Packages/f1tenth/f1tenth_stack/test/test_pep257.py new file mode 100644 index 0000000..b234a38 --- /dev/null +++ b/ROS 2 Packages/f1tenth/f1tenth_stack/test/test_pep257.py @@ -0,0 +1,23 @@ +# Copyright 2015 Open Source Robotics Foundation, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +from ament_pep257.main import main +import pytest + + +@pytest.mark.linter +@pytest.mark.pep257 +def test_pep257(): + rc = main(argv=['.', 'test']) + assert rc == 0, 'Found code style errors / warnings' diff --git a/ROS 2 Packages/f1tenth/scripts/resume_container.sh b/ROS 2 Packages/f1tenth/scripts/resume_container.sh new file mode 100644 index 0000000..1c7136c --- /dev/null +++ b/ROS 2 Packages/f1tenth/scripts/resume_container.sh @@ -0,0 +1,8 @@ +#!/usr/bin/env bash + +# give docker permission to use X +sudo xhost +si:localuser:root + +# run container with privilege mode, host network, display, and mount workspace on host +sudo docker restart $1 +sudo docker attach $1 \ No newline at end of file diff --git a/ROS 2 Packages/f1tenth/scripts/run_container.sh b/ROS 2 Packages/f1tenth/scripts/run_container.sh new file mode 100644 index 0000000..f626b09 --- /dev/null +++ b/ROS 2 Packages/f1tenth/scripts/run_container.sh @@ -0,0 +1,13 @@ +#!/usr/bin/env bash + +# create workspace on host, in home directory +mkdir -p $HOME/f1tenth_ws + +# give docker permission to use X +sudo xhost +si:localuser:root + +# run container with privilege mode, host network, display, and mount workspace on host +sudo docker run --runtime nvidia -it --privileged --network host -e DISPLAY=$DISPLAY \ + -v /tmp/.X11-unix/:/tmp/.X11-unix -v /dev:/dev \ + --mount type=volume,dst=/f1tenth_ws,volume-driver=local,volume-opt=type=none,volume-opt=o=bind,volume-opt=device=$HOME/f1tenth_ws \ + f1tenth/focal-l4t-foxy:f1tenth-stack \ No newline at end of file diff --git a/ROS 2 Packages/f1tenth/teleop_tools/.github/workflows/ci.yml b/ROS 2 Packages/f1tenth/teleop_tools/.github/workflows/ci.yml new file mode 100644 index 0000000..d706bcf --- /dev/null +++ b/ROS 2 Packages/f1tenth/teleop_tools/.github/workflows/ci.yml @@ -0,0 +1,41 @@ +name: Test teleop_tools +on: + pull_request: + push: + schedule: + # Run every morning to detect flakiness and broken dependencies + - cron: '17 8 * * *' + +jobs: + ci: + name: Foxy source job + runs-on: ubuntu-20.04 + strategy: + fail-fast: false + steps: + - uses: ros-tooling/setup-ros@v0.1 + with: + required-ros-distributions: foxy + # workaround + - run: sudo RTI_NC_LICENSE_ACCEPTED=yes apt-get install -y rti-connext-dds-5.3.1 + - uses: ros-tooling/action-ros-ci@v0.1 + with: + target-ros2-distro: foxy + # build all packages listed in the meta package + package-name: + joy_teleop + key_teleop + mouse_teleop + teleop_tools + teleop_tools_msgs + colcon-mixin-name: coverage-gcc + colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml + - uses: codecov/codecov-action@v1 + with: + file: ros_ws/lcov/total_coverage.info + flags: unittests + name: codecov-umbrella + - uses: actions/upload-artifact@v1 + with: + name: colcon-logs-${{ matrix.os }} + path: ros_ws/log diff --git a/ROS 2 Packages/f1tenth/teleop_tools/.github/workflows/lint.yml b/ROS 2 Packages/f1tenth/teleop_tools/.github/workflows/lint.yml new file mode 100644 index 0000000..e7c420b --- /dev/null +++ b/ROS 2 Packages/f1tenth/teleop_tools/.github/workflows/lint.yml @@ -0,0 +1,25 @@ +name: Lint teleop_tools +on: + pull_request: + +jobs: + ament_lint: + name: ament_${{ matrix.linter }} + runs-on: ubuntu-20.04 + strategy: + fail-fast: false + matrix: + linter: [copyright, flake8, pep257, xmllint] + steps: + - uses: actions/checkout@v1 + - uses: ros-tooling/setup-ros@v0.1 + - uses: ros-tooling/action-ros-lint@v0.1 + with: + distribution: foxy + linter: ${{ matrix.linter }} + package-name: + joy_teleop + key_teleop + mouse_teleop + teleop_tools + teleop_tools_msgs diff --git a/ROS 2 Packages/f1tenth/teleop_tools/README.md b/ROS 2 Packages/f1tenth/teleop_tools/README.md new file mode 100644 index 0000000..d0e6bb8 --- /dev/null +++ b/ROS 2 Packages/f1tenth/teleop_tools/README.md @@ -0,0 +1,10 @@ +teleop_tools +============ + +A set of generic teleoperation tools for any robot. + +This contains the following teleoperation tools: + +* `joy_teleop`, a generic joystick interface for topics and actions +* `key_teleop`, a lightweight console keyboard teleoperation utility +* `mouse_teleop`, a pointing device (e.g. mouse, touchpad) teleoperation utility diff --git a/ROS 2 Packages/f1tenth/teleop_tools/codecov.yml b/ROS 2 Packages/f1tenth/teleop_tools/codecov.yml new file mode 100644 index 0000000..85829ce --- /dev/null +++ b/ROS 2 Packages/f1tenth/teleop_tools/codecov.yml @@ -0,0 +1,24 @@ +coverage: + precision: 2 + round: down + range: "35...100" + status: + project: + default: + informational: true + flags: + - unittests + patch: off +fixes: + - "ros_ws/src/teleop_tools/::" +comment: + layout: "diff, flags, files" + behavior: default +flags: + unittests: + paths: + - joy_teleop + - key_teleop + - mouse_teleop + - teleop_tools + - teleop_tools_msgs diff --git a/ROS 2 Packages/f1tenth/teleop_tools/joy_teleop/CHANGELOG.rst b/ROS 2 Packages/f1tenth/teleop_tools/joy_teleop/CHANGELOG.rst new file mode 100644 index 0000000..5d58344 --- /dev/null +++ b/ROS 2 Packages/f1tenth/teleop_tools/joy_teleop/CHANGELOG.rst @@ -0,0 +1,181 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package joy_teleop +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +1.2.1 (2020-10-29) +------------------ + +1.2.0 (2020-10-16) +------------------ +* Change the file mode of the python files in joy_teleop. + They don't need to be executable. +* Add in Python typing to joy_teleop. + This also showed a few bugs. +* Add a test for service becoming ready. +* Add in tests for parameter failures. +* Add a test for debouncing. + The test works by having a subscription to the output topic. + Every time the subscription is received, we increment a counter. + There is also a timer callback that executes every 0.1 seconds, + publishing the 'joy' message. Like other tests, this publication + toggles the button on and off to avoid debouncing. Unlike other + tests, once we have seen one message come in, we stop toggling + and just set it to one all of the time to ensure debouncing + works properly. +* Add in a test for actions. +* Add in tests for services. +* Add a test for topic axis mappings. +* Add in a test for a simple message. +* Add in joy_teleop common testing tools. + These will be used by the rest of the tests. +* Add in unit tests for get_interface_type. +* Rename test_pop257 -> test_pep257. +* Rewrite to use classes instead of maps. + This has a number of benefits: + 1. I think it is much easier to read; the classes only implement + the pieces they are concerned with. + 2. Actions and services now automatically reconnect as action + servers or service servers come and go. + 3. It is easier to write tests for individual functionality. + The API to this node stays the same; the parameters and topics + that were used before are still honored. +* Raise errors when parsing configuration fails. + This lets the user know that their configuration is wrong + much earlier. +* Get rid of self.config. + We never use it outside of the constructor, so just make it + a local variable. +* Rename al_clients -> action_clients. +* Contributors: Chris Lalancette + +1.1.0 (2020-04-21) +------------------ +* Add the ability to have deadman axes. (`#46 `_) + * Add the ability to have deadman axes. + Some controllers don't have a convenient shoulder trigger + button, but do have shoulder "axes". Allow the axes to + be used for a deadman trigger, assuming they are pressed + all the way. Note that I used a dict for the list of + axes, as this provides the most convenient way to deal + with controllers that use 1.0, -1.0, or 0.0 as the "far" + end of the axis. + * Make sure to ignore buttons and axes that don't exist. +* Contributors: Chris Lalancette + +1.0.2 (2020-02-10) +------------------ +* Avoid halting on action server status checks. (`#48 `_) +* Depend action_tutorials_interfaces (`#44 `_) +* log JoyTeleopException (`#41 `_) +* Contributors: Michel Hidalgo, Yutaka Kondo + +1.0.1 (2019-09-18) +------------------ +* Fix install rules and dashing changes (`#38 `_) + * fix ament indexing + * fix package resource files + * add tk depenndency + * add check for param index-ability + * data files are now package agnostic + Signed-off-by: Ted Kern +* Contributors: Ted Kern + +1.0.0 (2019-09-10) +------------------ +* ROS2 port (`#35 `_) + * key_teleop pkg format 3 + * port teleop_tools_msgs + * key_teleop catch KeyboardInterrupt + * port mouse_teleop + * add key_teleop.yaml + * add xmllint test + * fix xmllint tests + * remove useless class KeyTeleop + * Fixes for dynamic topic joy publishers + - match_command() now compares button array length to the max + deadman button index (apples to apples) + - match_command function now checks if any of the deadman buttons + are depressed before returning a match + - properly handle a std_msgs/msg/Empty 'message_value' by not + attempting to access its value + - utilizes iter-items to correctly index into the config dict + for 'axis_mappings''s 'axis' and 'button' values + - set_member() now splits according to a dash (-) rather than a + periond (.) to be consistent with ros2 param parsing & example yaml + - adds the correct name to setup.py for test_key_teleop.py test + * reduce copy/pasta +* Contributors: Jeremie Deray + +0.3.0 (2019-01-03) +------------------ +* Fill in the timestamp of outgoing messages, if applicable. +* add service example +* Add option for persistent service, defaulted false +* Contributors: AndyZe, Jeremie Deray, Bence Magyar + +0.2.6 (2018-04-06) +------------------ +* Support using buttons and axis in the same message +* Contributors: Tim Clephas + +0.2.5 (2017-04-21) +------------------ +* Remove duplicate examples, add list ones +* Contributors: Bence Magyar + +0.2.4 (2016-11-30) +------------------ +* Replace joy_teleop.fill_msg with genpy.message.fill_message_args +* Contributors: Stephen Street + +0.2.3 (2016-07-18) +------------------ +* Add hello publish to example +* Rename to fix example launch file +* Added example of feature to config file +* Added message_value parameter to specify message content on topics +* PEP8 style stuff +* Fixes bug when keep asking for increments + would make the goal position grow infinitely instead of be of maximum 'current joint position' + 'increment quantity' +* Contributors: Bence Magyar, Sam Pfeiffer, SomeshDaga + +0.2.2 (2016-03-24) +------------------ +* Add install rules for example files +* gracefully handle missing joy axes +* Contributors: Bence Magyar, Kopias Peter + +0.2.1 (2016-01-29) +------------------ +* Add support for services + it is now possible to asynchronously send service requests on button presses +* Adds queue_size keyword +* Contributors: Bence Magyar, Nils Berg, Enrique Fernandez + +0.2.0 (2015-08-03) +------------------ +* Add example for incrementer +* Update package.xmls +* Add incrementer_server +* Contributors: Bence Magyar + +0.1.2 (2015-02-15) +------------------ +* joy_teleop: fix minor typo +* Contributors: G.A. vd. Hoorn + +0.1.1 (2014-11-17) +------------------ +* Change maintainer +* checks for index out of bounds in buttons list + `buttons` is a list, not a dict + Filter out buttons not available +* Check for b in buttons +* Check for IndexError +* joy_teleop: add action server auto-refresh +* Move everything to joy_teleop subfolder +* Contributors: Bence Magyar, Enrique Fernández Perdomo, Paul Mathieu + +0.1.0 (2013-11-28) +------------------ +* joy_teleop: nice, generic joystick control for ROS diff --git a/ROS 2 Packages/f1tenth/teleop_tools/joy_teleop/README.md b/ROS 2 Packages/f1tenth/teleop_tools/joy_teleop/README.md new file mode 100644 index 0000000..6b6829d --- /dev/null +++ b/ROS 2 Packages/f1tenth/teleop_tools/joy_teleop/README.md @@ -0,0 +1,4 @@ +joy_teleop +========== + +A configurable node to map joystick controls to robot teleoperation commands diff --git a/ROS 2 Packages/f1tenth/teleop_tools/joy_teleop/config/joy_teleop_example.yaml b/ROS 2 Packages/f1tenth/teleop_tools/joy_teleop/config/joy_teleop_example.yaml new file mode 100644 index 0000000..84f7e5b --- /dev/null +++ b/ROS 2 Packages/f1tenth/teleop_tools/joy_teleop/config/joy_teleop_example.yaml @@ -0,0 +1,116 @@ +joy_teleop: + ros__parameters: + + walk: + type: topic + interface_type: geometry_msgs/msg/TwistStamped + topic_name: cmd_vel + deadman_buttons: [4] + axis_mappings: + linear-x: + axis: 1 + scale: 0.5 + offset: -0.03 + angular-z: + axis: 0 + scale: 0.5 + offset: 0 + linear-y: + axis: 2 + scale: 0.3 + offset: 0 + linear-z: + button: 2 + scale: 3.0 + header-frame_id: + value: 'my_tf_frame' + + force_push: + type: topic + interface_type: geometry_msgs/msg/Wrench + topic_name: base_link_wrench + deadman_buttons: [5, 7] + axis_mappings: + force-x: + axis: 3 + scale: 40 + offset: 0 + force-y: + axis: 2 + scale: 40 + offset: 0 + + stop: + type: topic + interface_type: geometry_msgs/msg/Twist + topic_name: cmd_vel + deadman_buttons: [0, 2] + message_value: + linear-x: + value: 0.0 + angular-z: + value: 0.0 + linear-y: + value: 0.0 + + hello: + type: topic + interface_type: std_msgs/msg/String + topic_name: chatter + deadman_buttons: [2] + message_value: + data: + value: 'Hello' + + array: + type: topic + interface_type: std_msgs/msg/UInt8MultiArray + topic_name: bytes + deadman_buttons: [5] + message_value: + data: + value: [1,3,3,7] + + array2: + type: topic + interface_type: std_msgs/msg/UInt8MultiArray + topic_name: bytes + deadman_buttons: [3] + message_value: + data: + value: + - 4 + - 2 + + torso_up: + type: action + interface_type: teleop_tools_msgs/action/Increment + action_name: torso_controller/increment + action_goal: + increment_by: [0.05] + buttons: [4] + + torso_down: + type: action + interface_type: teleop_tools_msgs/action/Increment + action_name: torso_controller/increment + action_goal: + increment_by: [-0.05] + buttons: [6] + + fibonacci: + type: action + interface_type: action_tutorials_interfaces/action/Fibonacci + action_name: fibonacci + action_goal: + order: 5 + buttons: [4, 5, 6, 7] + + add_two_ints: + type: service + interface_type: example_interfaces/srv/AddTwoInts + service_name: add_two_ints + service_request: + a: 11 + b: 31 + buttons: [10] diff --git a/ROS 2 Packages/f1tenth/teleop_tools/joy_teleop/joy_teleop/__init__.py b/ROS 2 Packages/f1tenth/teleop_tools/joy_teleop/joy_teleop/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/ROS 2 Packages/f1tenth/teleop_tools/joy_teleop/joy_teleop/__pycache__/__init__.cpython-38.pyc b/ROS 2 Packages/f1tenth/teleop_tools/joy_teleop/joy_teleop/__pycache__/__init__.cpython-38.pyc new file mode 100644 index 0000000..b4b04f1 Binary files /dev/null and b/ROS 2 Packages/f1tenth/teleop_tools/joy_teleop/joy_teleop/__pycache__/__init__.cpython-38.pyc differ diff --git a/ROS 2 Packages/f1tenth/teleop_tools/joy_teleop/joy_teleop/__pycache__/joy_teleop.cpython-38.pyc b/ROS 2 Packages/f1tenth/teleop_tools/joy_teleop/joy_teleop/__pycache__/joy_teleop.cpython-38.pyc new file mode 100644 index 0000000..f5c649a Binary files /dev/null and b/ROS 2 Packages/f1tenth/teleop_tools/joy_teleop/joy_teleop/__pycache__/joy_teleop.cpython-38.pyc differ diff --git a/ROS 2 Packages/f1tenth/teleop_tools/joy_teleop/joy_teleop/incrementer_server.py b/ROS 2 Packages/f1tenth/teleop_tools/joy_teleop/joy_teleop/incrementer_server.py new file mode 100644 index 0000000..5746fed --- /dev/null +++ b/ROS 2 Packages/f1tenth/teleop_tools/joy_teleop/joy_teleop/incrementer_server.py @@ -0,0 +1,116 @@ +#! /usr/bin/env python +# -*- coding: utf-8 -*- +# +# Copyright (c) 2019 PAL Robotics SL. +# All rights reserved. +# +# Software License Agreement (BSD License 2.0) +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# * Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# * Redistributions in binary form must reproduce the above +# copyright notice, this list of conditions and the following +# disclaimer in the documentation and/or other materials provided +# with the distribution. +# * Neither the name of PAL Robotics SL. nor the names of its +# contributors may be used to endorse or promote products derived +# from this software without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +# +# Authors: +# * Bence Magyar +# * Sam Pfeiffer +# * Jeremie Deray (artivis) + +import time + +from control_msgs.msg import JointTrajectoryControllerState as JTCS +import rclpy +from rclpy.action import ActionServer +from rclpy.duration import Duration +from rclpy.node import Node +from teleop_tools_msgs.action import Increment as TTIA +from trajectory_msgs.msg import JointTrajectory, JointTrajectoryPoint + + +class IncrementerServer(Node): + + def __init__(self, controller_ns): + super().__init__('incrementer_server') + + self._has_new_message = False + + self._as = ActionServer(self, TTIA, 'increment', self._as_cb) + + self._command_pub = self.create_publisher(JointTrajectory, 'command', 1) + + self._state_sub = self.create_subscription(JTCS, 'state', self._state_cb, 1) + + state = self._wait_for_new_message() + self._value = state.actual.positions + self._goal = JointTrajectory() + self._goal.joint_names = state.joint_names + self.get_logger().info('Connected to %s', controller_ns) + + def _as_cb(self, goal): + self.increment_by(goal.increment_by) + self._as.set_succeeded([]) + + def _state_cb(self, state): + self._state = state + self._has_new_message = True + + # TODO(artivis) change after + # https://github.com/ros2/rclcpp/issues/520 + # has landed + def _wait_for_new_message(self): + self._has_new_message = False + while not self._has_new_message: + time.sleep(0.01) + return self._state + + def increment_by(self, increment): + state = self._wait_for_new_message() + self._value = state.actual.positions + self._value = [x + y for x, y in zip(self._value, increment)] + self.get_logger().info('Sent goal of %s', str(self._value)) + point = JointTrajectoryPoint() + point.positions = self._value + point.time_from_start = Duration(seconds=0.1) + self._goal.points = [point] + self._command_pub.publish(self._goal) + + +def main(): + try: + rclpy.init() + + node = IncrementerServer('spine_controller') + + rclpy.spin(node) + + node.destroy_node() + rclpy.shutdown() + except KeyboardInterrupt: + pass + + +if __name__ == '__main__': + main() diff --git a/ROS 2 Packages/f1tenth/teleop_tools/joy_teleop/joy_teleop/joy_teleop.py b/ROS 2 Packages/f1tenth/teleop_tools/joy_teleop/joy_teleop/joy_teleop.py new file mode 100644 index 0000000..ac17ff3 --- /dev/null +++ b/ROS 2 Packages/f1tenth/teleop_tools/joy_teleop/joy_teleop/joy_teleop.py @@ -0,0 +1,428 @@ +# -*- coding: utf-8 -*- +# +# Copyright (c) 2019 PAL Robotics SL. +# All rights reserved. +# +# Software License Agreement (BSD License 2.0) +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# * Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# * Redistributions in binary form must reproduce the above +# copyright notice, this list of conditions and the following +# disclaimer in the documentation and/or other materials provided +# with the distribution. +# * Neither the name of PAL Robotics SL. nor the names of its +# contributors may be used to endorse or promote products derived +# from this software without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. + +import importlib +import typing + +import rclpy +from rclpy.action import ActionClient +from rclpy.node import Node +from rclpy.parameter import PARAMETER_SEPARATOR_STRING +from rosidl_runtime_py import set_message_fields +import sensor_msgs.msg + + +class JoyTeleopException(Exception): + pass + + +def get_interface_type(type_name: str, interface_type: str) -> typing.Any: + split = type_name.split('/') + if len(split) != 3: + raise JoyTeleopException("Invalid type_name '{}'".format(type_name)) + package = split[0] + interface = split[1] + message = split[2] + if interface != interface_type: + raise JoyTeleopException("Cannot use interface of type '{}' for an '{}'" + .format(interface, interface_type)) + + mod = importlib.import_module(package + '.' + interface_type) + return getattr(mod, message) + + +def set_member(msg: typing.Any, member: str, value: typing.Any) -> None: + ml = member.split('-') + if len(ml) < 1: + return + target = msg + for i in ml[:-1]: + target = getattr(target, i) + setattr(target, ml[-1], value) + + +class JoyTeleopCommand: + + def __init__(self, name: str, config: typing.Dict[str, typing.Any], + button_name: str, axes_name: str) -> None: + self.buttons: typing.List[str] = [] + if button_name in config: + self.buttons = config[button_name] + self.axes: typing.List[str] = [] + if axes_name in config: + self.axes = config[axes_name] + + if len(self.buttons) == 0 and len(self.axes) == 0: + self.buttons = ['default'] + # raise JoyTeleopException("No buttons or axes configured for command '{}'".format(name)) + + # Used to short-circuit the run command if there aren't enough buttons in the message. + self.min_button = 0 + if len(self.buttons) > 0 and 'default' not in self.buttons: + self.min_button = int(min(self.buttons)) + self.min_axis = 0 + if len(self.axes) > 0: + self.min_axis = int(min(self.axes)) + + # This can be used to "debounce" the message; if there are multiple presses of the buttons + # or axes, the command may only activate on the first one until it toggles again. But this + # is a command-specific behavior, the base class only provides the mechanism. + self.active = False + + def update_active_from_buttons_and_axes(self, joy_state: sensor_msgs.msg.Joy) -> None: + self.active = False + + if (self.min_button is not None and len(joy_state.buttons) <= self.min_button) and \ + (self.min_axis is not None and len(joy_state.axes) <= self.min_axis): + # Not enough buttons or axes, so it can't possibly be a message for this command. + return + + for button in self.buttons: + if button == 'default' and sum(joy_state.buttons) == 0: + self.active = True + elif button == 'default' and sum(joy_state.buttons) > 0: + pass + else: + try: + self.active |= joy_state.buttons[button] == 1 + except IndexError: + # An index error can occur if this command is configured for multiple buttons + # like (0, 10), but the length of the joystick buttons is only 1. Ignore these. + pass + + for axis in self.axes: + try: + self.active |= joy_state.axes[axis] == 1.0 + except IndexError: + # An index error can occur if this command is configured for multiple buttons + # like (0, 10), but the length of the joystick buttons is only 1. Ignore these. + pass + + +class JoyTeleopTopicCommand(JoyTeleopCommand): + + def __init__(self, name: str, config: typing.Dict[str, typing.Any], node: Node) -> None: + super().__init__(name, config, 'deadman_buttons', 'deadman_axes') + + self.name = name + + self.topic_type = get_interface_type(config['interface_type'], 'msg') + + # A 'message_value' is a fixed message that is sent in response to an activation. It is + # mutually exclusive with an 'axis_mapping'. + self.msg_value = None + if 'message_value' in config: + msg_config = config['message_value'] + + # Construct the fixed message and try to fill it in. This message will be reused + # during runtime, and has the side benefit of giving the user early feedback if the + # config can't work. + self.msg_value = self.topic_type() + for target, param in msg_config.items(): + set_member(self.msg_value, target, param['value']) + + # An 'axis_mapping' takes data from one part of the message and scales and offsets it to + # publish if an activation happens. This is typically used to take joystick analog data + # and republish it as a cmd_vel. It is mutually exclusive with a 'message_value'. + self.axis_mappings = {} + if 'axis_mappings' in config: + self.axis_mappings = config['axis_mappings'] + # Now check that the mappings have all of the required configuration. + for mapping, values in self.axis_mappings.items(): + if 'axis' not in values and 'button' not in values and 'value' not in values: + raise JoyTeleopException("Axis mapping for '{}' must have an axis, button, " + 'or value'.format(name)) + + if 'axis' in values: + if 'offset' not in values: + raise JoyTeleopException("Axis mapping for '{}' must have an offset" + .format(name)) + + if 'scale' not in values: + raise JoyTeleopException("Axis mapping for '{}' must have a scale" + .format(name)) + + if self.msg_value is None and not self.axis_mappings: + raise JoyTeleopException("No 'message_value' or 'axis_mappings' " + "configured for command '{}'".format(name)) + if self.msg_value is not None and self.axis_mappings: + raise JoyTeleopException("Only one of 'message_value' or 'axis_mappings' " + "can be configured for command '{}'".format(name)) + + qos = rclpy.qos.QoSProfile(history=rclpy.qos.QoSHistoryPolicy.KEEP_LAST, + depth=1, + reliability=rclpy.qos.QoSReliabilityPolicy.RELIABLE, + durability=rclpy.qos.QoSDurabilityPolicy.VOLATILE) + + self.pub = node.create_publisher(self.topic_type, config['topic_name'], qos) + + def run(self, node: Node, joy_state: sensor_msgs.msg.Joy) -> None: + # The logic for responding to this joystick press is: + # 1. Save off the current state of active. + # 2. Update the current state of active based on buttons and axes. + # 3. If this command is currently not active, return without publishing. + # 4. If this is a msg_value, and the value of the previous active is the same as now, + # debounce and return without publishing. + # 5. In all other cases, publish. This means that this is a msg_value and the button + # transitioned from 0 -> 1, or it means that this is an axis mapping and data should + # continue to be published without debouncing. + + last_active = self.active + self.update_active_from_buttons_and_axes(joy_state) + if not self.active: + return + if self.msg_value is not None and last_active == self.active: + return + + if self.msg_value is not None: + # This is the case for a static message. + msg = self.msg_value + else: + # This is the case to forward along mappings. + msg = self.topic_type() + + for mapping, values in self.axis_mappings.items(): + if 'axis' in values: + if len(joy_state.axes) > values['axis']: + val = joy_state.axes[values['axis']] * values.get('scale', 1.0) + \ + values.get('offset', 0.0) + else: + node.get_logger().error('Joystick has only {} axes (indexed from 0),' + 'but #{} was referenced in config.'.format( + len(joy_state.axes), values['axis'])) + val = 0.0 + elif 'button' in values: + if len(joy_state.buttons) > values['button']: + val = joy_state.buttons[values['button']] * values.get('scale', 1.0) + \ + values.get('offset', 0.0) + else: + node.get_logger().error('Joystick has only {} buttons (indexed from 0),' + 'but #{} was referenced in config.'.format( + len(joy_state.buttons), values['button'])) + val = 0.0 + elif 'value' in values: + # Pass on the value as its Python-implicit type + val = values.get('value') + else: + node.get_logger().error( + 'No Supported axis_mappings type found in: {}'.format(mapping)) + val = 0.0 + + set_member(msg, mapping, val) + + # If there is a stamp field, fill it with now(). + if hasattr(msg, 'header'): + msg.header.stamp = node.get_clock().now().to_msg() + + self.pub.publish(msg) + + +class JoyTeleopServiceCommand(JoyTeleopCommand): + + def __init__(self, name: str, config: typing.Dict[str, typing.Any], node: Node) -> None: + super().__init__(name, config, 'buttons', 'axes') + + self.name = name + + service_name = config['service_name'] + + service_type = get_interface_type(config['interface_type'], 'srv') + + self.request = service_type.Request() + + if 'service_request' in config: + # Set the message fields in the request in the constructor. This request will be used + # during runtime, and has the side benefit of giving the user early feedback if the + # config can't work. + set_message_fields(self.request, config['service_request']) + + self.service_client = node.create_client(service_type, service_name) + self.client_ready = False + + def run(self, node: Node, joy_state: sensor_msgs.msg.Joy) -> None: + # The logic for responding to this joystick press is: + # 1. Save off the current state of active. + # 2. Update the current state of active. + # 3. If this command is currently not active, return without calling the service. + # 4. Save off the current state of whether the service was ready. + # 5. Update whether the service is ready. + # 6. If the service is not currently ready, return without calling the service. + # 7. If the service was already ready, and the state of the button is the same as before, + # debounce and return without calling the service. + # 8. In all other cases, call the service. This means that either this is a button + # transition 0 -> 1, or that the service became ready since the last call. + + last_active = self.active + self.update_active_from_buttons_and_axes(joy_state) + if not self.active: + return + last_ready = self.client_ready + self.client_ready = self.service_client.service_is_ready() + if not self.client_ready: + return + if last_ready == self.client_ready and last_active == self.active: + return + + self.service_client.call_async(self.request) + + +class JoyTeleopActionCommand(JoyTeleopCommand): + + def __init__(self, name: str, config: typing.Dict[str, typing.Any], node: Node) -> None: + super().__init__(name, config, 'buttons', 'axes') + + self.name = name + + action_type = get_interface_type(config['interface_type'], 'action') + + self.goal = action_type.Goal() + + if 'action_goal' in config: + # Set the message fields for the goal in the constructor. This goal will be used + # during runtime, and has hte side benefit of giving the user early feedback if the + # config can't work. + set_message_fields(self.goal, config['action_goal']) + + action_name = config['action_name'] + + self.action_client = ActionClient(node, action_type, action_name) + self.client_ready = False + + def run(self, node: Node, joy_state: sensor_msgs.msg.Joy) -> None: + # The logic for responding to this joystick press is: + # 1. Save off the current state of active. + # 2. Update the current state of active. + # 3. If this command is currently not active, return without calling the action. + # 4. Save off the current state of whether the action was ready. + # 5. Update whether the action is ready. + # 6. If the action is not currently ready, return without calling the action. + # 7. If the action was already ready, and the state of the button is the same as before, + # debounce and return without calling the action. + # 8. In all other cases, call the action. This means that either this is a button + # transition 0 -> 1, or that the action became ready since the last call. + + last_active = self.active + self.update_active_from_buttons_and_axes(joy_state) + if not self.active: + return + last_ready = self.client_ready + self.client_ready = self.action_client.server_is_ready() + if not self.client_ready: + return + if last_ready == self.client_ready and last_active == self.active: + return + + self.action_client.send_goal_async(self.goal) + + +class JoyTeleop(Node): + """ + Generic joystick teleoperation node. + + Will not start without configuration, has to be stored in 'teleop' parameter. + See config/joy_teleop.yaml for an example. + """ + + def __init__(self): + super().__init__('joy_teleop', allow_undeclared_parameters=True, + automatically_declare_parameters_from_overrides=True) + + self.commands = [] + + names = [] + + for name, config in self.retrieve_config().items(): + if name in names: + raise JoyTeleopException("command '{}' was duplicated".format(name)) + + try: + interface_group = config['type'] + + if interface_group == 'topic': + self.commands.append(JoyTeleopTopicCommand(name, config, self)) + elif interface_group == 'service': + self.commands.append(JoyTeleopServiceCommand(name, config, self)) + elif interface_group == 'action': + self.commands.append(JoyTeleopActionCommand(name, config, self)) + else: + raise JoyTeleopException("unknown type '{interface_group}' " + "for command '{name}'".format_map(locals())) + except TypeError: + # This can happen on parameters we don't control, like 'use_sim_time'. + self.get_logger().debug('parameter {} is not a dict'.format(name)) + + names.append(name) + + # Don't subscribe until everything has been initialized. + qos = rclpy.qos.QoSProfile(history=rclpy.qos.QoSHistoryPolicy.KEEP_LAST, + depth=1, + reliability=rclpy.qos.QoSReliabilityPolicy.RELIABLE, + durability=rclpy.qos.QoSDurabilityPolicy.VOLATILE) + self._subscription = self.create_subscription( + sensor_msgs.msg.Joy, 'joy', self.joy_callback, qos) + + def retrieve_config(self): + config = {} + for param_name in sorted(self._parameters.keys()): + pval = self.get_parameter(param_name).value + self.insert_dict(config, param_name, pval) + return config + + def insert_dict(self, dictionary: typing.Dict[str, typing.Any], key: str, value: str) -> None: + split = key.partition(PARAMETER_SEPARATOR_STRING) + if split[0] == key and split[1] == '' and split[2] == '': + dictionary[key] = value + else: + if not split[0] in dictionary: + dictionary[split[0]] = {} + self.insert_dict(dictionary[split[0]], split[2], value) + + def joy_callback(self, msg: sensor_msgs.msg.Joy) -> None: + for command in self.commands: + command.run(self, msg) + + +def main(args=None): + rclpy.init(args=args) + node = JoyTeleop() + + try: + rclpy.spin(node) + except JoyTeleopException as e: + node.get_logger().error(e.message) + except KeyboardInterrupt: + pass + + node.destroy_node() + rclpy.shutdown() diff --git a/ROS 2 Packages/f1tenth/teleop_tools/joy_teleop/launch/example.launch.py b/ROS 2 Packages/f1tenth/teleop_tools/joy_teleop/launch/example.launch.py new file mode 100644 index 0000000..32d0ae6 --- /dev/null +++ b/ROS 2 Packages/f1tenth/teleop_tools/joy_teleop/launch/example.launch.py @@ -0,0 +1,47 @@ +# Copyright 2019 Canonical, Ltd. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +import os + +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +import launch.actions +import launch_ros.actions + + +# Please note that this is only an example! +# It is not guaranteed to work with your setup but can be used as a starting point. + + +def generate_launch_description(): + + parameters_file = os.path.join( + get_package_share_directory('joy_teleop'), + 'config', 'joy_teleop_example.yaml' + ) + + ld = LaunchDescription([ + launch.actions.DeclareLaunchArgument('cmd_vel', default_value='input_joy/cmd_vel'), + launch.actions.DeclareLaunchArgument('teleop_config', default_value=parameters_file), + ]) + + ld.add_action(launch_ros.actions.Node( + package='joy_teleop', executable='joy_teleop', + parameters=[launch.substitutions.LaunchConfiguration('teleop_config')])) + + ld.add_action(launch_ros.actions.Node( + package='joy_teleop', executable='incrementer_server', + name='incrementer', namespace='torso_controller')) + + return ld diff --git a/ROS 2 Packages/f1tenth/teleop_tools/joy_teleop/package.xml b/ROS 2 Packages/f1tenth/teleop_tools/joy_teleop/package.xml new file mode 100644 index 0000000..f2e6864 --- /dev/null +++ b/ROS 2 Packages/f1tenth/teleop_tools/joy_teleop/package.xml @@ -0,0 +1,37 @@ + + + + joy_teleop + 1.2.1 + A (to be) generic joystick interface to control a robot + + Bence Magyar + BSD + + Paul Mathieu + + control_msgs + rclpy + sensor_msgs + teleop_tools_msgs + trajectory_msgs + rosidl_runtime_py + + action_tutorials_interfaces + ament_copyright + ament_flake8 + ament_pep257 + ament_xmllint + example_interfaces + geometry_msgs + std_msgs + std_srvs + test_msgs + launch_ros + launch_testing + + + ament_python + + + diff --git a/ROS 2 Packages/f1tenth/teleop_tools/joy_teleop/resource/joy_teleop b/ROS 2 Packages/f1tenth/teleop_tools/joy_teleop/resource/joy_teleop new file mode 100644 index 0000000..e69de29 diff --git a/ROS 2 Packages/f1tenth/teleop_tools/joy_teleop/setup.cfg b/ROS 2 Packages/f1tenth/teleop_tools/joy_teleop/setup.cfg new file mode 100644 index 0000000..30f50d9 --- /dev/null +++ b/ROS 2 Packages/f1tenth/teleop_tools/joy_teleop/setup.cfg @@ -0,0 +1,4 @@ +[develop] +script-dir=$base/lib/joy_teleop +[install] +install-scripts=$base/lib/joy_teleop diff --git a/ROS 2 Packages/f1tenth/teleop_tools/joy_teleop/setup.py b/ROS 2 Packages/f1tenth/teleop_tools/joy_teleop/setup.py new file mode 100644 index 0000000..e57da93 --- /dev/null +++ b/ROS 2 Packages/f1tenth/teleop_tools/joy_teleop/setup.py @@ -0,0 +1,48 @@ +import os + +from setuptools import find_packages +from setuptools import setup + + +package_name = 'joy_teleop' +share_path = 'share/' + package_name + + +setup( + name=package_name, + version='0.3.0', + packages=find_packages(exclude=['test']), + data_files=[ + (share_path, ['package.xml']), + (os.path.join(share_path, 'config'), [os.path.join('config', 'joy_teleop_example.yaml')]), + (os.path.join(share_path, 'launch'), [os.path.join('launch', 'example.launch.py')]), + (os.path.join('share', 'ament_index', 'resource_index', 'packages'), + [os.path.join('resource', package_name)]), + ], + install_requires=['setuptools'], + zip_safe=True, + author='Paul Mathieu', + author_email='paul.mathieu@pal-robotics.com', + maintainer='Bence Magyar', + maintainer_email='bence.magyar.robotics@gmail.com', + url='https://github.com/ros-teleop/teleop_tools', + keywords=['ROS'], + classifiers=[ + 'Intended Audience :: Developers', + 'License :: OSI Approved :: BSD', + 'Programming Language :: Python', + 'Topic :: Software Development', + ], + description='A (to be) generic joystick interface to control a robot.', + long_description="""\ + joy_teleop interfaces a joystick to control/actions sent to a robot. \ + Its flexibility allows to map any joystick button to any message/service/action.""", + license='BSD', + tests_require=['pytest'], + entry_points={ + 'console_scripts': [ + 'joy_teleop = joy_teleop.joy_teleop:main', + 'incrementer_server = joy_teleop.incrementer_server:main', + ], + }, +) diff --git a/ROS 2 Packages/f1tenth/teleop_tools/joy_teleop/test/joy_teleop_testing_common.py b/ROS 2 Packages/f1tenth/teleop_tools/joy_teleop/test/joy_teleop_testing_common.py new file mode 100644 index 0000000..0b217da --- /dev/null +++ b/ROS 2 Packages/f1tenth/teleop_tools/joy_teleop/test/joy_teleop_testing_common.py @@ -0,0 +1,95 @@ +# -*- coding: utf-8 -*- +# +# Copyright (c) 2020 Open Source Robotics Foundation +# All rights reserved. +# +# Software License Agreement (BSD License 2.0) +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# * Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# * Redistributions in binary form must reproduce the above +# copyright notice, this list of conditions and the following +# disclaimer in the documentation and/or other materials provided +# with the distribution. +# * Neither the name of the copyright holder nor the names of its +# contributors may be used to endorse or promote products derived +# from this software without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. + +import re +import unittest + +import launch +import launch_ros +import launch_testing +import rclpy +import sensor_msgs.msg + + +def generate_joy_test_description(parameters): + joy_teleop_node = launch_ros.actions.Node( + package='joy_teleop', + executable='joy_teleop', + output='both', + parameters=[parameters]) + + return ( + launch.LaunchDescription([ + joy_teleop_node, + launch_testing.actions.ReadyToTest(), + ]), {} + ) + + +class TestJoyTeleop(unittest.TestCase): + + def publish_message(self): + pass + + def setUp(self): + self.context = rclpy.context.Context() + rclpy.init(context=self.context) + node_name = re.sub('(.)([A-Z]{1})', r'\1_\2', self.__class__.__name__).lower() + self.node = rclpy.create_node(node_name, context=self.context) + self.executor = rclpy.executors.SingleThreadedExecutor(context=self.context) + self.executor.add_node(self.node) + qos = rclpy.qos.QoSProfile(history=rclpy.qos.QoSHistoryPolicy.KEEP_LAST, + depth=1, + reliability=rclpy.qos.QoSReliabilityPolicy.RELIABLE, + durability=rclpy.qos.QoSDurabilityPolicy.VOLATILE) + self.joy_publisher = self.node.create_publisher( + msg_type=sensor_msgs.msg.Joy, + topic='joy', + qos_profile=qos, + ) + + self.joy_msg = sensor_msgs.msg.Joy() + self.joy_msg.header.stamp.sec = 0 + self.joy_msg.header.stamp.nanosec = 0 + self.joy_msg.header.frame_id = '' + self.joy_msg.axes = [] + self.joy_msg.buttons = [] + + self.publish_timer = self.node.create_timer(0.1, self.publish_message) + + def tearDown(self): + self.node.destroy_timer(self.publish_timer) + self.joy_publisher.destroy() + self.node.destroy_node() + rclpy.shutdown(context=self.context) diff --git a/ROS 2 Packages/f1tenth/teleop_tools/joy_teleop/test/test_action_fibonacci.py b/ROS 2 Packages/f1tenth/teleop_tools/joy_teleop/test/test_action_fibonacci.py new file mode 100644 index 0000000..348dde3 --- /dev/null +++ b/ROS 2 Packages/f1tenth/teleop_tools/joy_teleop/test/test_action_fibonacci.py @@ -0,0 +1,95 @@ +# -*- coding: utf-8 -*- +# +# Copyright (c) 2020 Open Source Robotics Foundation +# All rights reserved. +# +# Software License Agreement (BSD License 2.0) +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# * Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# * Redistributions in binary form must reproduce the above +# copyright notice, this list of conditions and the following +# disclaimer in the documentation and/or other materials provided +# with the distribution. +# * Neither the name of the copyright holder nor the names of its +# contributors may be used to endorse or promote products derived +# from this software without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. + +import action_tutorials_interfaces.action +from joy_teleop_testing_common import generate_joy_test_description, TestJoyTeleop +import pytest +import rclpy + + +@pytest.mark.rostest +def generate_test_description(): + parameters = {} + parameters['fibonacci.type'] = 'action' + parameters['fibonacci.interface_type'] = 'action_tutorials_interfaces/action/Fibonacci' + parameters['fibonacci.action_name'] = '/fibonacci' + parameters['fibonacci.buttons'] = [2] + parameters['fibonacci.action_goal'] = {'order': 5} + + return generate_joy_test_description(parameters) + + +class TestJoyTeleopActionFibonacci(TestJoyTeleop): + + def publish_message(self): + self.joy_publisher.publish(self.joy_msg) + self.joy_msg.buttons[2] = int(not self.joy_msg.buttons[2]) + + def test_simple_message(self): + sequence = [] + future = rclpy.task.Future() + + def fibonacci_callback(goal_handle): + nonlocal future + + sequence.append(0) + sequence.append(1) + for i in range(1, goal_handle.request.order): + sequence.append(sequence[i] + sequence[i-1]) + + goal_handle.succeed() + result = action_tutorials_interfaces.action.Fibonacci.Result() + result.sequence = sequence + future.set_result(True) + return result + + action_server = rclpy.action.ActionServer( + self.node, + action_tutorials_interfaces.action.Fibonacci, + 'fibonacci', + fibonacci_callback) + + try: + # Above we set the button to be used as '2', so here we set the '2' button active. + self.joy_msg.buttons = [0, 0, 1] + + self.executor.spin_until_future_complete(future, timeout_sec=10) + + # Check + self.assertTrue(future.done() and future.result(), + 'Timed out waiting for action to complete') + self.assertEqual(sequence, [0, 1, 1, 2, 3, 5]) + finally: + # Cleanup + action_server.destroy() diff --git a/ROS 2 Packages/f1tenth/teleop_tools/joy_teleop/test/test_copyright.py b/ROS 2 Packages/f1tenth/teleop_tools/joy_teleop/test/test_copyright.py new file mode 100644 index 0000000..aa74f3e --- /dev/null +++ b/ROS 2 Packages/f1tenth/teleop_tools/joy_teleop/test/test_copyright.py @@ -0,0 +1,23 @@ +# Copyright 2015 Open Source Robotics Foundation, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +from ament_copyright.main import main +import pytest + + +@pytest.mark.copyright +@pytest.mark.linter +def test_copyright(): + rc = main(argv=['.']) + assert rc == 0, 'Found errors' diff --git a/ROS 2 Packages/f1tenth/teleop_tools/joy_teleop/test/test_debounce.py b/ROS 2 Packages/f1tenth/teleop_tools/joy_teleop/test/test_debounce.py new file mode 100644 index 0000000..7e5198d --- /dev/null +++ b/ROS 2 Packages/f1tenth/teleop_tools/joy_teleop/test/test_debounce.py @@ -0,0 +1,91 @@ +# -*- coding: utf-8 -*- +# +# Copyright (c) 2020 Open Source Robotics Foundation +# All rights reserved. +# +# Software License Agreement (BSD License 2.0) +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# * Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# * Redistributions in binary form must reproduce the above +# copyright notice, this list of conditions and the following +# disclaimer in the documentation and/or other materials provided +# with the distribution. +# * Neither the name of the copyright holder nor the names of its +# contributors may be used to endorse or promote products derived +# from this software without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. + +from joy_teleop_testing_common import generate_joy_test_description, TestJoyTeleop +import pytest +import rclpy +import std_msgs.msg + + +@pytest.mark.rostest +def generate_test_description(): + parameters = {} + parameters['simple_message.type'] = 'topic' + parameters['simple_message.interface_type'] = 'std_msgs/msg/String' + parameters['simple_message.topic_name'] = '/simple_message_type' + parameters['simple_message.deadman_buttons'] = [2] + parameters['simple_message.message_value.data.value'] = 'button2' + + return generate_joy_test_description(parameters) + + +class TestJoyTeleopDebounce(TestJoyTeleop): + + def publish_message(self): + self.joy_publisher.publish(self.joy_msg) + + def test_debounce(self): + # This test works by having a subscription to the output topic. Every + # time the subscription is received, we increment a counter. There is + # also a timer callback that executes every 0.1 seconds, publishing the + # the 'joy' message with button 2 on. We then let the system run for + # 5 seconds. Due to debouncing, we should only ever receive one + # subscription callback in that time. + + num_received_messages = 0 + + def receive_simple_message(msg): + nonlocal num_received_messages + num_received_messages += 1 + + simple_message_subscriber = self.node.create_subscription( + std_msgs.msg.String, + '/simple_message_type', + receive_simple_message, + 1, + ) + + try: + self.joy_msg.buttons = [0, 0, 1] + + # This spin will *always* wait the full timeout. That's because we want + # to ensure that no matter how many times the button is pressed, the + # debouncing only lets a single message through. + self.executor.spin_until_future_complete(rclpy.task.Future(), timeout_sec=5) + + # Check + self.assertEqual(num_received_messages, 1) + finally: + # Cleanup + self.node.destroy_subscription(simple_message_subscriber) diff --git a/ROS 2 Packages/f1tenth/teleop_tools/joy_teleop/test/test_flake8.py b/ROS 2 Packages/f1tenth/teleop_tools/joy_teleop/test/test_flake8.py new file mode 100644 index 0000000..eff8299 --- /dev/null +++ b/ROS 2 Packages/f1tenth/teleop_tools/joy_teleop/test/test_flake8.py @@ -0,0 +1,23 @@ +# Copyright 2017 Open Source Robotics Foundation, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +from ament_flake8.main import main +import pytest + + +@pytest.mark.flake8 +@pytest.mark.linter +def test_flake8(): + rc = main(argv=[]) + assert rc == 0, 'Found errors' diff --git a/ROS 2 Packages/f1tenth/teleop_tools/joy_teleop/test/test_get_interface_type.py b/ROS 2 Packages/f1tenth/teleop_tools/joy_teleop/test/test_get_interface_type.py new file mode 100644 index 0000000..8aeb79e --- /dev/null +++ b/ROS 2 Packages/f1tenth/teleop_tools/joy_teleop/test/test_get_interface_type.py @@ -0,0 +1,75 @@ +# -*- coding: utf-8 -*- +# +# Copyright (c) 2020 Open Source Robotics Foundation +# All rights reserved. +# +# Software License Agreement (BSD License 2.0) +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# * Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# * Redistributions in binary form must reproduce the above +# copyright notice, this list of conditions and the following +# disclaimer in the documentation and/or other materials provided +# with the distribution. +# * Neither the name of the copyright holder nor the names of its +# contributors may be used to endorse or promote products derived +# from this software without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. + +from joy_teleop.joy_teleop import get_interface_type +from joy_teleop.joy_teleop import JoyTeleopException + +import pytest + +import sensor_msgs.msg +import std_srvs.srv +import test_msgs.action + + +def test_message(): + interface_type = get_interface_type('sensor_msgs/msg/Joy', 'msg') + msg = interface_type() + assert isinstance(msg, sensor_msgs.msg.Joy) + + +def test_service(): + interface_type = get_interface_type('std_srvs/srv/Trigger', 'srv') + srv = interface_type.Request() + assert isinstance(srv, std_srvs.srv.Trigger.Request) + + +def test_action(): + interface_type = get_interface_type('test_msgs/action/Fibonacci', 'action') + action = interface_type.Goal() + assert isinstance(action, test_msgs.action.Fibonacci.Goal) + + +def test_bad_message(): + with pytest.raises(JoyTeleopException): + get_interface_type('sensor_msgs/msg', 'msg') + + +def test_invalid_type(): + with pytest.raises(JoyTeleopException): + get_interface_type('sensor_msgs/msg/Joy', 'ms') + + +def test_bad_import(): + with pytest.raises(ModuleNotFoundError): + get_interface_type('foo_msgs/msg/Bar', 'msg') diff --git a/ROS 2 Packages/f1tenth/teleop_tools/joy_teleop/test/test_parameter_failures.py b/ROS 2 Packages/f1tenth/teleop_tools/joy_teleop/test/test_parameter_failures.py new file mode 100644 index 0000000..a03b828 --- /dev/null +++ b/ROS 2 Packages/f1tenth/teleop_tools/joy_teleop/test/test_parameter_failures.py @@ -0,0 +1,228 @@ +# -*- coding: utf-8 -*- +# +# Copyright (c) 2020 Open Source Robotics Foundation +# All rights reserved. +# +# Software License Agreement (BSD License 2.0) +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# * Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# * Redistributions in binary form must reproduce the above +# copyright notice, this list of conditions and the following +# disclaimer in the documentation and/or other materials provided +# with the distribution. +# * Neither the name of the copyright holder nor the names of its +# contributors may be used to endorse or promote products derived +# from this software without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. + +import contextlib +import unittest + +import launch +import launch_ros +import launch_testing +import launch_testing.markers +import pytest + + +@pytest.mark.rostest +@launch_testing.markers.keep_alive +def generate_test_description(): + return launch.LaunchDescription([launch_testing.actions.ReadyToTest()]) + + +class TestJoyTeleopParameterFailures(unittest.TestCase): + + @classmethod + def setUpClass(cls, launch_service, proc_info, proc_output): + @contextlib.contextmanager + def launch_joy_teleop(self, parameters): + joy_teleop_node = launch_ros.actions.Node( + package='joy_teleop', + executable='joy_teleop', + output='both', + parameters=[parameters]) + + with launch_testing.tools.launch_process( + launch_service, joy_teleop_node, proc_info, proc_output) as joy_teleop: + yield joy_teleop + + cls.launch_joy_teleop = launch_joy_teleop + + def test_missing_type(self): + parameters = {} + parameters['simple_message.interface_type'] = 'std_msgs/msg/String' + parameters['simple_message.topic_name'] = '/simple_message_type' + parameters['simple_message.message_value.data.value'] = 'button2' + + with self.launch_joy_teleop(parameters) as joy_teleop_process: + self.assertTrue(joy_teleop_process.wait_for_shutdown(timeout=10)) + + self.assertEqual(joy_teleop_process.exit_code, 1) + self.assertTrue("KeyError: 'type'" in joy_teleop_process.output) + + def test_invalid_type(self): + parameters = {} + parameters['simple_message.type'] = 'foo' + parameters['simple_message.interface_type'] = 'std_msgs/msg/String' + parameters['simple_message.topic_name'] = '/simple_message_type' + parameters['simple_message.message_value.data.value'] = 'button2' + + with self.launch_joy_teleop(parameters) as joy_teleop_process: + self.assertTrue(joy_teleop_process.wait_for_shutdown(timeout=10)) + + self.assertEqual(joy_teleop_process.exit_code, 1) + self.assertTrue('JoyTeleopException: unknown type' in joy_teleop_process.output) + + def test_no_buttons_or_axes(self): + parameters = {} + parameters['simple_message.type'] = 'topic' + parameters['simple_message.interface_type'] = 'std_msgs/msg/String' + parameters['simple_message.topic_name'] = '/simple_message_type' + parameters['simple_message.message_value.data.value'] = 'button2' + + with self.launch_joy_teleop(parameters) as joy_teleop_process: + self.assertTrue(joy_teleop_process.wait_for_shutdown(timeout=10)) + + self.assertEqual(joy_teleop_process.exit_code, 1) + self.assertTrue('JoyTeleopException: No buttons or axes configured for command' + in joy_teleop_process.output) + + def test_teleop_no_message_value_or_axis_mappings(self): + parameters = {} + parameters['simple_message.type'] = 'topic' + parameters['simple_message.interface_type'] = 'std_msgs/msg/String' + parameters['simple_message.topic_name'] = '/simple_message_type' + parameters['simple_message.deadman_buttons'] = [2] + + with self.launch_joy_teleop(parameters) as joy_teleop_process: + self.assertTrue(joy_teleop_process.wait_for_shutdown(timeout=10)) + + self.assertEqual(joy_teleop_process.exit_code, 1) + self.assertTrue("JoyTeleopException: No 'message_value' or 'axis_mappings' configured " + 'for command' in joy_teleop_process.output) + + def test_teleop_both_message_value_and_axis_mappings(self): + parameters = {} + parameters['simple_message.type'] = 'topic' + parameters['simple_message.interface_type'] = 'std_msgs/msg/String' + parameters['simple_message.topic_name'] = '/simple_message_type' + parameters['simple_message.deadman_buttons'] = [2] + parameters['simple_message.message_value.data.value'] = 'button2' + parameters['simple_message.axis_mappings.linear-x.axis'] = 1 + parameters['simple_message.axis_mappings.linear-x.scale'] = 0.8 + parameters['simple_message.axis_mappings.linear-x.offset'] = 0.0 + + with self.launch_joy_teleop(parameters) as joy_teleop_process: + self.assertTrue(joy_teleop_process.wait_for_shutdown(timeout=10)) + + self.assertEqual(joy_teleop_process.exit_code, 1) + self.assertTrue("JoyTeleopException: Only one of 'message_value' or 'axis_mappings' " + 'can be configured for command' in joy_teleop_process.output) + + def test_teleop_axis_mappings_missing_axis_or_button(self): + parameters = {} + parameters['simple_message.type'] = 'topic' + parameters['simple_message.interface_type'] = 'std_msgs/msg/String' + parameters['simple_message.topic_name'] = '/simple_message_type' + parameters['simple_message.deadman_buttons'] = [2] + parameters['simple_message.axis_mappings.linear-x.scale'] = 0.8 + parameters['simple_message.axis_mappings.linear-x.offset'] = 0.0 + + with self.launch_joy_teleop(parameters) as joy_teleop_process: + self.assertTrue(joy_teleop_process.wait_for_shutdown(timeout=10)) + + self.assertEqual(joy_teleop_process.exit_code, 1) + self.assertTrue('must have an axis, button, or value' in joy_teleop_process.output) + + def test_teleop_axis_mappings_missing_offset(self): + parameters = {} + parameters['simple_message.type'] = 'topic' + parameters['simple_message.interface_type'] = 'std_msgs/msg/String' + parameters['simple_message.topic_name'] = '/simple_message_type' + parameters['simple_message.deadman_buttons'] = [2] + parameters['simple_message.axis_mappings.linear-x.axis'] = 1 + parameters['simple_message.axis_mappings.linear-x.scale'] = 0.8 + + with self.launch_joy_teleop(parameters) as joy_teleop_process: + self.assertTrue(joy_teleop_process.wait_for_shutdown(timeout=10)) + + self.assertEqual(joy_teleop_process.exit_code, 1) + self.assertTrue('must have an offset' in joy_teleop_process.output) + + def test_teleop_axis_mappings_missing_scale(self): + parameters = {} + parameters['simple_message.type'] = 'topic' + parameters['simple_message.interface_type'] = 'std_msgs/msg/String' + parameters['simple_message.topic_name'] = '/simple_message_type' + parameters['simple_message.deadman_buttons'] = [2] + parameters['simple_message.axis_mappings.linear-x.axis'] = 1 + parameters['simple_message.axis_mappings.linear-x.offset'] = 0.0 + + with self.launch_joy_teleop(parameters) as joy_teleop_process: + self.assertTrue(joy_teleop_process.wait_for_shutdown(timeout=10)) + + self.assertEqual(joy_teleop_process.exit_code, 1) + self.assertTrue('must have a scale' in joy_teleop_process.output) + + def test_teleop_invalid_message_fields(self): + parameters = {} + parameters['simple_message.type'] = 'topic' + parameters['simple_message.interface_type'] = 'std_msgs/msg/String' + parameters['simple_message.topic_name'] = '/simple_message_type' + parameters['simple_message.deadman_buttons'] = [2] + parameters['simple_message.message_value.foo.value'] = 'button2' + + with self.launch_joy_teleop(parameters) as joy_teleop_process: + self.assertTrue(joy_teleop_process.wait_for_shutdown(timeout=10)) + + self.assertEqual(joy_teleop_process.exit_code, 1) + self.assertTrue("AttributeError: 'String' object has no attribute 'foo'" + in joy_teleop_process.output) + + def test_service_invalid_message_fields(self): + parameters = {} + parameters['trigger.type'] = 'service' + parameters['trigger.interface_type'] = 'std_srvs/srv/Trigger' + parameters['trigger.service_name'] = '/trigger' + parameters['trigger.buttons'] = [4] + parameters['trigger.service_request.foo'] = 5 + + with self.launch_joy_teleop(parameters) as joy_teleop_process: + self.assertTrue(joy_teleop_process.wait_for_shutdown(timeout=10)) + + self.assertEqual(joy_teleop_process.exit_code, 1) + self.assertTrue("AttributeError: 'Trigger_Request' object has no attribute 'foo'" + in joy_teleop_process.output) + + def test_action_invalid_message_fields(self): + parameters = {} + parameters['fibonacci.type'] = 'action' + parameters['fibonacci.interface_type'] = 'action_tutorials_interfaces/action/Fibonacci' + parameters['fibonacci.action_name'] = '/fibonacci' + parameters['fibonacci.buttons'] = [2] + parameters['fibonacci.action_goal'] = {'foo': 5} + + with self.launch_joy_teleop(parameters) as joy_teleop_process: + self.assertTrue(joy_teleop_process.wait_for_shutdown(timeout=10)) + + self.assertEqual(joy_teleop_process.exit_code, 1) + self.assertTrue("AttributeError: 'Fibonacci_Goal' object has no attribute 'foo'" + in joy_teleop_process.output) diff --git a/ROS 2 Packages/f1tenth/teleop_tools/joy_teleop/test/test_pep257.py b/ROS 2 Packages/f1tenth/teleop_tools/joy_teleop/test/test_pep257.py new file mode 100644 index 0000000..399afc9 --- /dev/null +++ b/ROS 2 Packages/f1tenth/teleop_tools/joy_teleop/test/test_pep257.py @@ -0,0 +1,23 @@ +# Copyright 2015 Open Source Robotics Foundation, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +from ament_pep257.main import main +import pytest + + +@pytest.mark.linter +@pytest.mark.pep257 +def test_pep257(): + rc = main(argv=['.']) + assert rc == 0, 'Found code style errors / warnings' diff --git a/ROS 2 Packages/f1tenth/teleop_tools/joy_teleop/test/test_service_add_two_ints.py b/ROS 2 Packages/f1tenth/teleop_tools/joy_teleop/test/test_service_add_two_ints.py new file mode 100644 index 0000000..8c8d06e --- /dev/null +++ b/ROS 2 Packages/f1tenth/teleop_tools/joy_teleop/test/test_service_add_two_ints.py @@ -0,0 +1,89 @@ +# -*- coding: utf-8 -*- +# +# Copyright (c) 2020 Open Source Robotics Foundation +# All rights reserved. +# +# Software License Agreement (BSD License 2.0) +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# * Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# * Redistributions in binary form must reproduce the above +# copyright notice, this list of conditions and the following +# disclaimer in the documentation and/or other materials provided +# with the distribution. +# * Neither the name of the copyright holder nor the names of its +# contributors may be used to endorse or promote products derived +# from this software without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. + +import example_interfaces.srv +from joy_teleop_testing_common import generate_joy_test_description, TestJoyTeleop +import pytest +import rclpy + + +@pytest.mark.rostest +def generate_test_description(): + parameters = {} + parameters['addtwoints.type'] = 'service' + parameters['addtwoints.interface_type'] = 'example_interfaces/srv/AddTwoInts' + parameters['addtwoints.service_name'] = '/addtwoints' + parameters['addtwoints.buttons'] = [4] + parameters['addtwoints.service_request.a'] = 5 + parameters['addtwoints.service_request.b'] = 4 + + return generate_joy_test_description(parameters) + + +class TestJoyTeleopServiceAddTwoInts(TestJoyTeleop): + + def publish_message(self): + self.joy_publisher.publish(self.joy_msg) + self.joy_msg.buttons[4] = int(not self.joy_msg.buttons[4]) + + def test_addtwoints_service(self): + service_result = None + future = rclpy.task.Future() + + def addtwoints(request, response): + nonlocal service_result + nonlocal future + + service_result = request.a + request.b + response.sum = service_result + future.set_result(True) + + return response + + srv = self.node.create_service(example_interfaces.srv.AddTwoInts, '/addtwoints', + addtwoints) + + try: + # Above we set the button to be used as '4', so here we set the '4' button active. + self.joy_msg.buttons = [0, 0, 0, 0, 1] + + self.executor.spin_until_future_complete(future, timeout_sec=10) + + # Check + self.assertTrue(future.done() and future.result(), + 'Timed out waiting for addtwoints service to complete') + self.assertEqual(service_result, 9) + finally: + # Cleanup + self.node.destroy_service(srv) diff --git a/ROS 2 Packages/f1tenth/teleop_tools/joy_teleop/test/test_service_not_ready.py b/ROS 2 Packages/f1tenth/teleop_tools/joy_teleop/test/test_service_not_ready.py new file mode 100644 index 0000000..511ddf9 --- /dev/null +++ b/ROS 2 Packages/f1tenth/teleop_tools/joy_teleop/test/test_service_not_ready.py @@ -0,0 +1,142 @@ +# -*- coding: utf-8 -*- +# +# Copyright (c) 2020 Open Source Robotics Foundation +# All rights reserved. +# +# Software License Agreement (BSD License 2.0) +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# * Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# * Redistributions in binary form must reproduce the above +# copyright notice, this list of conditions and the following +# disclaimer in the documentation and/or other materials provided +# with the distribution. +# * Neither the name of the copyright holder nor the names of its +# contributors may be used to endorse or promote products derived +# from this software without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. + +from joy_teleop_testing_common import generate_joy_test_description, TestJoyTeleop +import pytest +import rclpy +import std_msgs.msg +import std_srvs.srv + + +@pytest.mark.rostest +def generate_test_description(): + parameters = {} + parameters['trigger.type'] = 'service' + parameters['trigger.interface_type'] = 'std_srvs/srv/Trigger' + parameters['trigger.service_name'] = '/trigger' + parameters['trigger.buttons'] = [4] + parameters['simple_message.type'] = 'topic' + parameters['simple_message.interface_type'] = 'std_msgs/msg/String' + parameters['simple_message.topic_name'] = '/simple_message_type' + parameters['simple_message.deadman_buttons'] = [2] + parameters['simple_message.message_value.data.value'] = 'button2' + + return generate_joy_test_description(parameters) + + +class TestJoyTeleopServiceNotReady(TestJoyTeleop): + + def setUp(self): + self.toggle = True + super().setUp() + + def publish_message(self): + self.joy_publisher.publish(self.joy_msg) + if self.toggle: + self.joy_msg.buttons[2] = int(not self.joy_msg.buttons[2]) + + def test_not_ready_service(self): + # The point of this test is to ensure that joy_teleop can attach to + # services that come up *after* it has come up. The way it works is + # that we start off only adding our subscriber to the topic. We then + # start publishing joystick data. Once the simple topic fires once + # (signalling that joy_teleop is up and ready to work), we then create + # the service, and try a trigger. + + simple_message = None + future = rclpy.task.Future() + + def receive_simple_message(msg): + nonlocal simple_message + nonlocal future + simple_message = msg.data + future.set_result(True) + + qos = rclpy.qos.QoSProfile(history=rclpy.qos.QoSHistoryPolicy.KEEP_LAST, + depth=1, + reliability=rclpy.qos.QoSReliabilityPolicy.RELIABLE, + durability=rclpy.qos.QoSDurabilityPolicy.VOLATILE) + + simple_message_subscriber = self.node.create_subscription( + std_msgs.msg.String, + '/simple_message_type', + receive_simple_message, + qos, + ) + + try: + # Above we set the button to be used as '2', so here we set the '2' button active. + # We also set the '4' button for the service trigger; this shouldn't do anything + # right now, but ensures that we test the not active -> active logic in joy_teleop. + self.joy_msg.buttons = [0, 0, 1, 0, 1] + + self.executor.spin_until_future_complete(future, timeout_sec=10) + + # Check + assert future.done() and future.result(), \ + 'Timed out waiting for simple_message topic to complete' + self.assertTrue(simple_message == 'button2') + + # If we've made it to this point with no assertions, then we are ready + # to setup the service and trigger. + + saw_trigger = False + future = rclpy.task.Future() + + def trigger(request, response): + nonlocal saw_trigger + nonlocal future + response.success = True + response.message = 'service_response' + saw_trigger = True + future.set_result(True) + + return response + + self.toggle = False + + srv = self.node.create_service(std_srvs.srv.Trigger, '/trigger', trigger) + + try: + self.executor.spin_until_future_complete(future, timeout_sec=10) + + # Check + self.assertTrue(future.done() and future.result(), + 'Timed out waiting for trigger service to complete') + self.assertTrue(saw_trigger) + finally: + # Cleanup + self.node.destroy_service(srv) + finally: + self.node.destroy_subscription(simple_message_subscriber) diff --git a/ROS 2 Packages/f1tenth/teleop_tools/joy_teleop/test/test_service_trigger.py b/ROS 2 Packages/f1tenth/teleop_tools/joy_teleop/test/test_service_trigger.py new file mode 100644 index 0000000..c65942e --- /dev/null +++ b/ROS 2 Packages/f1tenth/teleop_tools/joy_teleop/test/test_service_trigger.py @@ -0,0 +1,86 @@ +# -*- coding: utf-8 -*- +# +# Copyright (c) 2020 Open Source Robotics Foundation +# All rights reserved. +# +# Software License Agreement (BSD License 2.0) +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# * Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# * Redistributions in binary form must reproduce the above +# copyright notice, this list of conditions and the following +# disclaimer in the documentation and/or other materials provided +# with the distribution. +# * Neither the name of the copyright holder nor the names of its +# contributors may be used to endorse or promote products derived +# from this software without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. + +from joy_teleop_testing_common import generate_joy_test_description, TestJoyTeleop +import pytest +import rclpy +import std_srvs.srv + + +@pytest.mark.rostest +def generate_test_description(): + parameters = {} + parameters['trigger.type'] = 'service' + parameters['trigger.interface_type'] = 'std_srvs/srv/Trigger' + parameters['trigger.service_name'] = '/trigger' + parameters['trigger.buttons'] = [4] + + return generate_joy_test_description(parameters) + + +class TestJoyTeleopServiceTrigger(TestJoyTeleop): + + def publish_message(self): + self.joy_publisher.publish(self.joy_msg) + self.joy_msg.buttons[4] = int(not self.joy_msg.buttons[4]) + + def test_trigger_service(self): + saw_trigger = False + future = rclpy.task.Future() + + def trigger(request, response): + nonlocal saw_trigger + nonlocal future + response.success = True + response.message = 'service_response' + saw_trigger = True + future.set_result(True) + + return response + + srv = self.node.create_service(std_srvs.srv.Trigger, '/trigger', trigger) + + try: + # Above we set the button to be used as '4', so here we set the '4' button active. + self.joy_msg.buttons = [0, 0, 0, 0, 1] + + self.executor.spin_until_future_complete(future, timeout_sec=10) + + # Check + self.assertTrue(future.done() and future.result(), + 'Timed out waiting for trigger service to complete') + self.assertTrue(saw_trigger) + finally: + # Cleanup + self.node.destroy_service(srv) diff --git a/ROS 2 Packages/f1tenth/teleop_tools/joy_teleop/test/test_topic_axis_mappings.py b/ROS 2 Packages/f1tenth/teleop_tools/joy_teleop/test/test_topic_axis_mappings.py new file mode 100644 index 0000000..7de51dc --- /dev/null +++ b/ROS 2 Packages/f1tenth/teleop_tools/joy_teleop/test/test_topic_axis_mappings.py @@ -0,0 +1,122 @@ +# -*- coding: utf-8 -*- +# +# Copyright (c) 2020 Open Source Robotics Foundation +# All rights reserved. +# +# Software License Agreement (BSD License 2.0) +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# * Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# * Redistributions in binary form must reproduce the above +# copyright notice, this list of conditions and the following +# disclaimer in the documentation and/or other materials provided +# with the distribution. +# * Neither the name of the copyright holder nor the names of its +# contributors may be used to endorse or promote products derived +# from this software without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. + +import geometry_msgs.msg +from joy_teleop_testing_common import generate_joy_test_description, TestJoyTeleop +import pytest +import rclpy + + +@pytest.mark.rostest +def generate_test_description(): + parameters = {} + parameters['twist.type'] = 'topic' + parameters['twist.interface_type'] = 'geometry_msgs/msg/Twist' + parameters['twist.topic_name'] = '/cmd_vel' + parameters['twist.deadman_buttons'] = [2] + parameters['twist.axis_mappings.linear-x.axis'] = 1 + parameters['twist.axis_mappings.linear-x.scale'] = 0.8 + parameters['twist.axis_mappings.linear-x.offset'] = 0.0 + parameters['twist.axis_mappings.angular-z.axis'] = 3 + parameters['twist.axis_mappings.angular-z.scale'] = 0.5 + parameters['twist.axis_mappings.angular-z.offset'] = 0.0 + + return generate_joy_test_description(parameters) + + +class TestJoyTeleopTopicAxisMappings(TestJoyTeleop): + + def setUp(self): + self.publish_from_timer = True + super().setUp() + + def publish_message(self): + if self.publish_from_timer: + self.joy_publisher.publish(self.joy_msg) + self.joy_msg.buttons[2] = int(not self.joy_msg.buttons[2]) + + def test_twist(self): + twist = None + num_received_twists = 0 + future = rclpy.task.Future() + + def receive_twist(msg): + nonlocal twist + nonlocal num_received_twists + nonlocal future + + twist = msg + num_received_twists += 1 + future.set_result(True) + + qos = rclpy.qos.QoSProfile(history=rclpy.qos.QoSHistoryPolicy.KEEP_LAST, + depth=1, + reliability=rclpy.qos.QoSReliabilityPolicy.RELIABLE, + durability=rclpy.qos.QoSDurabilityPolicy.VOLATILE) + + twist_subscriber = self.node.create_subscription( + geometry_msgs.msg.Twist, + '/cmd_vel', + receive_twist, + qos, + ) + + try: + self.joy_msg.axes = [0.0, 1.0, 0.0, 1.0] + # Above we set the button to be used as '2', so here we set the '2' button active. + self.joy_msg.buttons = [0, 0, 1] + + self.executor.spin_until_future_complete(future, timeout_sec=10) + + # Check + self.assertTrue(future.done() and future.result(), + 'Timed out waiting for twist topic to complete') + self.assertEqual(twist.linear.x, 0.8) + self.assertEqual(twist.angular.z, 0.5) + + # We got one output above. Now publish a known number of messages, spinning in between + # to let the executor run the subscription callbacks. Note that there is no toggling + # here, so we are testing that the axis_mapping does *not* debounce. + self.publish_from_timer = False + self.joy_msg.buttons[2] = 1 + + for i in range(0, 10): + self.joy_publisher.publish(self.joy_msg) + self.executor.spin_once(0.1) + + self.assertEqual(num_received_twists, 11) + + finally: + # Cleanup + self.node.destroy_subscription(twist_subscriber) diff --git a/ROS 2 Packages/f1tenth/teleop_tools/joy_teleop/test/test_topic_message_value.py b/ROS 2 Packages/f1tenth/teleop_tools/joy_teleop/test/test_topic_message_value.py new file mode 100644 index 0000000..1641950 --- /dev/null +++ b/ROS 2 Packages/f1tenth/teleop_tools/joy_teleop/test/test_topic_message_value.py @@ -0,0 +1,93 @@ +# -*- coding: utf-8 -*- +# +# Copyright (c) 2020 Open Source Robotics Foundation +# All rights reserved. +# +# Software License Agreement (BSD License 2.0) +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# * Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# * Redistributions in binary form must reproduce the above +# copyright notice, this list of conditions and the following +# disclaimer in the documentation and/or other materials provided +# with the distribution. +# * Neither the name of the copyright holder nor the names of its +# contributors may be used to endorse or promote products derived +# from this software without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. + +from joy_teleop_testing_common import generate_joy_test_description, TestJoyTeleop +import pytest +import rclpy +import std_msgs.msg + + +@pytest.mark.rostest +def generate_test_description(): + parameters = {} + parameters['simple_message.type'] = 'topic' + parameters['simple_message.interface_type'] = 'std_msgs/msg/String' + parameters['simple_message.topic_name'] = '/simple_message_type' + parameters['simple_message.deadman_buttons'] = [2] + parameters['simple_message.message_value.data.value'] = 'button2' + + return generate_joy_test_description(parameters) + + +class TestJoyTeleopTopicMessageValue(TestJoyTeleop): + + def publish_message(self): + self.joy_publisher.publish(self.joy_msg) + self.joy_msg.buttons[2] = int(not self.joy_msg.buttons[2]) + + def test_simple_message(self): + simple_message = None + future = rclpy.task.Future() + + def receive_simple_message(msg): + nonlocal simple_message + nonlocal future + simple_message = msg.data + future.set_result(True) + + qos = rclpy.qos.QoSProfile(history=rclpy.qos.QoSHistoryPolicy.KEEP_LAST, + depth=1, + reliability=rclpy.qos.QoSReliabilityPolicy.RELIABLE, + durability=rclpy.qos.QoSDurabilityPolicy.VOLATILE) + + simple_message_subscriber = self.node.create_subscription( + std_msgs.msg.String, + '/simple_message_type', + receive_simple_message, + qos, + ) + + try: + # Above we set the button to be used as '2', so here we set the '2' button active. + self.joy_msg.buttons = [0, 0, 1] + + self.executor.spin_until_future_complete(future, timeout_sec=10) + + # Check + self.assertTrue(future.done() and future.result(), + 'Timed out waiting for simple_message topic to complete') + self.assertEqual(simple_message, 'button2') + finally: + # Cleanup + self.node.destroy_subscription(simple_message_subscriber) diff --git a/ROS 2 Packages/f1tenth/teleop_tools/joy_teleop/test/test_xmllint.py b/ROS 2 Packages/f1tenth/teleop_tools/joy_teleop/test/test_xmllint.py new file mode 100644 index 0000000..53d7b5c --- /dev/null +++ b/ROS 2 Packages/f1tenth/teleop_tools/joy_teleop/test/test_xmllint.py @@ -0,0 +1,23 @@ +# Copyright 2017 Open Source Robotics Foundation, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +from ament_xmllint.main import main +import pytest + + +@pytest.mark.xmllint +@pytest.mark.linter +def test_xmllint(): + rc = main(argv=[]) + assert rc == 0, 'Found errors' diff --git a/ROS 2 Packages/f1tenth/teleop_tools/key_teleop/CHANGELOG.rst b/ROS 2 Packages/f1tenth/teleop_tools/key_teleop/CHANGELOG.rst new file mode 100644 index 0000000..51774fd --- /dev/null +++ b/ROS 2 Packages/f1tenth/teleop_tools/key_teleop/CHANGELOG.rst @@ -0,0 +1,91 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package key_teleop +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +1.2.1 (2020-10-29) +------------------ + +1.2.0 (2020-10-16) +------------------ + +1.1.0 (2020-04-21) +------------------ + +1.0.2 (2020-02-10) +------------------ + +1.0.1 (2019-09-18) +------------------ +* Fix install rules and dashing changes (`#38 `_) + * fix ament indexing + * fix package resource files + * add tk depenndency + * add check for param index-ability + * data files are now package agnostic + Signed-off-by: Ted Kern +* Contributors: Ted Kern + +1.0.0 (2019-09-10) +------------------ +* ROS2 port (`#35 `_) + * ROS2 port + * key_teleop pkg format 3 + * port teleop_tools_msgs + * key_teleop catch KeyboardInterrupt + * port mouse_teleop + * add key_teleop.yaml + * prepare tests + * add xmllint test + * fix xmllint tests + * simplify joy_teleop retrieve_config + * remove useless class KeyTeleop + * Fixes for dynamic topic joy publishers + - match_command() now compares button array length to the max + deadman button index (apples to apples) + - match_command function now checks if any of the deadman buttons + are depressed before returning a match + - properly handle a std_msgs/msg/Empty 'message_value' by not + attempting to access its value + - utilizes iter-items to correctly index into the config dict + for 'axis_mappings''s 'axis' and 'button' values + - set_member() now splits according to a dash (-) rather than a + periond (.) to be consistent with ros2 param parsing & example yaml + - adds the correct name to setup.py for test_key_teleop.py test + * reduce copy/pasta +* Contributors: Jeremie Deray + +0.3.0 (2019-01-03) +------------------ + +0.2.6 (2018-04-06) +------------------ + +0.2.5 (2017-04-21) +------------------ + +0.2.4 (2016-11-30) +------------------ + +0.2.3 (2016-07-18) +------------------ + +0.2.2 (2016-03-24) +------------------ + +0.2.1 (2016-01-29) +------------------ + +0.2.0 (2015-08-03) +------------------ +* Update package.xmls +* Contributors: Bence Magyar + +0.1.2 (2015-02-15) +------------------ + +0.1.1 (2014-11-17) +------------------ +* Change maintainer +* Remove rosbuild legacy +* Merge key_teleop into teleop_tools +* Contributors: Bence Magyar, Paul Mathieu diff --git a/ROS 2 Packages/f1tenth/teleop_tools/key_teleop/LICENSE b/ROS 2 Packages/f1tenth/teleop_tools/key_teleop/LICENSE new file mode 100644 index 0000000..a6c6fcd --- /dev/null +++ b/ROS 2 Packages/f1tenth/teleop_tools/key_teleop/LICENSE @@ -0,0 +1,23 @@ +Copyright (c) 2014, Siegfried-Angel Gevatter Pujals +All rights reserved. + +Redistribution and use in source and binary forms, with or without modification, +are permitted provided that the following conditions are met: + +* Redistributions of source code must retain the above copyright notice, this + list of conditions and the following disclaimer. + +* Redistributions in binary form must reproduce the above copyright notice, this + list of conditions and the following disclaimer in the documentation and/or + other materials provided with the distribution. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND +ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED +WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR +ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES +(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON +ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT +(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS +SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. \ No newline at end of file diff --git a/ROS 2 Packages/f1tenth/teleop_tools/key_teleop/README.md b/ROS 2 Packages/f1tenth/teleop_tools/key_teleop/README.md new file mode 100644 index 0000000..a8e89a0 --- /dev/null +++ b/ROS 2 Packages/f1tenth/teleop_tools/key_teleop/README.md @@ -0,0 +1,4 @@ +key_teleop +========== + +A text-based interface to send a ROS-powered robot movement commands diff --git a/ROS 2 Packages/f1tenth/teleop_tools/key_teleop/config/key_teleop.yaml b/ROS 2 Packages/f1tenth/teleop_tools/key_teleop/config/key_teleop.yaml new file mode 100644 index 0000000..0ac92dc --- /dev/null +++ b/ROS 2 Packages/f1tenth/teleop_tools/key_teleop/config/key_teleop.yaml @@ -0,0 +1,5 @@ +key_teleop: + ros__parameters: + forward_rate : 0.8 + backward_rate: 0.5 + rotation_rate: 1.0 diff --git a/ROS 2 Packages/f1tenth/teleop_tools/key_teleop/key_teleop/__init__.py b/ROS 2 Packages/f1tenth/teleop_tools/key_teleop/key_teleop/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/ROS 2 Packages/f1tenth/teleop_tools/key_teleop/key_teleop/key_teleop.py b/ROS 2 Packages/f1tenth/teleop_tools/key_teleop/key_teleop/key_teleop.py new file mode 100644 index 0000000..3451938 --- /dev/null +++ b/ROS 2 Packages/f1tenth/teleop_tools/key_teleop/key_teleop/key_teleop.py @@ -0,0 +1,244 @@ +#! /usr/bin/env python +# -*- coding: utf-8 -*- +# +# Copyright (c) 2013 PAL Robotics SL. +# All rights reserved. +# +# Software License Agreement (BSD License 2.0) +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# * Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# * Redistributions in binary form must reproduce the above +# copyright notice, this list of conditions and the following +# disclaimer in the documentation and/or other materials provided +# with the distribution. +# * Neither the name of PAL Robotics SL. nor the names of its +# contributors may be used to endorse or promote products derived +# from this software without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +# +# Authors: +# * Siegfried-A. Gevatter +# * Jeremie Deray (artivis) + +import curses + +# For 'q' keystroke exit +import os +import signal +import time + +from geometry_msgs.msg import Twist, TwistStamped +import rclpy +from rclpy.duration import Duration +from rclpy.node import Node +from rclpy.qos import qos_profile_system_default +from std_msgs.msg import Header + + +class Velocity(object): + + def __init__(self, min_velocity, max_velocity, num_steps): + assert min_velocity > 0 and max_velocity > 0 and num_steps > 0 + self._min = min_velocity + self._max = max_velocity + self._num_steps = num_steps + if self._num_steps > 1: + self._step_incr = (max_velocity - min_velocity) / (self._num_steps - 1) + else: + # If num_steps is one, we always use the minimum velocity. + self._step_incr = 0 + + def __call__(self, value, step): + """ + Form a velocity. + + Take a value in the range [0, 1] and the step and returns the + velocity (usually m/s or rad/s). + """ + if step == 0: + return 0 + + assert step > 0 and step <= self._num_steps + max_value = self._min + self._step_incr * (step - 1) + return value * max_value + + +class TextWindow(): + + _screen = None + _window = None + _num_lines = None + + def __init__(self, stdscr, lines=10): + self._screen = stdscr + self._screen.nodelay(True) + curses.curs_set(0) + + self._num_lines = lines + + def read_key(self): + keycode = self._screen.getch() + return keycode if keycode != -1 else None + + def clear(self): + self._screen.clear() + + def write_line(self, lineno, message): + if lineno < 0 or lineno >= self._num_lines: + raise ValueError('lineno out of bounds') + height, width = self._screen.getmaxyx() + y = (height / self._num_lines) * lineno + x = 10 + for text in message.split('\n'): + text = text.ljust(width) + # TODO(artivis) Why are those floats ?? + self._screen.addstr(int(y), int(x), text) + y += 1 + + def refresh(self): + self._screen.refresh() + + def beep(self): + curses.flash() + + +class SimpleKeyTeleop(Node): + + def __init__(self, interface): + super().__init__('key_teleop') + + self._interface = interface + + self._publish_stamped_twist = self.declare_parameter('twist_stamped_enabled', False).value + + if self._publish_stamped_twist: + self._pub_cmd = self.create_publisher(TwistStamped, 'key_vel', + qos_profile_system_default) + else: + self._pub_cmd = self.create_publisher(Twist, 'key_vel', qos_profile_system_default) + + self._hz = self.declare_parameter('hz', 10).value + + self._forward_rate = self.declare_parameter('forward_rate', 0.8).value + self._backward_rate = self.declare_parameter('backward_rate', 0.5).value + self._rotation_rate = self.declare_parameter('rotation_rate', 1.0).value + self._last_pressed = {} + self._angular = 0 + self._linear = 0 + + movement_bindings = { + curses.KEY_UP: (1, 0), + curses.KEY_DOWN: (-1, 0), + curses.KEY_LEFT: (0, 1), + curses.KEY_RIGHT: (0, -1), + } + + def run(self): + self._running = True + while self._running: + while True: + keycode = self._interface.read_key() + if keycode is None: + break + self._key_pressed(keycode) + self._set_velocity() + self._publish() + # TODO(artivis) use Rate once available + time.sleep(1.0/self._hz) + + def _make_twist(self, linear, angular): + twist = Twist() + twist.linear.x = linear + twist.angular.z = angular + return twist + + def _make_twist_stamped(self, linear, angular): + twist_stamped = TwistStamped() + header = Header() + header.stamp = rclpy.clock.Clock().now().to_msg() + header.frame_id = 'key_teleop' + + twist_stamped.header = header + twist_stamped.twist.linear.x = linear + twist_stamped.twist.angular.z = angular + return twist_stamped + + def _set_velocity(self): + now = self.get_clock().now() + keys = [] + for a in self._last_pressed: + if now - self._last_pressed[a] < Duration(seconds=0.4): + keys.append(a) + linear = 0.0 + angular = 0.0 + for k in keys: + l, a = self.movement_bindings[k] + linear += l + angular += a + if linear > 0: + linear = linear * self._forward_rate + else: + linear = linear * self._backward_rate + angular = angular * self._rotation_rate + self._angular = angular + self._linear = linear + + def _key_pressed(self, keycode): + if keycode == ord('q'): + self._running = False + # TODO(artivis) no rclpy.signal_shutdown ? + os.kill(os.getpid(), signal.SIGINT) + elif keycode in self.movement_bindings: + self._last_pressed[keycode] = self.get_clock().now() + + def _publish(self): + self._interface.clear() + self._interface.write_line(2, 'Linear: %f, Angular: %f' % (self._linear, self._angular)) + self._interface.write_line(5, 'Use arrow keys to move, q to exit.') + self._interface.refresh() + + if self._publish_stamped_twist: + twist = self._make_twist_stamped(self._linear, self._angular) + else: + twist = self._make_twist(self._linear, self._angular) + + self._pub_cmd.publish(twist) + + +def execute(stdscr): + rclpy.init() + + app = SimpleKeyTeleop(TextWindow(stdscr)) + app.run() + + app.destroy_node() + rclpy.shutdown() + + +def main(): + try: + curses.wrapper(execute) + except KeyboardInterrupt: + pass + + +if __name__ == '__main__': + main() diff --git a/ROS 2 Packages/f1tenth/teleop_tools/key_teleop/package.xml b/ROS 2 Packages/f1tenth/teleop_tools/key_teleop/package.xml new file mode 100644 index 0000000..9ec7e63 --- /dev/null +++ b/ROS 2 Packages/f1tenth/teleop_tools/key_teleop/package.xml @@ -0,0 +1,25 @@ + + + + key_teleop + 1.2.1 + A text-based interface to send a robot movement commands. + + Bence Magyar + BSD + + Siegfried-A. Gevatter Pujals + + geometry_msgs + rclpy + + ament_copyright + ament_flake8 + ament_pep257 + python3-pytest + + + ament_python + + + diff --git a/ROS 2 Packages/f1tenth/teleop_tools/key_teleop/resource/key_teleop b/ROS 2 Packages/f1tenth/teleop_tools/key_teleop/resource/key_teleop new file mode 100644 index 0000000..e69de29 diff --git a/ROS 2 Packages/f1tenth/teleop_tools/key_teleop/setup.cfg b/ROS 2 Packages/f1tenth/teleop_tools/key_teleop/setup.cfg new file mode 100644 index 0000000..08a4277 --- /dev/null +++ b/ROS 2 Packages/f1tenth/teleop_tools/key_teleop/setup.cfg @@ -0,0 +1,4 @@ +[develop] +script-dir=$base/lib/key_teleop +[install] +install-scripts=$base/lib/key_teleop diff --git a/ROS 2 Packages/f1tenth/teleop_tools/key_teleop/setup.py b/ROS 2 Packages/f1tenth/teleop_tools/key_teleop/setup.py new file mode 100644 index 0000000..3fadf1a --- /dev/null +++ b/ROS 2 Packages/f1tenth/teleop_tools/key_teleop/setup.py @@ -0,0 +1,46 @@ +import os + +from setuptools import find_packages +from setuptools import setup + + +package_name = 'key_teleop' +share_path = os.path.join('share', package_name) + + +setup( + name=package_name, + version='0.3.0', + packages=find_packages(exclude=['test']), + data_files=[ + (share_path, ['package.xml']), + (os.path.join(share_path, 'config'), [os.path.join('config', f'{package_name}.yaml')]), + (os.path.join('share', 'ament_index', 'resource_index', 'packages'), + [os.path.join('resource', package_name)]), + ], + install_requires=['setuptools'], + zip_safe=True, + author='Siegfried-A. Gevatter Pujals', + author_email='siegfried.gevatter@pal-robotics.com', + maintainer='Bence Magyar', + maintainer_email='bence.magyar.robotics@gmail.com', + url='https://github.com/ros-teleop/teleop_tools', + keywords=['ROS'], + classifiers=[ + 'Intended Audience :: Developers', + 'License :: OSI Approved :: BSD', + 'Programming Language :: Python', + 'Topic :: Software Development', + ], + description='A text-based interface to send a robot movement commands.', + long_description="""\ + key_teleop provides command-line interface to send Twist commands \ + to drive a robot around.""", + license='BSD', + tests_require=['pytest'], + entry_points={ + 'console_scripts': [ + 'key_teleop = key_teleop.key_teleop:main', + ], + }, +) diff --git a/ROS 2 Packages/f1tenth/teleop_tools/key_teleop/test/test_copyright.py b/ROS 2 Packages/f1tenth/teleop_tools/key_teleop/test/test_copyright.py new file mode 100644 index 0000000..aa74f3e --- /dev/null +++ b/ROS 2 Packages/f1tenth/teleop_tools/key_teleop/test/test_copyright.py @@ -0,0 +1,23 @@ +# Copyright 2015 Open Source Robotics Foundation, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +from ament_copyright.main import main +import pytest + + +@pytest.mark.copyright +@pytest.mark.linter +def test_copyright(): + rc = main(argv=['.']) + assert rc == 0, 'Found errors' diff --git a/ROS 2 Packages/f1tenth/teleop_tools/key_teleop/test/test_flake8.py b/ROS 2 Packages/f1tenth/teleop_tools/key_teleop/test/test_flake8.py new file mode 100644 index 0000000..eff8299 --- /dev/null +++ b/ROS 2 Packages/f1tenth/teleop_tools/key_teleop/test/test_flake8.py @@ -0,0 +1,23 @@ +# Copyright 2017 Open Source Robotics Foundation, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +from ament_flake8.main import main +import pytest + + +@pytest.mark.flake8 +@pytest.mark.linter +def test_flake8(): + rc = main(argv=[]) + assert rc == 0, 'Found errors' diff --git a/ROS 2 Packages/f1tenth/teleop_tools/key_teleop/test/test_pop257.py b/ROS 2 Packages/f1tenth/teleop_tools/key_teleop/test/test_pop257.py new file mode 100644 index 0000000..399afc9 --- /dev/null +++ b/ROS 2 Packages/f1tenth/teleop_tools/key_teleop/test/test_pop257.py @@ -0,0 +1,23 @@ +# Copyright 2015 Open Source Robotics Foundation, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +from ament_pep257.main import main +import pytest + + +@pytest.mark.linter +@pytest.mark.pep257 +def test_pep257(): + rc = main(argv=['.']) + assert rc == 0, 'Found code style errors / warnings' diff --git a/ROS 2 Packages/f1tenth/teleop_tools/mouse_teleop/CHANGELOG.rst b/ROS 2 Packages/f1tenth/teleop_tools/mouse_teleop/CHANGELOG.rst new file mode 100644 index 0000000..ecd7bcd --- /dev/null +++ b/ROS 2 Packages/f1tenth/teleop_tools/mouse_teleop/CHANGELOG.rst @@ -0,0 +1,92 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package mouse_teleop +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +1.2.1 (2020-10-29) +------------------ +* Use the python3-* rosdep keys. +* Contributors: Chris Lalancette + +1.2.0 (2020-10-16) +------------------ + +1.1.0 (2020-04-21) +------------------ + +1.0.2 (2020-02-10) +------------------ + +1.0.1 (2019-09-18) +------------------ +* Fix install rules and dashing changes (`#38 `_) + * fix ament indexing + * fix package resource files + * add tk depenndency + * add check for param index-ability + * data files are now package agnostic + Signed-off-by: Ted Kern +* Contributors: Ted Kern + +1.0.0 (2019-09-10) +------------------ +* ROS2 port (`#35 `_) + * ROS2 port + * key_teleop pkg format 3 + * port teleop_tools_msgs + * key_teleop catch KeyboardInterrupt + * port mouse_teleop + * add key_teleop.yaml + * prepare tests + * add xmllint test + * fix xmllint tests + * simplify joy_teleop retrieve_config + * remove useless class KeyTeleop + * Fixes for dynamic topic joy publishers + - match_command() now compares button array length to the max + deadman button index (apples to apples) + - match_command function now checks if any of the deadman buttons + are depressed before returning a match + - properly handle a std_msgs/msg/Empty 'message_value' by not + attempting to access its value + - utilizes iter-items to correctly index into the config dict + for 'axis_mappings''s 'axis' and 'button' values + - set_member() now splits according to a dash (-) rather than a + periond (.) to be consistent with ros2 param parsing & example yaml + - adds the correct name to setup.py for test_key_teleop.py test + * reduce copy/pasta +* Contributors: Jeremie Deray + +0.3.0 (2019-01-03) +------------------ + +0.2.6 (2018-04-06) +------------------ + +0.2.5 (2017-04-21) +------------------ + +0.2.4 (2016-11-30) +------------------ + +0.2.3 (2016-07-18) +------------------ + +0.2.2 (2016-03-24) +------------------ + +0.2.1 (2016-01-29) +------------------ +* Add mouse_teleop +* Contributors: Enrique Fernandez + +0.2.0 (2015-08-03) +------------------ + +0.1.2 (2015-02-15) +------------------ + +0.1.1 (2014-11-17) +------------------ + +0.1.0 (2013-11-28) +------------------ diff --git a/ROS 2 Packages/f1tenth/teleop_tools/mouse_teleop/LICENSE b/ROS 2 Packages/f1tenth/teleop_tools/mouse_teleop/LICENSE new file mode 100644 index 0000000..310ed6f --- /dev/null +++ b/ROS 2 Packages/f1tenth/teleop_tools/mouse_teleop/LICENSE @@ -0,0 +1,23 @@ +Copyright (c) 2015, Enrique Fernandez +All rights reserved. + +Redistribution and use in source and binary forms, with or without modification, +are permitted provided that the following conditions are met: + +* Redistributions of source code must retain the above copyright notice, this + list of conditions and the following disclaimer. + +* Redistributions in binary form must reproduce the above copyright notice, this + list of conditions and the following disclaimer in the documentation and/or + other materials provided with the distribution. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND +ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED +WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR +ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES +(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON +ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT +(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS +SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. diff --git a/ROS 2 Packages/f1tenth/teleop_tools/mouse_teleop/README.md b/ROS 2 Packages/f1tenth/teleop_tools/mouse_teleop/README.md new file mode 100644 index 0000000..21161af --- /dev/null +++ b/ROS 2 Packages/f1tenth/teleop_tools/mouse_teleop/README.md @@ -0,0 +1,5 @@ +mouse_teleop +============ + +A pointing device (e.g. mouse, touchpad) teleop tool for mobile robots, +supporting holonomic and differential drive platforms. diff --git a/ROS 2 Packages/f1tenth/teleop_tools/mouse_teleop/config/mouse_teleop.yaml b/ROS 2 Packages/f1tenth/teleop_tools/mouse_teleop/config/mouse_teleop.yaml new file mode 100644 index 0000000..394bbe7 --- /dev/null +++ b/ROS 2 Packages/f1tenth/teleop_tools/mouse_teleop/config/mouse_teleop.yaml @@ -0,0 +1,5 @@ +mouse_teleop: + ros__parameters: + frequency: 10.0 + scale : 1.0 + holonomic: False diff --git a/ROS 2 Packages/f1tenth/teleop_tools/mouse_teleop/launch/mouse_teleop.launch.py b/ROS 2 Packages/f1tenth/teleop_tools/mouse_teleop/launch/mouse_teleop.launch.py new file mode 100644 index 0000000..e30e90f --- /dev/null +++ b/ROS 2 Packages/f1tenth/teleop_tools/mouse_teleop/launch/mouse_teleop.launch.py @@ -0,0 +1,33 @@ +# Copyright 2019 Canonical, Ltd. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +import os + +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +import launch_ros.actions + + +def generate_launch_description(): + + parameters_file = os.path.join( + get_package_share_directory('mouse_teleop'), + 'config', 'mouse_teleop.yaml' + ) + + mouse_teleop = launch_ros.actions.Node( + package='mouse_teleop', executable='mouse_teleop', + parameters=[parameters_file]) + + return LaunchDescription([mouse_teleop]) diff --git a/ROS 2 Packages/f1tenth/teleop_tools/mouse_teleop/mouse_teleop/__init__.py b/ROS 2 Packages/f1tenth/teleop_tools/mouse_teleop/mouse_teleop/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/ROS 2 Packages/f1tenth/teleop_tools/mouse_teleop/mouse_teleop/mouse_teleop.py b/ROS 2 Packages/f1tenth/teleop_tools/mouse_teleop/mouse_teleop/mouse_teleop.py new file mode 100644 index 0000000..0fdd88e --- /dev/null +++ b/ROS 2 Packages/f1tenth/teleop_tools/mouse_teleop/mouse_teleop/mouse_teleop.py @@ -0,0 +1,290 @@ +#! /usr/bin/env python +# -*- coding: utf-8 -*- +# +# Copyright (c) 2015 Enrique Fernandez +# All rights reserved. +# +# Software License Agreement (BSD License 2.0) +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# * Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# * Redistributions in binary form must reproduce the above +# copyright notice, this list of conditions and the following +# disclaimer in the documentation and/or other materials provided +# with the distribution. +# * Neither the name of Enrique Fernandez nor the names of its +# contributors may be used to endorse or promote products derived +# from this software without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +# +# Authors: +# * Enrique Fernandez +# * Jeremie Deray (artivis) + +import signal +import tkinter + +from geometry_msgs.msg import Twist, Vector3 +import numpy +import rclpy +from rclpy.node import Node + + +class MouseTeleop(Node): + + def __init__(self): + super().__init__('mouse_teleop') + + # Retrieve params: + self._frequency = self.declare_parameter('frequency', 0.0).value + self._scale = self.declare_parameter('scale', 1.0).value + self._holonomic = self.declare_parameter('holonomic', False).value + + # Create twist publisher: + self._pub_cmd = self.create_publisher(Twist, 'mouse_vel', 10) + + # Initialize twist components to zero: + self._v_x = 0.0 + self._v_y = 0.0 + self._w = 0.0 + + # Initialize mouse position (x, y) to None (unknown); it's initialized + # when the mouse button is pressed on the _start callback that handles + # that event: + self._x = None + self._y = None + + # Create window: + self._root = tkinter.Tk() + self._root.title('Mouse Teleop') + + # Make window non-resizable: + self._root.resizable(0, 0) + + # Create canvas: + self._canvas = tkinter.Canvas(self._root, bg='white') + + # Create canvas objects: + self._canvas.create_arc(0, 0, 0, 0, fill='red', outline='red', + width=1, style=tkinter.PIESLICE, start=90.0, tag='w') + self._canvas.create_line(0, 0, 0, 0, fill='blue', width=4, tag='v_x') + + if self._holonomic: + self._canvas.create_line(0, 0, 0, 0, fill='blue', width=4, tag='v_y') + + # Create canvas text objects: + self._text_v_x = tkinter.StringVar() + if self._holonomic: + self._text_v_y = tkinter.StringVar() + self._text_w = tkinter.StringVar() + + self._label_v_x = tkinter.Label(self._root, anchor=tkinter.W, textvariable=self._text_v_x) + if self._holonomic: + self._label_v_y = tkinter.Label( + self._root, anchor=tkinter.W, textvariable=self._text_v_y) + self._label_w = tkinter.Label(self._root, anchor=tkinter.W, textvariable=self._text_w) + + if self._holonomic: + self._text_v_x.set('v_x = %0.2f m/s' % self._v_x) + self._text_v_y.set('v_y = %0.2f m/s' % self._v_y) + self._text_w.set('w = %0.2f deg/s' % self._w) + else: + self._text_v_x.set('v = %0.2f m/s' % self._v_x) + self._text_w.set('w = %0.2f deg/s' % self._w) + + self._label_v_x.pack() + if self._holonomic: + self._label_v_y.pack() + self._label_w.pack() + + # Bind event handlers: + self._canvas.bind('', self._start) + self._canvas.bind('', self._release) + + self._canvas.bind('', self._configure) + + if self._holonomic: + self._canvas.bind('', self._mouse_motion_linear) + self._canvas.bind('', self._mouse_motion_angular) + + self._root.bind('', self._change_to_motion_angular) + self._root.bind('', self._change_to_motion_linear) + else: + self._canvas.bind('', self._mouse_motion_angular) + + self._canvas.pack() + + # If frequency is positive, use synchronous publishing mode: + if self._frequency > 0.0: + # Create timer for the given frequency to publish the twist: + period = 1.0 / self._frequency + + self._timer = self.create_timer(period, self._publish_twist) + + # Handle ctrl+c on the window + self._root.bind('', self._quit) + + # Nasty polling-trick to handle ctrl+c in terminal + self._root.after(50, self._check) + signal.signal(2, self._handle_signal) + + # Start window event manager main loop: + self._root.mainloop() + + def _quit(self, ev): + self._root.quit() + + def __del__(self): + self._root.quit() + + def _check(self): + self._root.after(50, self._check) + + def _handle_signal(self, signum, frame): + self._quit(None) + + def _start(self, event): + self._x, self._y = event.y, event.x + + self._y_linear = self._y_angular = 0 + + self._v_x = self._v_y = self._w = 0.0 + + def _release(self, event): + self._v_x = self._v_y = self._w = 0.0 + + self._send_motion() + + def _configure(self, event): + self._width, self._height = event.height, event.width + + self._c_x = self._height / 2.0 + self._c_y = self._width / 2.0 + + self._r = min(self._height, self._width) * 0.25 + + def _mouse_motion_linear(self, event): + self._v_x, self._v_y = self._relative_motion(event.y, event.x) + + self._send_motion() + + def _mouse_motion_angular(self, event): + self._v_x, self._w = self._relative_motion(event.y, event.x) + + self._send_motion() + + def _update_coords(self, tag, x0, y0, x1, y1): + x0 += self._c_x + y0 += self._c_y + + x1 += self._c_x + y1 += self._c_y + + self._canvas.coords(tag, (x0, y0, x1, y1)) + + def _draw_v_x(self, v): + x = -v * float(self._width) + + self._update_coords('v_x', 0, 0, 0, x) + + def _draw_v_y(self, v): + y = -v * float(self._height) + + self._update_coords('v_y', 0, 0, y, 0) + + def _draw_w(self, w): + x0 = y0 = -self._r + x1 = y1 = self._r + + self._update_coords('w', x0, y0, x1, y1) + + yaw = w * numpy.rad2deg(self._scale) + + self._canvas.itemconfig('w', extent=yaw) + + def _send_motion(self): + + self._draw_v_x(self._v_x) + if self._holonomic: + self._draw_v_y(self._v_y) + self._draw_w(self._w) + + if self._holonomic: + self._text_v_x.set('v_x = %0.2f m/s' % self._v_x) + self._text_v_y.set('v_y = %0.2f m/s' % self._v_y) + self._text_w.set('w = %0.2f deg/s' % numpy.rad2deg(self._w)) + else: + self._text_v_x.set('v = %0.2f m/s' % self._v_x) + self._text_w.set('w = %0.2f deg/s' % numpy.rad2deg(self._w)) + + v_x = self._v_x * self._scale + v_y = self._v_y * self._scale + w = self._w * self._scale + + lin = Vector3(x=v_x, y=v_y, z=0.0) + ang = Vector3(x=0.0, y=0.0, z=w) + + twist = Twist(linear=lin, angular=ang) + self._pub_cmd.publish(twist) + + def _publish_twist(self): + self._send_motion() + + def _relative_motion(self, x, y): + dx = self._x - x + dy = self._y - y + + dx /= float(self._width) + dy /= float(self._height) + + dx = max(-1.0, min(dx, 1.0)) + dy = max(-1.0, min(dy, 1.0)) + + return dx, dy + + def _change_to_motion_linear(self, event): + if self._y is not None: + y = event.x + + self._y_angular = self._y - y + self._y = self._y_linear + y + + def _change_to_motion_angular(self, event): + if self._y is not None: + y = event.x + + self._y_linear = self._y - y + self._y = self._y_angular + y + + +def main(): + try: + rclpy.init() + + node = MouseTeleop() + + node.destroy_node() + rclpy.shutdown() + except KeyboardInterrupt: + pass + + +if __name__ == '__main__': + main() diff --git a/ROS 2 Packages/f1tenth/teleop_tools/mouse_teleop/package.xml b/ROS 2 Packages/f1tenth/teleop_tools/mouse_teleop/package.xml new file mode 100644 index 0000000..a8509cf --- /dev/null +++ b/ROS 2 Packages/f1tenth/teleop_tools/mouse_teleop/package.xml @@ -0,0 +1,27 @@ + + + + mouse_teleop + 1.2.1 + A mouse teleop tool for holonomic mobile robots. + + Enrique Fernandez + BSD + + Enrique Fernandez + + geometry_msgs + rclpy + python3-numpy + python3-tk + + ament_copyright + ament_flake8 + ament_pep257 + ament_xmllint + + + ament_python + + + diff --git a/ROS 2 Packages/f1tenth/teleop_tools/mouse_teleop/resource/mouse_teleop b/ROS 2 Packages/f1tenth/teleop_tools/mouse_teleop/resource/mouse_teleop new file mode 100644 index 0000000..e69de29 diff --git a/ROS 2 Packages/f1tenth/teleop_tools/mouse_teleop/setup.cfg b/ROS 2 Packages/f1tenth/teleop_tools/mouse_teleop/setup.cfg new file mode 100644 index 0000000..fa860ab --- /dev/null +++ b/ROS 2 Packages/f1tenth/teleop_tools/mouse_teleop/setup.cfg @@ -0,0 +1,4 @@ +[develop] +script-dir=$base/lib/mouse_teleop +[install] +install-scripts=$base/lib/mouse_teleop diff --git a/ROS 2 Packages/f1tenth/teleop_tools/mouse_teleop/setup.py b/ROS 2 Packages/f1tenth/teleop_tools/mouse_teleop/setup.py new file mode 100644 index 0000000..6eb46d0 --- /dev/null +++ b/ROS 2 Packages/f1tenth/teleop_tools/mouse_teleop/setup.py @@ -0,0 +1,48 @@ +import os + +from setuptools import find_packages +from setuptools import setup + + +package_name = 'mouse_teleop' +share_path = os.path.join('share', package_name) + + +setup( + name=package_name, + version='0.3.0', + packages=find_packages(exclude=['test']), + data_files=[ + (share_path, ['package.xml']), + (os.path.join(share_path, 'config'), [os.path.join('config', f'{package_name}.yaml')]), + (os.path.join(share_path, 'launch'), + [os.path.join('launch', f'{package_name}.launch.py')]), + (os.path.join('share', 'ament_index', 'resource_index', 'packages'), + [os.path.join('resource', package_name)]), + ], + install_requires=['setuptools'], + zip_safe=True, + author='Enrique Fernandez', + author_email='enrique.fernandez.perdomo@gmail.com', + maintainer='Enrique Fernandez', + maintainer_email='enrique.fernandez.perdomo@gmail.com', + url='https://github.com/ros-teleop/teleop_tools', + keywords=['ROS'], + classifiers=[ + 'Intended Audience :: Developers', + 'License :: OSI Approved :: BSD', + 'Programming Language :: Python', + 'Topic :: Software Development', + ], + description='A text-based interface to send a robot movement commands.', + long_description="""\ + key_teleop provides command-line interface to send Twist commands \ + to drive a robot around.""", + license='BSD', + tests_require=['pytest'], + entry_points={ + 'console_scripts': [ + 'mouse_teleop = mouse_teleop.mouse_teleop:main', + ], + }, +) diff --git a/ROS 2 Packages/f1tenth/teleop_tools/mouse_teleop/test/test_copyright.py b/ROS 2 Packages/f1tenth/teleop_tools/mouse_teleop/test/test_copyright.py new file mode 100644 index 0000000..aa74f3e --- /dev/null +++ b/ROS 2 Packages/f1tenth/teleop_tools/mouse_teleop/test/test_copyright.py @@ -0,0 +1,23 @@ +# Copyright 2015 Open Source Robotics Foundation, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +from ament_copyright.main import main +import pytest + + +@pytest.mark.copyright +@pytest.mark.linter +def test_copyright(): + rc = main(argv=['.']) + assert rc == 0, 'Found errors' diff --git a/ROS 2 Packages/f1tenth/teleop_tools/mouse_teleop/test/test_flake8.py b/ROS 2 Packages/f1tenth/teleop_tools/mouse_teleop/test/test_flake8.py new file mode 100644 index 0000000..eff8299 --- /dev/null +++ b/ROS 2 Packages/f1tenth/teleop_tools/mouse_teleop/test/test_flake8.py @@ -0,0 +1,23 @@ +# Copyright 2017 Open Source Robotics Foundation, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +from ament_flake8.main import main +import pytest + + +@pytest.mark.flake8 +@pytest.mark.linter +def test_flake8(): + rc = main(argv=[]) + assert rc == 0, 'Found errors' diff --git a/ROS 2 Packages/f1tenth/teleop_tools/mouse_teleop/test/test_pop257.py b/ROS 2 Packages/f1tenth/teleop_tools/mouse_teleop/test/test_pop257.py new file mode 100644 index 0000000..399afc9 --- /dev/null +++ b/ROS 2 Packages/f1tenth/teleop_tools/mouse_teleop/test/test_pop257.py @@ -0,0 +1,23 @@ +# Copyright 2015 Open Source Robotics Foundation, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +from ament_pep257.main import main +import pytest + + +@pytest.mark.linter +@pytest.mark.pep257 +def test_pep257(): + rc = main(argv=['.']) + assert rc == 0, 'Found code style errors / warnings' diff --git a/ROS 2 Packages/f1tenth/teleop_tools/mouse_teleop/test/test_xmllint.py b/ROS 2 Packages/f1tenth/teleop_tools/mouse_teleop/test/test_xmllint.py new file mode 100644 index 0000000..53d7b5c --- /dev/null +++ b/ROS 2 Packages/f1tenth/teleop_tools/mouse_teleop/test/test_xmllint.py @@ -0,0 +1,23 @@ +# Copyright 2017 Open Source Robotics Foundation, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +from ament_xmllint.main import main +import pytest + + +@pytest.mark.xmllint +@pytest.mark.linter +def test_xmllint(): + rc = main(argv=[]) + assert rc == 0, 'Found errors' diff --git a/ROS 2 Packages/f1tenth/teleop_tools/pytest.ini b/ROS 2 Packages/f1tenth/teleop_tools/pytest.ini new file mode 100644 index 0000000..fe55d2e --- /dev/null +++ b/ROS 2 Packages/f1tenth/teleop_tools/pytest.ini @@ -0,0 +1,2 @@ +[pytest] +junit_family=xunit2 diff --git a/ROS 2 Packages/f1tenth/teleop_tools/teleop_tools/CHANGELOG.rst b/ROS 2 Packages/f1tenth/teleop_tools/teleop_tools/CHANGELOG.rst new file mode 100644 index 0000000..828aa2b --- /dev/null +++ b/ROS 2 Packages/f1tenth/teleop_tools/teleop_tools/CHANGELOG.rst @@ -0,0 +1,83 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package teleop_tools +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +1.2.1 (2020-10-29) +------------------ + +1.2.0 (2020-10-16) +------------------ + +1.1.0 (2020-04-21) +------------------ + +1.0.2 (2020-02-10) +------------------ + +1.0.1 (2019-09-18) +------------------ + +1.0.0 (2019-09-10) +------------------ +* ROS2 port (`#35 `_) + * ROS2 port + * key_teleop pkg format 3 + * port teleop_tools_msgs + * key_teleop catch KeyboardInterrupt + * port mouse_teleop + * add key_teleop.yaml + * prepare tests + * add xmllint test + * fix xmllint tests + * simplify joy_teleop retrieve_config + * remove useless class KeyTeleop + * Fixes for dynamic topic joy publishers + - match_command() now compares button array length to the max + deadman button index (apples to apples) + - match_command function now checks if any of the deadman buttons + are depressed before returning a match + - properly handle a std_msgs/msg/Empty 'message_value' by not + attempting to access its value + - utilizes iter-items to correctly index into the config dict + for 'axis_mappings''s 'axis' and 'button' values + - set_member() now splits according to a dash (-) rather than a + periond (.) to be consistent with ros2 param parsing & example yaml + - adds the correct name to setup.py for test_key_teleop.py test + * reduce copy/pasta +* Contributors: Jeremie Deray + +0.3.0 (2019-01-03) +------------------ + +0.2.6 (2018-04-06) +------------------ + +0.2.5 (2017-04-21) +------------------ + +0.2.4 (2016-11-30) +------------------ + +0.2.3 (2016-07-18) +------------------ + +0.2.2 (2016-03-24) +------------------ + +0.2.1 (2016-01-29) +------------------ + +0.2.0 (2015-08-03) +------------------ +* Update package.xmls +* Contributors: Bence Magyar + +0.1.2 (2015-02-15) +------------------ + +0.1.1 (2014-11-17) +------------------ +* Change maintainer +* Add key_teleop to metapackage +* Add teleop_tools metapackage +* Contributors: Bence Magyar, Paul Mathieu diff --git a/ROS 2 Packages/f1tenth/teleop_tools/teleop_tools/CMakeLists.txt b/ROS 2 Packages/f1tenth/teleop_tools/teleop_tools/CMakeLists.txt new file mode 100644 index 0000000..a18e193 --- /dev/null +++ b/ROS 2 Packages/f1tenth/teleop_tools/teleop_tools/CMakeLists.txt @@ -0,0 +1,7 @@ +cmake_minimum_required(VERSION 3.5) + +project(teleop_tools NONE) + +find_package(ament_cmake REQUIRED) + +ament_package() diff --git a/ROS 2 Packages/f1tenth/teleop_tools/teleop_tools/package.xml b/ROS 2 Packages/f1tenth/teleop_tools/teleop_tools/package.xml new file mode 100644 index 0000000..b604284 --- /dev/null +++ b/ROS 2 Packages/f1tenth/teleop_tools/teleop_tools/package.xml @@ -0,0 +1,18 @@ + + + teleop_tools + 1.2.1 + A set of generic teleoperation tools for any robot. + Bence Magyar + BSD + + ament_cmake + + joy_teleop + key_teleop + teleop_tools_msgs + + + ament_cmake + + diff --git a/ROS 2 Packages/f1tenth/teleop_tools/teleop_tools_msgs/CHANGELOG.rst b/ROS 2 Packages/f1tenth/teleop_tools/teleop_tools_msgs/CHANGELOG.rst new file mode 100644 index 0000000..07814d5 --- /dev/null +++ b/ROS 2 Packages/f1tenth/teleop_tools/teleop_tools_msgs/CHANGELOG.rst @@ -0,0 +1,60 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package teleop_tools_msgs +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +1.2.1 (2020-10-29) +------------------ + +1.2.0 (2020-10-16) +------------------ + +1.1.0 (2020-04-21) +------------------ + +1.0.2 (2020-02-10) +------------------ + +1.0.1 (2019-09-18) +------------------ + +1.0.0 (2019-09-10) +------------------ +* ROS2 port (`#35 `_) +* Contributors: Jeremie Deray + +0.3.0 (2019-01-03) +------------------ + +0.2.6 (2018-04-06) +------------------ + +0.2.5 (2017-04-21) +------------------ + +0.2.4 (2016-11-30) +------------------ + +0.2.3 (2016-07-18) +------------------ + +0.2.2 (2016-03-24) +------------------ + +0.2.1 (2016-01-29) +------------------ +* Remove rospy dependency +* Contributors: Bence Magyar + +0.2.0 (2015-08-03) +------------------ +* Add teleop_tools_msgs +* Contributors: Bence Magyar + +0.1.2 (2015-02-15) +------------------ + +0.1.1 (2014-11-17) +------------------ + +0.1.0 (2013-11-28) +------------------ diff --git a/ROS 2 Packages/f1tenth/teleop_tools/teleop_tools_msgs/CMakeLists.txt b/ROS 2 Packages/f1tenth/teleop_tools/teleop_tools_msgs/CMakeLists.txt new file mode 100644 index 0000000..c061cb6 --- /dev/null +++ b/ROS 2 Packages/f1tenth/teleop_tools/teleop_tools_msgs/CMakeLists.txt @@ -0,0 +1,31 @@ +cmake_minimum_required(VERSION 3.5) +project(teleop_tools_msgs) + +# Default to C11 +if(NOT CMAKE_C_STANDARD) + set(CMAKE_C_STANDARD 11) +endif() + +# Default to C++14 +if(NOT CMAKE_CXX_STANDARD) + set(CMAKE_CXX_STANDARD 14) +endif() + +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() + +find_package(ament_cmake REQUIRED) +find_package(rosidl_default_generators REQUIRED) + +if(BUILD_TESTING) + find_package(ament_lint_auto REQUIRED) + ament_lint_auto_find_test_dependencies() +endif() + +rosidl_generate_interfaces(${PROJECT_NAME} + "action/Increment.action" + ADD_LINTER_TESTS +) +ament_export_dependencies(rosidl_default_runtime) +ament_package() diff --git a/ROS 2 Packages/f1tenth/teleop_tools/teleop_tools_msgs/action/Increment.action b/ROS 2 Packages/f1tenth/teleop_tools/teleop_tools_msgs/action/Increment.action new file mode 100644 index 0000000..e7ecc5b --- /dev/null +++ b/ROS 2 Packages/f1tenth/teleop_tools/teleop_tools_msgs/action/Increment.action @@ -0,0 +1,3 @@ +float32[] increment_by +--- +--- diff --git a/ROS 2 Packages/f1tenth/teleop_tools/teleop_tools_msgs/package.xml b/ROS 2 Packages/f1tenth/teleop_tools/teleop_tools_msgs/package.xml new file mode 100644 index 0000000..bed4793 --- /dev/null +++ b/ROS 2 Packages/f1tenth/teleop_tools/teleop_tools_msgs/package.xml @@ -0,0 +1,24 @@ + + + teleop_tools_msgs + 1.2.1 + The teleop_tools_msgs package + Bence Magyar + BSD + + ament_cmake + rosidl_default_generators + + action_msgs + + rosidl_default_runtime + + ament_lint_auto + ament_lint_common + + rosidl_interface_packages + + + ament_cmake + + diff --git a/ROS 2 Packages/f1tenth/vesc/.github/workflows/ros2-ci.yaml b/ROS 2 Packages/f1tenth/vesc/.github/workflows/ros2-ci.yaml new file mode 100644 index 0000000..b07e5aa --- /dev/null +++ b/ROS 2 Packages/f1tenth/vesc/.github/workflows/ros2-ci.yaml @@ -0,0 +1,48 @@ +name: ROS2 CI Workflow + +on: + pull_request: + branches: + - ros2 + push: + branches: + - ros2 + +jobs: + + build-ros2: + strategy: + fail-fast: false + matrix: + config: + - { + ros_distro: "humble" + } + - { + ros_distro: "foxy" + } + runs-on: ubuntu-latest + container: + image: ros:${{ matrix.config.ros_distro }} + steps: + - name: Checkout Repo + uses: actions/checkout@v2 + - name: Create Workspace + run: | + mkdir -p src_tmp/vesc + mv `find -maxdepth 1 -not -name . -not -name src_tmp` src_tmp/vesc/ + mv src_tmp/ src/ + - name: Install Dependencies + run: | + bash -c 'source /opt/ros/$ROS_DISTRO/setup.bash; \ + apt-get update && rosdep update; \ + rosdep install --from-paths src --ignore-src -y' + - name: Build Workspace + run: | + bash -c 'source /opt/ros/$ROS_DISTRO/setup.bash; \ + colcon build --event-handlers console_cohesion+' + - name: Run Tests + run: | + bash -c 'source /opt/ros/$ROS_DISTRO/setup.bash; \ + colcon test --event-handlers console_cohesion+; \ + colcon test-result --verbose' diff --git a/ROS 2 Packages/f1tenth/vesc/.gitignore b/ROS 2 Packages/f1tenth/vesc/.gitignore new file mode 100644 index 0000000..1377554 --- /dev/null +++ b/ROS 2 Packages/f1tenth/vesc/.gitignore @@ -0,0 +1 @@ +*.swp diff --git a/ROS 2 Packages/f1tenth/vesc/LICENSE b/ROS 2 Packages/f1tenth/vesc/LICENSE new file mode 100644 index 0000000..c99adc5 --- /dev/null +++ b/ROS 2 Packages/f1tenth/vesc/LICENSE @@ -0,0 +1,11 @@ +Copyright 2020 F1TENTH Foundation + +Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: + +1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. + +2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. + +3. Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. diff --git a/ROS 2 Packages/f1tenth/vesc/README.md b/ROS 2 Packages/f1tenth/vesc/README.md new file mode 100644 index 0000000..09f8afc --- /dev/null +++ b/ROS 2 Packages/f1tenth/vesc/README.md @@ -0,0 +1,17 @@ +# Veddar VESC Interface + +![ROS2 CI Workflow](https://github.com/f1tenth/vesc/workflows/ROS2%20CI%20Workflow/badge.svg) + +Packages to interface with Veddar VESC motor controllers. See https://vesc-project.com/ for details + +This is a ROS2 implementation of the ROS1 driver using the new serial driver located in [transport drivers](https://github.com/ros-drivers/transport_drivers). + +## How to test + +1. Clone this repository and [transport drivers](https://github.com/ros-drivers/transport_drivers) into `src`. +2. `rosdep update && rosdep install --from-paths src -i -y` +3. Plug in the VESC with a USB cable. +4. Modify `vesc/vesc_driver/params/vesc_config.yaml` to reflect any changes. +5. Build the packages `colcon build` +6. `ros2 launch vesc_driver vesc_driver_node.launch.py` +7. If prompted "permission denied" on the serial port: `sudo chmod 777 /dev/ttyACM0` diff --git a/ROS 2 Packages/f1tenth/vesc/vesc/CHANGELOG.rst b/ROS 2 Packages/f1tenth/vesc/vesc/CHANGELOG.rst new file mode 100644 index 0000000..eb2c307 --- /dev/null +++ b/ROS 2 Packages/f1tenth/vesc/vesc/CHANGELOG.rst @@ -0,0 +1,16 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package vesc +^^^^^^^^^^^^^^^^^^^^^^^^^^ + +1.1.0 (2020-12-12) +------------------ +* Merge pull request `#1 `_ from f1tenth/melodic-devel + Updating for Melodic +* Updating package.xml to format 3 and setting C++ standard to 11. +* Contributors: Joshua Whitley + +1.0.0 (2020-12-02) +------------------ +* Updating maintainers, authors, and URLs. +* added onboard car +* Contributors: Joshua Whitley, billyzheng diff --git a/ROS 2 Packages/f1tenth/vesc/vesc/CMakeLists.txt b/ROS 2 Packages/f1tenth/vesc/vesc/CMakeLists.txt new file mode 100644 index 0000000..1caee5d --- /dev/null +++ b/ROS 2 Packages/f1tenth/vesc/vesc/CMakeLists.txt @@ -0,0 +1,4 @@ +cmake_minimum_required(VERSION 3.5) +project(vesc) +find_package(ament_cmake_auto REQUIRED) +ament_auto_package() diff --git a/ROS 2 Packages/f1tenth/vesc/vesc/package.xml b/ROS 2 Packages/f1tenth/vesc/vesc/package.xml new file mode 100644 index 0000000..e4748c1 --- /dev/null +++ b/ROS 2 Packages/f1tenth/vesc/vesc/package.xml @@ -0,0 +1,27 @@ + + + + vesc + 1.1.0 + + Metapackage for ROS interface to the Vedder VESC open source motor controller. + + Johannes Betz + BSD + http://www.ros.org/wiki/vesc + https://github.com/f1tenth/vesc + https://github.com/f1tenth/vesc/issues + Michael T. Boulet + Joshua Whitley + Haoru Xue + + ament_cmake_auto + + vesc_driver + vesc_msgs + vesc_ackermann + + + ament_cmake + + diff --git a/ROS 2 Packages/f1tenth/vesc/vesc_ackermann/CHANGELOG.rst b/ROS 2 Packages/f1tenth/vesc/vesc_ackermann/CHANGELOG.rst new file mode 100644 index 0000000..bb78e5b --- /dev/null +++ b/ROS 2 Packages/f1tenth/vesc/vesc_ackermann/CHANGELOG.rst @@ -0,0 +1,22 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package vesc_ackermann +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +1.1.0 (2020-12-12) +------------------ +* Merge pull request `#1 `_ from f1tenth/melodic-devel + Updating for Melodic +* Remove unused Boost dependency. +* Replacing boost::shared_ptr with Standard Library equivalent. +* Fixing roslint error. +* Updating package.xml to format 3 and setting C++ standard to 11. +* Contributors: Joshua Whitley + +1.0.0 (2020-12-02) +------------------ +* Applying roslint to vesc_ackerman. +* Adding roslint. +* Adding licenses. +* Updating maintainers, authors, and URLs. +* added onboard car +* Contributors: Joshua Whitley, billyzheng diff --git a/ROS 2 Packages/f1tenth/vesc/vesc_ackermann/CMakeLists.txt b/ROS 2 Packages/f1tenth/vesc/vesc_ackermann/CMakeLists.txt new file mode 100644 index 0000000..9a5ba87 --- /dev/null +++ b/ROS 2 Packages/f1tenth/vesc/vesc_ackermann/CMakeLists.txt @@ -0,0 +1,48 @@ +cmake_minimum_required(VERSION 3.5) +project(vesc_ackermann) + +# Setting C++ standard to 14 +if(NOT "${CMAKE_CXX_STANDARD_COMPUTED_DEFAULT}") + message(STATUS "Changing CXX_STANDARD from C++98 to C++14") + set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++14") +elseif("${CMAKE_CXX_STANDARD_COMPUTED_DEFAULT}" STREQUAL "98") + message(STATUS "Changing CXX_STANDARD from C++98 to C++14") + set(CMAKE_CXX_STANDARD 14) +endif() + +find_package(ament_cmake_auto REQUIRED) +ament_auto_find_build_dependencies() + +########### +## Build ## +########### + +# nodes library +ament_auto_add_library(${PROJECT_NAME} SHARED + src/ackermann_to_vesc.cpp + src/vesc_to_odom.cpp +) + +# register nodes as components +rclcpp_components_register_node(${PROJECT_NAME} + PLUGIN vesc_ackermann::AckermannToVesc + EXECUTABLE ackermann_to_vesc_node +) +rclcpp_components_register_node(${PROJECT_NAME} + PLUGIN vesc_ackermann::VescToOdom + EXECUTABLE vesc_to_odom_node +) + +############# +## Testing ## +############# + +if(BUILD_TESTING) + find_package(ament_lint_auto REQUIRED) + ament_lint_auto_find_test_dependencies() +endif() + +ament_auto_package( + INSTALL_TO_SHARE + launch +) diff --git a/ROS 2 Packages/f1tenth/vesc/vesc_ackermann/include/vesc_ackermann/ackermann_to_vesc.hpp b/ROS 2 Packages/f1tenth/vesc/vesc_ackermann/include/vesc_ackermann/ackermann_to_vesc.hpp new file mode 100644 index 0000000..b646c36 --- /dev/null +++ b/ROS 2 Packages/f1tenth/vesc/vesc_ackermann/include/vesc_ackermann/ackermann_to_vesc.hpp @@ -0,0 +1,68 @@ +// Copyright 2020 F1TENTH Foundation +// +// Redistribution and use in source and binary forms, with or without +// modification, are permitted provided that the following conditions are met: +// +// * Redistributions of source code must retain the above copyright +// notice, this list of conditions and the following disclaimer. +// +// * Redistributions in binary form must reproduce the above copyright +// notice, this list of conditions and the following disclaimer in the +// documentation and/or other materials provided with the distribution. +// +// * Neither the name of the {copyright_holder} nor the names of its +// contributors may be used to endorse or promote products derived from +// this software without specific prior written permission. +// +// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE +// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +// POSSIBILITY OF SUCH DAMAGE. + +// -*- mode:c++; fill-column: 100; -*- + +#ifndef VESC_ACKERMANN__ACKERMANN_TO_VESC_HPP_ +#define VESC_ACKERMANN__ACKERMANN_TO_VESC_HPP_ + +#include +#include +#include + +namespace vesc_ackermann +{ + +using ackermann_msgs::msg::AckermannDriveStamped; +using std_msgs::msg::Float64; + +class AckermannToVesc : public rclcpp::Node +{ +public: + explicit AckermannToVesc(const rclcpp::NodeOptions & options); + +private: + // ROS parameters + // conversion gain and offset + double speed_to_erpm_gain_, speed_to_erpm_offset_; + double steering_to_servo_gain_, steering_to_servo_offset_; + + /** @todo consider also providing an interpolated look-up table conversion */ + + // ROS services + rclcpp::Publisher::SharedPtr erpm_pub_; + rclcpp::Publisher::SharedPtr servo_pub_; + rclcpp::Subscription::SharedPtr ackermann_sub_; + + // ROS callbacks + void ackermannCmdCallback(const AckermannDriveStamped::SharedPtr cmd); +}; + +} // namespace vesc_ackermann + +#endif // VESC_ACKERMANN__ACKERMANN_TO_VESC_HPP_ diff --git a/ROS 2 Packages/f1tenth/vesc/vesc_ackermann/include/vesc_ackermann/vesc_to_odom.hpp b/ROS 2 Packages/f1tenth/vesc/vesc_ackermann/include/vesc_ackermann/vesc_to_odom.hpp new file mode 100644 index 0000000..916f2ef --- /dev/null +++ b/ROS 2 Packages/f1tenth/vesc/vesc_ackermann/include/vesc_ackermann/vesc_to_odom.hpp @@ -0,0 +1,85 @@ +// Copyright 2020 F1TENTH Foundation +// +// Redistribution and use in source and binary forms, with or without +// modification, are permitted provided that the following conditions are met: +// +// * Redistributions of source code must retain the above copyright +// notice, this list of conditions and the following disclaimer. +// +// * Redistributions in binary form must reproduce the above copyright +// notice, this list of conditions and the following disclaimer in the +// documentation and/or other materials provided with the distribution. +// +// * Neither the name of the {copyright_holder} nor the names of its +// contributors may be used to endorse or promote products derived from +// this software without specific prior written permission. +// +// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE +// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +// POSSIBILITY OF SUCH DAMAGE. + +// -*- mode:c++; fill-column: 100; -*- + +#ifndef VESC_ACKERMANN__VESC_TO_ODOM_HPP_ +#define VESC_ACKERMANN__VESC_TO_ODOM_HPP_ + +#include +#include +#include +#include +#include + +#include +#include + +namespace vesc_ackermann +{ + +using nav_msgs::msg::Odometry; +using std_msgs::msg::Float64; +using vesc_msgs::msg::VescStateStamped; + +class VescToOdom : public rclcpp::Node +{ +public: + explicit VescToOdom(const rclcpp::NodeOptions & options); + +private: + // ROS parameters + std::string odom_frame_; + std::string base_frame_; + /** State message does not report servo position, so use the command instead */ + bool use_servo_cmd_; + // conversion gain and offset + double speed_to_erpm_gain_, speed_to_erpm_offset_; + double steering_to_servo_gain_, steering_to_servo_offset_; + double wheelbase_; + bool publish_tf_; + + // odometry state + double x_, y_, yaw_; + Float64::SharedPtr last_servo_cmd_; ///< Last servo position commanded value + VescStateStamped::SharedPtr last_state_; ///< Last received state message + + // ROS services + rclcpp::Publisher::SharedPtr odom_pub_; + rclcpp::Subscription::SharedPtr vesc_state_sub_; + rclcpp::Subscription::SharedPtr servo_sub_; + std::shared_ptr tf_pub_; + + // ROS callbacks + void vescStateCallback(const VescStateStamped::SharedPtr state); + void servoCmdCallback(const Float64::SharedPtr servo); +}; + +} // namespace vesc_ackermann + +#endif // VESC_ACKERMANN__VESC_TO_ODOM_HPP_ diff --git a/ROS 2 Packages/f1tenth/vesc/vesc_ackermann/launch/ackermann_to_vesc_node.launch.xml b/ROS 2 Packages/f1tenth/vesc/vesc_ackermann/launch/ackermann_to_vesc_node.launch.xml new file mode 100644 index 0000000..4cbf7b7 --- /dev/null +++ b/ROS 2 Packages/f1tenth/vesc/vesc_ackermann/launch/ackermann_to_vesc_node.launch.xml @@ -0,0 +1,14 @@ + + + + + + + + + + + + + + diff --git a/ROS 2 Packages/f1tenth/vesc/vesc_ackermann/launch/vesc_to_odom_node.launch.xml b/ROS 2 Packages/f1tenth/vesc/vesc_ackermann/launch/vesc_to_odom_node.launch.xml new file mode 100644 index 0000000..712d443 --- /dev/null +++ b/ROS 2 Packages/f1tenth/vesc/vesc_ackermann/launch/vesc_to_odom_node.launch.xml @@ -0,0 +1,19 @@ + + + + + + + + + + + + + + + + + + + diff --git a/ROS 2 Packages/f1tenth/vesc/vesc_ackermann/package.xml b/ROS 2 Packages/f1tenth/vesc/vesc_ackermann/package.xml new file mode 100644 index 0000000..bd39777 --- /dev/null +++ b/ROS 2 Packages/f1tenth/vesc/vesc_ackermann/package.xml @@ -0,0 +1,34 @@ + + + + vesc_ackermann + 1.1.0 + + Translate between VESC messages and ROS ackermann and odometry messages. + + Johannes Betz + BSD + http://www.ros.org/wiki/vesc_ackermann + https://github.com/f1tenth/vesc + https://github.com/f1tenth/vesc/issues + Michael T. Boulet + Joshua Whitley + + ament_cmake_auto + + ackermann_msgs + geometry_msgs + nav_msgs + rclcpp + rclcpp_components + std_msgs + tf2_ros + vesc_msgs + + ament_lint_auto + ament_lint_common + + + ament_cmake + + diff --git a/ROS 2 Packages/f1tenth/vesc/vesc_ackermann/src/ackermann_to_vesc.cpp b/ROS 2 Packages/f1tenth/vesc/vesc_ackermann/src/ackermann_to_vesc.cpp new file mode 100644 index 0000000..e26c4f1 --- /dev/null +++ b/ROS 2 Packages/f1tenth/vesc/vesc_ackermann/src/ackermann_to_vesc.cpp @@ -0,0 +1,86 @@ +// Copyright 2020 F1TENTH Foundation +// +// Redistribution and use in source and binary forms, with or without +// modification, are permitted provided that the following conditions are met: +// +// * Redistributions of source code must retain the above copyright +// notice, this list of conditions and the following disclaimer. +// +// * Redistributions in binary form must reproduce the above copyright +// notice, this list of conditions and the following disclaimer in the +// documentation and/or other materials provided with the distribution. +// +// * Neither the name of the {copyright_holder} nor the names of its +// contributors may be used to endorse or promote products derived from +// this software without specific prior written permission. +// +// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE +// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +// POSSIBILITY OF SUCH DAMAGE. + +// -*- mode:c++; fill-column: 100; -*- + +#include "vesc_ackermann/ackermann_to_vesc.hpp" + +#include +#include + +#include +#include +#include + +namespace vesc_ackermann +{ + +using ackermann_msgs::msg::AckermannDriveStamped; +using std::placeholders::_1; +using std_msgs::msg::Float64; + +AckermannToVesc::AckermannToVesc(const rclcpp::NodeOptions & options) +: Node("ackermann_to_vesc_node", options) +{ + // get conversion parameters + speed_to_erpm_gain_ = declare_parameter("speed_to_erpm_gain").get(); + speed_to_erpm_offset_ = declare_parameter("speed_to_erpm_offset").get(); + steering_to_servo_gain_ = declare_parameter("steering_angle_to_servo_gain").get(); + steering_to_servo_offset_ = declare_parameter("steering_angle_to_servo_offset").get(); + + // create publishers to vesc electric-RPM (speed) and servo commands + erpm_pub_ = create_publisher("commands/motor/speed", 10); + servo_pub_ = create_publisher("commands/servo/position", 10); + + // subscribe to ackermann topic + ackermann_sub_ = create_subscription( + "ackermann_cmd", 10, std::bind(&AckermannToVesc::ackermannCmdCallback, this, _1)); +} + +void AckermannToVesc::ackermannCmdCallback(const AckermannDriveStamped::SharedPtr cmd) +{ + // calc vesc electric RPM (speed) + Float64 erpm_msg; + erpm_msg.data = speed_to_erpm_gain_ * cmd->drive.speed + speed_to_erpm_offset_; + + // calc steering angle (servo) + Float64 servo_msg; + servo_msg.data = steering_to_servo_gain_ * cmd->drive.steering_angle + steering_to_servo_offset_; + + // publish + if (rclcpp::ok()) { + erpm_pub_->publish(erpm_msg); + servo_pub_->publish(servo_msg); + } +} + +} // namespace vesc_ackermann + +#include "rclcpp_components/register_node_macro.hpp" // NOLINT + +RCLCPP_COMPONENTS_REGISTER_NODE(vesc_ackermann::AckermannToVesc) diff --git a/ROS 2 Packages/f1tenth/vesc/vesc_ackermann/src/vesc_to_odom.cpp b/ROS 2 Packages/f1tenth/vesc/vesc_ackermann/src/vesc_to_odom.cpp new file mode 100644 index 0000000..78a0e0e --- /dev/null +++ b/ROS 2 Packages/f1tenth/vesc/vesc_ackermann/src/vesc_to_odom.cpp @@ -0,0 +1,190 @@ +// Copyright 2020 F1TENTH Foundation +// +// Redistribution and use in source and binary forms, with or without +// modification, are permitted provided that the following conditions are met: +// +// * Redistributions of source code must retain the above copyright +// notice, this list of conditions and the following disclaimer. +// +// * Redistributions in binary form must reproduce the above copyright +// notice, this list of conditions and the following disclaimer in the +// documentation and/or other materials provided with the distribution. +// +// * Neither the name of the {copyright_holder} nor the names of its +// contributors may be used to endorse or promote products derived from +// this software without specific prior written permission. +// +// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE +// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +// POSSIBILITY OF SUCH DAMAGE. + +// -*- mode:c++; fill-column: 100; -*- + +#include "vesc_ackermann/vesc_to_odom.hpp" + +#include +#include + +#include +#include + +namespace vesc_ackermann +{ + +using geometry_msgs::msg::TransformStamped; +using nav_msgs::msg::Odometry; +using std::placeholders::_1; +using std_msgs::msg::Float64; +using vesc_msgs::msg::VescStateStamped; + +VescToOdom::VescToOdom(const rclcpp::NodeOptions & options) +: Node("vesc_to_odom_node", options), + odom_frame_("odom"), + base_frame_("base_link"), + use_servo_cmd_(true), + publish_tf_(true), + x_(0.0), + y_(0.0), + yaw_(0.0) +{ + // get ROS parameters + odom_frame_ = declare_parameter("odom_frame", odom_frame_); + base_frame_ = declare_parameter("base_frame", base_frame_); + use_servo_cmd_ = declare_parameter("use_servo_cmd_to_calc_angular_velocity", use_servo_cmd_); + + speed_to_erpm_gain_ = declare_parameter("speed_to_erpm_gain").get(); + speed_to_erpm_offset_ = declare_parameter("speed_to_erpm_offset").get(); + + if (use_servo_cmd_) { + steering_to_servo_gain_ = declare_parameter("steering_angle_to_servo_gain").get(); + steering_to_servo_offset_ = declare_parameter("steering_angle_to_servo_offset").get(); + wheelbase_ = declare_parameter("wheelbase").get(); + } + + publish_tf_ = declare_parameter("publish_tf", publish_tf_); + + // create odom publisher + odom_pub_ = create_publisher("odom", 10); + + // create tf broadcaster + if (publish_tf_) { + tf_pub_.reset(new tf2_ros::TransformBroadcaster(this)); + } + + // subscribe to vesc state and. optionally, servo command + vesc_state_sub_ = create_subscription( + "sensors/core", 10, std::bind(&VescToOdom::vescStateCallback, this, _1)); + + if (use_servo_cmd_) { + servo_sub_ = create_subscription( + "sensors/servo_position_command", 10, std::bind(&VescToOdom::servoCmdCallback, this, _1)); + } +} + +void VescToOdom::vescStateCallback(const VescStateStamped::SharedPtr state) +{ + // check that we have a last servo command if we are depending on it for angular velocity + if (use_servo_cmd_ && !last_servo_cmd_) { + return; + } + + // convert to engineering units + double current_speed = (state->state.speed - speed_to_erpm_offset_) / speed_to_erpm_gain_; + if (std::fabs(current_speed) < 0.05) { + current_speed = 0.0; + } + double current_steering_angle(0.0), current_angular_velocity(0.0); + if (use_servo_cmd_) { + current_steering_angle = + (last_servo_cmd_->data - steering_to_servo_offset_) / steering_to_servo_gain_; + current_angular_velocity = current_speed * tan(current_steering_angle) / wheelbase_; + } + + // use current state as last state if this is our first time here + if (!last_state_) { + last_state_ = state; + } + + // calc elapsed time + auto dt = rclcpp::Time(state->header.stamp) - rclcpp::Time(last_state_->header.stamp); + + /** @todo could probably do better propigating odometry, e.g. trapezoidal integration */ + + // propigate odometry + double x_dot = current_speed * cos(yaw_); + double y_dot = current_speed * sin(yaw_); + x_ += x_dot * dt.seconds(); + y_ += y_dot * dt.seconds(); + if (use_servo_cmd_) { + yaw_ += current_angular_velocity * dt.seconds(); + } + + // save state for next time + last_state_ = state; + + // publish odometry message + Odometry odom; + odom.header.frame_id = odom_frame_; + odom.header.stamp = state->header.stamp; + odom.child_frame_id = base_frame_; + + // Position + odom.pose.pose.position.x = x_; + odom.pose.pose.position.y = y_; + odom.pose.pose.orientation.x = 0.0; + odom.pose.pose.orientation.y = 0.0; + odom.pose.pose.orientation.z = sin(yaw_ / 2.0); + odom.pose.pose.orientation.w = cos(yaw_ / 2.0); + + // Position uncertainty + /** @todo Think about position uncertainty, perhaps get from parameters? */ + odom.pose.covariance[0] = 0.2; ///< x + odom.pose.covariance[7] = 0.2; ///< y + odom.pose.covariance[35] = 0.4; ///< yaw + + // Velocity ("in the coordinate frame given by the child_frame_id") + odom.twist.twist.linear.x = current_speed; + odom.twist.twist.linear.y = 0.0; + odom.twist.twist.angular.z = current_angular_velocity; + + // Velocity uncertainty + /** @todo Think about velocity uncertainty */ + + if (publish_tf_) { + TransformStamped tf; + tf.header.frame_id = odom_frame_; + tf.child_frame_id = base_frame_; + tf.header.stamp = now(); + tf.transform.translation.x = x_; + tf.transform.translation.y = y_; + tf.transform.translation.z = 0.0; + tf.transform.rotation = odom.pose.pose.orientation; + + if (rclcpp::ok()) { + tf_pub_->sendTransform(tf); + } + } + + if (rclcpp::ok()) { + odom_pub_->publish(odom); + } +} + +void VescToOdom::servoCmdCallback(const Float64::SharedPtr servo) +{ + last_servo_cmd_ = servo; +} + +} // namespace vesc_ackermann + +#include "rclcpp_components/register_node_macro.hpp" // NOLINT + +RCLCPP_COMPONENTS_REGISTER_NODE(vesc_ackermann::VescToOdom) diff --git a/ROS 2 Packages/f1tenth/vesc/vesc_driver/CHANGELOG.rst b/ROS 2 Packages/f1tenth/vesc/vesc_driver/CHANGELOG.rst new file mode 100644 index 0000000..1b48d3e --- /dev/null +++ b/ROS 2 Packages/f1tenth/vesc/vesc_driver/CHANGELOG.rst @@ -0,0 +1,27 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package vesc_driver +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +1.1.0 (2020-12-12) +------------------ +* Merge pull request `#1 `_ from f1tenth/melodic-devel + Updating for Melodic +* Exclude crc.h from roslint. +* Replacing boost::crc with CRCPP. +* Replacing boost::begin, boost::end, and boost::distance with Standard Library equivalents. +* Replacing boost::bind with Standard Library equivalent. +* Replaing boost::noncopyable with C++ equivalent. +* Replacing boost::function with Standard Library version. +* Replacing Boost smart pointers with Standard Library equivalents. +* Removing unnecessary v8stdint.h. +* Updating package.xml to format 3 and setting C++ standard to 11. +* Contributors: Joshua Whitley + +1.0.0 (2020-12-02) +------------------ +* Applying roslint and replacing registration macro with templated class. +* Adding roslint. +* Adding licenses. +* Updating maintainers, authors, and URLs. +* added onboard car +* Contributors: Joshua Whitley, billyzheng diff --git a/ROS 2 Packages/f1tenth/vesc/vesc_driver/CMakeLists.txt b/ROS 2 Packages/f1tenth/vesc/vesc_driver/CMakeLists.txt new file mode 100644 index 0000000..5d3eac0 --- /dev/null +++ b/ROS 2 Packages/f1tenth/vesc/vesc_driver/CMakeLists.txt @@ -0,0 +1,56 @@ +cmake_minimum_required(VERSION 3.5) +project(vesc_driver) + +# Set minimum C++ standard to C++14 +if(NOT "${CMAKE_CXX_STANDARD_COMPUTED_DEFAULT}") + message(STATUS "Changing CXX_STANDARD from C++98 to C++14") + set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++14") +elseif("${CMAKE_CXX_STANDARD_COMPUTED_DEFAULT}" STREQUAL "98") + message(STATUS "Changing CXX_STANDARD from C++98 to C++14") + set(CMAKE_CXX_STANDARD 14) +endif() + +find_package(ament_cmake_auto REQUIRED) +ament_auto_find_build_dependencies() + +find_package(Threads) + +########### +## Build ## +########### + +# node library +ament_auto_add_library(${PROJECT_NAME} SHARED + src/vesc_driver.cpp + src/vesc_interface.cpp + src/vesc_packet.cpp + src/vesc_packet_factory.cpp +) +target_link_libraries(${PROJECT_NAME} + ${CMAKE_THREAD_LIBS_INIT} +) +rclcpp_components_register_node(${PROJECT_NAME} + PLUGIN vesc_driver::VescDriver + EXECUTABLE ${PROJECT_NAME}_node +) + +ament_auto_add_executable( + vesc_device_namer + src/vesc_device_namer.cpp + src/vesc_device_uuid_lookup.cpp +) + +############# +## Testing ## +############# + +if(BUILD_TESTING) + find_package(ament_lint_auto REQUIRED) + ament_lint_auto_find_test_dependencies() +endif() + +ament_auto_package( + INSTALL_TO_SHARE + launch + params +) diff --git a/ROS 2 Packages/f1tenth/vesc/vesc_driver/include/vesc_driver/crc.hpp b/ROS 2 Packages/f1tenth/vesc/vesc_driver/include/vesc_driver/crc.hpp new file mode 100644 index 0000000..1d85830 --- /dev/null +++ b/ROS 2 Packages/f1tenth/vesc/vesc_driver/include/vesc_driver/crc.hpp @@ -0,0 +1,1764 @@ +// Copyright (c) 2020, Daniel Bahr +// +// Redistribution and use in source and binary forms, with or without +// modification, are permitted provided that the following conditions are met: +// +// * Redistributions of source code must retain the above copyright +// notice, this list of conditions and the following disclaimer. +// +// * Redistributions in binary form must reproduce the above copyright +// notice, this list of conditions and the following disclaimer in the +// documentation and/or other materials provided with the distribution. +// +// * Neither the name of the {copyright_holder} nor the names of its +// contributors may be used to endorse or promote products derived from +// this software without specific prior written permission. +// +// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE +// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +// POSSIBILITY OF SUCH DAMAGE. + +/** + @file CRC.hpp + @author Daniel Bahr + @version 1.0.1.0 + @copyright +*/ + +/* + CRC++ can be configured by setting various #defines before #including this header file: + + #define crcpp_uint8 - Specifies the type used to store CRCs that have a width of 8 bits or less. + This type is not used in CRC calculations. Defaults to ::std::uint8_t. + #define crcpp_uint16 - Specifies the type used to store CRCs that have a width between 9 and 16 bits (inclusive). + This type is not used in CRC calculations. Defaults to ::std::uint16_t. + #define crcpp_uint32 - Specifies the type used to store CRCs that have a width between 17 and 32 bits (inclusive). + This type is not used in CRC calculations. Defaults to ::std::uint32_t. + #define crcpp_uint64 - Specifies the type used to store CRCs that have a width between 33 and 64 bits (inclusive). + This type is not used in CRC calculations. Defaults to ::std::uint64_t. + #define crcpp_size - This type is used for loop iteration and function signatures only. Defaults to ::std::size_t. + #define CRCPP_USE_NAMESPACE - Define to place all CRC++ code within the ::CRCPP namespace. + #define CRCPP_BRANCHLESS - Define to enable a branchless CRC implementation. The branchless implementation uses a single integer + multiplication in the bit-by-bit calculation instead of a small conditional. The branchless implementation + may be faster on processor architectures which support single-instruction integer multiplication. + #define CRCPP_USE_CPP11 - Define to enables C++11 features (move semantics, constexpr, static_assert, etc.). + #define CRCPP_INCLUDE_ESOTERIC_CRC_DEFINITIONS - Define to include definitions for little-used CRCs. +*/ + +#ifndef VESC_DRIVER__CRC_HPP_ +#define VESC_DRIVER__CRC_HPP_ + +#include // Includes CHAR_BIT +#ifdef CRCPP_USE_CPP11 +#include // Includes ::std::size_t +#include // Includes ::std::uint8_t, ::std::uint16_t, ::std::uint32_t, ::std::uint64_t +#else +#include // Includes size_t +#include // Includes uint8_t, uint16_t, uint32_t, uint64_t +#endif +#include // Includes ::std::numeric_limits +#include // Includes ::std::move + +#ifndef crcpp_uint8 +# ifdef CRCPP_USE_CPP11 +/// @brief Unsigned 8-bit integer definition, used primarily for parameter definitions. +# define crcpp_uint8 ::std::uint8_t +# else +/// @brief Unsigned 8-bit integer definition, used primarily for parameter definitions. +# define crcpp_uint8 uint8_t +# endif +#endif + +#ifndef crcpp_uint16 +# ifdef CRCPP_USE_CPP11 +/// @brief Unsigned 16-bit integer definition, used primarily for parameter definitions. +# define crcpp_uint16 ::std::uint16_t +# else +/// @brief Unsigned 16-bit integer definition, used primarily for parameter definitions. +# define crcpp_uint16 uint16_t +# endif +#endif + +#ifndef crcpp_uint32 +# ifdef CRCPP_USE_CPP11 +/// @brief Unsigned 32-bit integer definition, used primarily for parameter definitions. +# define crcpp_uint32 ::std::uint32_t +# else +/// @brief Unsigned 32-bit integer definition, used primarily for parameter definitions. +# define crcpp_uint32 uint32_t +# endif +#endif + +#ifndef crcpp_uint64 +# ifdef CRCPP_USE_CPP11 +/// @brief Unsigned 64-bit integer definition, used primarily for parameter definitions. +# define crcpp_uint64 ::std::uint64_t +# else +/// @brief Unsigned 64-bit integer definition, used primarily for parameter definitions. +# define crcpp_uint64 uint64_t +# endif +#endif + +#ifndef crcpp_size +# ifdef CRCPP_USE_CPP11 +/// @brief Unsigned size definition, used for specifying data sizes. +# define crcpp_size ::std::size_t +# else +/// @brief Unsigned size definition, used for specifying data sizes. +# define crcpp_size size_t +# endif +#endif + +#ifdef CRCPP_USE_CPP11 +/// @brief Compile-time expression definition. +# define crcpp_constexpr constexpr +#else +/// @brief Compile-time expression definition. +# define crcpp_constexpr const +#endif + +#ifdef CRCPP_USE_NAMESPACE +namespace CRCPP +{ +#endif + +/** + @brief Static class for computing CRCs. + @note This class supports computation of full and multi-part CRCs, using a bit-by-bit algorithm or a + byte-by-byte lookup table. The CRCs are calculated using as many optimizations as is reasonable. + If compiling with C++11, the constexpr keyword is used liberally so that many calculations are + performed at compile-time instead of at runtime. +*/ +class CRC +{ +public: + // Forward declaration + template + struct Table; + + /** + @brief CRC parameters. + */ + template + struct Parameters + { + CRCType polynomial; ///< CRC polynomial + CRCType initialValue; ///< Initial CRC value + CRCType finalXOR; ///< Value to XOR with the final CRC + bool reflectInput; ///< true to reflect all input bytes + bool reflectOutput; ///< true to reflect the output CRC (reflection occurs before the final XOR) // NOLINT + + Table MakeTable() const; + }; + + /** + @brief CRC lookup table. After construction, the CRC parameters are fixed. + @note A CRC table can be used for multiple CRC calculations. + */ + template + struct Table + { + // Constructors are intentionally NOT marked explicit. + explicit Table(const Parameters & parameters); + +#ifdef CRCPP_USE_CPP11 + explicit Table(Parameters && parameters); +#endif + + const Parameters & GetParameters() const; + + const CRCType * GetTable() const; + + CRCType operator[](unsigned char index) const; + +private: + void InitTable(); + + Parameters parameters; ///< CRC parameters used to construct the table + CRCType table[1 << CHAR_BIT]; ///< CRC lookup table + }; + + // The number of bits in CRCType must be at least as large as CRCWidth. + // CRCType must be an unsigned integer type or a custom type with operator overloads. + template + static CRCType Calculate( + const void * data, crcpp_size size, const Parameters & parameters); + + template + static CRCType Calculate( + const void * data, crcpp_size size, const Parameters & parameters, CRCType crc); + + template + static CRCType Calculate( + const void * data, crcpp_size size, const Table & lookupTable); + + template + static CRCType Calculate( + const void * data, crcpp_size size, const Table & lookupTable, CRCType crc); + + // Common CRCs up to 64 bits. + // Note: Check values are the computed CRCs when given an ASCII input of "123456789" + // (without null terminator) +#ifdef CRCPP_INCLUDE_ESOTERIC_CRC_DEFINITIONS + static const Parameters & CRC_4_ITU(); + static const Parameters & CRC_5_EPC(); + static const Parameters & CRC_5_ITU(); + static const Parameters & CRC_5_USB(); + static const Parameters & CRC_6_CDMA2000A(); + static const Parameters & CRC_6_CDMA2000B(); + static const Parameters & CRC_6_ITU(); + static const Parameters & CRC_7(); +#endif + static const Parameters & CRC_8(); +#ifdef CRCPP_INCLUDE_ESOTERIC_CRC_DEFINITIONS + static const Parameters & CRC_8_EBU(); + static const Parameters & CRC_8_MAXIM(); + static const Parameters & CRC_8_WCDMA(); + static const Parameters & CRC_10(); + static const Parameters & CRC_10_CDMA2000(); + static const Parameters & CRC_11(); + static const Parameters & CRC_12_CDMA2000(); + static const Parameters & CRC_12_DECT(); + static const Parameters & CRC_12_UMTS(); + static const Parameters & CRC_13_BBC(); + static const Parameters & CRC_15(); + static const Parameters & CRC_15_MPT1327(); +#endif + static const Parameters & CRC_16_ARC(); + static const Parameters & CRC_16_BUYPASS(); + static const Parameters & CRC_16_CCITTFALSE(); +#ifdef CRCPP_INCLUDE_ESOTERIC_CRC_DEFINITIONS + static const Parameters & CRC_16_CDMA2000(); + static const Parameters & CRC_16_CMS(); + static const Parameters & CRC_16_DECTR(); + static const Parameters & CRC_16_DECTX(); + static const Parameters & CRC_16_DNP(); +#endif + static const Parameters & CRC_16_GENIBUS(); + static const Parameters & CRC_16_KERMIT(); +#ifdef CRCPP_INCLUDE_ESOTERIC_CRC_DEFINITIONS + static const Parameters & CRC_16_MAXIM(); + static const Parameters & CRC_16_MODBUS(); + static const Parameters & CRC_16_T10DIF(); + static const Parameters & CRC_16_USB(); +#endif + static const Parameters & CRC_16_X25(); + static const Parameters & CRC_16_XMODEM(); +#ifdef CRCPP_INCLUDE_ESOTERIC_CRC_DEFINITIONS + static const Parameters & CRC_17_CAN(); + static const Parameters & CRC_21_CAN(); + static const Parameters & CRC_24(); + static const Parameters & CRC_24_FLEXRAYA(); + static const Parameters & CRC_24_FLEXRAYB(); + static const Parameters & CRC_30(); +#endif + static const Parameters & CRC_32(); + static const Parameters & CRC_32_BZIP2(); +#ifdef CRCPP_INCLUDE_ESOTERIC_CRC_DEFINITIONS + static const Parameters & CRC_32_C(); +#endif + static const Parameters & CRC_32_MPEG2(); + static const Parameters & CRC_32_POSIX(); +#ifdef CRCPP_INCLUDE_ESOTERIC_CRC_DEFINITIONS + static const Parameters & CRC_32_Q(); + static const Parameters & CRC_40_GSM(); + static const Parameters & CRC_64(); +#endif + +#ifdef CRCPP_USE_CPP11 + CRC() = delete; + CRC(const CRC & other) = delete; + CRC & operator=(const CRC & other) = delete; + CRC(CRC && other) = delete; + CRC & operator=(CRC && other) = delete; +#endif + +private: +#ifndef CRCPP_USE_CPP11 + CRC(); + CRC(const CRC & other); + CRC & operator=(const CRC & other); +#endif + + template + static IntegerType Reflect(IntegerType value, crcpp_uint16 numBits); + + template + static CRCType Finalize(CRCType remainder, CRCType finalXOR, bool reflectOutput); + + template + static CRCType UndoFinalize(CRCType remainder, CRCType finalXOR, bool reflectOutput); + + template + static CRCType CalculateRemainder( + const void * data, crcpp_size size, const Parameters & parameters, CRCType remainder); + + template + static CRCType CalculateRemainder( + const void * data, crcpp_size size, const Table & lookupTable, CRCType remainder); +}; + +/** + @brief Returns a CRC lookup table construct using these CRC parameters. + @note This function primarily exists to allow use of the auto keyword instead of instantiating + a table directly, since template parameters are not inferred in constructors. + @tparam CRCType Integer type for storing the CRC result + @tparam CRCWidth Number of bits in the CRC + @return CRC lookup table +*/ +template +inline CRC::Table CRC::Parameters::MakeTable() const +{ + // This should take advantage of RVO and optimize out the copy. + return CRC::Table(*this); +} + +/** + @brief Constructs a CRC table from a set of CRC parameters + @param[in] params CRC parameters + @tparam CRCType Integer type for storing the CRC result + @tparam CRCWidth Number of bits in the CRC +*/ +template +inline CRC::Table::Table(const Parameters & params) +: parameters(params) +{ + InitTable(); +} + +#ifdef CRCPP_USE_CPP11 +/** + @brief Constructs a CRC table from a set of CRC parameters + @param[in] params CRC parameters + @tparam CRCType Integer type for storing the CRC result + @tparam CRCWidth Number of bits in the CRC +*/ +template +inline CRC::Table::Table(Parameters && params) +: parameters(::std::move(params)) +{ + InitTable(); +} +#endif + +/** + @brief Gets the CRC parameters used to construct the CRC table + @tparam CRCType Integer type for storing the CRC result + @tparam CRCWidth Number of bits in the CRC + @return CRC parameters +*/ +template +inline const CRC::Parameters & CRC::Table::GetParameters() const +{ + return parameters; +} + +/** + @brief Gets the CRC table + @tparam CRCType Integer type for storing the CRC result + @tparam CRCWidth Number of bits in the CRC + @return CRC table +*/ +template +inline const CRCType * CRC::Table::GetTable() const +{ + return table; +} + +/** + @brief Gets an entry in the CRC table + @param[in] index Index into the CRC table + @tparam CRCType Integer type for storing the CRC result + @tparam CRCWidth Number of bits in the CRC + @return CRC table entry +*/ +template +inline CRCType CRC::Table::operator[](unsigned char index) const +{ + return table[index]; +} + +/** + @brief Initializes a CRC table. + @tparam CRCType Integer type for storing the CRC result + @tparam CRCWidth Number of bits in the CRC +*/ +template +inline void CRC::Table::InitTable() +{ + // For masking off the bits for the CRC + // (in the event that the number of bits in CRCType is larger than CRCWidth) + static crcpp_constexpr CRCType BIT_MASK((CRCType(1) << (CRCWidth - CRCType(1))) | + ((CRCType(1) << (CRCWidth - CRCType(1))) - CRCType(1))); + + // The conditional expression is used to avoid a -Wshift-count-overflow warning. + static crcpp_constexpr CRCType SHIFT( + (CHAR_BIT >= CRCWidth) ? static_cast(CHAR_BIT - CRCWidth) : 0); + + CRCType crc; + unsigned char byte = 0; + + // Loop over each dividend (each possible number storable in an unsigned char) + do { + crc = CRC::CalculateRemainder(&byte, sizeof(byte), parameters, CRCType(0)); + + // This mask might not be necessary; all unit tests pass with this line commented out, + // but that might just be a coincidence based on the CRC parameters used for testing. + // In any case, this is harmless to leave in and only adds a single machine instruction + // per loop iteration. + crc &= BIT_MASK; + + if (!parameters.reflectInput && CRCWidth < CHAR_BIT) { + // Undo the special operation at the end of the CalculateRemainder() + // function for non-reflected CRCs < CHAR_BIT. + crc = static_cast(crc << SHIFT); + } + + table[byte] = crc; + } while (++byte); +} + +/** + @brief Computes a CRC. + @param[in] data Data over which CRC will be computed + @param[in] size Size of the data + @param[in] parameters CRC parameters + @tparam CRCType Integer type for storing the CRC result + @tparam CRCWidth Number of bits in the CRC + @return CRC +*/ +template +inline CRCType CRC::Calculate( + const void * data, crcpp_size size, const Parameters & parameters) +{ + CRCType remainder = CalculateRemainder(data, size, parameters, parameters.initialValue); + + // No need to mask the remainder here; the mask will be applied in the Finalize() function. + + return Finalize( + remainder, parameters.finalXOR, + parameters.reflectInput != parameters.reflectOutput); +} +/** + @brief Appends additional data to a previous CRC calculation. + @note This function can be used to compute multi-part CRCs. + @param[in] data Data over which CRC will be computed + @param[in] size Size of the data + @param[in] parameters CRC parameters + @param[in] crc CRC from a previous calculation + @tparam CRCType Integer type for storing the CRC result + @tparam CRCWidth Number of bits in the CRC + @return CRC +*/ +template +inline CRCType CRC::Calculate( + const void * data, crcpp_size size, const Parameters & parameters, CRCType crc) +{ + CRCType remainder = UndoFinalize( + crc, parameters.finalXOR, + parameters.reflectInput != + parameters.reflectOutput); + + remainder = CalculateRemainder(data, size, parameters, remainder); + + // No need to mask the remainder here; the mask will be applied in the Finalize() function. + + return Finalize( + remainder, parameters.finalXOR, + parameters.reflectInput != parameters.reflectOutput); +} + +/** + @brief Computes a CRC via a lookup table. + @param[in] data Data over which CRC will be computed + @param[in] size Size of the data + @param[in] lookupTable CRC lookup table + @tparam CRCType Integer type for storing the CRC result + @tparam CRCWidth Number of bits in the CRC + @return CRC +*/ +template +inline CRCType CRC::Calculate( + const void * data, crcpp_size size, const Table & lookupTable) +{ + const Parameters & parameters = lookupTable.GetParameters(); + + CRCType remainder = CalculateRemainder(data, size, lookupTable, parameters.initialValue); + + // No need to mask the remainder here; the mask will be applied in the Finalize() function. + + return Finalize( + remainder, parameters.finalXOR, + parameters.reflectInput != parameters.reflectOutput); +} + +/** + @brief Appends additional data to a previous CRC calculation using a lookup table. + @note This function can be used to compute multi-part CRCs. + @param[in] data Data over which CRC will be computed + @param[in] size Size of the data + @param[in] lookupTable CRC lookup table + @param[in] crc CRC from a previous calculation + @tparam CRCType Integer type for storing the CRC result + @tparam CRCWidth Number of bits in the CRC + @return CRC +*/ +template +inline CRCType CRC::Calculate( + const void * data, crcpp_size size, const Table & lookupTable, CRCType crc) +{ + const Parameters & parameters = lookupTable.GetParameters(); + + CRCType remainder = UndoFinalize( + crc, parameters.finalXOR, + parameters.reflectInput != + parameters.reflectOutput); + + remainder = CalculateRemainder(data, size, lookupTable, remainder); + + // No need to mask the remainder here; the mask will be applied in the Finalize() function. + + return Finalize( + remainder, parameters.finalXOR, + parameters.reflectInput != parameters.reflectOutput); +} + +/** + @brief Reflects (i.e. reverses the bits within) an integer value. + @param[in] value Value to reflect + @param[in] numBits Number of bits in the integer which will be reflected + @tparam IntegerType Integer type of the value being reflected + @return Reflected value +*/ +template +inline IntegerType CRC::Reflect(IntegerType value, crcpp_uint16 numBits) +{ + IntegerType reversedValue(0); + + for (crcpp_uint16 i = 0; i < numBits; ++i) { + reversedValue = static_cast((reversedValue << 1) | (value & 1)); + value = static_cast(value >> 1); + } + + return reversedValue; +} + +/** + @brief Computes the final reflection and XOR of a CRC remainder. + @param[in] remainder CRC remainder to reflect and XOR + @param[in] finalXOR Final value to XOR with the remainder + @param[in] reflectOutput true to reflect each byte of the remainder before the XOR + @tparam CRCType Integer type for storing the CRC result + @tparam CRCWidth Number of bits in the CRC + @return Final CRC +*/ +template +inline CRCType CRC::Finalize(CRCType remainder, CRCType finalXOR, bool reflectOutput) +{ + // For masking off the bits for the CRC + // (in the event that the number of bits in CRCType is larger than CRCWidth) + static crcpp_constexpr CRCType BIT_MASK = (CRCType(1) << (CRCWidth - CRCType(1))) | + ((CRCType(1) << (CRCWidth - CRCType(1))) - CRCType(1)); + + if (reflectOutput) { + remainder = Reflect(remainder, CRCWidth); + } + + return (remainder ^ finalXOR) & BIT_MASK; +} + +/** + @brief Undoes the process of computing the final reflection and XOR of a CRC remainder. + @note This function allows for computation of multi-part CRCs + @note Calling UndoFinalize() followed by Finalize() (or vice versa) + will always return the original remainder value: + + CRCType x = ...; + CRCType y = Finalize(x, finalXOR, reflectOutput); + CRCType z = UndoFinalize(y, finalXOR, reflectOutput); + assert(x == z); + + @param[in] crc Reflected and XORed CRC + @param[in] finalXOR Final value XORed with the remainder + @param[in] reflectOutput true if the remainder is to be reflected + @tparam CRCType Integer type for storing the CRC result + @tparam CRCWidth Number of bits in the CRC + @return Un-finalized CRC remainder +*/ +template +inline CRCType CRC::UndoFinalize(CRCType crc, CRCType finalXOR, bool reflectOutput) +{ + // For masking off the bits for the CRC + // (in the event that the number of bits in CRCType is larger than CRCWidth) + static crcpp_constexpr CRCType BIT_MASK = (CRCType(1) << (CRCWidth - CRCType(1))) | + ((CRCType(1) << (CRCWidth - CRCType(1))) - CRCType(1)); + + crc = (crc & BIT_MASK) ^ finalXOR; + + if (reflectOutput) { + crc = Reflect(crc, CRCWidth); + } + + return crc; +} + +/** + @brief Computes a CRC remainder. + @param[in] data Data over which the remainder will be computed + @param[in] size Size of the data + @param[in] parameters CRC parameters + @param[in] remainder Running CRC remainder. Can be an initial value or the result of a previous CRC remainder calculation. + @tparam CRCType Integer type for storing the CRC result + @tparam CRCWidth Number of bits in the CRC + @return CRC remainder +*/ +template +inline CRCType CRC::CalculateRemainder( + const void * data, crcpp_size size, const Parameters & parameters, CRCType remainder) +{ +#ifdef CRCPP_USE_CPP11 + // This static_assert is put here because this function will always be compiled in no matter what + // the template parameters are and whether or not a table lookup or bit-by-bit algorithm is used. + static_assert( + ::std::numeric_limits::digits >= CRCWidth, + "CRCType is too small to contain a CRC of width CRCWidth."); +#else + // Catching this compile-time error is very important. Sadly, + // the compiler error will be very cryptic, but it's better than nothing. + // cppcheck-suppress zerodiv + enum { static_assert_failed_CRCType_is_too_small_to_contain_a_CRC_of_width_CRCWidth = 1 / + (::std::numeric_limits::digits >= CRCWidth ? 1 : 0) }; +#endif + + const unsigned char * current = reinterpret_cast(data); + + // Slightly different implementations based on the parameters. + // The current implementations try to eliminate as much + // computation from the inner loop (looping over each bit) as possible. + if (parameters.reflectInput) { + CRCType polynomial = CRC::Reflect(parameters.polynomial, CRCWidth); + while (size--) { + remainder = static_cast(remainder ^ *current++); + + // An optimizing compiler might choose to unroll this loop. + for (crcpp_size i = 0; i < CHAR_BIT; ++i) { +#ifdef CRCPP_BRANCHLESS + // Clever way to avoid a branch at the expense of a multiplication. + // This code is equivalent to the following: + // if (remainder & 1) + // remainder = (remainder >> 1) ^ polynomial; + // else + // remainder >>= 1; + remainder = static_cast((remainder >> 1) ^ ((remainder & 1) * polynomial)); +#else + remainder = + static_cast((remainder & 1) ? ((remainder >> 1) ^ polynomial) : (remainder >> + 1)); +#endif + } + } + } else if (CRCWidth >= CHAR_BIT) { + static crcpp_constexpr CRCType CRC_WIDTH_MINUS_ONE(CRCWidth - CRCType(1)); +#ifndef CRCPP_BRANCHLESS + static crcpp_constexpr CRCType CRC_HIGHEST_BIT_MASK(CRCType(1) << CRC_WIDTH_MINUS_ONE); +#endif + // The conditional expression is used to avoid a -Wshift-count-overflow warning. + static crcpp_constexpr CRCType SHIFT( + (CRCWidth >= CHAR_BIT) ? static_cast(CRCWidth - CHAR_BIT) : 0); + + while (size--) { + remainder = static_cast(remainder ^ (static_cast(*current++) << SHIFT)); + + // An optimizing compiler might choose to unroll this loop. + for (crcpp_size i = 0; i < CHAR_BIT; ++i) { +#ifdef CRCPP_BRANCHLESS + // Clever way to avoid a branch at the expense of a multiplication. + // This code is equivalent to the following: + // if (remainder & CRC_HIGHEST_BIT_MASK) + // remainder = (remainder << 1) ^ parameters.polynomial; + // else + // remainder <<= 1; + remainder = + static_cast((remainder << + 1) ^ (((remainder >> CRC_WIDTH_MINUS_ONE) & 1) * parameters.polynomial)); +#else + remainder = + static_cast((remainder & + CRC_HIGHEST_BIT_MASK) ? ((remainder << 1) ^ parameters.polynomial) : (remainder << 1)); +#endif + } + } + } else { + static crcpp_constexpr CRCType CHAR_BIT_MINUS_ONE(CHAR_BIT - 1); +#ifndef CRCPP_BRANCHLESS + static crcpp_constexpr CRCType CHAR_BIT_HIGHEST_BIT_MASK(CRCType(1) << CHAR_BIT_MINUS_ONE); +#endif + // The conditional expression is used to avoid a -Wshift-count-overflow warning. + static crcpp_constexpr CRCType SHIFT( + (CHAR_BIT >= CRCWidth) ? static_cast(CHAR_BIT - CRCWidth) : 0); + + CRCType polynomial = static_cast(parameters.polynomial << SHIFT); + remainder = static_cast(remainder << SHIFT); + + while (size--) { + remainder = static_cast(remainder ^ *current++); + + // An optimizing compiler might choose to unroll this loop. + for (crcpp_size i = 0; i < CHAR_BIT; ++i) { +#ifdef CRCPP_BRANCHLESS + // Clever way to avoid a branch at the expense of a multiplication. + // This code is equivalent to the following: + // if (remainder & CHAR_BIT_HIGHEST_BIT_MASK) + // remainder = (remainder << 1) ^ polynomial; + // else + // remainder <<= 1; + remainder = + static_cast((remainder << + 1) ^ (((remainder >> CHAR_BIT_MINUS_ONE) & 1) * polynomial)); +#else + remainder = + static_cast((remainder & + CHAR_BIT_HIGHEST_BIT_MASK) ? ((remainder << 1) ^ polynomial) : (remainder << 1)); +#endif + } + } + + remainder = static_cast(remainder >> SHIFT); + } + + return remainder; +} + +/** + @brief Computes a CRC remainder using lookup table. + @param[in] data Data over which the remainder will be computed + @param[in] size Size of the data + @param[in] lookupTable CRC lookup table + @param[in] remainder Running CRC remainder. + Can be an initial value or the result of a previous CRC remainder calculation. + @tparam CRCType Integer type for storing the CRC result + @tparam CRCWidth Number of bits in the CRC + @return CRC remainder +*/ +template +inline CRCType CRC::CalculateRemainder( + const void * data, crcpp_size size, const Table & lookupTable, CRCType remainder) +{ + const unsigned char * current = reinterpret_cast(data); + + if (lookupTable.GetParameters().reflectInput) { + while (size--) { +#if defined(WIN32) || defined(_WIN32) || defined(WINCE) + // Disable warning about data loss when doing (remainder >> CHAR_BIT) when + // remainder is one byte long. The algorithm is still correct in this case, + // though it's possible that one additional machine instruction will be executed. +# pragma warning (push) +# pragma warning (disable : 4333) +#endif + remainder = + static_cast((remainder >> + CHAR_BIT) ^ lookupTable[static_cast(remainder ^ *current++)]); +#if defined(WIN32) || defined(_WIN32) || defined(WINCE) +# pragma warning (pop) +#endif + } + } else if (CRCWidth >= CHAR_BIT) { + // The conditional expression is used to avoid a -Wshift-count-overflow warning. + static crcpp_constexpr CRCType SHIFT( + (CRCWidth >= CHAR_BIT) ? static_cast(CRCWidth - CHAR_BIT) : 0); + + while (size--) { + remainder = + static_cast((remainder << + CHAR_BIT) ^ lookupTable[static_cast((remainder >> SHIFT) ^ *current++)]); + } + } else { + // The conditional expression is used to avoid a -Wshift-count-overflow warning. + static crcpp_constexpr CRCType SHIFT( + (CHAR_BIT >= CRCWidth) ? static_cast(CHAR_BIT - CRCWidth) : 0); + + remainder = static_cast(remainder << SHIFT); + + while (size--) { + // Note: no need to mask here since remainder is guaranteed to fit in a single byte. + remainder = lookupTable[static_cast(remainder ^ *current++)]; + } + + remainder = static_cast(remainder >> SHIFT); + } + + return remainder; +} + +#ifdef CRCPP_INCLUDE_ESOTERIC_CRC_DEFINITIONS +/** + @brief Returns a set of parameters for CRC-4 ITU. + @note The parameters are static and are delayed-constructed to reduce memory footprint. + @note CRC-4 ITU has the following parameters and check value: + - polynomial = 0x3 + - initial value = 0x0 + - final XOR = 0x0 + - reflect input = true + - reflect output = true + - check value = 0x7 + @return CRC-4 ITU parameters +*/ +inline const CRC::Parameters & CRC::CRC_4_ITU() +{ + static const Parameters parameters = {0x3, 0x0, 0x0, true, true}; + return parameters; +} + +/** + @brief Returns a set of parameters for CRC-5 EPC. + @note The parameters are static and are delayed-constructed to reduce memory footprint. + @note CRC-5 EPC has the following parameters and check value: + - polynomial = 0x09 + - initial value = 0x09 + - final XOR = 0x00 + - reflect input = false + - reflect output = false + - check value = 0x00 + @return CRC-5 EPC parameters +*/ +inline const CRC::Parameters & CRC::CRC_5_EPC() +{ + static const Parameters parameters = {0x09, 0x09, 0x00, false, false}; + return parameters; +} + +/** + @brief Returns a set of parameters for CRC-5 ITU. + @note The parameters are static and are delayed-constructed to reduce memory footprint. + @note CRC-5 ITU has the following parameters and check value: + - polynomial = 0x15 + - initial value = 0x00 + - final XOR = 0x00 + - reflect input = true + - reflect output = true + - check value = 0x07 + @return CRC-5 ITU parameters +*/ +inline const CRC::Parameters & CRC::CRC_5_ITU() +{ + static const Parameters parameters = {0x15, 0x00, 0x00, true, true}; + return parameters; +} + +/** + @brief Returns a set of parameters for CRC-5 USB. + @note The parameters are static and are delayed-constructed to reduce memory footprint. + @note CRC-5 USB has the following parameters and check value: + - polynomial = 0x05 + - initial value = 0x1F + - final XOR = 0x1F + - reflect input = true + - reflect output = true + - check value = 0x19 + @return CRC-5 USB parameters +*/ +inline const CRC::Parameters & CRC::CRC_5_USB() +{ + static const Parameters parameters = {0x05, 0x1F, 0x1F, true, true}; + return parameters; +} + +/** + @brief Returns a set of parameters for CRC-6 CDMA2000-A. + @note The parameters are static and are delayed-constructed to reduce memory footprint. + @note CRC-6 CDMA2000-A has the following parameters and check value: + - polynomial = 0x27 + - initial value = 0x3F + - final XOR = 0x00 + - reflect input = false + - reflect output = false + - check value = 0x0D + @return CRC-6 CDMA2000-A parameters +*/ +inline const CRC::Parameters & CRC::CRC_6_CDMA2000A() +{ + static const Parameters parameters = {0x27, 0x3F, 0x00, false, false}; + return parameters; +} + +/** + @brief Returns a set of parameters for CRC-6 CDMA2000-B. + @note The parameters are static and are delayed-constructed to reduce memory footprint. + @note CRC-6 CDMA2000-A has the following parameters and check value: + - polynomial = 0x07 + - initial value = 0x3F + - final XOR = 0x00 + - reflect input = false + - reflect output = false + - check value = 0x3B + @return CRC-6 CDMA2000-B parameters +*/ +inline const CRC::Parameters & CRC::CRC_6_CDMA2000B() +{ + static const Parameters parameters = {0x07, 0x3F, 0x00, false, false}; + return parameters; +} + +/** + @brief Returns a set of parameters for CRC-6 ITU. + @note The parameters are static and are delayed-constructed to reduce memory footprint. + @note CRC-6 ITU has the following parameters and check value: + - polynomial = 0x03 + - initial value = 0x00 + - final XOR = 0x00 + - reflect input = true + - reflect output = true + - check value = 0x06 + @return CRC-6 ITU parameters +*/ +inline const CRC::Parameters & CRC::CRC_6_ITU() +{ + static const Parameters parameters = {0x03, 0x00, 0x00, true, true}; + return parameters; +} + +/** + @brief Returns a set of parameters for CRC-7 JEDEC. + @note The parameters are static and are delayed-constructed to reduce memory footprint. + @note CRC-7 JEDEC has the following parameters and check value: + - polynomial = 0x09 + - initial value = 0x00 + - final XOR = 0x00 + - reflect input = false + - reflect output = false + - check value = 0x75 + @return CRC-7 JEDEC parameters +*/ +inline const CRC::Parameters & CRC::CRC_7() +{ + static const Parameters parameters = {0x09, 0x00, 0x00, false, false}; + return parameters; +} +#endif // CRCPP_INCLUDE_ESOTERIC_CRC_DEFINITIONS + +/** + @brief Returns a set of parameters for CRC-8 SMBus. + @note The parameters are static and are delayed-constructed to reduce memory footprint. + @note CRC-8 SMBus has the following parameters and check value: + - polynomial = 0x07 + - initial value = 0x00 + - final XOR = 0x00 + - reflect input = false + - reflect output = false + - check value = 0xF4 + @return CRC-8 SMBus parameters +*/ +inline const CRC::Parameters & CRC::CRC_8() +{ + static const Parameters parameters = {0x07, 0x00, 0x00, false, false}; + return parameters; +} + +#ifdef CRCPP_INCLUDE_ESOTERIC_CRC_DEFINITIONS +/** + @brief Returns a set of parameters for CRC-8 EBU (aka CRC-8 AES). + @note The parameters are static and are delayed-constructed to reduce memory footprint. + @note CRC-8 EBU has the following parameters and check value: + - polynomial = 0x1D + - initial value = 0xFF + - final XOR = 0x00 + - reflect input = true + - reflect output = true + - check value = 0x97 + @return CRC-8 EBU parameters +*/ +inline const CRC::Parameters & CRC::CRC_8_EBU() +{ + static const Parameters parameters = {0x1D, 0xFF, 0x00, true, true}; + return parameters; +} + +/** + @brief Returns a set of parameters for CRC-8 MAXIM (aka CRC-8 DOW-CRC). + @note The parameters are static and are delayed-constructed to reduce memory footprint. + @note CRC-8 MAXIM has the following parameters and check value: + - polynomial = 0x31 + - initial value = 0x00 + - final XOR = 0x00 + - reflect input = true + - reflect output = true + - check value = 0xA1 + @return CRC-8 MAXIM parameters +*/ +inline const CRC::Parameters & CRC::CRC_8_MAXIM() +{ + static const Parameters parameters = {0x31, 0x00, 0x00, true, true}; + return parameters; +} + +/** + @brief Returns a set of parameters for CRC-8 WCDMA. + @note The parameters are static and are delayed-constructed to reduce memory footprint. + @note CRC-8 WCDMA has the following parameters and check value: + - polynomial = 0x9B + - initial value = 0x00 + - final XOR = 0x00 + - reflect input = true + - reflect output = true + - check value = 0x25 + @return CRC-8 WCDMA parameters +*/ +inline const CRC::Parameters & CRC::CRC_8_WCDMA() +{ + static const Parameters parameters = {0x9B, 0x00, 0x00, true, true}; + return parameters; +} + +/** + @brief Returns a set of parameters for CRC-10 ITU. + @note The parameters are static and are delayed-constructed to reduce memory footprint. + @note CRC-10 ITU has the following parameters and check value: + - polynomial = 0x233 + - initial value = 0x000 + - final XOR = 0x000 + - reflect input = false + - reflect output = false + - check value = 0x199 + @return CRC-10 ITU parameters +*/ +inline const CRC::Parameters & CRC::CRC_10() +{ + static const Parameters parameters = {0x233, 0x000, 0x000, false, false}; + return parameters; +} + +/** + @brief Returns a set of parameters for CRC-10 CDMA2000. + @note The parameters are static and are delayed-constructed to reduce memory footprint. + @note CRC-10 CDMA2000 has the following parameters and check value: + - polynomial = 0x3D9 + - initial value = 0x3FF + - final XOR = 0x000 + - reflect input = false + - reflect output = false + - check value = 0x233 + @return CRC-10 CDMA2000 parameters +*/ +inline const CRC::Parameters & CRC::CRC_10_CDMA2000() +{ + static const Parameters parameters = {0x3D9, 0x3FF, 0x000, false, false}; + return parameters; +} + +/** + @brief Returns a set of parameters for CRC-11 FlexRay. + @note The parameters are static and are delayed-constructed to reduce memory footprint. + @note CRC-11 FlexRay has the following parameters and check value: + - polynomial = 0x385 + - initial value = 0x01A + - final XOR = 0x000 + - reflect input = false + - reflect output = false + - check value = 0x5A3 + @return CRC-11 FlexRay parameters +*/ +inline const CRC::Parameters & CRC::CRC_11() +{ + static const Parameters parameters = {0x385, 0x01A, 0x000, false, false}; + return parameters; +} + +/** + @brief Returns a set of parameters for CRC-12 CDMA2000. + @note The parameters are static and are delayed-constructed to reduce memory footprint. + @note CRC-12 CDMA2000 has the following parameters and check value: + - polynomial = 0xF13 + - initial value = 0xFFF + - final XOR = 0x000 + - reflect input = false + - reflect output = false + - check value = 0xD4D + @return CRC-12 CDMA2000 parameters +*/ +inline const CRC::Parameters & CRC::CRC_12_CDMA2000() +{ + static const Parameters parameters = {0xF13, 0xFFF, 0x000, false, false}; + return parameters; +} + +/** + @brief Returns a set of parameters for CRC-12 DECT (aka CRC-12 X-CRC). + @note The parameters are static and are delayed-constructed to reduce memory footprint. + @note CRC-12 DECT has the following parameters and check value: + - polynomial = 0x80F + - initial value = 0x000 + - final XOR = 0x000 + - reflect input = false + - reflect output = false + - check value = 0xF5B + @return CRC-12 DECT parameters +*/ +inline const CRC::Parameters & CRC::CRC_12_DECT() +{ + static const Parameters parameters = {0x80F, 0x000, 0x000, false, false}; + return parameters; +} + +/** + @brief Returns a set of parameters for CRC-12 UMTS (aka CRC-12 3GPP). + @note The parameters are static and are delayed-constructed to reduce memory footprint. + @note CRC-12 UMTS has the following parameters and check value: + - polynomial = 0x80F + - initial value = 0x000 + - final XOR = 0x000 + - reflect input = false + - reflect output = true + - check value = 0xDAF + @return CRC-12 UMTS parameters +*/ +inline const CRC::Parameters & CRC::CRC_12_UMTS() +{ + static const Parameters parameters = {0x80F, 0x000, 0x000, false, true}; + return parameters; +} + +/** + @brief Returns a set of parameters for CRC-13 BBC. + @note The parameters are static and are delayed-constructed to reduce memory footprint. + @note CRC-13 BBC has the following parameters and check value: + - polynomial = 0x1CF5 + - initial value = 0x0000 + - final XOR = 0x0000 + - reflect input = false + - reflect output = false + - check value = 0x04FA + @return CRC-13 BBC parameters +*/ +inline const CRC::Parameters & CRC::CRC_13_BBC() +{ + static const Parameters parameters = {0x1CF5, 0x0000, 0x0000, false, false}; + return parameters; +} + +/** + @brief Returns a set of parameters for CRC-15 CAN. + @note The parameters are static and are delayed-constructed to reduce memory footprint. + @note CRC-15 CAN has the following parameters and check value: + - polynomial = 0x4599 + - initial value = 0x0000 + - final XOR = 0x0000 + - reflect input = false + - reflect output = false + - check value = 0x059E + @return CRC-15 CAN parameters +*/ +inline const CRC::Parameters & CRC::CRC_15() +{ + static const Parameters parameters = {0x4599, 0x0000, 0x0000, false, false}; + return parameters; +} + +/** + @brief Returns a set of parameters for CRC-15 MPT1327. + @note The parameters are static and are delayed-constructed to reduce memory footprint. + @note CRC-15 MPT1327 has the following parameters and check value: + - polynomial = 0x6815 + - initial value = 0x0000 + - final XOR = 0x0001 + - reflect input = false + - reflect output = false + - check value = 0x2566 + @return CRC-15 MPT1327 parameters +*/ +inline const CRC::Parameters & CRC::CRC_15_MPT1327() +{ + static const Parameters parameters = {0x6815, 0x0000, 0x0001, false, false}; + return parameters; +} +#endif // CRCPP_INCLUDE_ESOTERIC_CRC_DEFINITIONS + +/** + @brief Returns a set of parameters for CRC-16 ARC (aka CRC-16 IBM, CRC-16 LHA). + @note The parameters are static and are delayed-constructed to reduce memory footprint. + @note CRC-16 ARC has the following parameters and check value: + - polynomial = 0x8005 + - initial value = 0x0000 + - final XOR = 0x0000 + - reflect input = true + - reflect output = true + - check value = 0xBB3D + @return CRC-16 ARC parameters +*/ +inline const CRC::Parameters & CRC::CRC_16_ARC() +{ + static const Parameters parameters = {0x8005, 0x0000, 0x0000, true, true}; + return parameters; +} + +/** + @brief Returns a set of parameters for CRC-16 BUYPASS (aka CRC-16 VERIFONE, CRC-16 UMTS). + @note The parameters are static and are delayed-constructed to reduce memory footprint. + @note CRC-16 BUYPASS has the following parameters and check value: + - polynomial = 0x8005 + - initial value = 0x0000 + - final XOR = 0x0000 + - reflect input = false + - reflect output = false + - check value = 0xFEE8 + @return CRC-16 BUYPASS parameters +*/ +inline const CRC::Parameters & CRC::CRC_16_BUYPASS() +{ + static const Parameters parameters = {0x8005, 0x0000, 0x0000, false, false}; + return parameters; +} + +/** + @brief Returns a set of parameters for CRC-16 CCITT FALSE. + @note The parameters are static and are delayed-constructed to reduce memory footprint. + @note CRC-16 CCITT FALSE has the following parameters and check value: + - polynomial = 0x1021 + - initial value = 0xFFFF + - final XOR = 0x0000 + - reflect input = false + - reflect output = false + - check value = 0x29B1 + @return CRC-16 CCITT FALSE parameters +*/ +inline const CRC::Parameters & CRC::CRC_16_CCITTFALSE() +{ + static const Parameters parameters = {0x1021, 0xFFFF, 0x0000, false, false}; + return parameters; +} + +#ifdef CRCPP_INCLUDE_ESOTERIC_CRC_DEFINITIONS +/** + @brief Returns a set of parameters for CRC-16 CDMA2000. + @note The parameters are static and are delayed-constructed to reduce memory footprint. + @note CRC-16 CDMA2000 has the following parameters and check value: + - polynomial = 0xC867 + - initial value = 0xFFFF + - final XOR = 0x0000 + - reflect input = false + - reflect output = false + - check value = 0x4C06 + @return CRC-16 CDMA2000 parameters +*/ +inline const CRC::Parameters & CRC::CRC_16_CDMA2000() +{ + static const Parameters parameters = {0xC867, 0xFFFF, 0x0000, false, false}; + return parameters; +} + +/** + @brief Returns a set of parameters for CRC-16 CMS. + @note The parameters are static and are delayed-constructed to reduce memory footprint. + @note CRC-16 CMS has the following parameters and check value: + - polynomial = 0x8005 + - initial value = 0xFFFF + - final XOR = 0x0000 + - reflect input = false + - reflect output = false + - check value = 0xAEE7 + @return CRC-16 CMS parameters +*/ +inline const CRC::Parameters & CRC::CRC_16_CMS() +{ + static const Parameters parameters = {0x8005, 0xFFFF, 0x0000, false, false}; + return parameters; +} + +/** + @brief Returns a set of parameters for CRC-16 DECT-R (aka CRC-16 R-CRC). + @note The parameters are static and are delayed-constructed to reduce memory footprint. + @note CRC-16 DECT-R has the following parameters and check value: + - polynomial = 0x0589 + - initial value = 0x0000 + - final XOR = 0x0001 + - reflect input = false + - reflect output = false + - check value = 0x007E + @return CRC-16 DECT-R parameters +*/ +inline const CRC::Parameters & CRC::CRC_16_DECTR() +{ + static const Parameters parameters = {0x0589, 0x0000, 0x0001, false, false}; + return parameters; +} + +/** + @brief Returns a set of parameters for CRC-16 DECT-X (aka CRC-16 X-CRC). + @note The parameters are static and are delayed-constructed to reduce memory footprint. + @note CRC-16 DECT-X has the following parameters and check value: + - polynomial = 0x0589 + - initial value = 0x0000 + - final XOR = 0x0000 + - reflect input = false + - reflect output = false + - check value = 0x007F + @return CRC-16 DECT-X parameters +*/ +inline const CRC::Parameters & CRC::CRC_16_DECTX() +{ + static const Parameters parameters = {0x0589, 0x0000, 0x0000, false, false}; + return parameters; +} + +/** + @brief Returns a set of parameters for CRC-16 DNP. + @note The parameters are static and are delayed-constructed to reduce memory footprint. + @note CRC-16 DNP has the following parameters and check value: + - polynomial = 0x3D65 + - initial value = 0x0000 + - final XOR = 0xFFFF + - reflect input = true + - reflect output = true + - check value = 0xEA82 + @return CRC-16 DNP parameters +*/ +inline const CRC::Parameters & CRC::CRC_16_DNP() +{ + static const Parameters parameters = {0x3D65, 0x0000, 0xFFFF, true, true}; + return parameters; +} +#endif // CRCPP_INCLUDE_ESOTERIC_CRC_DEFINITIONS + +/** + @brief Returns a set of parameters for CRC-16 GENIBUS (aka CRC-16 EPC, CRC-16 I-CODE, CRC-16 DARC). + @note The parameters are static and are delayed-constructed to reduce memory footprint. + @note CRC-16 GENIBUS has the following parameters and check value: + - polynomial = 0x1021 + - initial value = 0xFFFF + - final XOR = 0xFFFF + - reflect input = false + - reflect output = false + - check value = 0xD64E + @return CRC-16 GENIBUS parameters +*/ +inline const CRC::Parameters & CRC::CRC_16_GENIBUS() +{ + static const Parameters parameters = {0x1021, 0xFFFF, 0xFFFF, false, false}; + return parameters; +} + +/** + @brief Returns a set of parameters for CRC-16 KERMIT (aka CRC-16 CCITT, CRC-16 CCITT-TRUE). + @note The parameters are static and are delayed-constructed to reduce memory footprint. + @note CRC-16 KERMIT has the following parameters and check value: + - polynomial = 0x1021 + - initial value = 0x0000 + - final XOR = 0x0000 + - reflect input = true + - reflect output = true + - check value = 0x2189 + @return CRC-16 KERMIT parameters +*/ +inline const CRC::Parameters & CRC::CRC_16_KERMIT() +{ + static const Parameters parameters = {0x1021, 0x0000, 0x0000, true, true}; + return parameters; +} + +#ifdef CRCPP_INCLUDE_ESOTERIC_CRC_DEFINITIONS +/** + @brief Returns a set of parameters for CRC-16 MAXIM. + @note The parameters are static and are delayed-constructed to reduce memory footprint. + @note CRC-16 MAXIM has the following parameters and check value: + - polynomial = 0x8005 + - initial value = 0x0000 + - final XOR = 0xFFFF + - reflect input = true + - reflect output = true + - check value = 0x44C2 + @return CRC-16 MAXIM parameters +*/ +inline const CRC::Parameters & CRC::CRC_16_MAXIM() +{ + static const Parameters parameters = {0x8005, 0x0000, 0xFFFF, true, true}; + return parameters; +} + +/** + @brief Returns a set of parameters for CRC-16 MODBUS. + @note The parameters are static and are delayed-constructed to reduce memory footprint. + @note CRC-16 MODBUS has the following parameters and check value: + - polynomial = 0x8005 + - initial value = 0xFFFF + - final XOR = 0x0000 + - reflect input = true + - reflect output = true + - check value = 0x4B37 + @return CRC-16 MODBUS parameters +*/ +inline const CRC::Parameters & CRC::CRC_16_MODBUS() +{ + static const Parameters parameters = {0x8005, 0xFFFF, 0x0000, true, true}; + return parameters; +} + +/** + @brief Returns a set of parameters for CRC-16 T10-DIF. + @note The parameters are static and are delayed-constructed to reduce memory footprint. + @note CRC-16 T10-DIF has the following parameters and check value: + - polynomial = 0x8BB7 + - initial value = 0x0000 + - final XOR = 0x0000 + - reflect input = false + - reflect output = false + - check value = 0xD0DB + @return CRC-16 T10-DIF parameters +*/ +inline const CRC::Parameters & CRC::CRC_16_T10DIF() +{ + static const Parameters parameters = {0x8BB7, 0x0000, 0x0000, false, false}; + return parameters; +} + +/** + @brief Returns a set of parameters for CRC-16 USB. + @note The parameters are static and are delayed-constructed to reduce memory footprint. + @note CRC-16 USB has the following parameters and check value: + - polynomial = 0x8005 + - initial value = 0xFFFF + - final XOR = 0xFFFF + - reflect input = true + - reflect output = true + - check value = 0xB4C8 + @return CRC-16 USB parameters +*/ +inline const CRC::Parameters & CRC::CRC_16_USB() +{ + static const Parameters parameters = {0x8005, 0xFFFF, 0xFFFF, true, true}; + return parameters; +} + +#endif // CRCPP_INCLUDE_ESOTERIC_CRC_DEFINITIONS + +/** + @brief Returns a set of parameters for CRC-16 X-25 (aka CRC-16 IBM-SDLC, CRC-16 ISO-HDLC, CRC-16 B). + @note The parameters are static and are delayed-constructed to reduce memory footprint. + @note CRC-16 X-25 has the following parameters and check value: + - polynomial = 0x1021 + - initial value = 0xFFFF + - final XOR = 0xFFFF + - reflect input = true + - reflect output = true + - check value = 0x906E + @return CRC-16 X-25 parameters +*/ +inline const CRC::Parameters & CRC::CRC_16_X25() +{ + static const Parameters parameters = {0x1021, 0xFFFF, 0xFFFF, true, true}; + return parameters; +} + +/** + @brief Returns a set of parameters for CRC-16 XMODEM (aka CRC-16 ZMODEM, CRC-16 ACORN, CRC-16 LTE). + @note The parameters are static and are delayed-constructed to reduce memory footprint. + @note CRC-16 XMODEM has the following parameters and check value: + - polynomial = 0x1021 + - initial value = 0x0000 + - final XOR = 0x0000 + - reflect input = false + - reflect output = false + - check value = 0x31C3 + @return CRC-16 XMODEM parameters +*/ +inline const CRC::Parameters & CRC::CRC_16_XMODEM() +{ + static const Parameters parameters = {0x1021, 0x0000, 0x0000, false, false}; + return parameters; +} + +#ifdef CRCPP_INCLUDE_ESOTERIC_CRC_DEFINITIONS +/** + @brief Returns a set of parameters for CRC-17 CAN. + @note The parameters are static and are delayed-constructed to reduce memory footprint. + @note CRC-17 CAN has the following parameters and check value: + - polynomial = 0x1685B + - initial value = 0x00000 + - final XOR = 0x00000 + - reflect input = false + - reflect output = false + - check value = 0x04F03 + @return CRC-17 CAN parameters +*/ +inline const CRC::Parameters & CRC::CRC_17_CAN() +{ + static const Parameters parameters = {0x1685B, 0x00000, 0x00000, false, false}; + return parameters; +} + +/** + @brief Returns a set of parameters for CRC-21 CAN. + @note The parameters are static and are delayed-constructed to reduce memory footprint. + @note CRC-21 CAN has the following parameters and check value: + - polynomial = 0x102899 + - initial value = 0x000000 + - final XOR = 0x000000 + - reflect input = false + - reflect output = false + - check value = 0x0ED841 + @return CRC-21 CAN parameters +*/ +inline const CRC::Parameters & CRC::CRC_21_CAN() +{ + static const Parameters parameters = {0x102899, 0x000000, 0x000000, false, false}; + return parameters; +} + +/** + @brief Returns a set of parameters for CRC-24 OPENPGP. + @note The parameters are static and are delayed-constructed to reduce memory footprint. + @note CRC-24 OPENPGP has the following parameters and check value: + - polynomial = 0x864CFB + - initial value = 0xB704CE + - final XOR = 0x000000 + - reflect input = false + - reflect output = false + - check value = 0x21CF02 + @return CRC-24 OPENPGP parameters +*/ +inline const CRC::Parameters & CRC::CRC_24() +{ + static const Parameters parameters = {0x864CFB, 0xB704CE, 0x000000, false, false}; + return parameters; +} + +/** + @brief Returns a set of parameters for CRC-24 FlexRay-A. + @note The parameters are static and are delayed-constructed to reduce memory footprint. + @note CRC-24 FlexRay-A has the following parameters and check value: + - polynomial = 0x5D6DCB + - initial value = 0xFEDCBA + - final XOR = 0x000000 + - reflect input = false + - reflect output = false + - check value = 0x7979BD + @return CRC-24 FlexRay-A parameters +*/ +inline const CRC::Parameters & CRC::CRC_24_FLEXRAYA() +{ + static const Parameters parameters = {0x5D6DCB, 0xFEDCBA, 0x000000, false, false}; + return parameters; +} + +/** + @brief Returns a set of parameters for CRC-24 FlexRay-B. + @note The parameters are static and are delayed-constructed to reduce memory footprint. + @note CRC-24 FlexRay-B has the following parameters and check value: + - polynomial = 0x5D6DCB + - initial value = 0xABCDEF + - final XOR = 0x000000 + - reflect input = false + - reflect output = false + - check value = 0x1F23B8 + @return CRC-24 FlexRay-B parameters +*/ +inline const CRC::Parameters & CRC::CRC_24_FLEXRAYB() +{ + static const Parameters parameters = {0x5D6DCB, 0xABCDEF, 0x000000, false, false}; + return parameters; +} + +/** + @brief Returns a set of parameters for CRC-30 CDMA. + @note The parameters are static and are delayed-constructed to reduce memory footprint. + @note CRC-30 CDMA has the following parameters and check value: + - polynomial = 0x2030B9C7 + - initial value = 0x3FFFFFFF + - final XOR = 0x00000000 + - reflect input = false + - reflect output = false + - check value = 0x3B3CB540 + @return CRC-30 CDMA parameters +*/ +inline const CRC::Parameters & CRC::CRC_30() +{ + static const Parameters parameters = {0x2030B9C7, 0x3FFFFFFF, 0x00000000, false, false}; + return parameters; +} +#endif // CRCPP_INCLUDE_ESOTERIC_CRC_DEFINITIONS + +/** + @brief Returns a set of parameters for CRC-32 (aka CRC-32 ADCCP, CRC-32 PKZip). + @note The parameters are static and are delayed-constructed to reduce memory footprint. + @note CRC-32 has the following parameters and check value: + - polynomial = 0x04C11DB7 + - initial value = 0xFFFFFFFF + - final XOR = 0xFFFFFFFF + - reflect input = true + - reflect output = true + - check value = 0xCBF43926 + @return CRC-32 parameters +*/ +inline const CRC::Parameters & CRC::CRC_32() +{ + static const Parameters parameters = {0x04C11DB7, 0xFFFFFFFF, 0xFFFFFFFF, true, true}; + return parameters; +} + +/** + @brief Returns a set of parameters for CRC-32 BZIP2 (aka CRC-32 AAL5, CRC-32 DECT-B, CRC-32 B-CRC). + @note The parameters are static and are delayed-constructed to reduce memory footprint. + @note CRC-32 BZIP2 has the following parameters and check value: + - polynomial = 0x04C11DB7 + - initial value = 0xFFFFFFFF + - final XOR = 0xFFFFFFFF + - reflect input = false + - reflect output = false + - check value = 0xFC891918 + @return CRC-32 BZIP2 parameters +*/ +inline const CRC::Parameters & CRC::CRC_32_BZIP2() +{ + static const Parameters parameters = {0x04C11DB7, 0xFFFFFFFF, 0xFFFFFFFF, false, false}; + return parameters; +} + +#ifdef CRCPP_INCLUDE_ESOTERIC_CRC_DEFINITIONS +/** + @brief Returns a set of parameters for CRC-32 C (aka CRC-32 ISCSI, CRC-32 Castagnoli, CRC-32 Interlaken). + @note The parameters are static and are delayed-constructed to reduce memory footprint. + @note CRC-32 C has the following parameters and check value: + - polynomial = 0x1EDC6F41 + - initial value = 0xFFFFFFFF + - final XOR = 0xFFFFFFFF + - reflect input = true + - reflect output = true + - check value = 0xE3069283 + @return CRC-32 C parameters +*/ +inline const CRC::Parameters & CRC::CRC_32_C() +{ + static const Parameters parameters = {0x1EDC6F41, 0xFFFFFFFF, 0xFFFFFFFF, true, true}; + return parameters; +} +#endif + +/** + @brief Returns a set of parameters for CRC-32 MPEG-2. + @note The parameters are static and are delayed-constructed to reduce memory footprint. + @note CRC-32 MPEG-2 has the following parameters and check value: + - polynomial = 0x04C11DB7 + - initial value = 0xFFFFFFFF + - final XOR = 0x00000000 + - reflect input = false + - reflect output = false + - check value = 0x0376E6E7 + @return CRC-32 MPEG-2 parameters +*/ +inline const CRC::Parameters & CRC::CRC_32_MPEG2() +{ + static const Parameters parameters = {0x04C11DB7, 0xFFFFFFFF, 0x00000000, false, false}; + return parameters; +} + +/** + @brief Returns a set of parameters for CRC-32 POSIX. + @note The parameters are static and are delayed-constructed to reduce memory footprint. + @note CRC-32 POSIX has the following parameters and check value: + - polynomial = 0x04C11DB7 + - initial value = 0x00000000 + - final XOR = 0xFFFFFFFF + - reflect input = false + - reflect output = false + - check value = 0x765E7680 + @return CRC-32 POSIX parameters +*/ +inline const CRC::Parameters & CRC::CRC_32_POSIX() +{ + static const Parameters parameters = {0x04C11DB7, 0x00000000, 0xFFFFFFFF, false, false}; + return parameters; +} + +#ifdef CRCPP_INCLUDE_ESOTERIC_CRC_DEFINITIONS +/** + @brief Returns a set of parameters for CRC-32 Q. + @note The parameters are static and are delayed-constructed to reduce memory footprint. + @note CRC-32 Q has the following parameters and check value: + - polynomial = 0x814141AB + - initial value = 0x00000000 + - final XOR = 0x00000000 + - reflect input = false + - reflect output = false + - check value = 0x3010BF7F + @return CRC-32 Q parameters +*/ +inline const CRC::Parameters & CRC::CRC_32_Q() +{ + static const Parameters parameters = {0x814141AB, 0x00000000, 0x00000000, false, false}; + return parameters; +} + +/** + @brief Returns a set of parameters for CRC-40 GSM. + @note The parameters are static and are delayed-constructed to reduce memory footprint. + @note CRC-40 GSM has the following parameters and check value: + - polynomial = 0x0004820009 + - initial value = 0x0000000000 + - final XOR = 0xFFFFFFFFFF + - reflect input = false + - reflect output = false + - check value = 0xD4164FC646 + @return CRC-40 GSM parameters +*/ +inline const CRC::Parameters & CRC::CRC_40_GSM() +{ + static const Parameters parameters = {0x0004820009, 0x0000000000, 0xFFFFFFFFFF, false, false}; + return parameters; +} + +/** + @brief Returns a set of parameters for CRC-64 ECMA. + @note The parameters are static and are delayed-constructed to reduce memory footprint. + @note CRC-64 ECMA has the following parameters and check value: + - polynomial = 0x42F0E1EBA9EA3693 + - initial value = 0x0000000000000000 + - final XOR = 0x0000000000000000 + - reflect input = false + - reflect output = false + - check value = 0x6C40DF5F0B497347 + @return CRC-64 ECMA parameters +*/ +inline const CRC::Parameters & CRC::CRC_64() +{ + static const Parameters parameters = {0x42F0E1EBA9EA3693, 0x0000000000000000, 0x0000000000000000, false, false}; + return parameters; +} +#endif // CRCPP_INCLUDE_ESOTERIC_CRC_DEFINITIONS + +#ifdef CRCPP_USE_NAMESPACE +} // namespace CRCPP +#endif + +#endif // VESC_DRIVER__CRC_HPP_ diff --git a/ROS 2 Packages/f1tenth/vesc/vesc_driver/include/vesc_driver/datatypes.hpp b/ROS 2 Packages/f1tenth/vesc/vesc_driver/include/vesc_driver/datatypes.hpp new file mode 100644 index 0000000..8548f76 --- /dev/null +++ b/ROS 2 Packages/f1tenth/vesc/vesc_driver/include/vesc_driver/datatypes.hpp @@ -0,0 +1,1106 @@ +// Copyright 2020 F1TENTH Foundation +// +// Redistribution and use in source and binary forms, with or without +// modification, are permitted provided that the following conditions are met: +// +// * Redistributions of source code must retain the above copyright +// notice, this list of conditions and the following disclaimer. +// +// * Redistributions in binary form must reproduce the above copyright +// notice, this list of conditions and the following disclaimer in the +// documentation and/or other materials provided with the distribution. +// +// * Neither the name of the {copyright_holder} nor the names of its +// contributors may be used to endorse or promote products derived from +// this software without specific prior written permission. +// +// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE +// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +// POSSIBILITY OF SUCH DAMAGE. + + +/* + Some parts of this code, Copyright 2016 - 2019 Benjamin Vedder benjamin@vedder.se + + This file is part of the VESC firmware. + + The VESC firmware is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation, either version 3 of the License, or + (at your option) any later version. + + The VESC firmware is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see . + */ + +#ifndef VESC_DRIVER__DATATYPES_HPP_ +#define VESC_DRIVER__DATATYPES_HPP_ + +#include +#include + +#include + +namespace vesc_driver +{ + +typedef struct +{ + bool isVesc; +} +VSerialInfo_t; + +typedef enum +{ + CFG_T_UNDEFINED = 0, + CFG_T_DOUBLE, + CFG_T_INT, + CFG_T_QSTRING, + CFG_T_ENUM, + CFG_T_BOOL +} +CFG_T; + +typedef enum +{ + VESC_TX_UNDEFINED = 0, + VESC_TX_UINT8, + VESC_TX_INT8, + VESC_TX_UINT16, + VESC_TX_INT16, + VESC_TX_UINT32, + VESC_TX_INT32, + VESC_TX_DOUBLE16, + VESC_TX_DOUBLE32, + VESC_TX_DOUBLE32_AUTO +} VESC_TX_T; + +// #include "ch.h" +typedef uint32_t systime_t; // defined in ch.h + +// Data types +typedef enum +{ + MC_STATE_OFF = 0, + MC_STATE_DETECTING, + MC_STATE_RUNNING, + MC_STATE_FULL_BRAKE, +} mc_state; + +typedef enum +{ + PWM_MODE_NONSYNCHRONOUS_HISW = 0, // This mode is not recommended + PWM_MODE_SYNCHRONOUS, // The recommended and most tested mode + PWM_MODE_BIPOLAR // Some glitches occasionally, can kill MOSFETs +} mc_pwm_mode; + +typedef enum +{ + COMM_MODE_INTEGRATE = 0, + COMM_MODE_DELAY +} mc_comm_mode; + +typedef enum +{ + SENSOR_MODE_SENSORLESS = 0, + SENSOR_MODE_SENSORED, + SENSOR_MODE_HYBRID +} mc_sensor_mode; + +typedef enum +{ + FOC_SENSOR_MODE_SENSORLESS = 0, + FOC_SENSOR_MODE_ENCODER, + FOC_SENSOR_MODE_HALL, + FOC_SENSOR_MODE_HFI +} mc_foc_sensor_mode; + +// Auxiliary output mode +typedef enum +{ + OUT_AUX_MODE_OFF = 0, + OUT_AUX_MODE_ON_AFTER_2S, + OUT_AUX_MODE_ON_AFTER_5S, + OUT_AUX_MODE_ON_AFTER_10S, + OUT_AUX_MODE_UNUSED +} out_aux_mode; + +// Temperature sensor type +typedef enum +{ + TEMP_SENSOR_NTC_10K_25C = 0, + TEMP_SENSOR_PTC_1K_100C, + TEMP_SENSOR_KTY83_122, +} temp_sensor_type; + +// General purpose drive output mode +typedef enum +{ + GPD_OUTPUT_MODE_NONE = 0, + GPD_OUTPUT_MODE_MODULATION, + GPD_OUTPUT_MODE_VOLTAGE, + GPD_OUTPUT_MODE_CURRENT +} gpd_output_mode; + +typedef enum +{ + MOTOR_TYPE_BLDC = 0, + MOTOR_TYPE_DC, + MOTOR_TYPE_FOC, + MOTOR_TYPE_GPD +} mc_motor_type; + +// FOC current controller decoupling mode. +typedef enum +{ + FOC_CC_DECOUPLING_DISABLED = 0, + FOC_CC_DECOUPLING_CROSS, + FOC_CC_DECOUPLING_BEMF, + FOC_CC_DECOUPLING_CROSS_BEMF +} mc_foc_cc_decoupling_mode; + +typedef enum +{ + FOC_OBSERVER_ORTEGA_ORIGINAL = 0, + FOC_OBSERVER_ORTEGA_ITERATIVE +} mc_foc_observer_type; + +typedef enum +{ + FAULT_CODE_NONE = 0, + FAULT_CODE_OVER_VOLTAGE, + FAULT_CODE_UNDER_VOLTAGE, + FAULT_CODE_DRV, + FAULT_CODE_ABS_OVER_CURRENT, + FAULT_CODE_OVER_TEMP_FET, + FAULT_CODE_OVER_TEMP_MOTOR, + FAULT_CODE_GATE_DRIVER_OVER_VOLTAGE, + FAULT_CODE_GATE_DRIVER_UNDER_VOLTAGE, + FAULT_CODE_MCU_UNDER_VOLTAGE, + FAULT_CODE_BOOTING_FROM_WATCHDOG_RESET, + FAULT_CODE_ENCODER_SPI, + FAULT_CODE_ENCODER_SINCOS_BELOW_MIN_AMPLITUDE, + FAULT_CODE_ENCODER_SINCOS_ABOVE_MAX_AMPLITUDE, + FAULT_CODE_FLASH_CORRUPTION, + FAULT_CODE_HIGH_OFFSET_CURRENT_SENSOR_1, + FAULT_CODE_HIGH_OFFSET_CURRENT_SENSOR_2, + FAULT_CODE_HIGH_OFFSET_CURRENT_SENSOR_3, + FAULT_CODE_UNBALANCED_CURRENTS, + FAULT_CODE_BRK, + FAULT_CODE_RESOLVER_LOT, + FAULT_CODE_RESOLVER_DOS, + FAULT_CODE_RESOLVER_LOS +} mc_fault_code; + +typedef enum +{ + CONTROL_MODE_DUTY = 0, + CONTROL_MODE_SPEED, + CONTROL_MODE_CURRENT, + CONTROL_MODE_CURRENT_BRAKE, + CONTROL_MODE_POS, + CONTROL_MODE_HANDBRAKE, + CONTROL_MODE_OPENLOOP, + CONTROL_MODE_OPENLOOP_PHASE, + CONTROL_MODE_OPENLOOP_DUTY, + CONTROL_MODE_OPENLOOP_DUTY_PHASE, + CONTROL_MODE_NONE +} mc_control_mode; + +typedef enum +{ + DISP_POS_MODE_NONE = 0, + DISP_POS_MODE_INDUCTANCE, + DISP_POS_MODE_OBSERVER, + DISP_POS_MODE_ENCODER, + DISP_POS_MODE_PID_POS, + DISP_POS_MODE_PID_POS_ERROR, + DISP_POS_MODE_ENCODER_OBSERVER_ERROR +} disp_pos_mode; + +typedef enum +{ + SENSOR_PORT_MODE_HALL = 0, + SENSOR_PORT_MODE_ABI, + SENSOR_PORT_MODE_AS5047_SPI, + SENSOR_PORT_MODE_AD2S1205, + SENSOR_PORT_MODE_SINCOS, + SENSOR_PORT_MODE_TS5700N8501, + SENSOR_PORT_MODE_TS5700N8501_MULTITURN +} sensor_port_mode; + +typedef struct +{ + float cycle_int_limit; + float cycle_int_limit_running; + float cycle_int_limit_max; + float comm_time_sum; + float comm_time_sum_min_rpm; + int32_t comms; + float time_at_comm; +} mc_rpm_dep_struct; + +typedef enum +{ + DRV8301_OC_LIMIT = 0, + DRV8301_OC_LATCH_SHUTDOWN, + DRV8301_OC_REPORT_ONLY, + DRV8301_OC_DISABLED +} drv8301_oc_mode; + +typedef enum +{ + DEBUG_SAMPLING_OFF = 0, + DEBUG_SAMPLING_NOW, + DEBUG_SAMPLING_START, + DEBUG_SAMPLING_TRIGGER_START, + DEBUG_SAMPLING_TRIGGER_FAULT, + DEBUG_SAMPLING_TRIGGER_START_NOSEND, + DEBUG_SAMPLING_TRIGGER_FAULT_NOSEND, + DEBUG_SAMPLING_SEND_LAST_SAMPLES +} debug_sampling_mode; + +typedef enum +{ + CAN_BAUD_125K = 0, + CAN_BAUD_250K, + CAN_BAUD_500K, + CAN_BAUD_1M, + CAN_BAUD_10K, + CAN_BAUD_20K, + CAN_BAUD_50K, + CAN_BAUD_75K +} CAN_BAUD; + +typedef enum +{ + BATTERY_TYPE_LIION_3_0__4_2, + BATTERY_TYPE_LIIRON_2_6__3_6, + BATTERY_TYPE_LEAD_ACID +} BATTERY_TYPE; + +typedef enum +{ + HFI_SAMPLES_8 = 0, + HFI_SAMPLES_16, + HFI_SAMPLES_32 +} FOC_HFI_SAMPLES; + +typedef struct +{ + // Switching and drive + mc_pwm_mode pwm_mode; + mc_comm_mode comm_mode; + mc_motor_type motor_type; + mc_sensor_mode sensor_mode; + // Limits + float l_current_max; + float l_current_min; + float l_in_current_max; + float l_in_current_min; + float l_abs_current_max; + float l_min_erpm; + float l_max_erpm; + float l_erpm_start; + float l_max_erpm_fbrake; + float l_max_erpm_fbrake_cc; + float l_min_vin; + float l_max_vin; + float l_battery_cut_start; + float l_battery_cut_end; + bool l_slow_abs_current; + float l_temp_fet_start; + float l_temp_fet_end; + float l_temp_motor_start; + float l_temp_motor_end; + float l_temp_accel_dec; + float l_min_duty; + float l_max_duty; + float l_watt_max; + float l_watt_min; + float l_current_max_scale; + float l_current_min_scale; + float l_duty_start; + // Overridden limits (Computed during runtime) + float lo_current_max; + float lo_current_min; + float lo_in_current_max; + float lo_in_current_min; + float lo_current_motor_max_now; + float lo_current_motor_min_now; + // Sensorless (bldc) + float sl_min_erpm; + float sl_min_erpm_cycle_int_limit; + float sl_max_fullbreak_current_dir_change; + float sl_cycle_int_limit; + float sl_phase_advance_at_br; + float sl_cycle_int_rpm_br; + float sl_bemf_coupling_k; + // Hall sensor + int8_t hall_table[8]; + float hall_sl_erpm; + // FOC + float foc_current_kp; + float foc_current_ki; + float foc_f_sw; + float foc_dt_us; + float foc_encoder_offset; + bool foc_encoder_inverted; + float foc_encoder_ratio; + float foc_encoder_sin_offset; + float foc_encoder_sin_gain; + float foc_encoder_cos_offset; + float foc_encoder_cos_gain; + float foc_encoder_sincos_filter_constant; + float foc_motor_l; + float foc_motor_r; + float foc_motor_flux_linkage; + float foc_observer_gain; + float foc_observer_gain_slow; + float foc_pll_kp; + float foc_pll_ki; + float foc_duty_dowmramp_kp; + float foc_duty_dowmramp_ki; + float foc_openloop_rpm; + float foc_sl_openloop_hyst; + float foc_sl_openloop_time; + float foc_sl_d_current_duty; + float foc_sl_d_current_factor; + mc_foc_sensor_mode foc_sensor_mode; + uint8_t foc_hall_table[8]; + float foc_sl_erpm; + bool foc_sample_v0_v7; + bool foc_sample_high_current; + float foc_sat_comp; + bool foc_temp_comp; + float foc_temp_comp_base_temp; + float foc_current_filter_const; + mc_foc_cc_decoupling_mode foc_cc_decoupling; + mc_foc_observer_type foc_observer_type; + float foc_hfi_voltage_start; + float foc_hfi_voltage_run; + float foc_hfi_voltage_max; + float foc_sl_erpm_hfi; + uint16_t foc_hfi_start_samples; + float foc_hfi_obs_ovr_sec; + FOC_HFI_SAMPLES foc_hfi_samples; + // GPDrive + int gpd_buffer_notify_left; + int gpd_buffer_interpol; + float gpd_current_filter_const; + float gpd_current_kp; + float gpd_current_ki; + // Speed PID + float s_pid_kp; + float s_pid_ki; + float s_pid_kd; + float s_pid_kd_filter; + float s_pid_min_erpm; + bool s_pid_allow_braking; + // Pos PID + float p_pid_kp; + float p_pid_ki; + float p_pid_kd; + float p_pid_kd_filter; + float p_pid_ang_div; + // Current controller + float cc_startup_boost_duty; + float cc_min_current; + float cc_gain; + float cc_ramp_step_max; + // Misc + int32_t m_fault_stop_time_ms; + float m_duty_ramp_step; + float m_current_backoff_gain; + uint32_t m_encoder_counts; + sensor_port_mode m_sensor_port_mode; + bool m_invert_direction; + drv8301_oc_mode m_drv8301_oc_mode; + int m_drv8301_oc_adj; + float m_bldc_f_sw_min; + float m_bldc_f_sw_max; + float m_dc_f_sw; + float m_ntc_motor_beta; + out_aux_mode m_out_aux_mode; + temp_sensor_type m_motor_temp_sens_type; + float m_ptc_motor_coeff; + // Setup info + uint8_t si_motor_poles; + float si_gear_ratio; + float si_wheel_diameter; + BATTERY_TYPE si_battery_type; + int si_battery_cells; + float si_battery_ah; +} mc_configuration; + +// Applications to use +typedef enum +{ + APP_NONE = 0, + APP_PPM, + APP_ADC, + APP_UART, + APP_PPM_UART, + APP_ADC_UART, + APP_NUNCHUK, + APP_NRF, + APP_CUSTOM, + APP_BALANCE +} app_use; + +// Throttle curve mode +typedef enum +{ + THR_EXP_EXPO = 0, + THR_EXP_NATURAL, + THR_EXP_POLY +} thr_exp_mode; + +// PPM control types +typedef enum +{ + PPM_CTRL_TYPE_NONE = 0, + PPM_CTRL_TYPE_CURRENT, + PPM_CTRL_TYPE_CURRENT_NOREV, + PPM_CTRL_TYPE_CURRENT_NOREV_BRAKE, + PPM_CTRL_TYPE_DUTY, + PPM_CTRL_TYPE_DUTY_NOREV, + PPM_CTRL_TYPE_PID, + PPM_CTRL_TYPE_PID_NOREV, + PPM_CTRL_TYPE_CURRENT_BRAKE_REV_HYST, + PPM_CTRL_TYPE_CURRENT_SMART_REV +} ppm_control_type; + +typedef struct +{ + ppm_control_type ctrl_type; + float pid_max_erpm; + float hyst; + float pulse_start; + float pulse_end; + float pulse_center; + bool median_filter; + bool safe_start; + float throttle_exp; + float throttle_exp_brake; + thr_exp_mode throttle_exp_mode; + float ramp_time_pos; + float ramp_time_neg; + bool multi_esc; + bool tc; + float tc_max_diff; + float max_erpm_for_dir; + float smart_rev_max_duty; + float smart_rev_ramp_time; +} ppm_config; + +// ADC control types +typedef enum +{ + ADC_CTRL_TYPE_NONE = 0, + ADC_CTRL_TYPE_CURRENT, + ADC_CTRL_TYPE_CURRENT_REV_CENTER, + ADC_CTRL_TYPE_CURRENT_REV_BUTTON, + ADC_CTRL_TYPE_CURRENT_REV_BUTTON_BRAKE_ADC, + ADC_CTRL_TYPE_CURRENT_REV_BUTTON_BRAKE_CENTER, + ADC_CTRL_TYPE_CURRENT_NOREV_BRAKE_CENTER, + ADC_CTRL_TYPE_CURRENT_NOREV_BRAKE_BUTTON, + ADC_CTRL_TYPE_CURRENT_NOREV_BRAKE_ADC, + ADC_CTRL_TYPE_DUTY, + ADC_CTRL_TYPE_DUTY_REV_CENTER, + ADC_CTRL_TYPE_DUTY_REV_BUTTON, + ADC_CTRL_TYPE_PID, + ADC_CTRL_TYPE_PID_REV_CENTER, + ADC_CTRL_TYPE_PID_REV_BUTTON +} adc_control_type; + +typedef struct +{ + adc_control_type ctrl_type; + float hyst; + float voltage_start; + float voltage_end; + float voltage_center; + float voltage2_start; + float voltage2_end; + bool use_filter; + bool safe_start; + bool cc_button_inverted; + bool rev_button_inverted; + bool voltage_inverted; + bool voltage2_inverted; + float throttle_exp; + float throttle_exp_brake; + thr_exp_mode throttle_exp_mode; + float ramp_time_pos; + float ramp_time_neg; + bool multi_esc; + bool tc; + float tc_max_diff; + uint32_t update_rate_hz; +} adc_config; + +// Nunchuk control types +typedef enum +{ + CHUK_CTRL_TYPE_NONE = 0, + CHUK_CTRL_TYPE_CURRENT, + CHUK_CTRL_TYPE_CURRENT_NOREV +} chuk_control_type; + +typedef struct +{ + chuk_control_type ctrl_type; + float hyst; + float ramp_time_pos; + float ramp_time_neg; + float stick_erpm_per_s_in_cc; + float throttle_exp; + float throttle_exp_brake; + thr_exp_mode throttle_exp_mode; + bool multi_esc; + bool tc; + float tc_max_diff; + bool use_smart_rev; + float smart_rev_max_duty; + float smart_rev_ramp_time; +} chuk_config; + +// NRF Datatypes +typedef enum +{ + NRF_SPEED_250K = 0, + NRF_SPEED_1M, + NRF_SPEED_2M +} NRF_SPEED; + +typedef enum +{ + NRF_POWER_M18DBM = 0, + NRF_POWER_M12DBM, + NRF_POWER_M6DBM, + NRF_POWER_0DBM, + NRF_POWER_OFF +} NRF_POWER; + +typedef enum +{ + NRF_AW_3 = 0, + NRF_AW_4, + NRF_AW_5 +} NRF_AW; + +typedef enum +{ + NRF_CRC_DISABLED = 0, + NRF_CRC_1B, + NRF_CRC_2B +} NRF_CRC; + +typedef enum +{ + NRF_RETR_DELAY_250US = 0, + NRF_RETR_DELAY_500US, + NRF_RETR_DELAY_750US, + NRF_RETR_DELAY_1000US, + NRF_RETR_DELAY_1250US, + NRF_RETR_DELAY_1500US, + NRF_RETR_DELAY_1750US, + NRF_RETR_DELAY_2000US, + NRF_RETR_DELAY_2250US, + NRF_RETR_DELAY_2500US, + NRF_RETR_DELAY_2750US, + NRF_RETR_DELAY_3000US, + NRF_RETR_DELAY_3250US, + NRF_RETR_DELAY_3500US, + NRF_RETR_DELAY_3750US, + NRF_RETR_DELAY_4000US +} NRF_RETR_DELAY; + +typedef struct +{ + NRF_SPEED speed; + NRF_POWER power; + NRF_CRC crc_type; + NRF_RETR_DELAY retry_delay; + unsigned char retries; + unsigned char channel; + unsigned char address[3]; + bool send_crc_ack; +} nrf_config; + +typedef struct +{ + float kp; + float ki; + float kd; + uint16_t hertz; + float pitch_fault; + float roll_fault; + float adc1; + float adc2; + float overspeed_duty; + float tiltback_duty; + float tiltback_angle; + float tiltback_speed; + float tiltback_high_voltage; + float tiltback_low_voltage; + float startup_pitch_tolerance; + float startup_roll_tolerance; + float startup_speed; + float deadzone; + float current_boost; + bool multi_esc; + float yaw_kp; + float yaw_ki; + float yaw_kd; + float roll_steer_kp; + float brake_current; + uint16_t overspeed_delay; + uint16_t fault_delay; + float tiltback_constant; + float roll_steer_erpm_kp; + float yaw_current_clamp; + uint16_t adc_half_fault_erpm; + float setpoint_pitch_filter; + float setpoint_target_filter; + float setpoint_clamp; +} balance_config; + +// CAN status modes +typedef enum +{ + CAN_STATUS_DISABLED = 0, + CAN_STATUS_1, + CAN_STATUS_1_2, + CAN_STATUS_1_2_3, + CAN_STATUS_1_2_3_4, + CAN_STATUS_1_2_3_4_5 +} CAN_STATUS_MODE; + +typedef enum +{ + SHUTDOWN_MODE_ALWAYS_OFF = 0, + SHUTDOWN_MODE_ALWAYS_ON, + SHUTDOWN_MODE_TOGGLE_BUTTON_ONLY, + SHUTDOWN_MODE_OFF_AFTER_10S, + SHUTDOWN_MODE_OFF_AFTER_1M, + SHUTDOWN_MODE_OFF_AFTER_5M, + SHUTDOWN_MODE_OFF_AFTER_10M, + SHUTDOWN_MODE_OFF_AFTER_30M, + SHUTDOWN_MODE_OFF_AFTER_1H, + SHUTDOWN_MODE_OFF_AFTER_5H, +} SHUTDOWN_MODE; + +typedef enum +{ + IMU_TYPE_OFF = 0, + IMU_TYPE_INTERNAL, + IMU_TYPE_EXTERNAL_MPU9X50, + IMU_TYPE_EXTERNAL_ICM20948, + IMU_TYPE_EXTERNAL_BMI160 +} IMU_TYPE; + +typedef enum +{ + AHRS_MODE_MADGWICK = 0, + AHRS_MODE_MAHONY +} AHRS_MODE; + +typedef struct +{ + IMU_TYPE type; + AHRS_MODE mode; + int sample_rate_hz; + float accel_confidence_decay; + float mahony_kp; + float mahony_ki; + float madgwick_beta; + float rot_roll; + float rot_pitch; + float rot_yaw; + float accel_offsets[3]; + float gyro_offsets[3]; + float gyro_offset_comp_fact[3]; + float gyro_offset_comp_clamp; +} imu_config; + +typedef enum +{ + CAN_MODE_VESC = 0, + CAN_MODE_UAVCAN, + CAN_MODE_COMM_BRIDGE +} CAN_MODE; + +typedef struct +{ + // Settings + uint8_t controller_id; + uint32_t timeout_msec; + float timeout_brake_current; + CAN_STATUS_MODE send_can_status; + uint32_t send_can_status_rate_hz; + CAN_BAUD can_baud_rate; + bool pairing_done; + bool permanent_uart_enabled; + SHUTDOWN_MODE shutdown_mode; + + // CAN modes + CAN_MODE can_mode; + uint8_t uavcan_esc_index; + + // Application to use + app_use app_to_use; + + // PPM application settings + ppm_config app_ppm_conf; + + // ADC application settings + adc_config app_adc_conf; + + // UART application settings + uint32_t app_uart_baudrate; + + // Nunchuk application settings + chuk_config app_chuk_conf; + + // NRF application settings + nrf_config app_nrf_conf; + + // Balance application settings + balance_config app_balance_conf; + + // IMU Settings + imu_config imu_conf; +} app_configuration; + +// Communication commands +typedef enum +{ + COMM_FW_VERSION = 0, + COMM_JUMP_TO_BOOTLOADER, + COMM_ERASE_NEW_APP, + COMM_WRITE_NEW_APP_DATA, + COMM_GET_VALUES, + COMM_SET_DUTY, + COMM_SET_CURRENT, + COMM_SET_CURRENT_BRAKE, + COMM_SET_RPM, + COMM_SET_POS, + COMM_SET_HANDBRAKE, + COMM_SET_DETECT, + COMM_SET_SERVO_POS, + COMM_SET_MCCONF, + COMM_GET_MCCONF, + COMM_GET_MCCONF_DEFAULT, + COMM_SET_APPCONF, + COMM_GET_APPCONF, + COMM_GET_APPCONF_DEFAULT, + COMM_SAMPLE_PRINT, + COMM_TERMINAL_CMD, + COMM_PRINT, + COMM_ROTOR_POSITION, + COMM_EXPERIMENT_SAMPLE, + COMM_DETECT_MOTOR_PARAM, + COMM_DETECT_MOTOR_R_L, + COMM_DETECT_MOTOR_FLUX_LINKAGE, + COMM_DETECT_ENCODER, + COMM_DETECT_HALL_FOC, + COMM_REBOOT, + COMM_ALIVE, + COMM_GET_DECODED_PPM, + COMM_GET_DECODED_ADC, + COMM_GET_DECODED_CHUK, + COMM_FORWARD_CAN, + COMM_SET_CHUCK_DATA, + COMM_CUSTOM_APP_DATA, + COMM_NRF_START_PAIRING, + COMM_GPD_SET_FSW, + COMM_GPD_BUFFER_NOTIFY, + COMM_GPD_BUFFER_SIZE_LEFT, + COMM_GPD_FILL_BUFFER, + COMM_GPD_OUTPUT_SAMPLE, + COMM_GPD_SET_MODE, + COMM_GPD_FILL_BUFFER_INT8, + COMM_GPD_FILL_BUFFER_INT16, + COMM_GPD_SET_BUFFER_INT_SCALE, + COMM_GET_VALUES_SETUP, + COMM_SET_MCCONF_TEMP, + COMM_SET_MCCONF_TEMP_SETUP, + COMM_GET_VALUES_SELECTIVE, + COMM_GET_VALUES_SETUP_SELECTIVE, + COMM_EXT_NRF_PRESENT, + COMM_EXT_NRF_ESB_SET_CH_ADDR, + COMM_EXT_NRF_ESB_SEND_DATA, + COMM_EXT_NRF_ESB_RX_DATA, + COMM_EXT_NRF_SET_ENABLED, + COMM_DETECT_MOTOR_FLUX_LINKAGE_OPENLOOP, + COMM_DETECT_APPLY_ALL_FOC, + COMM_JUMP_TO_BOOTLOADER_ALL_CAN, + COMM_ERASE_NEW_APP_ALL_CAN, + COMM_WRITE_NEW_APP_DATA_ALL_CAN, + COMM_PING_CAN, + COMM_APP_DISABLE_OUTPUT, + COMM_TERMINAL_CMD_SYNC, + COMM_GET_IMU_DATA, + COMM_BM_CONNECT, + COMM_BM_ERASE_FLASH_ALL, + COMM_BM_WRITE_FLASH, + COMM_BM_REBOOT, + COMM_BM_DISCONNECT, + COMM_BM_MAP_PINS_DEFAULT, + COMM_BM_MAP_PINS_NRF5X, + COMM_ERASE_BOOTLOADER, + COMM_ERASE_BOOTLOADER_ALL_CAN, + COMM_PLOT_INIT, + COMM_PLOT_DATA, + COMM_PLOT_ADD_GRAPH, + COMM_PLOT_SET_GRAPH, + COMM_GET_DECODED_BALANCE, + COMM_BM_MEM_READ, + COMM_WRITE_NEW_APP_DATA_LZO, + COMM_WRITE_NEW_APP_DATA_ALL_CAN_LZO, + COMM_BM_WRITE_FLASH_LZO, + COMM_SET_CURRENT_REL, + COMM_CAN_FWD_FRAME, + COMM_SET_BATTERY_CUT, + COMM_SET_BLE_NAME, + COMM_SET_BLE_PIN, + COMM_SET_CAN_MODE, + COMM_GET_IMU_CALIBRATION +} COMM_PACKET_ID; + +// CAN commands +typedef enum +{ + CAN_PACKET_SET_DUTY = 0, + CAN_PACKET_SET_CURRENT, + CAN_PACKET_SET_CURRENT_BRAKE, + CAN_PACKET_SET_RPM, + CAN_PACKET_SET_POS, + CAN_PACKET_FILL_RX_BUFFER, + CAN_PACKET_FILL_RX_BUFFER_LONG, + CAN_PACKET_PROCESS_RX_BUFFER, + CAN_PACKET_PROCESS_SHORT_BUFFER, + CAN_PACKET_STATUS, + CAN_PACKET_SET_CURRENT_REL, + CAN_PACKET_SET_CURRENT_BRAKE_REL, + CAN_PACKET_SET_CURRENT_HANDBRAKE, + CAN_PACKET_SET_CURRENT_HANDBRAKE_REL, + CAN_PACKET_STATUS_2, + CAN_PACKET_STATUS_3, + CAN_PACKET_STATUS_4, + CAN_PACKET_PING, + CAN_PACKET_PONG, + CAN_PACKET_DETECT_APPLY_ALL_FOC, + CAN_PACKET_DETECT_APPLY_ALL_FOC_RES, + CAN_PACKET_CONF_CURRENT_LIMITS, + CAN_PACKET_CONF_STORE_CURRENT_LIMITS, + CAN_PACKET_CONF_CURRENT_LIMITS_IN, + CAN_PACKET_CONF_STORE_CURRENT_LIMITS_IN, + CAN_PACKET_CONF_FOC_ERPMS, + CAN_PACKET_CONF_STORE_FOC_ERPMS, + CAN_PACKET_STATUS_5, + CAN_PACKET_POLL_TS5700N8501_STATUS, + CAN_PACKET_CONF_BATTERY_CUT, + CAN_PACKET_CONF_STORE_BATTERY_CUT, + CAN_PACKET_SHUTDOWN +} CAN_PACKET_ID; + +// Logged fault data +typedef struct +{ + uint8_t motor; + mc_fault_code fault; + float current; + float current_filtered; + float voltage; + float gate_driver_voltage; + float duty; + float rpm; + int tacho; + int cycles_running; + int tim_val_samp; + int tim_current_samp; + int tim_top; + int comm_step; + float temperature; + int drv8301_faults; +} fault_data; + +// External LED state +typedef enum +{ + LED_EXT_OFF = 0, + LED_EXT_NORMAL, + LED_EXT_BRAKE, + LED_EXT_TURN_LEFT, + LED_EXT_TURN_RIGHT, + LED_EXT_BRAKE_TURN_LEFT, + LED_EXT_BRAKE_TURN_RIGHT, + LED_EXT_BATT +} LED_EXT_STATE; + +typedef struct +{ + int js_x; + int js_y; + int acc_x; + int acc_y; + int acc_z; + bool bt_c; + bool bt_z; + bool rev_has_state; + bool is_rev; +} chuck_data; + +typedef struct +{ + int id; + systime_t rx_time; + float rpm; + float current; + float duty; +} can_status_msg; + +typedef struct +{ + int id; + systime_t rx_time; + float amp_hours; + float amp_hours_charged; +} can_status_msg_2; + +typedef struct +{ + int id; + systime_t rx_time; + float watt_hours; + float watt_hours_charged; +} can_status_msg_3; + +typedef struct +{ + int id; + systime_t rx_time; + float temp_fet; + float temp_motor; + float current_in; + float pid_pos_now; +} can_status_msg_4; + +typedef struct +{ + int id; + systime_t rx_time; + float v_in; + int32_t tacho_value; +} can_status_msg_5; + +typedef struct +{ + uint8_t js_x; + uint8_t js_y; + bool bt_c; + bool bt_z; + bool bt_push; + bool rev_has_state; + bool is_rev; + float vbat; +} mote_state; + +typedef enum +{ + MOTE_PACKET_BATT_LEVEL = 0, + MOTE_PACKET_BUTTONS, + MOTE_PACKET_ALIVE, + MOTE_PACKET_FILL_RX_BUFFER, + MOTE_PACKET_FILL_RX_BUFFER_LONG, + MOTE_PACKET_PROCESS_RX_BUFFER, + MOTE_PACKET_PROCESS_SHORT_BUFFER, + MOTE_PACKET_PAIRING_INFO +} MOTE_PACKET; + +typedef struct +{ + float v_in; + float temp_mos; + float temp_mos_1; + float temp_mos_2; + float temp_mos_3; + float temp_motor; + float current_motor; + float current_in; + float id; + float iq; + float rpm; + float duty_now; + float amp_hours; + float amp_hours_charged; + float watt_hours; + float watt_hours_charged; + int tachometer; + int tachometer_abs; + float position; + mc_fault_code fault_code; + int vesc_id; + float vd; + float vq; +} mc_values; + +typedef enum +{ + NRF_PAIR_STARTED = 0, + NRF_PAIR_OK, + NRF_PAIR_FAIL +} NRF_PAIR_RES; + +// Orientation data +typedef struct +{ + float q0; + float q1; + float q2; + float q3; + float integralFBx; + float integralFBy; + float integralFBz; + float accMagP; + int initialUpdateDone; +} ATTITUDE_INFO; + +// Custom EEPROM variables +typedef union { + uint32_t as_u32; + int32_t as_i32; + float as_float; +} eeprom_var; + +#define EEPROM_VARS_HW 64 +#define EEPROM_VARS_CUSTOM 64 + +typedef struct +{ + float ah_tot; + float ah_charge_tot; + float wh_tot; + float wh_charge_tot; + float current_tot; + float current_in_tot; + uint8_t num_vescs; +} setup_values; +} // namespace vesc_driver +#endif // VESC_DRIVER__DATATYPES_HPP_ diff --git a/ROS 2 Packages/f1tenth/vesc/vesc_driver/include/vesc_driver/vesc_device_uuid_lookup.hpp b/ROS 2 Packages/f1tenth/vesc/vesc_driver/include/vesc_driver/vesc_device_uuid_lookup.hpp new file mode 100644 index 0000000..673a69f --- /dev/null +++ b/ROS 2 Packages/f1tenth/vesc/vesc_driver/include/vesc_driver/vesc_device_uuid_lookup.hpp @@ -0,0 +1,73 @@ +/* +# Copyright 2021 Andrea Scipone +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. +*/ + +#ifndef VESC_DRIVER__VESC_DEVICE_UUID_LOOKUP_HPP_ +#define VESC_DRIVER__VESC_DEVICE_UUID_LOOKUP_HPP_ + + +#include +#include + +#include "vesc_driver/datatypes.hpp" +#include "vesc_driver/vesc_interface.hpp" +#include "vesc_driver/vesc_packet.hpp" + +namespace vesc_driver +{ + +class VescDeviceLookup +{ +public: + explicit VescDeviceLookup(std::string device); + + const char * deviceUUID() const; + const char * version() const; + const char * hwname() const; + void close(); + bool isReady(); + +private: + std::string device_; + std::string uuid_; + std::string version_; + std::string hwname_; + std::string error_; + bool ready_; + +private: + // interface to the VESC + VescInterface vesc_; + void vescPacketCallback(const std::shared_ptr & packet); + void vescErrorCallback(const std::string & error); + + static std::string decode_uuid(const uint8_t * uuid) + { + char uuid_data[100] = ""; + std::string uuid_founded; + snprintf( + uuid_data, sizeof(uuid_data), + "%02x%02x%02x-%02x%02x%02x-%02x%02x%02x-%02x%02x%02x", + uuid[0], uuid[1], uuid[2], + uuid[3], uuid[4], uuid[5], + uuid[6], uuid[7], uuid[8], + uuid[9], uuid[10], uuid[11] + ); + return uuid_data; + } +}; +} // namespace vesc_driver + +#endif // VESC_DRIVER__VESC_DEVICE_UUID_LOOKUP_HPP_ diff --git a/ROS 2 Packages/f1tenth/vesc/vesc_driver/include/vesc_driver/vesc_driver.hpp b/ROS 2 Packages/f1tenth/vesc/vesc_driver/include/vesc_driver/vesc_driver.hpp new file mode 100644 index 0000000..ba59fc1 --- /dev/null +++ b/ROS 2 Packages/f1tenth/vesc/vesc_driver/include/vesc_driver/vesc_driver.hpp @@ -0,0 +1,132 @@ +// Copyright 2020 F1TENTH Foundation +// +// Redistribution and use in source and binary forms, with or without +// modification, are permitted provided that the following conditions are met: +// +// * Redistributions of source code must retain the above copyright +// notice, this list of conditions and the following disclaimer. +// +// * Redistributions in binary form must reproduce the above copyright +// notice, this list of conditions and the following disclaimer in the +// documentation and/or other materials provided with the distribution. +// +// * Neither the name of the {copyright_holder} nor the names of its +// contributors may be used to endorse or promote products derived from +// this software without specific prior written permission. +// +// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE +// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +// POSSIBILITY OF SUCH DAMAGE. + +// -*- mode:c++; fill-column: 100; -*- + +#ifndef VESC_DRIVER__VESC_DRIVER_HPP_ +#define VESC_DRIVER__VESC_DRIVER_HPP_ + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include "vesc_driver/vesc_interface.hpp" +#include "vesc_driver/vesc_packet.hpp" + +namespace vesc_driver +{ + +using std_msgs::msg::Float64; +using vesc_msgs::msg::VescState; +using vesc_msgs::msg::VescStateStamped; +using vesc_msgs::msg::VescImuStamped; +using sensor_msgs::msg::Imu; + +class VescDriver + : public rclcpp::Node +{ +public: + explicit VescDriver(const rclcpp::NodeOptions & options); + +private: + // interface to the VESC + VescInterface vesc_; + void vescPacketCallback(const std::shared_ptr & packet); + void vescErrorCallback(const std::string & error); + + // limits on VESC commands + struct CommandLimit + { + CommandLimit( + rclcpp::Node * node_ptr, + const std::string & str, + const std::experimental::optional & min_lower = std::experimental::optional(), + const std::experimental::optional & max_upper = + std::experimental::optional()); + double clip(double value); + rclcpp::Node * node_ptr; + rclcpp::Logger logger; + std::string name; + std::experimental::optional lower; + std::experimental::optional upper; + }; + + CommandLimit duty_cycle_limit_; + CommandLimit current_limit_; + CommandLimit brake_limit_; + CommandLimit speed_limit_; + CommandLimit position_limit_; + CommandLimit servo_limit_; + + // ROS services + rclcpp::Publisher::SharedPtr state_pub_; + rclcpp::Publisher::SharedPtr imu_pub_; + rclcpp::Publisher::SharedPtr imu_std_pub_; + + rclcpp::Publisher::SharedPtr servo_sensor_pub_; + rclcpp::SubscriptionBase::SharedPtr duty_cycle_sub_; + rclcpp::SubscriptionBase::SharedPtr current_sub_; + rclcpp::SubscriptionBase::SharedPtr brake_sub_; + rclcpp::SubscriptionBase::SharedPtr speed_sub_; + rclcpp::SubscriptionBase::SharedPtr position_sub_; + rclcpp::SubscriptionBase::SharedPtr servo_sub_; + rclcpp::TimerBase::SharedPtr timer_; + + // driver modes (possible states) + typedef enum + { + MODE_INITIALIZING, + MODE_OPERATING + } + driver_mode_t; + + // other variables + driver_mode_t driver_mode_; ///< driver state machine mode (state) + int fw_version_major_; ///< firmware major version reported by vesc + int fw_version_minor_; ///< firmware minor version reported by vesc + + // ROS callbacks + void brakeCallback(const Float64::SharedPtr brake); + void currentCallback(const Float64::SharedPtr current); + void dutyCycleCallback(const Float64::SharedPtr duty_cycle); + void positionCallback(const Float64::SharedPtr position); + void servoCallback(const Float64::SharedPtr servo); + void speedCallback(const Float64::SharedPtr speed); + void timerCallback(); +}; + +} // namespace vesc_driver + +#endif // VESC_DRIVER__VESC_DRIVER_HPP_ diff --git a/ROS 2 Packages/f1tenth/vesc/vesc_driver/include/vesc_driver/vesc_interface.hpp b/ROS 2 Packages/f1tenth/vesc/vesc_driver/include/vesc_driver/vesc_interface.hpp new file mode 100644 index 0000000..dcca50f --- /dev/null +++ b/ROS 2 Packages/f1tenth/vesc/vesc_driver/include/vesc_driver/vesc_interface.hpp @@ -0,0 +1,159 @@ +// Copyright 2020 F1TENTH Foundation +// +// Redistribution and use in source and binary forms, with or without +// modification, are permitted provided that the following conditions are met: +// +// * Redistributions of source code must retain the above copyright +// notice, this list of conditions and the following disclaimer. +// +// * Redistributions in binary form must reproduce the above copyright +// notice, this list of conditions and the following disclaimer in the +// documentation and/or other materials provided with the distribution. +// +// * Neither the name of the {copyright_holder} nor the names of its +// contributors may be used to endorse or promote products derived from +// this software without specific prior written permission. +// +// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE +// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +// POSSIBILITY OF SUCH DAMAGE. + +// -*- mode:c++; fill-column: 100; -*- + +#ifndef VESC_DRIVER__VESC_INTERFACE_HPP_ +#define VESC_DRIVER__VESC_INTERFACE_HPP_ + +#include "vesc_driver/vesc_packet.hpp" + +#include +#include +#include +#include +#include +#include + +namespace vesc_driver +{ + +/** + * Class providing an interface to the Vedder VESC motor controller via a serial port interface. + */ +class VescInterface +{ +public: + typedef std::function PacketHandlerFunction; + typedef std::function ErrorHandlerFunction; + + /** + * Creates a VescInterface object. Opens the serial port interface to the VESC if @p port is not + * empty, otherwise the serial port remains closed until connect() is called. + * + * @param port Address of the serial port, e.g. '/dev/ttyUSB0'. + * @param packet_handler Function this class calls when a VESC packet is received. + * @param error_handler Function this class calls when an error is detected, such as a bad + * checksum. + * + * @throw SerialException + */ + VescInterface( + const std::string & port = std::string(), + const PacketHandlerFunction & packet_handler = PacketHandlerFunction(), + const ErrorHandlerFunction & error_handler = ErrorHandlerFunction()); + + /** + * Delete copy constructor and equals operator. + */ + VescInterface(const VescInterface &) = delete; + VescInterface & operator=(const VescInterface &) = delete; + + /** + * VescInterface destructor. + */ + ~VescInterface(); + + /** + * Sets / updates the function that this class calls when a VESC packet is received. + */ + void setPacketHandler(const PacketHandlerFunction & handler); + + /** + * Sets / updates the function that this class calls when an error is detected, such as a bad + * checksum. + */ + void setErrorHandler(const ErrorHandlerFunction & handler); + + /** + * Opens the serial port interface to the VESC. + * + * @throw SerialException + */ + void connect(const std::string & port); + + /** + * Closes the serial port interface to the VESC. + */ + void disconnect(); + + /** + * Gets the status of the serial interface to the VESC. + * + * @return Returns true if the serial port is open, false otherwise. + */ + bool isConnected() const; + + /** + * Send a VESC packet. + */ + void send(const VescPacket & packet); + + void requestFWVersion(); + void requestState(); + void requestImuData(); + + void setDutyCycle(double duty_cycle); + void setCurrent(double current); + void setBrake(double brake); + void setSpeed(double speed); + void setPosition(double position); + void setServo(double servo); + +private: + // Pimpl - hide serial port members from class users + class Impl; + std::unique_ptr impl_; +}; + +// todo: review +class SerialException : public std::exception +{ + // Disable copy constructors + SerialException & operator=(const SerialException &); + std::string e_what_; + +public: + explicit SerialException(const char * description) + { + std::stringstream ss; + ss << "SerialException " << description << " failed."; + e_what_ = ss.str(); + } + SerialException(const SerialException & other) + : e_what_(other.e_what_) {} + virtual ~SerialException() throw() {} + virtual const char * what() const throw() + { + return e_what_.c_str(); + } +}; + +} // namespace vesc_driver + +#endif // VESC_DRIVER__VESC_INTERFACE_HPP_ diff --git a/ROS 2 Packages/f1tenth/vesc/vesc_driver/include/vesc_driver/vesc_packet.hpp b/ROS 2 Packages/f1tenth/vesc/vesc_driver/include/vesc_driver/vesc_packet.hpp new file mode 100644 index 0000000..950ad91 --- /dev/null +++ b/ROS 2 Packages/f1tenth/vesc/vesc_driver/include/vesc_driver/vesc_packet.hpp @@ -0,0 +1,307 @@ +// Copyright 2020 F1TENTH Foundation +// +// Redistribution and use in source and binary forms, with or without +// modification, are permitted provided that the following conditions are met: +// +// * Redistributions of source code must retain the above copyright +// notice, this list of conditions and the following disclaimer. +// +// * Redistributions in binary form must reproduce the above copyright +// notice, this list of conditions and the following disclaimer in the +// documentation and/or other materials provided with the distribution. +// +// * Neither the name of the {copyright_holder} nor the names of its +// contributors may be used to endorse or promote products derived from +// this software without specific prior written permission. +// +// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE +// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +// POSSIBILITY OF SUCH DAMAGE. + +// -*- mode:c++; fill-column: 100; -*- + +#ifndef VESC_DRIVER__VESC_PACKET_HPP_ +#define VESC_DRIVER__VESC_PACKET_HPP_ + +#include +#include +#include +#include +#include + +#define CRCPP_USE_CPP11 +#include "vesc_driver/crc.hpp" + +namespace vesc_driver +{ + +typedef std::vector Buffer; +typedef std::pair BufferRange; +typedef std::pair BufferRangeConst; + +/** The raw frame for communicating with the VESC */ +class VescFrame +{ +public: + virtual ~VescFrame() {} + + // getters + virtual const Buffer & frame() const + { + return *frame_; + } + + // VESC packet properties + static const int VESC_MAX_PAYLOAD_SIZE = 1024; ///< Maximum VESC payload size, in bytes + static const int VESC_MIN_FRAME_SIZE = 5; ///< Smallest VESC frame size, in bytes + // v Largest VESC frame size, in bytes + static const int VESC_MAX_FRAME_SIZE = 6 + VESC_MAX_PAYLOAD_SIZE; + static const unsigned int VESC_SOF_VAL_SMALL_FRAME = 2; ///< VESC start of "small" frame value + static const unsigned int VESC_SOF_VAL_LARGE_FRAME = 3; ///< VESC start of "large" frame value + static const unsigned int VESC_EOF_VAL = 3; ///< VESC end-of-frame value + + /** CRC parameters for the VESC */ + static constexpr CRC::Parameters CRC_TYPE = {0x1021, 0x0000, 0x0000, false, false}; + +protected: + /** Construct frame with specified payload size. */ + explicit VescFrame(int payload_size); + + std::shared_ptr frame_; ///< Stores frame data, shared_ptr for shallow copy + BufferRange payload_; ///< View into frame's payload section + +private: + /** Construct from buffer. Used by VescPacketFactory factory. */ + VescFrame(const BufferRangeConst & frame, const BufferRangeConst & payload); + + /** Give VescPacketFactory access to private constructor. */ + friend class VescPacketFactory; +}; + +/*------------------------------------------------------------------------------------------------*/ + +/** A VescPacket is a VescFrame with a non-zero length payload */ +class VescPacket : public VescFrame +{ +public: + virtual ~VescPacket() {} + + virtual const std::string & name() const + { + return name_; + } + +protected: + VescPacket(const std::string & name, int payload_size, int payload_id); + VescPacket(const std::string & name, std::shared_ptr raw); + +private: + std::string name_; +}; + +typedef std::shared_ptr VescPacketPtr; +typedef std::shared_ptr VescPacketConstPtr; + +/*------------------------------------------------------------------------------------------------*/ + +class VescPacketFWVersion : public VescPacket +{ +public: + explicit VescPacketFWVersion(std::shared_ptr raw); + + int fwMajor() const; + int fwMinor() const; + + std::string hwname() const; + const uint8_t * uuid() const; + bool paired() const; + uint8_t devVersion() const; + +private: + int minor_; + int major_; + std::string hwname_; + bool paired_; + uint8_t uuid_[12]; + uint8_t devVersion_; +}; + +class VescPacketRequestFWVersion : public VescPacket +{ +public: + VescPacketRequestFWVersion(); +}; + +/*------------------------------------------------------------------------------------------------*/ + +class VescPacketValues : public VescPacket +{ +public: + explicit VescPacketValues(std::shared_ptr raw); + + double temp_fet() const; + double temp_motor() const; + double avg_motor_current() const; + double avg_input_current() const; + double avg_id() const; + double avg_iq() const; + double duty_cycle_now() const; + double rpm() const; + double duty_now() const; + double v_in() const; + double amp_hours() const; + double amp_hours_charged() const; + double watt_hours() const; + double watt_hours_charged() const; + int32_t tachometer() const; + int32_t tachometer_abs() const; + int fault_code() const; + double pid_pos_now() const; + int32_t controller_id() const; + + double temp_mos1() const; + double temp_mos2() const; + double temp_mos3() const; + double avg_vd() const; + double avg_vq() const; +}; + +class VescPacketRequestValues : public VescPacket +{ +public: + VescPacketRequestValues(); +}; +/*------------------------------------------------------------------------------------------------*/ + +class VescPacketSetDuty : public VescPacket +{ +public: + explicit VescPacketSetDuty(double duty); + + // double duty() const; +}; + +/*------------------------------------------------------------------------------------------------*/ + +class VescPacketSetCurrent : public VescPacket +{ +public: + explicit VescPacketSetCurrent(double current); + + // double current() const; +}; + +/*------------------------------------------------------------------------------------------------*/ + +class VescPacketSetCurrentBrake : public VescPacket +{ +public: + explicit VescPacketSetCurrentBrake(double current_brake); + + // double current_brake() const; +}; + +/*------------------------------------------------------------------------------------------------*/ + +class VescPacketSetRPM : public VescPacket +{ +public: + explicit VescPacketSetRPM(double rpm); + + // double rpm() const; +}; + +/*------------------------------------------------------------------------------------------------*/ + +class VescPacketSetPos : public VescPacket +{ +public: + explicit VescPacketSetPos(double pos); + + // double pos() const; +}; + +/*------------------------------------------------------------------------------------------------*/ + +class VescPacketSetServoPos : public VescPacket +{ +public: + explicit VescPacketSetServoPos(double servo_pos); + + // double servo_pos() const; +}; + +/*------------------------------------------------------------------------------------------------*/ +class VescPacketRequestImu : public VescPacket +{ +public: + VescPacketRequestImu(); +}; + +class VescPacketImu : public VescPacket +{ +public: + explicit VescPacketImu(std::shared_ptr raw); + + int mask() const; + + double yaw() const; + double pitch() const; + double roll() const; + + double acc_x() const; + double acc_y() const; + double acc_z() const; + + double gyr_x() const; + double gyr_y() const; + double gyr_z() const; + + double mag_x() const; + double mag_y() const; + double mag_z() const; + + double q_w() const; + double q_x() const; + double q_y() const; + double q_z() const; + +private: + double getFloat32Auto(uint32_t * pos) const; + + uint32_t mask_; + double roll_; + double pitch_; + double yaw_; + + double acc_x_; + double acc_y_; + double acc_z_; + + double gyr_x_; + double gyr_y_; + double gyr_z_; + + double mag_x_; + double mag_y_; + double mag_z_; + + double q0_; + double q1_; + double q2_; + double q3_; +}; + +/*------------------------------------------------------------------------------------------------*/ +} // namespace vesc_driver + +#endif // VESC_DRIVER__VESC_PACKET_HPP_ diff --git a/ROS 2 Packages/f1tenth/vesc/vesc_driver/include/vesc_driver/vesc_packet_factory.hpp b/ROS 2 Packages/f1tenth/vesc/vesc_driver/include/vesc_driver/vesc_packet_factory.hpp new file mode 100644 index 0000000..0322d81 --- /dev/null +++ b/ROS 2 Packages/f1tenth/vesc/vesc_driver/include/vesc_driver/vesc_packet_factory.hpp @@ -0,0 +1,118 @@ +// Copyright 2020 F1TENTH Foundation +// +// Redistribution and use in source and binary forms, with or without +// modification, are permitted provided that the following conditions are met: +// +// * Redistributions of source code must retain the above copyright +// notice, this list of conditions and the following disclaimer. +// +// * Redistributions in binary form must reproduce the above copyright +// notice, this list of conditions and the following disclaimer in the +// documentation and/or other materials provided with the distribution. +// +// * Neither the name of the {copyright_holder} nor the names of its +// contributors may be used to endorse or promote products derived from +// this software without specific prior written permission. +// +// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE +// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +// POSSIBILITY OF SUCH DAMAGE. + +// -*- mode:c++; fill-column: 100; -*- + +#ifndef VESC_DRIVER__VESC_PACKET_FACTORY_HPP_ +#define VESC_DRIVER__VESC_PACKET_FACTORY_HPP_ + +#include "vesc_driver/vesc_packet.hpp" + +#include +#include +#include +#include +#include +#include + +namespace vesc_driver +{ + +/** + * Class for creating VESC packets from raw data. + */ +class VescPacketFactory +{ +public: + /** Return the global factory object */ + static VescPacketFactory * getFactory(); + + /** + * Create a VescPacket from a buffer (factory function). Packet must start (start of frame + * character) at @p begin and complete (end of frame character) before *p end. The buffer element + * at @p end is not examined, i.e. it can be the past-the-end element. Only returns a packet if + * the packet is valid, i.e. valid size, matching checksum, complete etc. An empty pointer is + * returned if a packet cannot be found or if it is invalid. If a valid packet is not found, + * optional output parameter @what is set to a string providing a reason why a packet was not + * found. If a packet was not found because additional bytes are needed on the buffer, optional + * output parameter @p num_bytes_needed will contain the number of bytes needed to either + * determine the size of the packet or complete the packet. Output parameters @p num_bytes_needed + * and @p what will be set to 0 and empty if a valid packet is found. + * + * @param begin[in] Iterator to a buffer at the start-of-frame character + * @param end[in] Iterator to the buffer past-the-end element. + * @param num_bytes_needed[out] Number of bytes needed to determine the packet size or complete + * the frame. + * @param what[out] Human readable string giving a reason why the packet was not found. + * + * @return Pointer to a valid VescPacket if successful. Otherwise, an empty pointer. + */ + static VescPacketPtr createPacket( + const Buffer::const_iterator & begin, + const Buffer::const_iterator & end, + int * num_bytes_needed, std::string * what); + + typedef std::function)> CreateFn; + + /** Register a packet type with the factory. */ + static void registerPacketType(int payload_id, CreateFn fn); + + /** + * Delete copy constructor and equals operator. + */ + VescPacketFactory(const VescPacketFactory &) = delete; + VescPacketFactory & operator=(const VescPacketFactory &) = delete; + +private: + VescPacketFactory(); + typedef std::map FactoryMap; + static FactoryMap * getMap(); +}; + +template +class PacketFactoryTemplate +{ +public: + explicit PacketFactoryTemplate(int payload_id) + { + VescPacketFactory::registerPacketType(payload_id, &PacketFactoryTemplate::create); + } + + static VescPacketPtr create(std::shared_ptr frame) + { + return VescPacketPtr(new PACKETTYPE(frame)); + } +}; + +/** Use this macro to register packets */ +#define REGISTER_PACKET_TYPE(id, klass) \ + static PacketFactoryTemplate global_ ## klass ## Factory((id)); + +} // namespace vesc_driver + +#endif // VESC_DRIVER__VESC_PACKET_FACTORY_HPP_ diff --git a/ROS 2 Packages/f1tenth/vesc/vesc_driver/launch/vesc_driver_node.launch.py b/ROS 2 Packages/f1tenth/vesc/vesc_driver/launch/vesc_driver_node.launch.py new file mode 100644 index 0000000..b9777e7 --- /dev/null +++ b/ROS 2 Packages/f1tenth/vesc/vesc_driver/launch/vesc_driver_node.launch.py @@ -0,0 +1,58 @@ +# Copyright 2020 F1TENTH Foundation +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions are met: +# +# * Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# +# * Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in the +# documentation and/or other materials provided with the distribution. +# +# * Neither the name of the {copyright_holder} nor the names of its +# contributors may be used to endorse or promote products derived from +# this software without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE +# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. + +import os + +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument +from launch.substitutions import LaunchConfiguration +from launch_ros.actions import Node + + +def generate_launch_description(): + + vesc_config = os.path.join( + get_package_share_directory('vesc_driver'), + 'params', + 'vesc_config.yaml' + ) + return LaunchDescription([ + DeclareLaunchArgument( + name="config", + default_value=vesc_config, + description="VESC yaml configuration file.", + ), + Node( + package='vesc_driver', + executable='vesc_driver_node', + name='vesc_driver_node', + parameters=[LaunchConfiguration("config")] + ), + + ]) diff --git a/ROS 2 Packages/f1tenth/vesc/vesc_driver/package.xml b/ROS 2 Packages/f1tenth/vesc/vesc_driver/package.xml new file mode 100644 index 0000000..c40e286 --- /dev/null +++ b/ROS 2 Packages/f1tenth/vesc/vesc_driver/package.xml @@ -0,0 +1,35 @@ + + + + vesc_driver + 1.1.0 + + ROS device driver for the Vedder VESC open source motor driver. + + Johannes Betz + BSD + http://www.ros.org/wiki/vesc_driver + https://github.com/f1tenth/vesc + https://github.com/f1tenth/vesc/issues + Michael T. Boulet + Joshua Whitley + Haoru Xue + + ament_cmake_auto + + rclcpp + rclcpp_components + std_msgs + geometry_msgs + vesc_msgs + serial_driver + sensor_msgs + + + ament_lint_auto + ament_lint_common + + + ament_cmake + + diff --git a/ROS 2 Packages/f1tenth/vesc/vesc_driver/params/vesc_config.yaml b/ROS 2 Packages/f1tenth/vesc/vesc_driver/params/vesc_config.yaml new file mode 100644 index 0000000..98d2a32 --- /dev/null +++ b/ROS 2 Packages/f1tenth/vesc/vesc_driver/params/vesc_config.yaml @@ -0,0 +1,15 @@ +/**: + ros__parameters: + port: "/dev/ttyACM0" + brake_max: 200000.0 + brake_min: -20000.0 + current_max: 100.0 + current_min: 0.0 + duty_cycle_max: 0.0 + duty_cycle_min: 0.0 + position_max: 0.0 + position_min: 0.0 + servo_max: 0.85 + servo_min: 0.15 + speed_max: 23250.0 + speed_min: -23250.0 diff --git a/ROS 2 Packages/f1tenth/vesc/vesc_driver/scripts/99-vesc6.rules b/ROS 2 Packages/f1tenth/vesc/vesc_driver/scripts/99-vesc6.rules new file mode 100644 index 0000000..839c7d2 --- /dev/null +++ b/ROS 2 Packages/f1tenth/vesc/vesc_driver/scripts/99-vesc6.rules @@ -0,0 +1,9 @@ +# Device vesc6 udev definition +# idVendor 0x0403 +# idProduct 0x5740 + + +# Alias the Sparkfun 9DoF as imu, and the electronic speed controller as VESC +#ACTION=="add", SUBSYSTEM=="tty", ATTRS{idVendor}=="1b4f", ATTRS{idProduct}=="9d0f", SYMLINK+="imu" , GROUP="dialout" +#ACTION=="add", SUBSYSTEM=="tty", ATTRS{idVendor}=="0483", ATTRS{idProduct}=="5740", SYMLINK+="vesc%n", GROUP="dialout" +ACTION=="add", SUBSYSTEM=="tty", ATTRS{idVendor}=="0483", ATTRS{idProduct}=="5740",PROGRAM="/bin/vesc_device_lookup %k", SYMLINK+="vesc/%c", GROUP="dialout" \ No newline at end of file diff --git a/ROS 2 Packages/f1tenth/vesc/vesc_driver/scripts/vesc_device_lookup b/ROS 2 Packages/f1tenth/vesc/vesc_driver/scripts/vesc_device_lookup new file mode 100644 index 0000000..59da038 --- /dev/null +++ b/ROS 2 Packages/f1tenth/vesc/vesc_driver/scripts/vesc_device_lookup @@ -0,0 +1,5 @@ +dme#!/bin/bash + +export LD_LIBRARY_PATH=/opt/ros/foxy/lib + +vesc_device_namer $1 1000 diff --git a/ROS 2 Packages/f1tenth/vesc/vesc_driver/src/vesc_device_namer.cpp b/ROS 2 Packages/f1tenth/vesc/vesc_driver/src/vesc_device_namer.cpp new file mode 100644 index 0000000..9957731 --- /dev/null +++ b/ROS 2 Packages/f1tenth/vesc/vesc_driver/src/vesc_device_namer.cpp @@ -0,0 +1,45 @@ +/* +# Copyright 2021 Andrea Scipone +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. +*/ + +#include +#include +#include +#include +#include + +int main(int argc, char ** argv) +{ + std::string devicePort = (argc > 1 ? argv[1] : "ttyACM0"); + std::string maxRetry_ = (argc > 2 ? argv[2] : "50"); + std::string VESC_UUID_ENV = "VESC_UUID_ENV="; + + vesc_driver::VescDeviceLookup lookup("/dev/" + devicePort); + int maxRetry = stoi(maxRetry_); + for (int i = 0; i < maxRetry; i++) { + usleep(20); + if (lookup.isReady()) {break;} + } + + if (lookup.isReady()) { + VESC_UUID_ENV += lookup.deviceUUID(); + + std::cout << lookup.deviceUUID() << std::endl; + setenv("VESC_UUID_ENV", lookup.deviceUUID(), true); + return 0; + } else { + return -1; + } +} diff --git a/ROS 2 Packages/f1tenth/vesc/vesc_driver/src/vesc_device_uuid_lookup.cpp b/ROS 2 Packages/f1tenth/vesc/vesc_driver/src/vesc_device_uuid_lookup.cpp new file mode 100644 index 0000000..11d3e45 --- /dev/null +++ b/ROS 2 Packages/f1tenth/vesc/vesc_driver/src/vesc_device_uuid_lookup.cpp @@ -0,0 +1,96 @@ +/* +# Copyright 2021 Andrea Scipone +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. +*/ +#include +#include +#include +#include +#include +#include +#include + +#include "vesc_driver/vesc_device_uuid_lookup.hpp" + + +namespace vesc_driver +{ +using std::placeholders::_1; + +VescDeviceLookup::VescDeviceLookup(std::string name) +: vesc_( + std::string(), + std::bind(&VescDeviceLookup::vescPacketCallback, this, _1), + std::bind(&VescDeviceLookup::vescErrorCallback, this, _1) +), + ready_(false), + device_(name) +{ + try { + vesc_.connect(device_); + vesc_.requestFWVersion(); + } catch (SerialException e) { + std::cerr << "VESC error on port " << device_ << std::endl << e.what() << std::endl; + return; + } +} + +void VescDeviceLookup::close() +{ + vesc_.disconnect(); +} + +void VescDeviceLookup::vescPacketCallback(const std::shared_ptr & packet) +{ + if (packet->name() == "FWVersion") { + std::shared_ptr fw_version = + std::dynamic_pointer_cast(packet); + + const uint8_t * uuid = fw_version->uuid(); + + hwname_ = fw_version->hwname(); + version_ = fw_version->fwMajor() + "." + fw_version->fwMinor(); + uuid_ += decode_uuid(uuid); + ready_ = true; + } +} + +void VescDeviceLookup::vescErrorCallback(const std::string & error) +{ + error_ = error; + ready_ = false; +} + +bool VescDeviceLookup::isReady() +{ + return ready_; +} + +const char * VescDeviceLookup::deviceUUID() const +{ + return uuid_.c_str(); +} + + +const char * VescDeviceLookup::version() const +{ + return version_.c_str(); +} + +const char * VescDeviceLookup::hwname() const +{ + return hwname_.c_str(); +} + +} // namespace vesc_driver diff --git a/ROS 2 Packages/f1tenth/vesc/vesc_driver/src/vesc_driver.cpp b/ROS 2 Packages/f1tenth/vesc/vesc_driver/src/vesc_driver.cpp new file mode 100644 index 0000000..5c8ef62 --- /dev/null +++ b/ROS 2 Packages/f1tenth/vesc/vesc_driver/src/vesc_driver.cpp @@ -0,0 +1,447 @@ +// Copyright 2020 F1TENTH Foundation +// +// Redistribution and use in source and binary forms, with or without +// modification, are permitted provided that the following conditions are met: +// +// * Redistributions of source code must retain the above copyright +// notice, this list of conditions and the following disclaimer. +// +// * Redistributions in binary form must reproduce the above copyright +// notice, this list of conditions and the following disclaimer in the +// documentation and/or other materials provided with the distribution. +// +// * Neither the name of the {copyright_holder} nor the names of its +// contributors may be used to endorse or promote products derived from +// this software without specific prior written permission. +// +// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE +// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +// POSSIBILITY OF SUCH DAMAGE. + +// -*- mode:c++; fill-column: 100; -*- + +#include "vesc_driver/vesc_driver.hpp" + +#include +#include + +#include +#include +#include +#include +#include +#include + +namespace vesc_driver +{ + +using namespace std::chrono_literals; +using std::placeholders::_1; +using std_msgs::msg::Float64; +using vesc_msgs::msg::VescStateStamped; +using sensor_msgs::msg::Imu; + +VescDriver::VescDriver(const rclcpp::NodeOptions & options) +: rclcpp::Node("vesc_driver", options), + vesc_( + std::string(), + std::bind(&VescDriver::vescPacketCallback, this, _1), + std::bind(&VescDriver::vescErrorCallback, this, _1)), + duty_cycle_limit_(this, "duty_cycle", -1.0, 1.0), + current_limit_(this, "current"), + brake_limit_(this, "brake"), + speed_limit_(this, "speed"), + position_limit_(this, "position"), + servo_limit_(this, "servo", 0.0, 1.0), + driver_mode_(MODE_INITIALIZING), + fw_version_major_(-1), + fw_version_minor_(-1) +{ + // get vesc serial port address + std::string port = declare_parameter("port", ""); + + // attempt to connect to the serial port + try { + vesc_.connect(port); + } catch (SerialException e) { + RCLCPP_FATAL(get_logger(), "Failed to connect to the VESC, %s.", e.what()); + rclcpp::shutdown(); + return; + } + + // create vesc state (telemetry) publisher + state_pub_ = create_publisher("sensors/core", rclcpp::QoS{10}); + imu_pub_ = create_publisher("sensors/imu", rclcpp::QoS{10}); + imu_std_pub_ = create_publisher("sensors/imu/raw", rclcpp::QoS{10}); + + // since vesc state does not include the servo position, publish the commanded + // servo position as a "sensor" + servo_sensor_pub_ = create_publisher( + "sensors/servo_position_command", rclcpp::QoS{10}); + + // subscribe to motor and servo command topics + duty_cycle_sub_ = create_subscription( + "commands/motor/duty_cycle", rclcpp::QoS{10}, std::bind( + &VescDriver::dutyCycleCallback, this, + _1)); + current_sub_ = create_subscription( + "commands/motor/current", rclcpp::QoS{10}, std::bind(&VescDriver::currentCallback, this, _1)); + brake_sub_ = create_subscription( + "commands/motor/brake", rclcpp::QoS{10}, std::bind(&VescDriver::brakeCallback, this, _1)); + speed_sub_ = create_subscription( + "commands/motor/speed", rclcpp::QoS{10}, std::bind(&VescDriver::speedCallback, this, _1)); + position_sub_ = create_subscription( + "commands/motor/position", rclcpp::QoS{10}, std::bind(&VescDriver::positionCallback, this, _1)); + servo_sub_ = create_subscription( + "commands/servo/position", rclcpp::QoS{10}, std::bind(&VescDriver::servoCallback, this, _1)); + + // create a 50Hz timer, used for state machine & polling VESC telemetry + timer_ = create_wall_timer(20ms, std::bind(&VescDriver::timerCallback, this)); +} + +/* TODO or TO-THINKABOUT LIST + - what should we do on startup? send brake or zero command? + - what to do if the vesc interface gives an error? + - check version number against know compatable? + - should we wait until we receive telemetry before sending commands? + - should we track the last motor command + - what to do if no motor command received recently? + - what to do if no servo command received recently? + - what is the motor safe off state (0 current?) + - what to do if a command parameter is out of range, ignore? + - try to predict vesc bounds (from vesc config) and command detect bounds errors +*/ + +void VescDriver::timerCallback() +{ + // VESC interface should not unexpectedly disconnect, but test for it anyway + if (!vesc_.isConnected()) { + RCLCPP_FATAL(get_logger(), "Unexpectedly disconnected from serial port."); + rclcpp::shutdown(); + return; + } + + /* + * Driver state machine, modes: + * INITIALIZING - request and wait for vesc version + * OPERATING - receiving commands from subscriber topics + */ + if (driver_mode_ == MODE_INITIALIZING) { + // request version number, return packet will update the internal version numbers + vesc_.requestFWVersion(); + if (fw_version_major_ >= 0 && fw_version_minor_ >= 0) { + RCLCPP_INFO( + get_logger(), "Connected to VESC with firmware version %d.%d", + fw_version_major_, fw_version_minor_); + driver_mode_ = MODE_OPERATING; + } + } else if (driver_mode_ == MODE_OPERATING) { + // poll for vesc state (telemetry) + vesc_.requestState(); + // poll for vesc imu + vesc_.requestImuData(); + } else { + // unknown mode, how did that happen? + assert(false && "unknown driver mode"); + } +} + +void VescDriver::vescPacketCallback(const std::shared_ptr & packet) +{ + if (packet->name() == "Values") { + std::shared_ptr values = + std::dynamic_pointer_cast(packet); + + auto state_msg = VescStateStamped(); + state_msg.header.stamp = now(); + + state_msg.state.voltage_input = values->v_in(); + state_msg.state.current_motor = values->avg_motor_current(); + state_msg.state.current_input = values->avg_input_current(); + state_msg.state.avg_id = values->avg_id(); + state_msg.state.avg_iq = values->avg_iq(); + state_msg.state.duty_cycle = values->duty_cycle_now(); + state_msg.state.speed = values->rpm(); + + state_msg.state.charge_drawn = values->amp_hours(); + state_msg.state.charge_regen = values->amp_hours_charged(); + state_msg.state.energy_drawn = values->watt_hours(); + state_msg.state.energy_regen = values->watt_hours_charged(); + state_msg.state.displacement = values->tachometer(); + state_msg.state.distance_traveled = values->tachometer_abs(); + state_msg.state.fault_code = values->fault_code(); + + state_msg.state.pid_pos_now = values->pid_pos_now(); + state_msg.state.controller_id = values->controller_id(); + + state_msg.state.ntc_temp_mos1 = values->temp_mos1(); + state_msg.state.ntc_temp_mos2 = values->temp_mos2(); + state_msg.state.ntc_temp_mos3 = values->temp_mos3(); + state_msg.state.avg_vd = values->avg_vd(); + state_msg.state.avg_vq = values->avg_vq(); + + state_pub_->publish(state_msg); + } else if (packet->name() == "FWVersion") { + std::shared_ptr fw_version = + std::dynamic_pointer_cast(packet); + // todo: might need lock here + fw_version_major_ = fw_version->fwMajor(); + fw_version_minor_ = fw_version->fwMinor(); + RCLCPP_INFO( + get_logger(), + "-=%s=- hardware paired %d", + fw_version->hwname().c_str(), + fw_version->paired() + ); + } else if (packet->name() == "ImuData") { + std::shared_ptr imuData = + std::dynamic_pointer_cast(packet); + + auto imu_msg = VescImuStamped(); + auto std_imu_msg = Imu(); + imu_msg.header.stamp = now(); + std_imu_msg.header.stamp = now(); + + imu_msg.imu.ypr.x = imuData->roll(); + imu_msg.imu.ypr.y = imuData->pitch(); + imu_msg.imu.ypr.z = imuData->yaw(); + + imu_msg.imu.linear_acceleration.x = imuData->acc_x(); + imu_msg.imu.linear_acceleration.y = imuData->acc_y(); + imu_msg.imu.linear_acceleration.z = imuData->acc_z(); + + imu_msg.imu.angular_velocity.x = imuData->gyr_x(); + imu_msg.imu.angular_velocity.y = imuData->gyr_y(); + imu_msg.imu.angular_velocity.z = imuData->gyr_z(); + + imu_msg.imu.compass.x = imuData->mag_x(); + imu_msg.imu.compass.y = imuData->mag_y(); + imu_msg.imu.compass.z = imuData->mag_z(); + + imu_msg.imu.orientation.w = imuData->q_w(); + imu_msg.imu.orientation.x = imuData->q_x(); + imu_msg.imu.orientation.y = imuData->q_y(); + imu_msg.imu.orientation.z = imuData->q_z(); + + std_imu_msg.linear_acceleration.x = imuData->acc_x(); + std_imu_msg.linear_acceleration.y = imuData->acc_y(); + std_imu_msg.linear_acceleration.z = imuData->acc_z(); + + std_imu_msg.angular_velocity.x = imuData->gyr_x(); + std_imu_msg.angular_velocity.y = imuData->gyr_y(); + std_imu_msg.angular_velocity.z = imuData->gyr_z(); + + std_imu_msg.orientation.w = imuData->q_w(); + std_imu_msg.orientation.x = imuData->q_x(); + std_imu_msg.orientation.y = imuData->q_y(); + std_imu_msg.orientation.z = imuData->q_z(); + + + imu_pub_->publish(imu_msg); + imu_std_pub_->publish(std_imu_msg); + } + auto & clk = *this->get_clock(); + RCLCPP_DEBUG_THROTTLE( + get_logger(), + clk, + 5000, + "%s packet received", + packet->name().c_str() + ); +} + +void VescDriver::vescErrorCallback(const std::string & error) +{ + RCLCPP_ERROR(get_logger(), "%s", error.c_str()); +} + +/** + * @param duty_cycle Commanded VESC duty cycle. Valid range for this driver is -1 to +1. However, + * note that the VESC may impose a more restrictive bounds on the range depending + * on its configuration, e.g. absolute value is between 0.05 and 0.95. + */ +void VescDriver::dutyCycleCallback(const Float64::SharedPtr duty_cycle) +{ + if (driver_mode_ == MODE_OPERATING) { + vesc_.setDutyCycle(duty_cycle_limit_.clip(duty_cycle->data)); + } +} + +/** + * @param current Commanded VESC current in Amps. Any value is accepted by this driver. However, + * note that the VESC may impose a more restrictive bounds on the range depending on + * its configuration. + */ +void VescDriver::currentCallback(const Float64::SharedPtr current) +{ + if (driver_mode_ == MODE_OPERATING) { + vesc_.setCurrent(current_limit_.clip(current->data)); + } +} + +/** + * @param brake Commanded VESC braking current in Amps. Any value is accepted by this driver. + * However, note that the VESC may impose a more restrictive bounds on the range + * depending on its configuration. + */ +void VescDriver::brakeCallback(const Float64::SharedPtr brake) +{ + if (driver_mode_ == MODE_OPERATING) { + vesc_.setBrake(brake_limit_.clip(brake->data)); + } +} + +/** + * @param speed Commanded VESC speed in electrical RPM. Electrical RPM is the mechanical RPM + * multiplied by the number of motor poles. Any value is accepted by this + * driver. However, note that the VESC may impose a more restrictive bounds on the + * range depending on its configuration. + */ +void VescDriver::speedCallback(const Float64::SharedPtr speed) +{ + if (driver_mode_ == MODE_OPERATING) { + vesc_.setSpeed(speed_limit_.clip(speed->data)); + } +} + +/** + * @param position Commanded VESC motor position in radians. Any value is accepted by this driver. + * Note that the VESC must be in encoder mode for this command to have an effect. + */ +void VescDriver::positionCallback(const Float64::SharedPtr position) +{ + if (driver_mode_ == MODE_OPERATING) { + // ROS uses radians but VESC seems to use degrees. Convert to degrees. + double position_deg = position_limit_.clip(position->data) * 180.0 / M_PI; + vesc_.setPosition(position_deg); + } +} + +/** + * @param servo Commanded VESC servo output position. Valid range is 0 to 1. + */ +void VescDriver::servoCallback(const Float64::SharedPtr servo) +{ + if (driver_mode_ == MODE_OPERATING) { + double servo_clipped(servo_limit_.clip(servo->data)); + vesc_.setServo(servo_clipped); + // publish clipped servo value as a "sensor" + auto servo_sensor_msg = Float64(); + servo_sensor_msg.data = servo_clipped; + servo_sensor_pub_->publish(servo_sensor_msg); + } +} + +VescDriver::CommandLimit::CommandLimit( + rclcpp::Node * node_ptr, + const std::string & str, + const std::experimental::optional & min_lower, + const std::experimental::optional & max_upper) +: node_ptr(node_ptr), + logger(node_ptr->get_logger()), + name(str) +{ + // check if user's minimum value is outside of the range min_lower to max_upper + auto param_min = + node_ptr->declare_parameter(name + "_min", rclcpp::ParameterValue(0.0)); + + if (param_min.get_type() != rclcpp::ParameterType::PARAMETER_NOT_SET) { + if (min_lower && param_min.get() < *min_lower) { + lower = *min_lower; + RCLCPP_WARN_STREAM( + logger, "Parameter " << name << "_min (" << param_min.get() << + ") is less than the feasible minimum (" << *min_lower << ")."); + } else if (max_upper && param_min.get() > *max_upper) { + lower = *max_upper; + RCLCPP_WARN_STREAM( + logger, "Parameter " << name << "_min (" << param_min.get() << + ") is greater than the feasible maximum (" << *max_upper << ")."); + } else { + lower = param_min.get(); + } + } else if (min_lower) { + lower = *min_lower; + } + + // check if the uers' maximum value is outside of the range min_lower to max_upper + auto param_max = + node_ptr->declare_parameter(name + "_max", rclcpp::ParameterValue(0.0)); + + if (param_max.get_type() != rclcpp::ParameterType::PARAMETER_NOT_SET) { + if (min_lower && param_max.get() < *min_lower) { + upper = *min_lower; + RCLCPP_WARN_STREAM( + logger, "Parameter " << name << "_max (" << param_max.get() << + ") is less than the feasible minimum (" << *min_lower << ")."); + } else if (max_upper && param_max.get() > *max_upper) { + upper = *max_upper; + RCLCPP_WARN_STREAM( + logger, "Parameter " << name << "_max (" << param_max.get() << + ") is greater than the feasible maximum (" << *max_upper << ")."); + } else { + upper = param_max.get(); + } + } else if (max_upper) { + upper = *max_upper; + } + + // check for min > max + if (upper && lower && *lower > *upper) { + RCLCPP_WARN_STREAM( + logger, "Parameter " << name << "_max (" << *upper << + ") is less than parameter " << name << "_min (" << *lower << ")."); + double temp(*lower); + lower = *upper; + upper = temp; + } + + std::ostringstream oss; + oss << " " << name << " limit: "; + + if (lower) { + oss << *lower << " "; + } else { + oss << "(none) "; + } + + if (upper) { + oss << *upper; + } else { + oss << "(none)"; + } + + RCLCPP_DEBUG_STREAM(logger, oss.str()); +} + +double VescDriver::CommandLimit::clip(double value) +{ + auto clock = rclcpp::Clock(RCL_ROS_TIME); + + if (lower && value < lower) { + RCLCPP_INFO_THROTTLE( + logger, clock, 10, "%s command value (%f) below minimum limit (%f), clipping.", + name.c_str(), value, *lower); + return *lower; + } + if (upper && value > upper) { + RCLCPP_INFO_THROTTLE( + logger, clock, 10, "%s command value (%f) above maximum limit (%f), clipping.", + name.c_str(), value, *upper); + return *upper; + } + return value; +} + +} // namespace vesc_driver + +#include "rclcpp_components/register_node_macro.hpp" // NOLINT + +RCLCPP_COMPONENTS_REGISTER_NODE(vesc_driver::VescDriver) diff --git a/ROS 2 Packages/f1tenth/vesc/vesc_driver/src/vesc_interface.cpp b/ROS 2 Packages/f1tenth/vesc/vesc_driver/src/vesc_interface.cpp new file mode 100644 index 0000000..9557431 --- /dev/null +++ b/ROS 2 Packages/f1tenth/vesc/vesc_driver/src/vesc_interface.cpp @@ -0,0 +1,289 @@ +// Copyright 2020 F1TENTH Foundation +// +// Redistribution and use in source and binary forms, with or without +// modification, are permitted provided that the following conditions are met: +// +// * Redistributions of source code must retain the above copyright +// notice, this list of conditions and the following disclaimer. +// +// * Redistributions in binary form must reproduce the above copyright +// notice, this list of conditions and the following disclaimer in the +// documentation and/or other materials provided with the distribution. +// +// * Neither the name of the {copyright_holder} nor the names of its +// contributors may be used to endorse or promote products derived from +// this software without specific prior written permission. +// +// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE +// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +// POSSIBILITY OF SUCH DAMAGE. + +// -*- mode:c++; fill-column: 100; -*- + +#include "vesc_driver/vesc_interface.hpp" + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include "vesc_driver/vesc_packet_factory.hpp" +#include "serial_driver/serial_driver.hpp" + +namespace vesc_driver +{ + +class VescInterface::Impl +{ +public: + Impl() + : owned_ctx{new IoContext(2)}, + serial_driver_{new drivers::serial_driver::SerialDriver(*owned_ctx)} + {} + void packet_creation_thread(); + void on_configure(); + void connect(const std::string & port); + + bool packet_thread_run_; + std::unique_ptr packet_thread_; + PacketHandlerFunction packet_handler_; + ErrorHandlerFunction error_handler_; + std::unique_ptr device_config_; + std::string device_name_; + std::unique_ptr owned_ctx{}; + std::unique_ptr serial_driver_; + + ~Impl() + { + if (owned_ctx) { + owned_ctx->waitForExit(); + } + } + +private: + std::vector buffer_; +}; + +void VescInterface::Impl::packet_creation_thread() +{ + static auto temp_buffer = Buffer(2048, 0); + while (packet_thread_run_) { + const auto bytes_read = serial_driver_->port()->receive(temp_buffer); + buffer_.reserve(buffer_.size() + temp_buffer.size()); + buffer_.insert(buffer_.end(), temp_buffer.begin(), temp_buffer.begin() + bytes_read); + int bytes_needed = VescFrame::VESC_MIN_FRAME_SIZE; + if (!buffer_.empty()) { + // search buffer for valid packet(s) + auto iter = buffer_.begin(); + auto iter_begin = buffer_.begin(); + while (iter != buffer_.end()) { + // check if valid start-of-frame character + if (VescFrame::VESC_SOF_VAL_SMALL_FRAME == *iter || + VescFrame::VESC_SOF_VAL_LARGE_FRAME == *iter) + { + // good start, now attempt to create packet + std::string error; + VescPacketConstPtr packet = + VescPacketFactory::createPacket(iter, buffer_.end(), &bytes_needed, &error); + if (packet) { + // good packet, check if we skipped any data + if (std::distance(iter_begin, iter) > 0) { + std::ostringstream ss; + ss << "Out-of-sync with VESC, unknown data leading valid frame. Discarding " << + std::distance(iter_begin, iter) << " bytes."; + error_handler_(ss.str()); + } + // call packet handler + packet_handler_(packet); + // update state + iter = iter + packet->frame().size(); + iter_begin = iter; + // continue to look for another frame in buffer + continue; + } else if (bytes_needed > 0) { + // need more data, break out of while loop + break; // for (iter_sof... + } else { + // else, this was not a packet, move on to next byte + error_handler_(error); + } + } + + iter++; + } + + // if iter is at the end of the buffer, more bytes are needed + if (iter == buffer_.end()) { + bytes_needed = VescFrame::VESC_MIN_FRAME_SIZE; + } + + // erase "used" buffer + if (std::distance(iter_begin, iter) > 0) { + std::ostringstream ss; + ss << "Out-of-sync with VESC, discarding " << std::distance(iter_begin, iter) << " bytes."; + error_handler_(ss.str()); + } + buffer_.erase(buffer_.begin(), iter); + } + // Only attempt to read every 5 ms + std::this_thread::sleep_for(std::chrono::milliseconds(5)); + } +} + +void VescInterface::Impl::connect(const std::string & port) +{ + uint32_t baud_rate = 115200; + auto fc = drivers::serial_driver::FlowControl::HARDWARE; + auto pt = drivers::serial_driver::Parity::NONE; + auto sb = drivers::serial_driver::StopBits::ONE; + device_config_ = + std::make_unique(baud_rate, fc, pt, sb); + serial_driver_->init_port(port, *device_config_); + if (!serial_driver_->port()->is_open()) { + serial_driver_->port()->open(); + } +} + +VescInterface::VescInterface( + const std::string & port, + const PacketHandlerFunction & packet_handler, + const ErrorHandlerFunction & error_handler) +: impl_(new Impl()) +{ + setPacketHandler(packet_handler); + setErrorHandler(error_handler); + // attempt to conect if the port is specified + if (!port.empty()) { + connect(port); + } +} + +VescInterface::~VescInterface() +{ + disconnect(); +} + +void VescInterface::setPacketHandler(const PacketHandlerFunction & handler) +{ + // todo - definately need mutex + impl_->packet_handler_ = handler; +} + +void VescInterface::setErrorHandler(const ErrorHandlerFunction & handler) +{ + // todo - definately need mutex + impl_->error_handler_ = handler; +} + +void VescInterface::connect(const std::string & port) +{ + // todo - mutex? + + if (isConnected()) { + throw SerialException("Already connected to serial port."); + } + + // connect to serial port + try { + impl_->connect(port); + } catch (const std::exception & e) { + std::stringstream ss; + ss << "Failed to open the serial port " << port << " to the VESC. " << e.what(); + throw SerialException(ss.str().c_str()); + } + + // start up a monitoring thread + impl_->packet_thread_run_ = true; + impl_->packet_thread_ = std::unique_ptr( + new std::thread( + &VescInterface::Impl::packet_creation_thread, impl_.get())); +} + +void VescInterface::disconnect() +{ + // todo - mutex? + + if (isConnected()) { + // bring down read thread + impl_->packet_thread_run_ = false; + requestFWVersion(); + impl_->packet_thread_->join(); + impl_->serial_driver_->port()->close(); + } +} + +bool VescInterface::isConnected() const +{ + auto port = impl_->serial_driver_->port(); + if (port) { + return port->is_open(); + } else { + return false; + } +} + +void VescInterface::send(const VescPacket & packet) +{ + impl_->serial_driver_->port()->async_send(packet.frame()); +} + +void VescInterface::requestFWVersion() +{ + send(VescPacketRequestFWVersion()); +} + +void VescInterface::requestState() +{ + send(VescPacketRequestValues()); +} + +void VescInterface::setDutyCycle(double duty_cycle) +{ + send(VescPacketSetDuty(duty_cycle)); +} + +void VescInterface::setCurrent(double current) +{ + send(VescPacketSetCurrent(current)); +} + +void VescInterface::setBrake(double brake) +{ + send(VescPacketSetCurrentBrake(brake)); +} + +void VescInterface::setSpeed(double speed) +{ + send(VescPacketSetRPM(speed)); +} + +void VescInterface::setPosition(double position) +{ + send(VescPacketSetPos(position)); +} + +void VescInterface::setServo(double servo) +{ + send(VescPacketSetServoPos(servo)); +} + +void VescInterface::requestImuData() +{ + send(VescPacketRequestImu()); +} + +} // namespace vesc_driver diff --git a/ROS 2 Packages/f1tenth/vesc/vesc_driver/src/vesc_packet.cpp b/ROS 2 Packages/f1tenth/vesc/vesc_driver/src/vesc_packet.cpp new file mode 100644 index 0000000..4975cbc --- /dev/null +++ b/ROS 2 Packages/f1tenth/vesc/vesc_driver/src/vesc_packet.cpp @@ -0,0 +1,689 @@ +// Copyright 2020 F1TENTH Foundation +// +// Redistribution and use in source and binary forms, with or without +// modification, are permitted provided that the following conditions are met: +// +// * Redistributions of source code must retain the above copyright +// notice, this list of conditions and the following disclaimer. +// +// * Redistributions in binary form must reproduce the above copyright +// notice, this list of conditions and the following disclaimer in the +// documentation and/or other materials provided with the distribution. +// +// * Neither the name of the {copyright_holder} nor the names of its +// contributors may be used to endorse or promote products derived from +// this software without specific prior written permission. +// +// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE +// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +// POSSIBILITY OF SUCH DAMAGE. + +// -*- mode:c++; fill-column: 100; -*- + +#include "vesc_driver/vesc_packet.hpp" + +#include +#include +#include +#include +#include + +#include "vesc_driver/datatypes.hpp" +#include "vesc_driver/vesc_packet_factory.hpp" + + +namespace vesc_driver +{ + +constexpr CRC::Parameters VescFrame::CRC_TYPE; + +VescFrame::VescFrame(int payload_size) +{ + assert(payload_size >= 0 && payload_size <= 1024); + + if (payload_size < 256) { + // single byte payload size + frame_.reset(new Buffer(VESC_MIN_FRAME_SIZE + payload_size)); + *frame_->begin() = 2; + *(frame_->begin() + 1) = payload_size; + payload_.first = frame_->begin() + 2; + } else { + // two byte payload size + frame_.reset(new Buffer(VESC_MIN_FRAME_SIZE + 1 + payload_size)); + *frame_->begin() = 3; + *(frame_->begin() + 1) = payload_size >> 8; + *(frame_->begin() + 2) = payload_size & 0xFF; + payload_.first = frame_->begin() + 3; + } + + payload_.second = payload_.first + payload_size; + *(frame_->end() - 1) = 3; +} + +VescFrame::VescFrame(const BufferRangeConst & frame, const BufferRangeConst & payload) +{ + /* VescPacketFactory::createPacket() should make sure that the input is valid, but run a few cheap + checks anyway */ + assert(std::distance(frame.first, frame.second) >= VESC_MIN_FRAME_SIZE); + assert(std::distance(frame.first, frame.second) <= VESC_MAX_FRAME_SIZE); + assert(std::distance(payload.first, payload.second) <= VESC_MAX_PAYLOAD_SIZE); + assert( + std::distance(frame.first, payload.first) > 0 && + std::distance(payload.second, frame.second) > 0); + + frame_.reset(new Buffer(frame.first, frame.second)); + payload_.first = frame_->begin() + std::distance(frame.first, payload.first); + payload_.second = frame_->begin() + std::distance(frame.first, payload.second); +} + +VescPacket::VescPacket(const std::string & name, int payload_size, int payload_id) +: VescFrame(payload_size), name_(name) +{ + assert(payload_id >= 0 && payload_id < 256); + assert(std::distance(payload_.first, payload_.second) > 0); + *payload_.first = payload_id; +} + +VescPacket::VescPacket(const std::string & name, std::shared_ptr raw) +: VescFrame(*raw), name_(name) +{ +} + +/*------------------------------------------------------------------------------------------------*/ + +VescPacketFWVersion::VescPacketFWVersion(std::shared_ptr raw) +: VescPacket("FWVersion", raw) +{ + major_ = *(payload_.first + 1); + minor_ = *(payload_.first + 2); + int j = 0; + + for (int i = 0; *(payload_.first + 3 + i) != 0x00; i++) { + j = i; + hwname_ += *(payload_.first + 3 + i); + } + j++; + + for (int u = 0; u < 12; u++) { + uuid_[u] = *(payload_.first + 3 + j + 1 + u); + } + + paired_ = *(payload_.first + 3 + j + 1 + 12); + devVersion_ = *(payload_.first + 3 + j + 2 + 12 + 1); +} + +int VescPacketFWVersion::fwMajor() const +{ + return major_; +} + +int VescPacketFWVersion::fwMinor() const +{ + return minor_; +} + +std::string VescPacketFWVersion::hwname() const +{ + return hwname_.c_str(); +} +const uint8_t * VescPacketFWVersion::uuid() const +{ + return uuid_; +} +bool VescPacketFWVersion::paired() const +{ + return paired_; +} +uint8_t VescPacketFWVersion::devVersion() const +{ + return devVersion_; +} + +REGISTER_PACKET_TYPE(COMM_FW_VERSION, VescPacketFWVersion) + +VescPacketRequestFWVersion::VescPacketRequestFWVersion() +: VescPacket("RequestFWVersion", 1, COMM_FW_VERSION) +{ + uint16_t crc = CRC::Calculate( + &(*payload_.first), std::distance(payload_.first, payload_.second), VescFrame::CRC_TYPE); + *(frame_->end() - 3) = static_cast(crc >> 8); + *(frame_->end() - 2) = static_cast(crc & 0xFF); +} + +/*------------------------------------------------------------------------------------------------*/ + +VescPacketValues::VescPacketValues(std::shared_ptr raw) +: VescPacket("Values", raw) +{ +} +double VescPacketValues::temp_fet() const +{ + int16_t v = static_cast( + (static_cast(*(payload_.first + 1)) << 8) + + (static_cast(*(payload_.first + 2)) ) + ); + return static_cast(v) / 10.0; +} + +double VescPacketValues::temp_motor() const +{ + int16_t v = static_cast( + (static_cast(*(payload_.first + 3)) << 8) + + (static_cast(*(payload_.first + 4)) ) + ); + return static_cast(v) / 10.0; +} + + +double VescPacketValues::avg_motor_current() const +{ + int32_t v = static_cast( + (static_cast(*(payload_.first + 5)) << 24) + + (static_cast(*(payload_.first + 6)) << 16) + + (static_cast(*(payload_.first + 7)) << 8) + + (static_cast(*(payload_.first + 8)) ) + ); + return static_cast(v) / 100.0; +} + + +double VescPacketValues::avg_input_current() const +{ + int32_t v = static_cast( + (static_cast(*(payload_.first + 9)) << 24) + + (static_cast(*(payload_.first + 10)) << 16) + + (static_cast(*(payload_.first + 11)) << 8) + + (static_cast(*(payload_.first + 12)) ) + ); + return static_cast(v) / 100.0; +} + + +double VescPacketValues::avg_id() const +{ + int32_t v = static_cast( + (static_cast(*(payload_.first + 13)) << 24) + + (static_cast(*(payload_.first + 14)) << 16) + + (static_cast(*(payload_.first + 15)) << 8) + + (static_cast(*(payload_.first + 16)) ) + ); + return static_cast(v) / 100.0; +} + +double VescPacketValues::avg_iq() const +{ + int32_t v = static_cast( + (static_cast(*(payload_.first + 17)) << 24) + + (static_cast(*(payload_.first + 18)) << 16) + + (static_cast(*(payload_.first + 19)) << 8) + + (static_cast(*(payload_.first + 20)) ) + ); + return static_cast(v) / 100.0; +} + + +double VescPacketValues::duty_cycle_now() const +{ + int16_t v = static_cast( + (static_cast(*(payload_.first + 21)) << 8) + + (static_cast(*(payload_.first + 22)) ) + ); + return static_cast(v) / 1000.0; +} + +double VescPacketValues::rpm() const +{ + int32_t v = static_cast( + (static_cast(*(payload_.first + 23)) << 24) + + (static_cast(*(payload_.first + 24)) << 16) + + (static_cast(*(payload_.first + 25)) << 8) + + (static_cast(*(payload_.first + 26)) ) + ); + return static_cast(v) / 1.0; +} + +double VescPacketValues::v_in() const +{ + int16_t v = static_cast( + (static_cast(*(payload_.first + 27)) << 8) + + (static_cast(*(payload_.first + 28)) ) + ); + return static_cast(v) / 10.0; +} + +double VescPacketValues::amp_hours() const +{ + int32_t v = static_cast( + (static_cast(*(payload_.first + 29)) << 24) + + (static_cast(*(payload_.first + 30)) << 16) + + (static_cast(*(payload_.first + 31)) << 8) + + (static_cast(*(payload_.first + 32)) ) + ); + return static_cast(v) / 1e4; +} + +double VescPacketValues::amp_hours_charged() const +{ + int32_t v = static_cast( + (static_cast(*(payload_.first + 33)) << 24) + + (static_cast(*(payload_.first + 34)) << 16) + + (static_cast(*(payload_.first + 35)) << 8) + + (static_cast(*(payload_.first + 36)) ) + ); + return static_cast(v) / 1e4; +} + +double VescPacketValues::watt_hours() const +{ + int32_t v = static_cast( + (static_cast(*(payload_.first + 37)) << 24) + + (static_cast(*(payload_.first + 38)) << 16) + + (static_cast(*(payload_.first + 39)) << 8) + + (static_cast(*(payload_.first + 40)) ) + ); + return static_cast(v) / 1e4; +} + +double VescPacketValues::watt_hours_charged() const +{ + int32_t v = static_cast( + (static_cast(*(payload_.first + 41)) << 24) + + (static_cast(*(payload_.first + 42)) << 16) + + (static_cast(*(payload_.first + 43)) << 8) + + (static_cast(*(payload_.first + 44)) ) + ); + return static_cast(v) / 1e4; +} + +int32_t VescPacketValues::tachometer() const +{ + int32_t v = static_cast( + (static_cast(*(payload_.first + 45)) << 24) + + (static_cast(*(payload_.first + 46)) << 16) + + (static_cast(*(payload_.first + 47)) << 8) + + (static_cast(*(payload_.first + 48)) ) + ); + return static_cast(v); +} + +int32_t VescPacketValues::tachometer_abs() const +{ + int32_t v = static_cast( + (static_cast(*(payload_.first + 49)) << 24) + + (static_cast(*(payload_.first + 50)) << 16) + + (static_cast(*(payload_.first + 51)) << 8) + + (static_cast(*(payload_.first + 52)) ) + ); + return static_cast(v); +} + +int VescPacketValues::fault_code() const +{ + return static_cast(*(payload_.first + 53)); +} + + +double VescPacketValues::pid_pos_now() const +{ + int32_t v = static_cast( + (static_cast(*(payload_.first + 54)) << 24) + + (static_cast(*(payload_.first + 55)) << 16) + + (static_cast(*(payload_.first + 56)) << 8) + + (static_cast(*(payload_.first + 57)) ) + ); + return static_cast(v) / 1e6; +} + +int32_t VescPacketValues::controller_id() const +{ + int32_t v = static_cast((static_cast(*(payload_.first + 58) ))); + + return static_cast(v); +} + +double VescPacketValues::temp_mos1() const +{ + int16_t v = static_cast( + (static_cast(*(payload_.first + 59)) << 8) + + (static_cast(*(payload_.first + 60)) ) + ); + return static_cast(v) / 10.0; +} + +double VescPacketValues::temp_mos2() const +{ + int16_t v = static_cast( + (static_cast(*(payload_.first + 61)) << 8) + + (static_cast(*(payload_.first + 62)) ) + ); + return static_cast(v) / 10.0; +} + +double VescPacketValues::temp_mos3() const +{ + int16_t v = static_cast( + (static_cast(*(payload_.first + 63)) << 8) + + (static_cast(*(payload_.first + 64)) ) + ); + return static_cast(v) / 10.0; +} + +double VescPacketValues::avg_vd() const +{ + int32_t v = static_cast( + (static_cast(*(payload_.first + 65)) << 24) + + (static_cast(*(payload_.first + 66)) << 16) + + (static_cast(*(payload_.first + 67)) << 8) + + (static_cast(*(payload_.first + 68)) ) + ); + return static_cast(v) / 1e3; +} + + +double VescPacketValues::avg_vq() const +{ + int32_t v = static_cast( + (static_cast(*(payload_.first + 69)) << 24) + + (static_cast(*(payload_.first + 70)) << 16) + + (static_cast(*(payload_.first + 71)) << 8) + + (static_cast(*(payload_.first + 72)) ) + ); + return static_cast(v) / 1e3; +} + + +REGISTER_PACKET_TYPE(COMM_GET_VALUES, VescPacketValues) + +VescPacketRequestValues::VescPacketRequestValues() +: VescPacket("RequestValues", 1, COMM_GET_VALUES) +{ + uint16_t crc = CRC::Calculate( + &(*payload_.first), std::distance(payload_.first, payload_.second), VescFrame::CRC_TYPE); + *(frame_->end() - 3) = static_cast(crc >> 8); + *(frame_->end() - 2) = static_cast(crc & 0xFF); +} + +/*------------------------------------------------------------------------------------------------*/ + + +VescPacketSetDuty::VescPacketSetDuty(double duty) +: VescPacket("SetDuty", 5, COMM_SET_DUTY) +{ + /** @todo range check duty */ + + int32_t v = static_cast(duty * 100000.0); + + *(payload_.first + 1) = static_cast((static_cast(v) >> 24) & 0xFF); + *(payload_.first + 2) = static_cast((static_cast(v) >> 16) & 0xFF); + *(payload_.first + 3) = static_cast((static_cast(v) >> 8) & 0xFF); + *(payload_.first + 4) = static_cast(static_cast(v) & 0xFF); + + uint16_t crc = CRC::Calculate( + &(*payload_.first), std::distance(payload_.first, payload_.second), VescFrame::CRC_TYPE); + *(frame_->end() - 3) = static_cast(crc >> 8); + *(frame_->end() - 2) = static_cast(crc & 0xFF); +} + +/*------------------------------------------------------------------------------------------------*/ + +VescPacketSetCurrent::VescPacketSetCurrent(double current) +: VescPacket("SetCurrent", 5, COMM_SET_CURRENT) +{ + int32_t v = static_cast(current * 1000.0); + + *(payload_.first + 1) = static_cast((static_cast(v) >> 24) & 0xFF); + *(payload_.first + 2) = static_cast((static_cast(v) >> 16) & 0xFF); + *(payload_.first + 3) = static_cast((static_cast(v) >> 8) & 0xFF); + *(payload_.first + 4) = static_cast(static_cast(v) & 0xFF); + + uint16_t crc = CRC::Calculate( + &(*payload_.first), std::distance(payload_.first, payload_.second), VescFrame::CRC_TYPE); + *(frame_->end() - 3) = static_cast(crc >> 8); + *(frame_->end() - 2) = static_cast(crc & 0xFF); +} + +/*------------------------------------------------------------------------------------------------*/ + +VescPacketSetCurrentBrake::VescPacketSetCurrentBrake(double current_brake) +: VescPacket("SetCurrentBrake", 5, COMM_SET_CURRENT_BRAKE) +{ + int32_t v = static_cast(current_brake * 1000.0); + + *(payload_.first + 1) = static_cast((static_cast(v) >> 24) & 0xFF); + *(payload_.first + 2) = static_cast((static_cast(v) >> 16) & 0xFF); + *(payload_.first + 3) = static_cast((static_cast(v) >> 8) & 0xFF); + *(payload_.first + 4) = static_cast(static_cast(v) & 0xFF); + + uint16_t crc = CRC::Calculate( + &(*payload_.first), std::distance(payload_.first, payload_.second), VescFrame::CRC_TYPE); + *(frame_->end() - 3) = static_cast(crc >> 8); + *(frame_->end() - 2) = static_cast(crc & 0xFF); +} + +/*------------------------------------------------------------------------------------------------*/ + +VescPacketSetRPM::VescPacketSetRPM(double rpm) +: VescPacket("SetRPM", 5, COMM_SET_RPM) +{ + int32_t v = static_cast(rpm); + + *(payload_.first + 1) = static_cast((static_cast(v) >> 24) & 0xFF); + *(payload_.first + 2) = static_cast((static_cast(v) >> 16) & 0xFF); + *(payload_.first + 3) = static_cast((static_cast(v) >> 8) & 0xFF); + *(payload_.first + 4) = static_cast(static_cast(v) & 0xFF); + + uint16_t crc = CRC::Calculate( + &(*payload_.first), std::distance(payload_.first, payload_.second), VescFrame::CRC_TYPE); + *(frame_->end() - 3) = static_cast(crc >> 8); + *(frame_->end() - 2) = static_cast(crc & 0xFF); +} + +/*------------------------------------------------------------------------------------------------*/ + +VescPacketSetPos::VescPacketSetPos(double pos) +: VescPacket("SetPos", 5, COMM_SET_POS) +{ + /** @todo range check pos */ + + int32_t v = static_cast(pos * 1000000.0); + + *(payload_.first + 1) = static_cast((static_cast(v) >> 24) & 0xFF); + *(payload_.first + 2) = static_cast((static_cast(v) >> 16) & 0xFF); + *(payload_.first + 3) = static_cast((static_cast(v) >> 8) & 0xFF); + *(payload_.first + 4) = static_cast(static_cast(v) & 0xFF); + + uint16_t crc = CRC::Calculate( + &(*payload_.first), std::distance(payload_.first, payload_.second), VescFrame::CRC_TYPE); + *(frame_->end() - 3) = static_cast(crc >> 8); + *(frame_->end() - 2) = static_cast(crc & 0xFF); +} + +/*------------------------------------------------------------------------------------------------*/ + +VescPacketSetServoPos::VescPacketSetServoPos(double servo_pos) +: VescPacket("SetServoPos", 3, COMM_SET_SERVO_POS) +{ + /** @todo range check pos */ + + int16_t v = static_cast(servo_pos * 1000.0); + + *(payload_.first + 1) = static_cast((static_cast(v) >> 8) & 0xFF); + *(payload_.first + 2) = static_cast(static_cast(v) & 0xFF); + + uint16_t crc = CRC::Calculate( + &(*payload_.first), std::distance(payload_.first, payload_.second), VescFrame::CRC_TYPE); + *(frame_->end() - 3) = static_cast(crc >> 8); + *(frame_->end() - 2) = static_cast(crc & 0xFF); +} + + +VescPacketImu::VescPacketImu(std::shared_ptr raw) +: VescPacket("ImuData", raw) +{ + uint32_t ind = 1; + mask_ = static_cast( + (static_cast(*(payload_.first + ind )) << 8) + + static_cast(*(payload_.first + ind + 1 )) + ); + ind += 2; + + if (mask_ & ((uint32_t)1 << 0)) {roll_ = getFloat32Auto(&ind);} + if (mask_ & ((uint32_t)1 << 1)) {pitch_ = getFloat32Auto(&ind);} + if (mask_ & ((uint32_t)1 << 2)) {yaw_ = getFloat32Auto(&ind);} + + if (mask_ & ((uint32_t)1 << 3)) {acc_x_ = getFloat32Auto(&ind);} + if (mask_ & ((uint32_t)1 << 4)) {acc_y_ = getFloat32Auto(&ind);} + if (mask_ & ((uint32_t)1 << 5)) {acc_z_ = getFloat32Auto(&ind);} + + if (mask_ & ((uint32_t)1 << 6)) {gyr_x_ = getFloat32Auto(&ind);} + if (mask_ & ((uint32_t)1 << 7)) {gyr_y_ = getFloat32Auto(&ind);} + if (mask_ & ((uint32_t)1 << 8)) {gyr_z_ = getFloat32Auto(&ind);} + + if (mask_ & ((uint32_t)1 << 9)) {mag_x_ = getFloat32Auto(&ind);} + if (mask_ & ((uint32_t)1 << 10)) {mag_y_ = getFloat32Auto(&ind);} + if (mask_ & ((uint32_t)1 << 11)) {mag_z_ = getFloat32Auto(&ind);} + + if (mask_ & ((uint32_t)1 << 12)) {q0_ = getFloat32Auto(&ind);} + if (mask_ & ((uint32_t)1 << 13)) {q1_ = getFloat32Auto(&ind);} + if (mask_ & ((uint32_t)1 << 14)) {q2_ = getFloat32Auto(&ind);} + if (mask_ & ((uint32_t)1 << 15)) {q3_ = getFloat32Auto(&ind);} +} + +int VescPacketImu::mask() const +{ + return mask_; +} + +double VescPacketImu::getFloat32Auto(uint32_t * idx) const +{ + int pos = *idx; + uint32_t res = static_cast( + (static_cast(*(payload_.first + (pos ) )) << 24) + + (static_cast(*(payload_.first + (pos + 1) )) << 16) + + (static_cast(*(payload_.first + (pos + 2) )) << 8) + + static_cast(*(payload_.first + (pos + 3) )) + ); + + *idx += 4; + + int e = (res >> 23) & 0xFF; + int fr = res & 0x7FFFFF; + bool negative = res & (1 << 31); + + float f = 0.0; + if (e != 0 || fr != 0) { + f = static_cast(fr) / (8388608.0 * 2.0) + 0.5; + e -= 126; + } + + if (negative) { + f = -f; + } + return ldexpf(f, e); +} + +double VescPacketImu::roll() const +{ + return roll_ * 180 / M_PI; // da rad a gradi per debug deg +} + +double VescPacketImu::pitch() const +{ + return pitch_ * 180 / M_PI; +} + + +double VescPacketImu::yaw() const +{ + return yaw_ * 180 / M_PI; +} + + +double VescPacketImu::acc_x()const +{ + return acc_x_; // g/s +} + +double VescPacketImu::acc_y() const +{ + return acc_y_; +} + +double VescPacketImu::acc_z() const +{ + return acc_z_; +} + +double VescPacketImu::gyr_x() const +{ + return gyr_x_; // deg/s +} + +double VescPacketImu::gyr_y() const +{ + return gyr_y_; +} + +double VescPacketImu::gyr_z() const +{ + return gyr_z_; +} + +double VescPacketImu::mag_x() const +{ + return mag_x_; +} + +double VescPacketImu::mag_y() const +{ + return mag_y_; +} + +double VescPacketImu::mag_z() const +{ + return mag_z_; +} + +double VescPacketImu::q_w() const +{ + return q0_; +} + +double VescPacketImu::q_x() const +{ + return q1_; +} + +double VescPacketImu::q_y() const +{ + return q2_; +} + +double VescPacketImu::q_z() const +{ + return q3_; +} + +REGISTER_PACKET_TYPE(COMM_GET_IMU_DATA, VescPacketImu) + +VescPacketRequestImu::VescPacketRequestImu() +: VescPacket("RequestImuData", 3, COMM_GET_IMU_DATA) +{ + *(payload_.first + 1) = static_cast(0xFF); + *(payload_.first + 2) = static_cast(0xFF); + + uint16_t crc = CRC::Calculate( + &(*payload_.first), std::distance(payload_.first, payload_.second), VescFrame::CRC_TYPE); + *(frame_->end() - 3) = static_cast(crc >> 8); + *(frame_->end() - 2) = static_cast(crc & 0xFF); +} +/*------------------------------------------------------------------------------------------------*/ +} // namespace vesc_driver diff --git a/ROS 2 Packages/f1tenth/vesc/vesc_driver/src/vesc_packet_factory.cpp b/ROS 2 Packages/f1tenth/vesc/vesc_driver/src/vesc_packet_factory.cpp new file mode 100644 index 0000000..de53bb6 --- /dev/null +++ b/ROS 2 Packages/f1tenth/vesc/vesc_driver/src/vesc_packet_factory.cpp @@ -0,0 +1,155 @@ +// Copyright 2020 F1TENTH Foundation +// +// Redistribution and use in source and binary forms, with or without +// modification, are permitted provided that the following conditions are met: +// +// * Redistributions of source code must retain the above copyright +// notice, this list of conditions and the following disclaimer. +// +// * Redistributions in binary form must reproduce the above copyright +// notice, this list of conditions and the following disclaimer in the +// documentation and/or other materials provided with the distribution. +// +// * Neither the name of the {copyright_holder} nor the names of its +// contributors may be used to endorse or promote products derived from +// this software without specific prior written permission. +// +// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE +// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +// POSSIBILITY OF SUCH DAMAGE. + +// -*- mode:c++; fill-column: 100; -*- + +#include "vesc_driver/vesc_packet.hpp" +#include "vesc_driver/vesc_packet_factory.hpp" + +#include +#include +#include +#include + +namespace vesc_driver +{ + +/** Construct map on first use */ +VescPacketFactory::FactoryMap * VescPacketFactory::getMap() +{ + static FactoryMap m; + return &m; +} + +void VescPacketFactory::registerPacketType(int payload_id, CreateFn fn) +{ + FactoryMap * p_map(getMap()); + assert(0 == p_map->count(payload_id)); + (*p_map)[payload_id] = fn; +} + +/** Helper function for when createPacket can not create a packet */ +VescPacketPtr createFailed( + int * p_num_bytes_needed, std::string * p_what, + const std::string & what, int num_bytes_needed = 0) +{ + if (p_num_bytes_needed != NULL) {*p_num_bytes_needed = num_bytes_needed;} + if (p_what != NULL) {*p_what = what;} + return VescPacketPtr(); +} + +VescPacketPtr VescPacketFactory::createPacket( + const Buffer::const_iterator & begin, + const Buffer::const_iterator & end, + int * num_bytes_needed, std::string * what) +{ + // initialize output variables + if (num_bytes_needed != NULL) {*num_bytes_needed = 0;} + if (what != NULL) {what->clear();} + + // need at least VESC_MIN_FRAME_SIZE bytes in buffer + int buffer_size(std::distance(begin, end)); + if (buffer_size < VescFrame::VESC_MIN_FRAME_SIZE) { + return createFailed( + num_bytes_needed, what, "Buffer does not contain a complete frame", + VescFrame::VESC_MIN_FRAME_SIZE - buffer_size); + } + + // buffer must begin with a start-of-frame + if (VescFrame::VESC_SOF_VAL_SMALL_FRAME != *begin && + VescFrame::VESC_SOF_VAL_LARGE_FRAME != *begin) + { + return createFailed(num_bytes_needed, what, "Buffer must begin with start-of-frame character"); + } + + // get a view of the payload + BufferRangeConst view_payload; + if (VescFrame::VESC_SOF_VAL_SMALL_FRAME == *begin) { + // payload size field is one byte + view_payload.first = begin + 2; + view_payload.second = view_payload.first + *(begin + 1); + } else { + assert(VescFrame::VESC_SOF_VAL_LARGE_FRAME == *begin); + // payload size field is two bytes + view_payload.first = begin + 3; + view_payload.second = view_payload.first + (*(begin + 1) << 8) + *(begin + 2); + } + + // check length + if (std::distance(view_payload.first, view_payload.second) > VescFrame::VESC_MAX_PAYLOAD_SIZE) { + return createFailed(num_bytes_needed, what, "Invalid payload length"); + } + + // get iterators to crc field, end-of-frame field, and a view of the whole frame + Buffer::const_iterator iter_crc(view_payload.second); + Buffer::const_iterator iter_eof(iter_crc + 2); + BufferRangeConst view_frame(begin, iter_eof + 1); + + // do we have enough data in the buffer to complete the frame? + int frame_size = std::distance(view_frame.first, view_frame.second); + if (buffer_size < frame_size) { + return createFailed( + num_bytes_needed, what, "Buffer does not contain a complete frame", + frame_size - buffer_size); + } + + // is the end-of-frame character valid? + if (VescFrame::VESC_EOF_VAL != *iter_eof) { + return createFailed(num_bytes_needed, what, "Invalid end-of-frame character"); + } + + // is the crc valid? + uint16_t crc = (static_cast(*iter_crc) << 8) + *(iter_crc + 1); + if (crc != CRC::Calculate( + &(*view_payload.first), std::distance(view_payload.first, view_payload.second), + VescFrame::CRC_TYPE)) + { + return createFailed(num_bytes_needed, what, "Invalid checksum"); + } + + // frame looks good, construct the raw frame + std::shared_ptr raw_frame(new VescFrame(view_frame, view_payload)); + + // if the packet has a payload, construct the corresponding subclass + if (std::distance(view_payload.first, view_payload.second) > 0) { + // get constructor function from payload id + FactoryMap * p_map(getMap()); + FactoryMap::const_iterator search(p_map->find(*view_payload.first)); + if (search != p_map->end()) { + return search->second(raw_frame); + } else { + // no subclass constructor for this packet + return createFailed(num_bytes_needed, what, "Unkown payload type."); + } + } else { + // no payload + return createFailed(num_bytes_needed, what, "Frame does not have a payload"); + } +} + +} // namespace vesc_driver diff --git a/ROS 2 Packages/f1tenth/vesc/vesc_msgs/CHANGELOG.rst b/ROS 2 Packages/f1tenth/vesc/vesc_msgs/CHANGELOG.rst new file mode 100644 index 0000000..f639fd9 --- /dev/null +++ b/ROS 2 Packages/f1tenth/vesc/vesc_msgs/CHANGELOG.rst @@ -0,0 +1,17 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package vesc_msgs +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +1.1.0 (2020-12-12) +------------------ +* Merge pull request `#1 `_ from f1tenth/melodic-devel + Updating for Melodic +* Updating package.xml to format 3 and setting C++ standard to 11. +* Contributors: Joshua Whitley + +1.0.0 (2020-12-02) +------------------ +* Adding roslint. +* Updating maintainers, authors, and URLs. +* added onboard car +* Contributors: Joshua Whitley, billyzheng diff --git a/ROS 2 Packages/f1tenth/vesc/vesc_msgs/CMakeLists.txt b/ROS 2 Packages/f1tenth/vesc/vesc_msgs/CMakeLists.txt new file mode 100644 index 0000000..14ee8a2 --- /dev/null +++ b/ROS 2 Packages/f1tenth/vesc/vesc_msgs/CMakeLists.txt @@ -0,0 +1,23 @@ +cmake_minimum_required(VERSION 3.5) +project(vesc_msgs) + +find_package(ament_cmake_auto REQUIRED) +ament_auto_find_build_dependencies() + +rosidl_generate_interfaces(vesc_msgs + "msg/VescState.msg" + "msg/VescStateStamped.msg" + "msg/VescImu.msg" + "msg/VescImuStamped.msg" + DEPENDENCIES + builtin_interfaces + std_msgs + geometry_msgs +) + +if(BUILD_TESTING) + find_package(ament_lint_auto REQUIRED) + ament_lint_auto_find_test_dependencies() +endif() + +ament_auto_package() diff --git a/ROS 2 Packages/f1tenth/vesc/vesc_msgs/msg/VescImu.msg b/ROS 2 Packages/f1tenth/vesc/vesc_msgs/msg/VescImu.msg new file mode 100644 index 0000000..2765024 --- /dev/null +++ b/ROS 2 Packages/f1tenth/vesc/vesc_msgs/msg/VescImu.msg @@ -0,0 +1,8 @@ + + +geometry_msgs/Vector3 ypr +geometry_msgs/Vector3 linear_acceleration +geometry_msgs/Vector3 angular_velocity + +geometry_msgs/Vector3 compass +geometry_msgs/Quaternion orientation diff --git a/ROS 2 Packages/f1tenth/vesc/vesc_msgs/msg/VescImuStamped.msg b/ROS 2 Packages/f1tenth/vesc/vesc_msgs/msg/VescImuStamped.msg new file mode 100644 index 0000000..c8915b1 --- /dev/null +++ b/ROS 2 Packages/f1tenth/vesc/vesc_msgs/msg/VescImuStamped.msg @@ -0,0 +1,4 @@ + + +std_msgs/Header header +VescImu imu \ No newline at end of file diff --git a/ROS 2 Packages/f1tenth/vesc/vesc_msgs/msg/VescState.msg b/ROS 2 Packages/f1tenth/vesc/vesc_msgs/msg/VescState.msg new file mode 100644 index 0000000..2edfd30 --- /dev/null +++ b/ROS 2 Packages/f1tenth/vesc/vesc_msgs/msg/VescState.msg @@ -0,0 +1,41 @@ +# Vedder VESC open source motor controller state (telemetry) + +# fault codes +int32 FAULT_CODE_NONE=0 +int32 FAULT_CODE_OVER_VOLTAGE=1 +int32 FAULT_CODE_UNDER_VOLTAGE=2 +int32 FAULT_CODE_DRV8302=3 +int32 FAULT_CODE_ABS_OVER_CURRENT=4 +int32 FAULT_CODE_OVER_TEMP_FET=5 +int32 FAULT_CODE_OVER_TEMP_MOTOR=6 + +# follow the bledc firwmare: commands.c +float64 temp_fet # fet temperature +float64 temp_motor # motor temperature +float64 current_motor # motor current (ampere) avg_motor_current +float64 current_input # input current (ampere) avg_input_current +float64 avg_id +float64 avg_iq +float64 duty_cycle # duty cycle (0 to 1) duty_cycle_now +float64 speed # motor electrical speed (revolutions per minute) rpm + +float64 voltage_input # input voltage (volt) +float64 charge_drawn # electric charge drawn from input (ampere-hours) +float64 charge_regen # electric charge regenerated to input (ampere-hour) amp_hours_charged +float64 energy_drawn # energy drawn from input (watt-hour) +float64 energy_regen # energy regenerated to input (watt_hours_charged) +int32 displacement # net tachometer (counts) tachometer +int32 distance_traveled # total tachnometer (counts) tachometer_abs +int32 fault_code + +float64 pid_pos_now +int32 controller_id + + +float64 ntc_temp_mos1 +float64 ntc_temp_mos2 +float64 ntc_temp_mos3 +float64 avg_vd +float64 avg_vq + +#float64 temperature_pcb # temperature of printed circuit board (degrees Celsius) diff --git a/ROS 2 Packages/f1tenth/vesc/vesc_msgs/msg/VescStateStamped.msg b/ROS 2 Packages/f1tenth/vesc/vesc_msgs/msg/VescStateStamped.msg new file mode 100644 index 0000000..bc1aec9 --- /dev/null +++ b/ROS 2 Packages/f1tenth/vesc/vesc_msgs/msg/VescStateStamped.msg @@ -0,0 +1,4 @@ +# Timestamped VESC open source motor controller state (telemetry) + +std_msgs/Header header +VescState state diff --git a/ROS 2 Packages/f1tenth/vesc/vesc_msgs/package.xml b/ROS 2 Packages/f1tenth/vesc/vesc_msgs/package.xml new file mode 100644 index 0000000..60cc2ba --- /dev/null +++ b/ROS 2 Packages/f1tenth/vesc/vesc_msgs/package.xml @@ -0,0 +1,33 @@ + + + + vesc_msgs + 1.1.0 + + ROS message definitions for the Vedder VESC open source motor controller. + + Johannes Betz + BSD + http://ros.org/wiki/vesc_msgs + https://github.com/f1tenth/vesc + https://github.com/f1tenth/vesc/issues + Michael T. Boulet + Joshua Whitley + + ament_cmake_auto + + rosidl_default_generators + builtin_interfaces + std_msgs + geometry_msgs + rosidl_default_runtime + + ament_lint_auto + ament_lint_common + + rosidl_interface_packages + + + ament_cmake + + diff --git a/ROS 2 Packages/f1tenth_sim/Dockerfile b/ROS 2 Packages/f1tenth_sim/Dockerfile new file mode 100644 index 0000000..ac8de8c --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/Dockerfile @@ -0,0 +1,54 @@ +# MIT License + +# Copyright (c) 2020 Hongrui Zheng + +# Permission is hereby granted, free of charge, to any person obtaining a copy +# of this software and associated documentation files (the "Software"), to deal +# in the Software without restriction, including without limitation the rights +# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +# copies of the Software, and to permit persons to whom the Software is +# furnished to do so, subject to the following conditions: + +# The above copyright notice and this permission notice shall be included in all +# copies or substantial portions of the Software. + +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +# SOFTWARE. + +FROM ros:foxy + +SHELL ["/bin/bash", "-c"] + +# dependencies +RUN apt-get update --fix-missing && \ + apt-get install -y git \ + nano \ + vim \ + python3-pip \ + libeigen3-dev \ + tmux \ + ros-foxy-rviz2 +RUN apt-get -y dist-upgrade +RUN pip3 install transforms3d + +# f1tenth gym +RUN git clone https://github.com/f1tenth/f1tenth_gym +RUN cd f1tenth_gym && \ + pip3 install -e . + +# ros2 gym bridge +RUN mkdir -p sim_ws/src/f1tenth_gym_ros +COPY . /sim_ws/src/f1tenth_gym_ros +RUN source /opt/ros/foxy/setup.bash && \ + cd sim_ws/ && \ + apt-get update --fix-missing && \ + rosdep install -i --from-path src --rosdistro foxy -y && \ + colcon build + +WORKDIR '/sim_ws' +ENTRYPOINT ["/bin/bash"] diff --git a/ROS 2 Packages/f1tenth_sim/LICENSE b/ROS 2 Packages/f1tenth_sim/LICENSE new file mode 100644 index 0000000..cd28e87 --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/LICENSE @@ -0,0 +1,21 @@ +MIT License + +Copyright (c) 2020 Hongrui Zheng + +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in all +copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +SOFTWARE. diff --git a/ROS 2 Packages/f1tenth_sim/README.md b/ROS 2 Packages/f1tenth_sim/README.md new file mode 100644 index 0000000..8a40113 --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/README.md @@ -0,0 +1,148 @@ +# F1TENTH Gym Environment ROS2 communication bridge +This is a containerized ROS communication bridge for the F1TENTH gym environment that turns it into a simulation in ROS2. + +# Installation + +**Supported System:** + +- Ubuntu (tested on 20.04) native with ROS 2 +- Ubuntu (tested on 20.04) with an NVIDIA GPU and `nvidia-docker2` support +- Windows 10, macOS, and Ubuntu without an NVIDIA GPU (using noVNC) + +This installation guide will be split into instruction for installing the ROS 2 package natively, and for systems with or without an NVIDIA GPU in Docker containers. + +## Native on Ubuntu 20.04 + +- Clone the repo into the workspace: + ```bash + cd AutoDRIVE-F1TENTH/ROS\ 2\ Packages/ + cp -r f1tenth_sim ~/ros2_ws/src + ``` +- Update correct parameter for name of map file: + Go to `params.yaml` file and change the `map_name` parameter to the correct map file name. +- Install dependencies with rosdep: + ```bash + cd .. + rosdep install -i --from-path src --rosdistro foxy -y + ``` +- Build the workspace: `colcon build` + ```bash + colcon build + ``` + +## With an NVIDIA GPU: + +**Install the following dependencies:** + +- **Docker:** Follow the instructions [here](https://docs.docker.com/install/linux/docker-ce/ubuntu/) to install Docker. A short tutorial can be found [here](https://docs.docker.com/get-started/) if you're not familiar with Docker. If you followed the post-installation steps you won't have to prepend your docker and docker-compose commands with sudo. +- **nvidia-docker2:** Follow the instructions [here](https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/install-guide.html) if you have a support GPU. It is also possible to use Intel integrated graphics to forward the display, see details instructions from the Rocker repo. If you are on windows with an NVIDIA GPU, you'll have to use WSL (Windows Subsystem for Linux). Please refer to the guide [here](https://developer.nvidia.com/cuda/wsl), [here](https://docs.nvidia.com/cuda/wsl-user-guide/index.html), and [here](https://dilililabs.com/zh/blog/2021/01/26/deploying-docker-with-gpu-support-on-windows-subsystem-for-linux/). +- **rocker:** This is a tool developed by OSRF to run Docker images with local support injected. We use it for GUI forwarding. If you're on Windows, WSL should also support this. Read more about this tool [here](https://github.com/osrf/rocker). + +**Install the simulator:** + +1. Build the docker image by: +```bash +$ cd f1tenth_gym_ros +$ docker build -t f1tenth_gym_ros -f Dockerfile . +``` +2. To run the containerized environment, start a docker container by running the following. (example showned here with nvidia-docker support). By running this, the current directory that you're in (should be `f1tenth_gym_ros`) is mounted in the container at `/ros2_ws/src/f1tenth_gym_ros`. Which means that the changes you make in the repo on the host system will also reflect in the container. +```bash +$ rocker --nvidia --x11 --volume .:/ros2_ws/src/f1tenth_gym_ros -- f1tenth_gym_ros +``` + +## Without an NVIDIA GPU: + +**Install the following dependencies:** + +If your system does not support nvidia-docker2, noVNC will have to be used to forward the display. +- Again you'll need **Docker**. Follow the instruction from above. +- Additionally you'll need **docker-compose**. Follow the instruction [here](https://docs.docker.com/compose/install/) to install docker-compose. + +**Install the simulator:** + +1. Bringup the novnc container and the sim container with docker-compose: +```bash +docker-compose up +``` +2. In a separate terminal, run the following, and you'll have the a bash session in the simulation container. `tmux` is available for convenience. +```bash +docker exec -it f1tenth_gym_ros-sim-1 /bin/bash +``` +3. In your browser, navigate to [http://localhost:8080/vnc.html](http://localhost:8080/vnc.html), you should see the noVNC logo with the connect button. Click the connect button to connect to the session. + +# Launching the Simulator + +1. `tmux` is included in the contianer, so you can create multiple bash sessions in the same terminal. +2. To launch the simulation, make sure you source both the ROS2 setup script and the local workspace setup script. Run the following in the bash session from the container: +```bash +$ ros2 launch f1tenth_gym_ros gym_bridge_launch.py +``` +A rviz window should pop up showing the simulation either on your host system or in the browser window depending on the display forwarding you chose. + +You can then run another node by creating another bash session in `tmux`. + +# Configuring the Simulator +- The configuration file for the simulation is at `f1tenth_gym_ros/config/params.yaml`. +- Topic names and namespaces can be configured but is recommended to leave uncahnged. +- The map can be changed via the `map_name` parameter. It is assumed that the image file and the `yaml` file for the map are in the `maps` directory with the same name. See the note below about mounting a volume to see where to put your map file. +- The `num_agent` parameter can be changed to either 1 or 2 for single or two agent racing. +- The ego and opponent starting pose can also be changed via parameters, these are in the global map coordinate frame. + +The entire directory of the repo is mounted to a workspace `/ros2_ws/src` as a package. All changes made in the repo on the host system will also reflect in the container. After changing the configuration, run `colcon build` again in the container workspace to make sure the changes are reflected. + +# Topics Published by the Simulator + +In **single** agent: + +`/scan`: The ego agent's laser scan + +`/ego_racecar/odom`: The ego agent's odometry + +`/map`: The map of the environment + +A `tf` tree is also maintained. + +In **two** agents: + +In addition to the topics available in the single agent scenario, these topics are also available: + +`/opp_scan`: The opponent agent's laser scan + +`/ego_racecar/opp_odom`: The opponent agent's odometry for the ego agent's planner + +`/opp_racecar/odom`: The opponent agents' odometry + +`/opp_racecar/opp_odom`: The ego agent's odometry for the opponent agent's planner + +# Topics Subscribed by the Simulator + +In **single** agent: + +`/drive`: The ego agent's drive command via `AckermannDriveStamped` messages + +`/initalpose`: This is the topic for resetting the ego's pose via RViz's 2D Pose Estimate tool. Do **NOT** publish directly to this topic unless you know what you're doing. + +TODO: kb teleop topics + +In **two** agents: + +In addition to all topics in the single agent scenario, these topics are also available: + +`/opp_drive`: The opponent agent's drive command via `AckermannDriveStamped` messages + +`/goal_pose`: This is the topic for resetting the opponent agent's pose via RViz's 2D Goal Pose tool. Do **NOT** publish directly to this topic unless you know what you're doing. + +# Keyboard Teleoperation + +The keyboard teleop node from `teleop_twist_keyboard` is also installed as part of the simulation's dependency. To enable keyboard teleop, set `teleop` to `True` in `params.yaml`. After launching the simulation, in another terminal, run: +```bash +ros2 run teleop_twist_keyboard teleop_twist_keyboard +``` +Then, press `i` to move forward, `u` and `o` to move forward and turn, `,` to move backwards, `m` and `.` to move backwards and turn, and `k` to stop in the terminal window running the teleop node. + +# Developing Custom Agent in ROS 2 + +There are multiple ways to launch your own agent to control the vehicles. + +- The first one is creating a new package for your agent in the `/ros2_ws` workspace inside the sim container. After launch the simulation, launch the agent node in another bash session while the sim is running. +- The second one is to create a new ROS 2 container for you agent node. Then create your own package and nodes inside. Launch the sim container and the agent container both. With default networking configurations for `docker`, the behavior is to put The two containers on the same network, and they should be able to discover and talk to each other on different topics. If you're using noVNC, create a new service in `docker-compose.yml` for your agent node. You'll also have to put your container on the same network as the sim and novnc containers. diff --git a/ROS 2 Packages/f1tenth_sim/config/ego_racecar.xacro b/ROS 2 Packages/f1tenth_sim/config/ego_racecar.xacro new file mode 100644 index 0000000..15c3c90 --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/config/ego_racecar.xacro @@ -0,0 +1,129 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/ROS 2 Packages/f1tenth_sim/config/opp_racecar.xacro b/ROS 2 Packages/f1tenth_sim/config/opp_racecar.xacro new file mode 100644 index 0000000..e7b60a8 --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/config/opp_racecar.xacro @@ -0,0 +1,129 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/ROS 2 Packages/f1tenth_sim/config/params.yaml b/ROS 2 Packages/f1tenth_sim/config/params.yaml new file mode 100644 index 0000000..1d6e51a --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/config/params.yaml @@ -0,0 +1,63 @@ +# MIT License + +# Copyright (c) 2023 Tinker Twins, Hongrui Zheng + +# Permission is hereby granted, free of charge, to any person obtaining a copy +# of this software and associated documentation files (the "Software"), to deal +# in the Software without restriction, including without limitation the rights +# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +# copies of the Software, and to permit persons to whom the Software is +# furnished to do so, subject to the following conditions: + +# The above copyright notice and this permission notice shall be included in all +# copies or substantial portions of the Software. + +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +# SOFTWARE. + +gym_bridge: + ros__parameters: + # Topics and Namespaces + ego_namespace: 'ego_racecar' + ego_scan_topic: 'scan' + ego_odom_topic: 'odom' + ego_opp_odom_topic: 'opp_odom' + ego_drive_topic: 'drive' + opp_namespace: 'opp_racecar' + opp_scan_topic: 'opp_scan' + opp_odom_topic: 'odom' + opp_ego_odom_topic: 'opp_odom' + opp_drive_topic: 'opp_drive' + + # Static Transform + scan_distance_to_base_link: 0.0 + + # LIDAR Parameters + scan_fov: 4.7 + scan_beams: 1080 + + # Map Parameters + map_package: 'f1tenth_gym_ros' + map_name: 'porto' + map_img_ext: '.pgm' + + # Agent Parameters (1 = Ego | 2 = Ego + Opponent) + num_agent: 1 + + # Ego Vehicle Starting Pose on Map + sx: 0.74 + sy: 3.16 + stheta: -1.570796 + + # Opponent Vehicle Starting Pose on Map + sx1: -3.06 + sy1: -5.00 + stheta1: 1.0472 + + # Teleop (Create Subscription to `/cmd_vel` Topic) + teleop: True \ No newline at end of file diff --git a/ROS 2 Packages/f1tenth_sim/docker-compose.yml b/ROS 2 Packages/f1tenth_sim/docker-compose.yml new file mode 100644 index 0000000..a6effd4 --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/docker-compose.yml @@ -0,0 +1,46 @@ +# MIT License + +# Copyright (c) 2020 Hongrui Zheng + +# Permission is hereby granted, free of charge, to any person obtaining a copy +# of this software and associated documentation files (the "Software"), to deal +# in the Software without restriction, including without limitation the rights +# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +# copies of the Software, and to permit persons to whom the Software is +# furnished to do so, subject to the following conditions: + +# The above copyright notice and this permission notice shall be included in all +# copies or substantial portions of the Software. + +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +# SOFTWARE. + +version: '3' +services: + sim: + image: f1tenth_gym_ros + build: ./ + volumes: + - .:/sim_ws/src/f1tenth_gym_ros + environment: + - DISPLAY=novnc:0.0 + networks: + - x11 + stdin_open: true + tty: true + novnc: + image: theasp/novnc:latest + environment: + - DISPLAY_WIDTH=1728 + - DISPLAY_HEIGHT=972 + ports: + - "8080:8080" + networks: + - x11 +networks: + x11: diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/.gitignore b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/.gitignore new file mode 100644 index 0000000..c91fe84 --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/.gitignore @@ -0,0 +1,11 @@ +build/ +gym/f110_gym.egg-info +__pycache__ +*.pyc +.DS_Store +.vscode/ +gym/f110_gym/unittest/maps/ +gym/f110_gym/unittest/centerline/ +docs/_build/ +*.mypy_cache/ +flycheck_* diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/Dockerfile b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/Dockerfile new file mode 100644 index 0000000..6af62db --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/Dockerfile @@ -0,0 +1,57 @@ +# MIT License + +# Copyright (c) 2020 Joseph Auckley, Matthew O'Kelly, Aman Sinha, Hongrui Zheng + +# Permission is hereby granted, free of charge, to any person obtaining a copy +# of this software and associated documentation files (the "Software"), to deal +# in the Software without restriction, including without limitation the rights +# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +# copies of the Software, and to permit persons to whom the Software is +# furnished to do so, subject to the following conditions: + +# The above copyright notice and this permission notice shall be included in all +# copies or substantial portions of the Software. + +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +# SOFTWARE. + +FROM ubuntu:20.04 + +ARG DEBIAN_FRONTEND="noninteractive" +ENV LIBGL_ALWAYS_INDIRECT=1 +ENV NVIDIA_VISIBLE_DEVICES \ + ${NVIDIA_VISIBLE_DEVICES:-all} + +ENV NVIDIA_DRIVER_CAPABILITIES \ + ${NVIDIA_DRIVER_CAPABILITIES:+$NVIDIA_DRIVER_CAPABILITIES,}graphics + +RUN apt-get update --fix-missing && \ + apt-get install -y \ + python3-dev \ + python3-pip \ + git \ + build-essential \ + libgl1-mesa-dev \ + mesa-utils \ + libglu1-mesa-dev \ + fontconfig \ + libfreetype6-dev + +RUN pip3 install --upgrade pip +RUN pip3 install PyOpenGL \ + PyOpenGL_accelerate + +RUN mkdir /f1tenth_gym +COPY . /f1tenth_gym + +RUN cd /f1tenth_gym && \ + pip3 install -e . + +WORKDIR /f1tenth_gym + +ENTRYPOINT ["/bin/bash"] diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/LICENSE b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/LICENSE new file mode 100644 index 0000000..1f905d6 --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/LICENSE @@ -0,0 +1,21 @@ +MIT License + +Copyright (c) 2020 Joseph Auckley, Matthew O'Kelly, Aman Sinha, Hongrui Zheng + +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in all +copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +SOFTWARE. diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/README.md b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/README.md new file mode 100644 index 0000000..00fcd30 --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/README.md @@ -0,0 +1,54 @@ +# The F1TENTH Gym Environment + +## Quickstart +We recommend installing the simulation inside a virtualenv. You can install the environment by running: + +```bash +virtualenv gym_env +source gym_env/bin/activate +cd f1tenth_gym +pip install -e . +``` + +Then you can run a quick waypoint follow example by: +```bash +cd examples +python3 waypoint_follow.py +``` + +A Dockerfile is also provided with support for the GUI with nvidia-docker (nvidia GPU required): +```bash +docker build -t f1tenth_gym_container -f Dockerfile . +docker run --gpus all -it -e DISPLAY=$DISPLAY -v /tmp/.X11-unix:/tmp/.X11-unix f1tenth_gym_container +```` +Then the same example can be ran. + +## Limitations +- Library support issues on Windows. You must use Python 3.8 as of 10-2021 +- On MacOS Big Sur and above, when rendering is turned on, you might encounter the error: +``` +ImportError: Can't find framework /System/Library/Frameworks/OpenGL.framework. +``` +You can fix the error by installing a newer version of pyglet: +```bash +$ pip3 install pyglet==1.5.11 +``` +And you might see an error similar to +``` +gym 0.17.3 requires pyglet<=1.5.0,>=1.4.0, but you'll have pyglet 1.5.11 which is incompatible. +``` +which could be ignored. The environment should still work without error. + +## Citing +If you find this Gym environment useful, please consider citing: + +``` +@inproceedings{okelly2020f1tenth, + title={F1TENTH: An Open-source Evaluation Environment for Continuous Control and Reinforcement Learning}, + author={O’Kelly, Matthew and Zheng, Hongrui and Karthik, Dhruv and Mangharam, Rahul}, + booktitle={NeurIPS 2019 Competition and Demonstration Track}, + pages={77--89}, + year={2020}, + organization={PMLR} +} +``` \ No newline at end of file diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/Doxyfile b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/Doxyfile new file mode 100644 index 0000000..0faf151 --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/Doxyfile @@ -0,0 +1,11 @@ +PROJECT_NAME = "f1tenth_gym" +INPUT = ../gym/f110_gym +GENERATE_LATEX = NO +GENERATE_MAN = NO +GENERATE_RTF = NO +CASE_SENSE_NAMES = NO +GENERATE_HTML = YES +GENERATE_XML = YES +RECURSIVE = YES +QUIET = YES +JAVADOC_AUTOBRIEF = YES \ No newline at end of file diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/Makefile b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/Makefile new file mode 100644 index 0000000..d4bb2cb --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/Makefile @@ -0,0 +1,20 @@ +# Minimal makefile for Sphinx documentation +# + +# You can set these variables from the command line, and also +# from the environment for the first two. +SPHINXOPTS ?= +SPHINXBUILD ?= sphinx-build +SOURCEDIR = . +BUILDDIR = _build + +# Put it first so that "make" without argument is like "make help". +help: + @$(SPHINXBUILD) -M help "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O) + +.PHONY: help Makefile + +# Catch-all target: route all unknown targets to Sphinx using the new +# "make mode" option. $(O) is meant as a shortcut for $(SPHINXOPTS). +%: Makefile + @$(SPHINXBUILD) -M $@ "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O) diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/_static/css/custom.css b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/_static/css/custom.css new file mode 100644 index 0000000..f09cf5d --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/_static/css/custom.css @@ -0,0 +1,651 @@ +/** + * Various tweaks to the Read the Docs theme to better conform with Godot's + * visual identity. Many colors are also overridden to use CSS variables. + * This makes it possible to provide an automatically-used dark theme + * based on browser preferences. + */ + + /* Default (light) theme colors */ + :root { + --body-color: #404040; + --content-wrap-background-color: #efefef; + --content-background-color: #fcfcfc; + --logo-opacity: 1.0; + --navbar-background-color: #333f67; + --navbar-background-color-hover: #29355c; + --navbar-background-color-active: #212d51; + --navbar-current-background-color: #212d51; + --navbar-current-background-color-hover: #182343; + --navbar-current-background-color-active: #131e3b; + --navbar-level-1-color: #c3e3ff; + --navbar-level-2-color: #b8d6f0; + --navbar-level-3-color: #a3c4e1; + --navbar-heading-color: #ff7381; + + --link-color: #2980b9; + --link-color-hover: #3091d1; + --link-color-active: #105078; + --link-color-visited: #9b59b6; + + --hr-color: #e1e4e5; + --table-row-odd-background-color: #f3f6f6; + --code-background-color: #fff; + --code-border-color: #e1e4e5; + --code-literal-color: #d04c60; + --input-background-color: #fcfcfc; + --input-focus-border-color: #5f8cff; + + --highlight-background-color: #f5ffe1; + --highlight-comment-color: #408090; + --highlight-keyword-color: #007020; + --highlight-keyword2-color: #902000; + --highlight-number-color: #208050; + --highlight-decorator-color: #4070a0; + --highlight-type-color: #007020; + --highlight-type2-color: #0e84b5; + --highlight-function-color: #06287e; + --highlight-operator-color: #666666; + --highlight-string-color: #4070a0; + + --admonition-note-background-color: #e7f2fa; + --admonition-note-color: #404040; + --admonition-note-title-background-color: #6ab0de; + --admonition-note-title-color: #fff; + --admonition-attention-background-color: #ffedcc; + --admonition-attention-color: #404040; + --admonition-attention-title-background-color: #f0b37e; + --admonition-attention-title-color: #fff; + --admonition-tip-background-color: #dbfaf4; + --admonition-tip-color: #404040; + --admonition-tip-title-background-color: #1abc9c; + --admonition-tip-title-color: #fff; + + --btn-neutral-background-color: #f3f6f6; + --btn-neutral-hover-background-color: #e5ebeb; + --footer-color: #808080; +} + + +/* Dark theme colors */ +/*@media (prefers-color-scheme: light) { + :root { + --body-color: rgba(255, 255, 255, 0.85); + --content-wrap-background-color: #202326; + --content-background-color: #2e3236; + /* Decrease the logo opacity when using the dark theme to be less distracting */ + --logo-opacity: 0.85; + --navbar-background-color: #25282b; + --navbar-background-color-hover: #333639; + --navbar-background-color-active: #111417; + --navbar-current-background-color: #333639; + --navbar-current-background-color-hover: #44474a; + --navbar-current-background-color-active: #222528; + --navbar-level-1-color: #ddd; + --navbar-level-2-color: #ccc; + --navbar-level-3-color: #bbb; + --navbar-heading-color: #ee7381; + + --link-color: #8cf; + --link-color-hover: #9df; + --link-color-active: #6ad; + --link-color-visited: #cb99f6; + + --hr-color: #555; + --table-row-odd-background-color: #3b3e41; + --code-background-color: #434649; + --code-border-color: #505356; + --code-literal-color: #faa; + --input-background-color: #333537; + --input-focus-border-color: #5f8cff; + + Colors taken from the Godot script editor with the Adaptive theme + --highlight-background-color: #202531; + --highlight-comment-color: rgba(204, 206, 211, 0.5); + --highlight-keyword-color: #ff7085; + --highlight-keyword2-color: #42ffc2; + --highlight-number-color: #a1ffe0; + --highlight-decorator-color: #abc8ff; + --highlight-type-color: #8effda; + --highlight-type2-color: #c6ffed; + --highlight-function-color: #57b3ff; + --highlight-operator-color: #abc8ff; + --highlight-string-color: #ffeca1; + + --admonition-note-background-color: #303d4f; + --admonition-note-color: #bfeeff; + --admonition-note-title-background-color: #305070; + --admonition-note-title-color: #bfefff; + --admonition-attention-background-color: #444033; + --admonition-attention-color: #ffeeaf; + --admonition-attention-title-background-color: #665022; + --admonition-attention-title-color: #ffeeaf; + --admonition-tip-background-color: #28382d; + --admonition-tip-color: #dfd; + --admonition-tip-title-background-color: #336648; + --admonition-tip-title-color: #dfd; + + --btn-neutral-background-color: #404040; + --btn-neutral-hover-background-color: #505050; + --footer-color: #aaa; + } +}*/ + + +body, +h1, +h2, +h3, +h4, +h5, +h6, +input[type="text"], +input[type="button"], +input[type="reset"], +input[type="submit"], +textarea, +legend, +.btn, +.rst-content .toctree-wrapper p.caption, +.rst-versions { + /* Use a system font stack for better performance (no Web fonts required) */ + font-family: -apple-system, BlinkMacSystemFont, "Segoe UI", Roboto, Oxygen-Sans, Ubuntu, Cantarell, "Helvetica Neue", sans-serif; +} + +h1, +h2, +h3, +h4, +h5, +h6, +legend, +.rst-content .toctree-wrapper p.caption { + /* Use a lighter font for headers (Medium instead of Bold) */ + font-weight: 500; +} + +p, +article ul, +article ol, +.wy-plain-list-disc, +.wy-plain-list-decimal, +.rst-content ol.arabic, +.rst-content .section ul, +.rst-content .toctree-wrapper ul, +.rst-content .section ol { + /* Increase the line height slightly to account for the different font */ + line-height: 25px; +} + +body, +.rst-content table.docutils thead { + color: var(--body-color); +} + +a { + color: var(--link-color); +} + +.sphinx-tabs .sphinx-menu a.item { + /* Original definition has `!important` */ + color: var(--link-color) !important; +} + +a:hover { + color: var(--link-color-hover); + text-decoration: underline; +} + +a:active { + /* Add visual feedback when clicking on a link */ + color: var(--link-color-active); +} + +a:visited { + color: var(--link-color-visited); +} + +a.btn:hover { + text-decoration: none; +} + +hr, +#search-results .search li:first-child, +#search-results .search li { + border-color: var(--hr-color); +} + +/* Doesn't seem to be used on Read the Docs online builds, but is present when building locally */ +.rst-content dl:not(.docutils) dt { + background-color: var(--admonition-note-background-color); + border-color: var(--admonition-note-title-background-color); + color: var(--admonition-note-color); +} + +footer, +#search-results .context { + color: var(--footer-color); +} + +.footer { + padding: 1vw; +} +.footer-print { + font-size: 12px; + font-family: Montserrat; + text-align: center; + padding: 2vw; + border: 1px; + border-style: solid; + border-top-color: rgb(223,210,255); + border-left-color: #fff; + border-right-color: #fff; + border-bottom-color: #fff; + margin:0vw 10vw; +} + +/* Main sections */ + +.wy-nav-content-wrap { + background-color: var(--content-wrap-background-color); +} + +.wy-nav-content { + background-color: var(--content-background-color); +} + +.wy-body-for-nav { + background-color: var(--content-wrap-background-color); +} + +@media only screen and (min-width: 768px) { + .wy-body-for-nav { + /* Center the page on wide displays for better readability */ + max-width: 1100px; + margin: 0 auto; + } +} + +/* Table display tweaks */ + +.rst-content table.docutils, +.wy-table-bordered-all td, +.rst-content table.docutils td, +.wy-table thead th, +.rst-content table.docutils thead th, +.rst-content table.field-list thead th { + border-color: var(--code-border-color); +} + +.wy-table-odd td, +.wy-table-striped tr:nth-child(2n-1) td, +.rst-content table.docutils:not(.field-list) tr:nth-child(2n-1) td { + background-color: var(--table-row-odd-background-color); +} + +/* Code display tweaks */ + +code, +.rst-content tt, +.rst-content code { + font-size: 14px; + background-color: var(--code-background-color); + border: 1px solid var(--code-border-color); +} + +.rst-content tt.literal, +.rst-content code.literal { + color: var(--code-literal-color); +} + +.rst-content div[class^="highlight"] { + border-color: var(--code-border-color); +} + +.rst-content pre.literal-block, +.rst-content div[class^="highlight"] pre, +.rst-content .linenodiv pre { + /* Increase the font size and line height in code blocks */ + font-size: 14px; + line-height: 1.5; +} + +/* Code tab display tweaks */ + +.ui.tabular.menu .active.item, +.ui.segment { + background-color: var(--code-background-color); +} + +/* Syntax highlighting */ + +.highlight { + background-color: var(--highlight-background-color); +} + +.highlight .c1, +.highlight .cm { + color: var(--highlight-comment-color); +} + +.highlight .bp, +.highlight .k, +.highlight .kd, +.highlight .kn, +.highlight .kt, +.highlight .ow { + color: var(--highlight-keyword-color); +} + +.highlight .cp { + color: var(--highlight-keyword2-color); +} + +.highlight .m, +.highlight .mf, +.highlight .mi { + color: var(--highlight-number-color); +} + +.highlight .na { + color: var(--highlight-decorator-color); +} + +.highlight .nb { + color: var(--highlight-type-color); +} + +.highlight .nc, +.highlight .nn, +.highlight .nv { + color: var(--highlight-type2-color); +} + +.highlight .nf { + color: var(--highlight-function-color); +} + +.highlight .o { + color: var(--highlight-operator-color); +} + +.highlight .cpf, +.highlight .s, +.highlight .s1, +.highlight .s2, +.highlight .se { + color: var(--highlight-string-color); +} + +/* Admonition tweaks */ + +.rst-content .admonition.note, +.rst-content .admonition.seealso { + background-color: var(--admonition-note-background-color); + color: var(--admonition-note-color); +} + +.rst-content .admonition.note .admonition-title, +.rst-content .admonition.seealso .admonition-title { + background-color: var(--admonition-note-title-background-color); + color: var(--admonition-note-title-color); +} + +.rst-content .admonition.attention, +.rst-content .admonition.caution, +.rst-content .admonition.warning { + background-color: var(--admonition-attention-background-color); + color: var(--admonition-attention-color); +} + +.rst-content .admonition.attention .admonition-title, +.rst-content .admonition.caution .admonition-title, +.rst-content .admonition.warning .admonition-title { + background-color: var(--admonition-attention-title-background-color); + color: var(--admonition-attention-title-color); +} + +.rst-content .admonition.tip, +.rst-content .admonition.important { + background-color: var(--admonition-tip-background-color); + color: var(--admonition-tip-color); +} + +.rst-content .admonition.tip .admonition-title, +.rst-content .admonition.important .admonition-title { + background-color: var(--admonition-tip-title-background-color); + color: var(--admonition-tip-title-color); +} + +/* Buttons */ + +.btn-neutral { + background-color: var(--btn-neutral-background-color) !important; + color: var(--body-color) !important; +} + +.btn-neutral:hover { + background-color: var(--btn-neutral-hover-background-color) !important; +} + +.btn-neutral:visited { + color: var(--body-color) !important; +} + +/* Navigation bar logo and search */ + +.logo { + opacity: var(--logo-opacity); +} + +.wy-side-nav-search { + background-color: var(--navbar-background-color); +} + +.wy-side-nav-search.fixed { + position: fixed; +} + +@media only screen and (min-width: 768px) { + /* Simulate a drop shadow that only affects the bottom edge */ + /* This is used to indicate the search bar is fixed */ + .wy-side-nav-search.fixed::after { + content: ''; + position: absolute; + left: 0; + bottom: -8px; + width: 300px; + height: 8px; + pointer-events: none; + background: linear-gradient(hsla(0, 0%, 0%, 0.2), transparent); + } +} + +.wy-side-nav-search > a:hover, +.wy-side-nav-search .wy-dropdown > a:hover { + background-color: var(--navbar-background-color-hover); +} + +.wy-side-nav-search > a:active, +.wy-side-nav-search .wy-dropdown > a:active { + background-color: var(--navbar-background-color-active); +} + +.wy-side-nav-search input[type="text"] { + background-color: var(--input-background-color); + color: var(--body-color); + /* Avoid reflowing when toggling the focus state */ + border: 2px solid transparent; + box-shadow: none; + /* Make visual feedback instant */ + transition: none; + font-size: 14px; +} + +.wy-side-nav-search input[type="text"]:focus { + border: 2px solid var(--input-focus-border-color); +} + +.wy-side-nav-search input[type="text"]::placeholder { + color: var(--body-color); + opacity: 0.55; +} + +/* Navigation bar */ + +.wy-nav-side { + background-color: var(--navbar-background-color); +} + +@media only screen and (min-width: 768px) { + .wy-nav-side { + /* Required to center the page on wide displays */ + left: inherit; + } +} + +.wy-menu-vertical header, +.wy-menu-vertical p.caption { + color: var(--navbar-heading-color); + + /* Improves the appearance of uppercase text */ + letter-spacing: 0.75px; +} + +/* Mobile navigation */ + +.wy-nav-top, +.wy-nav-top a { + background-color: var(--navbar-background-color); + color: var(--navbar-level-1-color); +} + +/* Version branch label below the logo */ +.wy-side-nav-search > div.version { + color: var(--navbar-level-3-color); + opacity: 0.9; +} + +/* First level of navigation items */ + +.wy-menu-vertical { + /* Account for the increased `toctree-expand` button margins */ + width: 308px; +} + +.wy-menu-vertical a { + color: var(--navbar-level-1-color); +} + +.wy-menu-vertical a:hover { + background-color: var(--navbar-background-color-hover); + color: var(--navbar-level-1-color); +} + +.wy-menu-vertical a:active { + background-color: var(--navbar-background-color-active); +} + +.wy-menu-vertical li.toctree-l1.current > a { + border: none; +} + +.wy-side-nav-search, .wy-menu-vertical a, .wy-menu-vertical a span.toctree-expand, +.wy-menu-vertical li.toctree-l2 a span.toctree-expand { + color: var(--navbar-level-3-color); + opacity: 0.9; + margin-right: 8px; +} + +.wy-side-nav-search, .wy-menu-vertical a, .wy-menu-vertical a:hover span.toctree-expand, +.wy-menu-vertical li.toctree-l2 a:hover span.toctree-expand { + color: var(--navbar-level-2-color); + opacity: 1; +} + +.wy-side-nav-search, .wy-menu-vertical a, .wy-menu-vertical a:active span.toctree-expand, +.wy-menu-vertical li.toctree-l2 a:active span.toctree-expand { + color: var(--navbar-level-1-color); + opacity: 1; +} + +/* Second (and higher) levels of navigation items */ + +.wy-menu-vertical li.current a { + /* Make long words always display on a single line, keep wrapping for multiple words */ + /* This fixes the class reference titles' display with very long class names */ + display: flex; +} + +.wy-menu-vertical li.current a, +.wy-menu-vertical li.toctree-l2.current > a, +.wy-menu-vertical li.toctree-l2.current li.toctree-l3 > a, +.wy-menu-vertical li.toctree-l2.current li.toctree-l4 > a { + background-color: var(--navbar-current-background-color); + color: var(--navbar-level-2-color); + border-color: var(--navbar-current-background-color); +} + +.wy-menu-vertical li.current a:hover, +.wy-menu-vertical li.toctree-l2.current > a:hover, +.wy-menu-vertical li.toctree-l2.current li.toctree-l3 > a:hover, +.wy-menu-vertical li.toctree-l3.current li.toctree-l4 > a:hover { + background-color: var(--navbar-current-background-color-hover); +} + +.wy-menu-vertical li.current a:active, +.wy-menu-vertical li.toctree-l2.current > a:active, +.wy-menu-vertical li.toctree-l2.current li.toctree-l3 > a:active, +.wy-menu-vertical li.toctree-l3.current li.toctree-l4 > a:active { + background-color: var(--navbar-current-background-color-active); +} + +/* Version selector (only visible on Read the Docs) */ + +.rst-versions { + background-color: var(--navbar-current-background-color); +} + +@media only screen and (min-width: 768px) { + .rst-versions { + /* Required to center the page on wide displays */ + left: inherit; + } +} + +.rst-versions a, +.rst-versions .rst-current-version, +.rst-versions .rst-current-version .fa, +.rst-versions .rst-other-versions dd a { + color: var(--navbar-level-1-color); +} + +.rst-versions .rst-other-versions small { + color: var(--navbar-level-3-color); +} + +.rst-versions .rst-other-versions dd a:hover { + text-decoration: underline; +} + +.rst-versions .rst-other-versions { + color: var(--navbar-heading-color); +} + +.rst-versions .rst-current-version { + background-color: var(--navbar-current-background-color); +} + +.rst-versions .rst-current-version:hover { + background-color: var(--navbar-current-background-color-hover); +} + +.rst-versions .rst-current-version:active { + background-color: var(--navbar-current-background-color-active); +} + +/* Hide the obnoxious automatic highlight in search results */ +.rst-content .highlighted { + background-color: transparent; + font-weight: inherit; + padding: 0; +} diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/_static/js/custom.js b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/_static/js/custom.js new file mode 100644 index 0000000..7f05c95 --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/_static/js/custom.js @@ -0,0 +1,48 @@ +// The number of pixels the user must scroll by before the logo is hidden. +const scrollTopPixels = 234; + +// The margin to apply to the menu when the search bar is made fixed. +// Should roughly match the logo's height as to not hide the top menu items +// behind it. +const menuTopMargin = '330px'; + +// Hide the navigation bar logo when scrolling down on desktop platforms. +// The logo is quite tall, so this helps make the rest of the navigation bar +// more readable. +function registerOnScrollEvent(mediaQuery) { + // The navigation bar that contains the logo. + const $navbar = $('.wy-side-scroll'); + const $menu = $('.wy-menu-vertical'); + const $search = $('.wy-side-nav-search'); + + // The anchor that contains the logo. This element will be hidden + // (instead of hiding just the logo), otherwise, a small clickable area + // would remain visible. + const $logo = $('.wy-side-nav-search > a'); + + if (mediaQuery.matches) { + // We're on desktop; register the scroll event. + $navbar.scroll(function() { + if ($(this).scrollTop() >= scrollTopPixels) { + $logo.hide(); + $search.addClass('fixed'); + $menu.css('margin-top', menuTopMargin); + } else { + $logo.show(); + $search.removeClass('fixed'); + $menu.css('margin-top', 0); + } + }); + } else { + // We're on mobile; unregister the scroll event so the logo isn't hidden + // when scrolling. + $logo.show(); + $navbar.unbind('scroll'); + } +} + +$(document).ready(() => { + const mediaQuery = window.matchMedia('only screen and (min-width: 768px)'); + registerOnScrollEvent(mediaQuery); + mediaQuery.addListener(registerOnScrollEvent); +}); diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/api/base_classes.rst b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/api/base_classes.rst new file mode 100644 index 0000000..d3a555b --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/api/base_classes.rst @@ -0,0 +1,11 @@ +Base Classes +============= + +Base classes are the underlying classes that handles the physical simulation and interaction between vehicles. + +The ``RaceCar`` class handles the simulation of the dynamics model and the generation of the laser scan. + +The ``Simulator`` class handles the interaction between agents including collision checking. + +.. doxygenfile:: base_classes.py + :project: f1tenth_gym \ No newline at end of file diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/api/collision_models.rst b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/api/collision_models.rst new file mode 100644 index 0000000..d787597 --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/api/collision_models.rst @@ -0,0 +1,7 @@ +Collision Models +======================================== + +This file contains all the numba just-in-time compiled functions for collision checking between agents. The GJK algorithm (more detail here: https://cse442-17f.github.io/Gilbert-Johnson-Keerthi-Distance-Algorithm/) is used to check for overlap in polygons. + +.. doxygenfile:: collision_models.py + :project: f1tenth_gym \ No newline at end of file diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/api/dynamic_models.rst b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/api/dynamic_models.rst new file mode 100644 index 0000000..c7c9da6 --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/api/dynamic_models.rst @@ -0,0 +1,7 @@ +Dynamic Models +======================================== + +This file contains all numba just-in-time compiled function for the dynamic models. + +.. doxygenfile:: dynamic_models.py + :project: f1tenth_gym \ No newline at end of file diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/api/env.rst b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/api/env.rst new file mode 100644 index 0000000..da9c841 --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/api/env.rst @@ -0,0 +1,7 @@ +Gym Environment +======================================== + +This is the top level file that conforms to the OpenAI gym convention. + +.. doxygenfile:: f110_env.py + :project: f1tenth_gym \ No newline at end of file diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/api/laser_models.rst b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/api/laser_models.rst new file mode 100644 index 0000000..93e14b6 --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/api/laser_models.rst @@ -0,0 +1,7 @@ +Laser Scan Simulator Models +====================================== + +This file contains all numba just-in-time compiled function for the 2D laser scan models. The core of the laser scan simulation is the Euclidean distance transform of the map image provided. See more details about the algorithm here: https://docs.scipy.org/doc/scipy/reference/generated/scipy.ndimage.distance_transform_edt.html#scipy.ndimage.distance_transform_edt. Then, ray tracing is used to create the beams of the 2D lasers scan. + +.. doxygenfile:: laser_models.py + :project: f1tenth_gym \ No newline at end of file diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/api/obv.rst b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/api/obv.rst new file mode 100644 index 0000000..78c60d4 --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/api/obv.rst @@ -0,0 +1,14 @@ +What's In an Observation +============================ + +An observation is returned by the gym environment after resetting and stepping. An observation is a dictionary with the following keys: + +- ``'ego_idx'``: index of the ego agent in the list of agents +- ``'scans'``: list of length num_agents of numpy.ndarrays of (num_beams, ), each array is the corresponding laser scan of the agent in the list +- ``'poses_x'``: list of length num_agents of floats, each agent's x pose in the world +- ``'poses_y'``: list of length num_agents of floats, each agent's y pose in the world +- ``'poses_theta'``: list of length num_agents of floats, each agent's theta pose in the world +- ``'linear_vels_x'``: list of length num_agents of floats, each agent's current longitudinal velocity +- ``'linear_vels_y'``: list of length num_agents of zeros +- ``'ang_vels_z'``: list of length num_agents of floats, each agent's current yaw rate +- ``'collisions'``: list of length num_agents of 1s or 0s, whether each agent is in collision with another agent or the environment \ No newline at end of file diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/api/rendering.rst b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/api/rendering.rst new file mode 100644 index 0000000..dc43956 --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/api/rendering.rst @@ -0,0 +1,7 @@ +Rendering Engine +======================================== + +This is the rendering engine using pyglet to visualize the running environment. + +.. doxygenfile:: rendering.py + :project: f1tenth_gym \ No newline at end of file diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/assets/docker_logo.png b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/assets/docker_logo.png new file mode 100644 index 0000000..2786c65 Binary files /dev/null and b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/assets/docker_logo.png differ diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/assets/f110cover.png b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/assets/f110cover.png new file mode 100644 index 0000000..3956d27 Binary files /dev/null and b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/assets/f110cover.png differ diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/assets/f1_stickers_01.png b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/assets/f1_stickers_01.png new file mode 100644 index 0000000..471a850 Binary files /dev/null and b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/assets/f1_stickers_01.png differ diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/assets/f1_stickers_02.png b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/assets/f1_stickers_02.png new file mode 100644 index 0000000..4d48d3c Binary files /dev/null and b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/assets/f1_stickers_02.png differ diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/assets/f1tenth_gym.svg b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/assets/f1tenth_gym.svg new file mode 100644 index 0000000..22e2aa3 --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/assets/f1tenth_gym.svg @@ -0,0 +1,9 @@ + + +F1TENTHGYM \ No newline at end of file diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/assets/f1tenth_gym_color.svg b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/assets/f1tenth_gym_color.svg new file mode 100644 index 0000000..e55fd58 --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/assets/f1tenth_gym_color.svg @@ -0,0 +1,9 @@ + + +F1TENTHGYM \ No newline at end of file diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/assets/gym.svg b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/assets/gym.svg new file mode 100644 index 0000000..1d598fe --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/assets/gym.svg @@ -0,0 +1,46 @@ + + + + + + + + diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/assets/pip_logo.svg b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/assets/pip_logo.svg new file mode 100644 index 0000000..6b8b45d --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/assets/pip_logo.svg @@ -0,0 +1 @@ + \ No newline at end of file diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/basic_usage.rst b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/basic_usage.rst new file mode 100644 index 0000000..9fbdf92 --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/basic_usage.rst @@ -0,0 +1,50 @@ +.. _basic_usage: + +Basic Usage Example +===================== + +The environment can work out of the box without too much customization. + +A gym env could be instantiated without any extra arguments. By default, it spawns two agents in the Vegas (IROS 2020) map. You can find the image of the map at ``gym/f110_gym/envs/maps/vegas.png``. At instantiation, the index of the ego agent in the list of agents is 0. + +The agents can be reset by calling the ``reset()`` method using a numpy ndarray of size ``(num_agents, 2)``, where each row represents an agent, and the columns are the ``(x, y)`` coordinate of each agent. + +The ``reset()`` and ``step()`` method returns: + - An *observation* dictionary + - A *step reward*, which in the current release is the physics timestep used. + - A *done* boolean indicator, flips to true when either a collision happens or the ego agent finishes 2 laps. + - An *info* dictionary. Empty in the current release. + +The action taken by the ``step()`` function is a numpy ndarray of size ``(num_agents, 2)``, where each row represents an agent's action (indices corresponds to the list of agents), and the columns are control inputs (steering angle, velocity). + +A working example can be found in ``examples/waypoint_follow.py``. + +The following pseudo code provides a skeleton for creating a simulation loop. + +.. code:: python + + import gym + import numpy as np + from your_custom_policy import planner # the policy/motion planner that you create + + # instantiating the environment + racecar_env = gym.make('f110_gym:f110-v0') + obs, step_reward, done, info = racecar_env.reset(np.array([[0., 0., 0.], # pose of ego + [2., 0., 0.]])) # pose of 2nd agent + # instantiating your policy + planner = planner() + + # simulation loop + lap_time = 0. + + # loops when env not done + while not done: + # get action based on the observation + actions = planner.plan(obs) + + # stepping through the environment + obs, step_reward, done, info = racecar_env.step(actions) + + lap_time += step_reward + +For a more in-depth example that provides more customization to the environment, see :ref:`custom_usage`. diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/conf.py b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/conf.py new file mode 100644 index 0000000..0e049f0 --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/conf.py @@ -0,0 +1,88 @@ +import os +import sys +import sphinx_rtd_theme + +source_suffix = '.rst' +source_encoding = 'utf-8-sig' + +# -- Language ---------------------------------------------------------------- +env_tags = os.getenv('SPHINX_TAGS') +if env_tags != None: + for tag in env_tags.split(','): + print('Adding Sphinx tag: %s' % tag.strip()) + tags.add(tag.strip()) + +language = os.getenv('READTHEDOCS_LANGUAGE', 'en') +is_i18n = tags.has('i18n') + +# -- Theme ------------------------------------------------------------------- +on_rtd = os.environ.get('READTHEDOCS', None) == 'True' +html_theme = 'sphinx_rtd_theme' +html_theme_path = [sphinx_rtd_theme.get_html_theme_path()] +if on_rtd: + using_rtd_theme = True +html_theme_options = { + # 'typekit_id': 'hiw1hhg', + # 'analytics_id': '', + # 'sticky_navigation': True # Set to False to disable the sticky nav while scrolling. + 'logo_only': False, # if we have a html_logo below, this shows /only/ the logo with no title text + 'collapse_navigation': False, # Collapse navigation (False makes it tree-like) + 'prev_next_buttons_location': 'bottom', + # 'display_version': True, # Display the docs version + # 'navigation_depth': 4, # Depth of the headers shown in the navigation bar +} +html_context = { + "display_github": not is_i18n, # Integrate GitHub + "github_user": "f1tenth", # Username + "github_repo": "f1tenth_gym", # Repo name + "github_version": "exp_py", # Version + "conf_py_path": "/docs/", # Path in the checkout to the docs root +} + +html_favicon = 'assets/f1_stickers_02.png' + +html_css_files = [ + 'css/custom.css' +] + +html_js_files = [ + 'css/custom.js' +] +html_logo = 'assets/f1tenth_gym.svg' + +# -- Project information ----------------------------------------------------- + +project = 'f1tenth_gym' +copyright = "2021, Hongrui Zheng, Matthew O'Kelly, Aman Sinha" +author = 'Hongrui Zheng' + +# The full version, including alpha/beta/rc tags +release = 'latest' +version = 'latest' + + +# -- General configuration --------------------------------------------------- + +# Add any Sphinx extension module names here, as strings. They can be +# extensions coming with Sphinx (named 'sphinx.ext.*') or your custom +# ones. +extensions = [ "breathe", "sphinx_rtd_theme", "sphinx.ext.autosectionlabel" +] + +# Breathe configuration +breathe_projects = { + "f1tenth_gym":"./xml" + } + +# Add any paths that contain templates here, relative to this directory. +templates_path = ['_templates'] + +# List of patterns, relative to source directory, that match files and +# directories to ignore when looking for source files. +# This pattern also affects html_static_path and html_extra_path. +exclude_patterns = ['_build', 'Thumbs.db', '.DS_Store'] + +# Add any paths that contain custom static files (such as style sheets) here, +# relative to this directory. They are copied after the builtin static files, +# so a file named "default.css" will overwrite the builtin "default.css". +html_static_path = ['_static'] \ No newline at end of file diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/customized_usage.rst b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/customized_usage.rst new file mode 100644 index 0000000..7025de8 --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/customized_usage.rst @@ -0,0 +1,165 @@ +.. _custom_usage: + +Customized Usage Example +========================== + +For a basic usage example, see :ref:`basic_usage`. + +The environment also provides options for customization. + +Custom Map +------------ + +The environment uses a convention that is similar to the ROS map convention. A map for the environment is created by two files: a ``yaml`` file containing the metadata of the map, and a single channel black and white image that represents the map, where black pixels are obstacles and white pixels are free space. + +Map Metadata File (yaml) +~~~~~~~~~~~~~~~~~~~~~~~~~~ + +Only the ``resolution`` and the ``origin`` fields in the yaml files are used by the environment, and only the first two coordinates in the ``origin`` field are used. The unit of the resolution is *m/pixel*. The x and y (first two) numbers in the origin field are used to determine where the origin of the map frame is. Note that these two numbers follow the ROS convention. They represent the **bottom left** corner of the map image's coordinate in the world. + +Map Image File +~~~~~~~~~~~~~~~~~~~~~~~~~~ + +A black and white, single channel image is used to represent free space and obstacles. For example, the Vegas map looks like this: + +.. image:: ../gym/f110_gym/envs/maps/vegas.png + :width: 300 + :align: center + +Using a Custom Map +~~~~~~~~~~~~~~~~~~~~~~~~~~ + +The environment can be instantiated with arguments for a custom map. First, you can place your custom map files (.yaml and the image file) in the same directory, for example ``/your/path/to/map.yaml`` and ``/your/path/to/map.png``. Then you can create the environment with the absolute path to these files like this: + +.. code:: python + + env = gym.make('f110_gym:f110-v0', + map='/your/path/to/map', + map_ext='.png') + +The ``map`` argument takes the absolute path to the map files **without** any extensions, and the ``map_ext`` argument takes the extension to the map image file. **Note** that it is assumed that the two files are in the **same directory**, and have the **same filename** (not including the extensions, for example map.png and map.yaml) + +Random Track Generator (Beta) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +A random track generator derived from the OpenAI CarRacing environment is also provided in ``gym/f110_gym/unittest/random_trackgen.py``. Note that it requires extra dependencies. ``OpenCV`` is required for image manipulation and IO operations, ``shapely`` and ``matplotlib`` are required for image generation. For OpenCV, you can follow the tutorial at https://docs.opencv.org/master/df/d65/tutorial_table_of_content_introduction.html for installation on different platforms. Then you can install ``shapely`` and ``matplotlib`` with: ``$ pip3 install shapely matplotlib``. + +After you've installed the dependencies, you can run the track generator by: + +.. code:: bash + + $ python3 random_trackgen.py --seed 12345 --num_maps 1 + +where the ``--seed`` argument (int, default 123) is for reproducibility, and the ``--num_maps`` argument is for the number of maps you want to generate. By default, the script will create two directories in ``unittest``: ``unittest/maps`` and ``unittest/centerline``. The former contains all the map metadata and map image files, and the latter contains a csv file of the (x, y) coordinates of the points on the centerline of the track. + +An example of a randomly generated track: + +.. image:: ../examples/example_map.png + :width: 300 + :align: center + +Multiple Agents +----------------- + +You can instantiate an environment with any number of agents (default is 2). For example: + +.. code:: python + + env = gym.make('f110_gym:f110-v0', + num_agents=3) + +This will create an environment with 3 agents. Note that your call to the ``reset()`` and ``step()`` function will have to change accordingly: + +.. code:: python + + _, _, _, _ = env.reset(np.array([[ego_x, ego_y], + [opp1_x, opp1_y], + [opp2_x, opp2_y]])) + _, _, _, _ = env.step(np.array([[ego_steer, ego_speed], + [opp1_steer, opp1_speed], + [opp2_steer, opp2_speed]])) + +Note that performance of the environment will start to degrade as more and more agents are added. + +Changing Parameters in Vehicle Dynamics +------------------------------------------ + +The vehicle dynamic model used in the environment is the Single-Track Model from https://gitlab.lrz.de/tum-cps/commonroad-vehicle-models/. + +You can change the default paramters (identified on concrete floor with the default configuration F1TENTH vehicle) used in the environment in two ways. + +1. You could instantiate the environment with a parameter dictionary: + +.. code:: python + + params_dict = {'mu': 1.0489, + 'C_Sf': 4.718, + 'C_Sr': 5.4562, + 'lf': 0.15875, + 'lr': 0.17145, + 'h': 0.074, + 'm': 3.74, + 'I': 0.04712, + 's_min': -0.4189, + 's_max': 0.4189, + 'sv_min': -3.2, + 'sv_max': 3.2, + 'v_switch':7.319, + 'a_max': 9.51, + 'v_min':-5.0, + 'v_max': 20.0, + 'width': 0.31, + 'length': 0.58} + env = gym.make('f110_gym:f110-v0', params=params_dict) + +2. Or you could update the parameters of a specific vehicle in the list of vehicles (or all vehicles): + +.. code:: python + + # env with default params and 2 agents + env = gym.make('f110_gym:f110-v0') + + # new params + params_dict = {'mu': 1.0489, + 'C_Sf': 4.718, + 'C_Sr': 5.4562, + 'lf': 0.15875, + 'lr': 0.17145, + 'h': 0.074, + 'm': 3.74, + 'I': 0.04712, + 's_min': -0.4189, + 's_max': 0.4189, + 'sv_min': -3.2, + 'sv_max': 3.2, + 'v_switch':7.319, + 'a_max': 9.51, + 'v_min':-5.0, + 'v_max': 20.0, + 'width': 0.31, + 'length': 0.58} + + # update params of only the 2nd vehicles + env.update_params(params_dict, index=1) + + # update params of all vehicles + env.update_params(params_dict) + +The dynamic model's physical parameters are: + - **mu**: surface friction coefficient *[-]* + - **C_Sf**: Cornering stiffness coefficient, front *[1/rad]* + - **C_Sr**: Cornering stiffness coefficient, rear *[1/rad]* + - **lf**: Distance from center of gravity to front axle *[m]* + - **lr**: Distance from center of gravity to rear axle *[m]* + - **h**: Height of center of gravity *[m]* + - **m**: Total mass of the vehicle *[kg]* + - **I**: Moment of inertial of the entire vehicle about the z axis *[kgm^2]* + - **s_min**: Minimum steering angle constraint *[rad]* + - **s_max**: Maximum steering angle constraint *[rad]* + - **sv_min**: Minimum steering velocity constraint *[rad/s]* + - **sv_max**: Maximum steering velocity constraint *[rad/s]* + - **v_switch**: Switching velocity (velocity at which the acceleration is no longer able to create wheel spin) *[m/s]* + - **a_max**: Maximum longitudinal acceleration *[m/s^2]* + - **v_min**: Minimum longitudinal velocity *[m/s]* + - **v_max**: Maximum longitudinal velocity *[m/s]* + - **width**: width of the vehicle *[m]* + - **length**: length of the vehicle *[m]* diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/annotated.html b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/annotated.html new file mode 100644 index 0000000..aa25b01 --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/annotated.html @@ -0,0 +1,111 @@ + + + + + + + +f1tenth_gym: Class List + + + + + + + + + +
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Here are the classes, structs, unions and interfaces with brief descriptions:
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 ▼Nf110_gym
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 CCollisionTests
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 CDynamicsTest
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 CCenteredCamera
 ▼Npyglet_test_camera
 CApp
 ▼Nscan_sim
 CScanSimulator2D
 CScanTests
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  a  
+		CenteredCamera (f110_gym.unittest.pyglet_test)   DynamicsTest (f110_gym.unittest.dynamics_test)   F110Env (f110_gym.envs.f110_env)   ScanSimulator2D (f110_gym.envs.laser_models)   
CollisionTests (f110_gym.unittest.collision_checks)   
  e  
+
  r  
+		ScanTests (f110_gym.unittest.scan_sim)   
App (f110_gym.unittest.pyglet_test_camera)   CollisionTests (f110_gym.envs.collision_models)   ScanTests (f110_gym.envs.laser_models)   
  c  
+
  d  
+		EnvRenderer (f110_gym.envs.rendering)   RaceCar (f110_gym.envs.base_classes)   Simulator (f110_gym.envs.base_classes)   
  f  
+
  s  
+
Camera (f110_gym.unittest.pyglet_test)   DynamicsTest (f110_gym.envs.dynamic_models)   
F110Env (f110_gym.envs.f110_env_backup)   ScanSimulator2D (f110_gym.unittest.scan_sim)   
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f110_gym.envs.base_classes.RaceCar Member List
+
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+ +

This is the complete list of members for f110_gym.envs.base_classes.RaceCar, including all inherited members.

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + +
__init__(self, params, is_ego=False, time_step=0.01, num_beams=1080, fov=4.7)f110_gym.envs.base_classes.RaceCar
accel (defined in f110_gym.envs.base_classes.RaceCar)f110_gym.envs.base_classes.RaceCar
check_ttc(self)f110_gym.envs.base_classes.RaceCar
cosines (defined in f110_gym.envs.base_classes.RaceCar)f110_gym.envs.base_classes.RaceCar
current_scan (defined in f110_gym.envs.base_classes.RaceCar)f110_gym.envs.base_classes.RaceCar
fov (defined in f110_gym.envs.base_classes.RaceCar)f110_gym.envs.base_classes.RaceCar
in_collision (defined in f110_gym.envs.base_classes.RaceCar)f110_gym.envs.base_classes.RaceCar
is_ego (defined in f110_gym.envs.base_classes.RaceCar)f110_gym.envs.base_classes.RaceCar
num_beams (defined in f110_gym.envs.base_classes.RaceCar)f110_gym.envs.base_classes.RaceCar
opp_poses (defined in f110_gym.envs.base_classes.RaceCar)f110_gym.envs.base_classes.RaceCar
params (defined in f110_gym.envs.base_classes.RaceCar)f110_gym.envs.base_classes.RaceCar
ray_cast_agents(self, scan)f110_gym.envs.base_classes.RaceCar
reset(self, pose)f110_gym.envs.base_classes.RaceCar
scan_angles (defined in f110_gym.envs.base_classes.RaceCar)f110_gym.envs.base_classes.RaceCar
scan_simulator (defined in f110_gym.envs.base_classes.RaceCar)f110_gym.envs.base_classes.RaceCar
set_map(self, map_path, map_ext)f110_gym.envs.base_classes.RaceCar
side_distances (defined in f110_gym.envs.base_classes.RaceCar)f110_gym.envs.base_classes.RaceCar
state (defined in f110_gym.envs.base_classes.RaceCar)f110_gym.envs.base_classes.RaceCar
steer_angle_vel (defined in f110_gym.envs.base_classes.RaceCar)f110_gym.envs.base_classes.RaceCar
steer_buffer (defined in f110_gym.envs.base_classes.RaceCar)f110_gym.envs.base_classes.RaceCar
steer_buffer_size (defined in f110_gym.envs.base_classes.RaceCar)f110_gym.envs.base_classes.RaceCar
time_step (defined in f110_gym.envs.base_classes.RaceCar)f110_gym.envs.base_classes.RaceCar
ttc_thresh (defined in f110_gym.envs.base_classes.RaceCar)f110_gym.envs.base_classes.RaceCar
update_opp_poses(self, opp_poses)f110_gym.envs.base_classes.RaceCar
update_params(self, params)f110_gym.envs.base_classes.RaceCar
update_pose(self, raw_steer, vel)f110_gym.envs.base_classes.RaceCar
update_scan(self)f110_gym.envs.base_classes.RaceCar
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+ + diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1envs_1_1base__classes_1_1_race_car.html b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1envs_1_1base__classes_1_1_race_car.html new file mode 100644 index 0000000..0f1b2a5 --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1envs_1_1base__classes_1_1_race_car.html @@ -0,0 +1,538 @@ + + + + + + + +f1tenth_gym: f110_gym.envs.base_classes.RaceCar Class Reference + + + + + + + + + +
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+Public Member Functions | +Public Attributes | +List of all members
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f110_gym.envs.base_classes.RaceCar Class Reference
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+Inheritance diagram for f110_gym.envs.base_classes.RaceCar:
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Inheritance graph
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+
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+Public Member Functions

def __init__ (self, params, is_ego=False, time_step=0.01, num_beams=1080, fov=4.7)
 
def update_params (self, params)
 
def set_map (self, map_path, map_ext)
 
def reset (self, pose)
 
def ray_cast_agents (self, scan)
 
def check_ttc (self)
 
def update_pose (self, raw_steer, vel)
 
def update_opp_poses (self, opp_poses)
 
def update_scan (self)
 
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Public Attributes

+ params
 
+ is_ego
 
+ time_step
 
+ num_beams
 
+ fov
 
+ state
 
+ opp_poses
 
+ accel
 
+ steer_angle_vel
 
+ steer_buffer
 
+ steer_buffer_size
 
+ in_collision
 
+ ttc_thresh
 
+ scan_simulator
 
+ current_scan
 
+ cosines
 
+ scan_angles
 
+ side_distances
 
+

Detailed Description

+
Base level race car class, handles the physics and laser scan of a single vehicle
+
+Data Members:
+    params (dict): vehicle parameters dictionary
+    is_ego (bool): ego identifier
+    time_step (float): physics timestep
+    num_beams (int): number of beams in laser
+    fov (float): field of view of laser
+    state (np.ndarray (7, )): state vector [x, y, theta, vel, steer_angle, ang_vel, slip_angle]
+    odom (np.ndarray(13, )): odometry vector [x, y, z, qx, qy, qz, qw, linear_x, linear_y, linear_z, angular_x, angular_y, angular_z]
+    accel (float): current acceleration input
+    steer_angle_vel (float): current steering velocity input
+    in_collision (bool): collision indicator

Constructor & Destructor Documentation

+ +

◆ __init__()

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
def f110_gym.envs.base_classes.RaceCar.__init__ ( self,
 params,
 is_ego = False,
 time_step = 0.01,
 num_beams = 1080,
 fov = 4.7 
)
+
+
Init function
+
+Args:
+    params (dict): vehicle parameter dictionary, includes {'mu', 'C_Sf', 'C_Sr', 'lf', 'lr', 'h', 'm', 'I', 's_min', 's_max', 'sv_min', 'sv_max', 'v_switch', 'a_max': 9.51, 'v_min', 'v_max', 'length', 'width'}
+    is_ego (bool, default=False): ego identifier
+    time_step (float, default=0.01): physics sim time step
+    num_beams (int, default=1080): number of beams in the laser scan
+    fov (float, default=4.7): field of view of the laser
+
+Returns:
+    None
+
+
+
+

Member Function Documentation

+ +

◆ check_ttc()

+ +
+
+ + + + + + + + +
def f110_gym.envs.base_classes.RaceCar.check_ttc ( self)
+
+
Check iTTC against the environment, sets vehicle states accordingly if collision occurs.
+Note that this does NOT check collision with other agents.
+
+state is [x, y, steer_angle, vel, yaw_angle, yaw_rate, slip_angle]
+
+Args:
+    None
+
+Returns:
+    None
+
+
+
+ +

◆ ray_cast_agents()

+ +
+
+ + + + + + + + + + + + + + + + + + +
def f110_gym.envs.base_classes.RaceCar.ray_cast_agents ( self,
 scan 
)
+
+
Ray cast onto other agents in the env, modify original scan
+
+Args:
+    scan (np.ndarray, (n, )): original scan range array
+
+Returns:
+    new_scan (np.ndarray, (n, )): modified scan
+
+
+
+ +

◆ reset()

+ +
+
+ + + + + + + + + + + + + + + + + + +
def f110_gym.envs.base_classes.RaceCar.reset ( self,
 pose 
)
+
+
Resets the vehicle to a pose
+
+Args:
+    pose (np.ndarray (3, )): pose to reset the vehicle to
+
+Returns:
+    None
+
+
+
+ +

◆ set_map()

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + +
def f110_gym.envs.base_classes.RaceCar.set_map ( self,
 map_path,
 map_ext 
)
+
+
Sets the map for scan simulator
+
+Args:
+    map_path (str): absolute path to the map yaml file
+    map_ext (str): extension of the map image file
+
+
+
+ +

◆ update_opp_poses()

+ +
+
+ + + + + + + + + + + + + + + + + + +
def f110_gym.envs.base_classes.RaceCar.update_opp_poses ( self,
 opp_poses 
)
+
+
Updates the vehicle's information on other vehicles
+
+Args:
+    opp_poses (np.ndarray(num_other_agents, 3)): updated poses of other agents
+
+Returns:
+    None
+
+
+
+ +

◆ update_params()

+ +
+
+ + + + + + + + + + + + + + + + + + +
def f110_gym.envs.base_classes.RaceCar.update_params ( self,
 params 
)
+
+
Updates the physical parameters of the vehicle
+Note that does not need to be called at initialization of class anymore
+
+Args:
+    params (dict): new parameters for the vehicle
+
+Returns:
+    None
+
+
+
+ +

◆ update_pose()

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + +
def f110_gym.envs.base_classes.RaceCar.update_pose ( self,
 raw_steer,
 vel 
)
+
+
Steps the vehicle's physical simulation
+
+Args:
+    steer (float): desired steering angle
+    vel (float): desired longitudinal velocity
+
+Returns:
+    None
+
+
+
+ +

◆ update_scan()

+ +
+
+ + + + + + + + +
def f110_gym.envs.base_classes.RaceCar.update_scan ( self)
+
+
Steps the vehicle's laser scan simulation
+Separated from update_pose because needs to update scan based on NEW poses of agents in the environment
+
+Args:
+    None
+
+Returns:
+    None
+
+
+
+
The documentation for this class was generated from the following file:
    +
  • /home/billyzheng/f1tenth_gym/gym/f110_gym/envs/base_classes.py
    • +
+
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f110_gym.envs.base_classes.Simulator Member List
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This is the complete list of members for f110_gym.envs.base_classes.Simulator, including all inherited members.

+ + + + + + + + + + + + + + + +
__init__(self, params, num_agents, time_step=0.01, ego_idx=0)f110_gym.envs.base_classes.Simulator
agent_poses (defined in f110_gym.envs.base_classes.Simulator)f110_gym.envs.base_classes.Simulator
agents (defined in f110_gym.envs.base_classes.Simulator)f110_gym.envs.base_classes.Simulator
check_collision(self)f110_gym.envs.base_classes.Simulator
collision_idx (defined in f110_gym.envs.base_classes.Simulator)f110_gym.envs.base_classes.Simulator
collisions (defined in f110_gym.envs.base_classes.Simulator)f110_gym.envs.base_classes.Simulator
ego_idx (defined in f110_gym.envs.base_classes.Simulator)f110_gym.envs.base_classes.Simulator
num_agents (defined in f110_gym.envs.base_classes.Simulator)f110_gym.envs.base_classes.Simulator
params (defined in f110_gym.envs.base_classes.Simulator)f110_gym.envs.base_classes.Simulator
reset(self, poses)f110_gym.envs.base_classes.Simulator
set_map(self, map_path, map_ext)f110_gym.envs.base_classes.Simulator
step(self, control_inputs)f110_gym.envs.base_classes.Simulator
time_step (defined in f110_gym.envs.base_classes.Simulator)f110_gym.envs.base_classes.Simulator
update_params(self, params, agent_idx=-1)f110_gym.envs.base_classes.Simulator
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f1tenth_gym +
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f110_gym.envs.base_classes.Simulator Class Reference
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+Public Member Functions

def __init__ (self, params, num_agents, time_step=0.01, ego_idx=0)
 
def set_map (self, map_path, map_ext)
 
def update_params (self, params, agent_idx=-1)
 
def check_collision (self)
 
def step (self, control_inputs)
 
def reset (self, poses)
 
+ + + + + + + + + + + + + + + + + +

+Public Attributes

+ num_agents
 
+ time_step
 
+ ego_idx
 
+ params
 
+ agent_poses
 
+ agents
 
+ collisions
 
+ collision_idx
 
+

Detailed Description

+
Simulator class, handles the interaction and update of all vehicles in the environment
+
+Data Members:
+    num_agents (int): number of agents in the environment
+    time_step (float): physics time step
+    agent_poses (np.ndarray(num_agents, 3)): all poses of all agents
+    agents (list[RaceCar]): container for RaceCar objects
+    collisions (np.ndarray(num_agents, )): array of collision indicator for each agent
+    collision_idx (np.ndarray(num_agents, )): which agent is each agent in collision with

Constructor & Destructor Documentation

+ +

◆ __init__()

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
def f110_gym.envs.base_classes.Simulator.__init__ ( self,
 params,
 num_agents,
 time_step = 0.01,
 ego_idx = 0 
)
+
+
Init function
+
+Args:
+    params (dict): vehicle parameter dictionary, includes {'mu', 'C_Sf', 'C_Sr', 'lf', 'lr', 'h', 'm', 'I', 's_min', 's_max', 'sv_min', 'sv_max', 'v_switch', 'a_max', 'v_min', 'v_max', 'length', 'width'}
+    num_agents (int): number of agents in the environment
+    time_step (float, default=0.01): physics time step
+    ego_idx (int, default=0): ego vehicle's index in list of agents
+
+Returns:
+    None
+
+
+
+

Member Function Documentation

+ +

◆ check_collision()

+ +
+
+ + + + + + + + +
def f110_gym.envs.base_classes.Simulator.check_collision ( self)
+
+
Checks for collision between agents using GJK and agents' body vertices
+
+Args:
+    None
+
+Returns:
+    None
+
+
+
+ +

◆ reset()

+ +
+
+ + + + + + + + + + + + + + + + + + +
def f110_gym.envs.base_classes.Simulator.reset ( self,
 poses 
)
+
+
Resets the simulation environment by given poses
+
+Arges:
+    poses (np.ndarray (num_agents, 3)): poses to reset agents to
+
+Returns:
+    None
+
+
+
+ +

◆ set_map()

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + +
def f110_gym.envs.base_classes.Simulator.set_map ( self,
 map_path,
 map_ext 
)
+
+
Sets the map of the environment and sets the map for scan simulator of each agent
+
+Args:
+    map_path (str): path to the map yaml file
+    map_ext (str): extension for the map image file
+
+Returns:
+    None
+
+
+
+ +

◆ step()

+ +
+
+ + + + + + + + + + + + + + + + + + +
def f110_gym.envs.base_classes.Simulator.step ( self,
 control_inputs 
)
+
+
Steps the simulation environment
+
+Args:
+    control_inputs (np.ndarray (num_agents, 2)): control inputs of all agents, first column is desired steering angle, second column is desired velocity
+
+Returns:
+    observations (dict): dictionary for observations: poses of agents, current laser scan of each agent, collision indicators, etc.
+
+
+
+ +

◆ update_params()

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + +
def f110_gym.envs.base_classes.Simulator.update_params ( self,
 params,
 agent_idx = -1 
)
+
+
Updates the params of agents, if an index of an agent is given, update only that agent's params
+
+Args:
+    params (dict): dictionary of params, see details in docstring of __init__
+    agent_idx (int, default=-1): index for agent that needs param update, if negative, update all agents
+
+Returns:
+    None
+
+
+
+
The documentation for this class was generated from the following file:
    +
  • /home/billyzheng/f1tenth_gym/gym/f110_gym/envs/base_classes.py
    • +
+
+ +
+Generated by   +doxygen + 1.8.17 +
+ + diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1envs_1_1base__classes_1_1_simulator.png b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1envs_1_1base__classes_1_1_simulator.png new file mode 100644 index 0000000..9cd937e Binary files /dev/null and b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1envs_1_1base__classes_1_1_simulator.png differ diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1envs_1_1base__classes_1_1_simulator__coll__graph.map b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1envs_1_1base__classes_1_1_simulator__coll__graph.map new file mode 100644 index 0000000..5aaf761 --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1envs_1_1base__classes_1_1_simulator__coll__graph.map @@ -0,0 +1,4 @@ + + + + diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1envs_1_1base__classes_1_1_simulator__coll__graph.md5 b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1envs_1_1base__classes_1_1_simulator__coll__graph.md5 new file mode 100644 index 0000000..0ae4a7c --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1envs_1_1base__classes_1_1_simulator__coll__graph.md5 @@ -0,0 +1 @@ +156a552da8b556cdd4df04ddc9078974 \ No newline at end of file diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1envs_1_1base__classes_1_1_simulator__coll__graph.png b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1envs_1_1base__classes_1_1_simulator__coll__graph.png new file mode 100644 index 0000000..d6efe61 Binary files /dev/null and b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1envs_1_1base__classes_1_1_simulator__coll__graph.png differ diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1envs_1_1base__classes_1_1_simulator__inherit__graph.map b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1envs_1_1base__classes_1_1_simulator__inherit__graph.map new file mode 100644 index 0000000..5aaf761 --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1envs_1_1base__classes_1_1_simulator__inherit__graph.map @@ -0,0 +1,4 @@ + + + + diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1envs_1_1base__classes_1_1_simulator__inherit__graph.md5 b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1envs_1_1base__classes_1_1_simulator__inherit__graph.md5 new file mode 100644 index 0000000..0ae4a7c --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1envs_1_1base__classes_1_1_simulator__inherit__graph.md5 @@ -0,0 +1 @@ +156a552da8b556cdd4df04ddc9078974 \ No newline at end of file diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1envs_1_1base__classes_1_1_simulator__inherit__graph.png b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1envs_1_1base__classes_1_1_simulator__inherit__graph.png new file mode 100644 index 0000000..d6efe61 Binary files /dev/null and b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1envs_1_1base__classes_1_1_simulator__inherit__graph.png differ diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1envs_1_1collision__models_1_1_collision_tests-members.html b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1envs_1_1collision__models_1_1_collision_tests-members.html new file mode 100644 index 0000000..4b4d3d2 --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1envs_1_1collision__models_1_1_collision_tests-members.html @@ -0,0 +1,92 @@ + + + + + + + +f1tenth_gym: Member List + + + + + + + + + +
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f110_gym.envs.collision_models.CollisionTests Member List
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This is the complete list of members for f110_gym.envs.collision_models.CollisionTests, including all inherited members.

+ + + + + + + + + + +
length (defined in f110_gym.envs.collision_models.CollisionTests)f110_gym.envs.collision_models.CollisionTests
setUp(self) (defined in f110_gym.envs.collision_models.CollisionTests)f110_gym.envs.collision_models.CollisionTests
test_fps(self) (defined in f110_gym.envs.collision_models.CollisionTests)f110_gym.envs.collision_models.CollisionTests
test_get_vert(self) (defined in f110_gym.envs.collision_models.CollisionTests)f110_gym.envs.collision_models.CollisionTests
test_get_vert_fps(self) (defined in f110_gym.envs.collision_models.CollisionTests)f110_gym.envs.collision_models.CollisionTests
test_multiple_collisions(self) (defined in f110_gym.envs.collision_models.CollisionTests)f110_gym.envs.collision_models.CollisionTests
test_random_collision(self) (defined in f110_gym.envs.collision_models.CollisionTests)f110_gym.envs.collision_models.CollisionTests
vertices1 (defined in f110_gym.envs.collision_models.CollisionTests)f110_gym.envs.collision_models.CollisionTests
width (defined in f110_gym.envs.collision_models.CollisionTests)f110_gym.envs.collision_models.CollisionTests
+ +
+Generated by   +doxygen + 1.8.17 +
+ + diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1envs_1_1collision__models_1_1_collision_tests.html b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1envs_1_1collision__models_1_1_collision_tests.html new file mode 100644 index 0000000..ac95e87 --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1envs_1_1collision__models_1_1_collision_tests.html @@ -0,0 +1,139 @@ + + + + + + + +f1tenth_gym: f110_gym.envs.collision_models.CollisionTests Class Reference + + + + + + + + + +
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+Public Member Functions | +Public Attributes | +List of all members
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+
f110_gym.envs.collision_models.CollisionTests Class Reference
+
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+
+Inheritance diagram for f110_gym.envs.collision_models.CollisionTests:
+
+
Inheritance graph
+ + + + +
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+
+Collaboration diagram for f110_gym.envs.collision_models.CollisionTests:
+
+
Collaboration graph
+ + + + +
[legend]
+ + + + + + + + + + + + + + +

+Public Member Functions

+def setUp (self)
 
+def test_get_vert (self)
 
+def test_get_vert_fps (self)
 
+def test_random_collision (self)
 
+def test_multiple_collisions (self)
 
+def test_fps (self)
 
+ + + + + + + +

+Public Attributes

+ vertices1
 
+ length
 
+ width
 
+
The documentation for this class was generated from the following file:
    +
  • /home/billyzheng/f1tenth_gym/gym/f110_gym/envs/collision_models.py
    • +
+
+ +
+Generated by   +doxygen + 1.8.17 +
+ + diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1envs_1_1collision__models_1_1_collision_tests.png b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1envs_1_1collision__models_1_1_collision_tests.png new file mode 100644 index 0000000..4e19bdd Binary files /dev/null and b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1envs_1_1collision__models_1_1_collision_tests.png differ diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1envs_1_1collision__models_1_1_collision_tests__coll__graph.map b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1envs_1_1collision__models_1_1_collision_tests__coll__graph.map new file mode 100644 index 0000000..dd9d4a7 --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1envs_1_1collision__models_1_1_collision_tests__coll__graph.map @@ -0,0 +1,4 @@ + + + + diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1envs_1_1collision__models_1_1_collision_tests__coll__graph.md5 b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1envs_1_1collision__models_1_1_collision_tests__coll__graph.md5 new file mode 100644 index 0000000..c5426f3 --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1envs_1_1collision__models_1_1_collision_tests__coll__graph.md5 @@ -0,0 +1 @@ +06743ebd17771742fa42539c711fb878 \ No newline at end of file diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1envs_1_1collision__models_1_1_collision_tests__coll__graph.png b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1envs_1_1collision__models_1_1_collision_tests__coll__graph.png new file mode 100644 index 0000000..d47b13a Binary files /dev/null and b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1envs_1_1collision__models_1_1_collision_tests__coll__graph.png differ diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1envs_1_1collision__models_1_1_collision_tests__inherit__graph.map b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1envs_1_1collision__models_1_1_collision_tests__inherit__graph.map new file mode 100644 index 0000000..dd9d4a7 --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1envs_1_1collision__models_1_1_collision_tests__inherit__graph.map @@ -0,0 +1,4 @@ + + + + diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1envs_1_1collision__models_1_1_collision_tests__inherit__graph.md5 b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1envs_1_1collision__models_1_1_collision_tests__inherit__graph.md5 new file mode 100644 index 0000000..c5426f3 --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1envs_1_1collision__models_1_1_collision_tests__inherit__graph.md5 @@ -0,0 +1 @@ +06743ebd17771742fa42539c711fb878 \ No newline at end of file diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1envs_1_1collision__models_1_1_collision_tests__inherit__graph.png b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1envs_1_1collision__models_1_1_collision_tests__inherit__graph.png new file mode 100644 index 0000000..d47b13a Binary files /dev/null and b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1envs_1_1collision__models_1_1_collision_tests__inherit__graph.png differ diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1envs_1_1dynamic__models_1_1_dynamics_test-members.html b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1envs_1_1dynamic__models_1_1_dynamics_test-members.html new file mode 100644 index 0000000..80fd8c0 --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1envs_1_1dynamic__models_1_1_dynamics_test-members.html @@ -0,0 +1,105 @@ + + + + + + + +f1tenth_gym: Member List + + + + + + + + + +
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f110_gym.envs.dynamic_models.DynamicsTest Member List
+
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This is the complete list of members for f110_gym.envs.dynamic_models.DynamicsTest, including all inherited members.

+ + + + + + + + + + + + + + + + + + + + + + + +
a_max (defined in f110_gym.envs.dynamic_models.DynamicsTest)f110_gym.envs.dynamic_models.DynamicsTest
C_Sf (defined in f110_gym.envs.dynamic_models.DynamicsTest)f110_gym.envs.dynamic_models.DynamicsTest
C_Sr (defined in f110_gym.envs.dynamic_models.DynamicsTest)f110_gym.envs.dynamic_models.DynamicsTest
h (defined in f110_gym.envs.dynamic_models.DynamicsTest)f110_gym.envs.dynamic_models.DynamicsTest
I (defined in f110_gym.envs.dynamic_models.DynamicsTest)f110_gym.envs.dynamic_models.DynamicsTest
lf (defined in f110_gym.envs.dynamic_models.DynamicsTest)f110_gym.envs.dynamic_models.DynamicsTest
lr (defined in f110_gym.envs.dynamic_models.DynamicsTest)f110_gym.envs.dynamic_models.DynamicsTest
m (defined in f110_gym.envs.dynamic_models.DynamicsTest)f110_gym.envs.dynamic_models.DynamicsTest
mu (defined in f110_gym.envs.dynamic_models.DynamicsTest)f110_gym.envs.dynamic_models.DynamicsTest
s_max (defined in f110_gym.envs.dynamic_models.DynamicsTest)f110_gym.envs.dynamic_models.DynamicsTest
s_min (defined in f110_gym.envs.dynamic_models.DynamicsTest)f110_gym.envs.dynamic_models.DynamicsTest
setUp(self) (defined in f110_gym.envs.dynamic_models.DynamicsTest)f110_gym.envs.dynamic_models.DynamicsTest
sv_max (defined in f110_gym.envs.dynamic_models.DynamicsTest)f110_gym.envs.dynamic_models.DynamicsTest
sv_min (defined in f110_gym.envs.dynamic_models.DynamicsTest)f110_gym.envs.dynamic_models.DynamicsTest
test_derivatives(self) (defined in f110_gym.envs.dynamic_models.DynamicsTest)f110_gym.envs.dynamic_models.DynamicsTest
test_zeroinit_acc(self) (defined in f110_gym.envs.dynamic_models.DynamicsTest)f110_gym.envs.dynamic_models.DynamicsTest
test_zeroinit_dec(self) (defined in f110_gym.envs.dynamic_models.DynamicsTest)f110_gym.envs.dynamic_models.DynamicsTest
test_zeroinit_roll(self) (defined in f110_gym.envs.dynamic_models.DynamicsTest)f110_gym.envs.dynamic_models.DynamicsTest
test_zeroinit_rollleft(self) (defined in f110_gym.envs.dynamic_models.DynamicsTest)f110_gym.envs.dynamic_models.DynamicsTest
v_max (defined in f110_gym.envs.dynamic_models.DynamicsTest)f110_gym.envs.dynamic_models.DynamicsTest
v_min (defined in f110_gym.envs.dynamic_models.DynamicsTest)f110_gym.envs.dynamic_models.DynamicsTest
v_switch (defined in f110_gym.envs.dynamic_models.DynamicsTest)f110_gym.envs.dynamic_models.DynamicsTest
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f110_gym.envs.dynamic_models.DynamicsTest Class Reference
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+
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+ + + + +
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+ + + + + + + + + + + + + + +

+Public Member Functions

+def setUp (self)
 
+def test_derivatives (self)
 
+def test_zeroinit_roll (self)
 
+def test_zeroinit_dec (self)
 
+def test_zeroinit_acc (self)
 
+def test_zeroinit_rollleft (self)
 
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Public Attributes

+ mu
 
+ C_Sf
 
+ C_Sr
 
+ lf
 
+ lr
 
+ h
 
+ m
 
+ I
 
+ s_min
 
+ s_max
 
+ sv_min
 
+ sv_max
 
+ v_min
 
+ v_max
 
+ v_switch
 
+ a_max
 
+
The documentation for this class was generated from the following file:
    +
  • /home/billyzheng/f1tenth_gym/gym/f110_gym/envs/dynamic_models.py
    • +
+
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f1tenth_gym +
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f110_gym.envs.f110_env.F110Env Member List
+
+
+ +

This is the complete list of members for f110_gym.envs.f110_env.F110Env, including all inherited members.

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
__del__(self)f110_gym.envs.f110_env.F110Env
__init__(self, **kwargs) (defined in f110_gym.envs.f110_env.F110Env)f110_gym.envs.f110_env.F110Env
collisions (defined in f110_gym.envs.f110_env.F110Env)f110_gym.envs.f110_env.F110Env
current_obs (defined in f110_gym.envs.f110_env.F110Env)f110_gym.envs.f110_env.F110Env
current_time (defined in f110_gym.envs.f110_env.F110Env)f110_gym.envs.f110_env.F110Env
ego_idx (defined in f110_gym.envs.f110_env.F110Env)f110_gym.envs.f110_env.F110Env
lap_counts (defined in f110_gym.envs.f110_env.F110Env)f110_gym.envs.f110_env.F110Env
lap_times (defined in f110_gym.envs.f110_env.F110Env)f110_gym.envs.f110_env.F110Env
map_ext (defined in f110_gym.envs.f110_env.F110Env)f110_gym.envs.f110_env.F110Env
map_name (defined in f110_gym.envs.f110_env.F110Env)f110_gym.envs.f110_env.F110Env
map_path (defined in f110_gym.envs.f110_env.F110Env)f110_gym.envs.f110_env.F110Env
metadata (defined in f110_gym.envs.f110_env.F110Env)f110_gym.envs.f110_env.F110Envstatic
near_start (defined in f110_gym.envs.f110_env.F110Env)f110_gym.envs.f110_env.F110Env
near_starts (defined in f110_gym.envs.f110_env.F110Env)f110_gym.envs.f110_env.F110Env
num_agents (defined in f110_gym.envs.f110_env.F110Env)f110_gym.envs.f110_env.F110Env
num_toggles (defined in f110_gym.envs.f110_env.F110Env)f110_gym.envs.f110_env.F110Env
params (defined in f110_gym.envs.f110_env.F110Env)f110_gym.envs.f110_env.F110Env
poses_theta (defined in f110_gym.envs.f110_env.F110Env)f110_gym.envs.f110_env.F110Env
poses_x (defined in f110_gym.envs.f110_env.F110Env)f110_gym.envs.f110_env.F110Env
poses_y (defined in f110_gym.envs.f110_env.F110Env)f110_gym.envs.f110_env.F110Env
render(self, mode='human')f110_gym.envs.f110_env.F110Env
renderer (defined in f110_gym.envs.f110_env.F110Env)f110_gym.envs.f110_env.F110Env
reset(self, poses)f110_gym.envs.f110_env.F110Env
sim (defined in f110_gym.envs.f110_env.F110Env)f110_gym.envs.f110_env.F110Env
start_rot (defined in f110_gym.envs.f110_env.F110Env)f110_gym.envs.f110_env.F110Env
start_thetas (defined in f110_gym.envs.f110_env.F110Env)f110_gym.envs.f110_env.F110Env
start_thresh (defined in f110_gym.envs.f110_env.F110Env)f110_gym.envs.f110_env.F110Env
start_xs (defined in f110_gym.envs.f110_env.F110Env)f110_gym.envs.f110_env.F110Env
start_ys (defined in f110_gym.envs.f110_env.F110Env)f110_gym.envs.f110_env.F110Env
step(self, action)f110_gym.envs.f110_env.F110Env
timestep (defined in f110_gym.envs.f110_env.F110Env)f110_gym.envs.f110_env.F110Env
toggle_list (defined in f110_gym.envs.f110_env.F110Env)f110_gym.envs.f110_env.F110Env
update_map(self, map_path, map_ext)f110_gym.envs.f110_env.F110Env
update_params(self, params, index=-1)f110_gym.envs.f110_env.F110Env
+ +
+Generated by   +doxygen + 1.8.17 +
+ + diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1envs_1_1f110__env_1_1_f110_env.html b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1envs_1_1f110__env_1_1_f110_env.html new file mode 100644 index 0000000..c928023 --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1envs_1_1f110__env_1_1_f110_env.html @@ -0,0 +1,470 @@ + + + + + + + +f1tenth_gym: f110_gym.envs.f110_env.F110Env Class Reference + + + + + + + + + +
+
+ + + + + + +
+
f1tenth_gym +
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+
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+ +
+ + +
+
+
+Public Member Functions | +Public Attributes | +Static Public Attributes | +List of all members
+
+
f110_gym.envs.f110_env.F110Env Class Reference
+
+
+
+Inheritance diagram for f110_gym.envs.f110_env.F110Env:
+
+
Inheritance graph
+ + + + + +
[legend]
+
+Collaboration diagram for f110_gym.envs.f110_env.F110Env:
+
+
Collaboration graph
+ + + + + +
[legend]
+ + + + + + + + + + + + + + + + +

+Public Member Functions

+def __init__ (self, **kwargs)
 
def __del__ (self)
 
def step (self, action)
 
def reset (self, poses)
 
def update_map (self, map_path, map_ext)
 
def update_params (self, params, index=-1)
 
def render (self, mode='human')
 
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Public Attributes

+ map_name
 
+ map_path
 
+ map_ext
 
+ params
 
+ num_agents
 
+ timestep
 
+ ego_idx
 
+ start_thresh
 
+ poses_x
 
+ poses_y
 
+ poses_theta
 
+ collisions
 
+ near_start
 
+ num_toggles
 
+ lap_times
 
+ lap_counts
 
+ current_time
 
+ near_starts
 
+ toggle_list
 
+ start_xs
 
+ start_ys
 
+ start_thetas
 
+ start_rot
 
+ sim
 
+ renderer
 
+ current_obs
 
+ + + +

+Static Public Attributes

+dictionary metadata = {'render.modes': ['human', 'human_fast']}
 
+

Detailed Description

+
OpenAI gym environment for F1TENTH
+
+Env should be initialized by calling gym.make('f110_gym:f110-v0', **kwargs)
+
+Args:
+    kwargs:
+        seed (int): seed for random state and reproducibility
+        
+        map (str, default='vegas'): name of the map used for the environment. Currently, available environments include: 'berlin', 'vegas', 'skirk'. You could use a string of the absolute path to the yaml file of your custom map.
+    
+        map_ext (str, default='png'): image extension of the map image file. For example 'png', 'pgm'
+    
+        params (dict, default={'mu': 1.0489, 'C_Sf':, 'C_Sr':, 'lf': 0.15875, 'lr': 0.17145, 'h': 0.074, 'm': 3.74, 'I': 0.04712, 's_min': -0.4189, 's_max': 0.4189, 'sv_min': -3.2, 'sv_max': 3.2, 'v_switch':7.319, 'a_max': 9.51, 'v_min':-5.0, 'v_max': 20.0, 'width': 0.31, 'length': 0.58}): dictionary of vehicle parameters.
+        mu: surface friction coefficient
+        C_Sf: Cornering stiffness coefficient, front
+        C_Sr: Cornering stiffness coefficient, rear
+        lf: Distance from center of gravity to front axle
+        lr: Distance from center of gravity to rear axle
+        h: Height of center of gravity
+        m: Total mass of the vehicle
+        I: Moment of inertial of the entire vehicle about the z axis
+        s_min: Minimum steering angle constraint
+        s_max: Maximum steering angle constraint
+        sv_min: Minimum steering velocity constraint
+        sv_max: Maximum steering velocity constraint
+        v_switch: Switching velocity (velocity at which the acceleration is no longer able to create wheel spin)
+        a_max: Maximum longitudinal acceleration
+        v_min: Minimum longitudinal velocity
+        v_max: Maximum longitudinal velocity
+        width: width of the vehicle in meters
+        length: length of the vehicle in meters
+
+        num_agents (int, default=2): number of agents in the environment
+
+        timestep (float, default=0.01): physics timestep
+
+        ego_idx (int, default=0): ego's index in list of agents
+

Constructor & Destructor Documentation

+ +

◆ __del__()

+ +
+
+ + + + + + + + +
def f110_gym.envs.f110_env.F110Env.__del__ ( self)
+
+
Finalizer, does cleanup
+
+
+
+

Member Function Documentation

+ +

◆ render()

+ +
+
+ + + + + + + + + + + + + + + + + + +
def f110_gym.envs.f110_env.F110Env.render ( self,
 mode = 'human' 
)
+
+
Renders the environment with pyglet. Use mouse scroll in the window to zoom in/out, use mouse click drag to pan. Shows the agents, the map, current fps (bottom left corner), and the race information near as text.
+
+Args:
+    mode (str, default='human'): rendering mode, currently supports:
+'human': slowed down rendering such that the env is rendered in a way that sim time elapsed is close to real time elapsed
+'human_fast': render as fast as possible
+
+Returns:
+    None
+
+
+
+ +

◆ reset()

+ +
+
+ + + + + + + + + + + + + + + + + + +
def f110_gym.envs.f110_env.F110Env.reset ( self,
 poses 
)
+
+
Reset the gym environment by given poses
+
+Args:
+    poses (np.ndarray (num_agents, 3)): poses to reset agents to
+
+Returns:
+    obs (dict): observation of the current step
+    reward (float, default=self.timestep): step reward, currently is physics timestep
+    done (bool): if the simulation is done
+    info (dict): auxillary information dictionary
+
+
+
+ +

◆ step()

+ +
+
+ + + + + + + + + + + + + + + + + + +
def f110_gym.envs.f110_env.F110Env.step ( self,
 action 
)
+
+
Step function for the gym env
+
+Args:
+    action (np.ndarray(num_agents, 2))
+
+Returns:
+    obs (dict): observation of the current step
+    reward (float, default=self.timestep): step reward, currently is physics timestep
+    done (bool): if the simulation is done
+    info (dict): auxillary information dictionary
+
+
+
+ +

◆ update_map()

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + +
def f110_gym.envs.f110_env.F110Env.update_map ( self,
 map_path,
 map_ext 
)
+
+
Updates the map used by simulation
+
+Args:
+    map_path (str): absolute path to the map yaml file
+    map_ext (str): extension of the map image file
+
+Returns:
+    None
+
+
+
+ +

◆ update_params()

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + +
def f110_gym.envs.f110_env.F110Env.update_params ( self,
 params,
 index = -1 
)
+
+
Updates the parameters used by simulation for vehicles
+
+Args:
+    params (dict): dictionary of parameters
+    index (int, default=-1): if >= 0 then only update a specific agent's params
+
+Returns:
+    None
+
+
+
+
The documentation for this class was generated from the following file:
    +
  • /home/billyzheng/f1tenth_gym/gym/f110_gym/envs/f110_env.py
    • +
+
+ +
+Generated by   +doxygen + 1.8.17 +
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+
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f110_gym.envs.f110_env_backup.F110Env Member List
+
+
+ +

This is the complete list of members for f110_gym.envs.f110_env_backup.F110Env, including all inherited members.

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
__del__(self)f110_gym.envs.f110_env_backup.F110Env
__init__(self) (defined in f110_gym.envs.f110_env_backup.F110Env)f110_gym.envs.f110_env_backup.F110Env
all_x (defined in f110_gym.envs.f110_env_backup.F110Env)f110_gym.envs.f110_env_backup.F110Env
all_y (defined in f110_gym.envs.f110_env_backup.F110Env)f110_gym.envs.f110_env_backup.F110Env
collision_angle (defined in f110_gym.envs.f110_env_backup.F110Env)f110_gym.envs.f110_env_backup.F110Env
collision_angles (defined in f110_gym.envs.f110_env_backup.F110Env)f110_gym.envs.f110_env_backup.F110Env
context (defined in f110_gym.envs.f110_env_backup.F110Env)f110_gym.envs.f110_env_backup.F110Env
current_time (defined in f110_gym.envs.f110_env_backup.F110Env)f110_gym.envs.f110_env_backup.F110Env
double_finish (defined in f110_gym.envs.f110_env_backup.F110Env)f110_gym.envs.f110_env_backup.F110Env
ego_idx (defined in f110_gym.envs.f110_env_backup.F110Env)f110_gym.envs.f110_env_backup.F110Env
free_thresh (defined in f110_gym.envs.f110_env_backup.F110Env)f110_gym.envs.f110_env_backup.F110Env
in_collision (defined in f110_gym.envs.f110_env_backup.F110Env)f110_gym.envs.f110_env_backup.F110Env
init_map(self, map_path, img_ext, rgb, flip)f110_gym.envs.f110_env_backup.F110Env
lap_counts (defined in f110_gym.envs.f110_env_backup.F110Env)f110_gym.envs.f110_env_backup.F110Env
lap_times (defined in f110_gym.envs.f110_env_backup.F110Env)f110_gym.envs.f110_env_backup.F110Env
map_height (defined in f110_gym.envs.f110_env_backup.F110Env)f110_gym.envs.f110_env_backup.F110Env
map_img (defined in f110_gym.envs.f110_env_backup.F110Env)f110_gym.envs.f110_env_backup.F110Env
map_inited (defined in f110_gym.envs.f110_env_backup.F110Env)f110_gym.envs.f110_env_backup.F110Env
map_path (defined in f110_gym.envs.f110_env_backup.F110Env)f110_gym.envs.f110_env_backup.F110Env
map_resolution (defined in f110_gym.envs.f110_env_backup.F110Env)f110_gym.envs.f110_env_backup.F110Env
map_width (defined in f110_gym.envs.f110_env_backup.F110Env)f110_gym.envs.f110_env_backup.F110Env
metadata (defined in f110_gym.envs.f110_env_backup.F110Env)f110_gym.envs.f110_env_backup.F110Envstatic
near_start (defined in f110_gym.envs.f110_env_backup.F110Env)f110_gym.envs.f110_env_backup.F110Env
near_starts (defined in f110_gym.envs.f110_env_backup.F110Env)f110_gym.envs.f110_env_backup.F110Env
num_agents (defined in f110_gym.envs.f110_env_backup.F110Env)f110_gym.envs.f110_env_backup.F110Env
num_toggles (defined in f110_gym.envs.f110_env_backup.F110Env)f110_gym.envs.f110_env_backup.F110Env
origin (defined in f110_gym.envs.f110_env_backup.F110Env)f110_gym.envs.f110_env_backup.F110Env
params (defined in f110_gym.envs.f110_env_backup.F110Env)f110_gym.envs.f110_env_backup.F110Env
params_set (defined in f110_gym.envs.f110_env_backup.F110Env)f110_gym.envs.f110_env_backup.F110Env
port (defined in f110_gym.envs.f110_env_backup.F110Env)f110_gym.envs.f110_env_backup.F110Env
render(self, mode='human', close=False) (defined in f110_gym.envs.f110_env_backup.F110Env)f110_gym.envs.f110_env_backup.F110Env
reset(self, poses=None) (defined in f110_gym.envs.f110_env_backup.F110Env)f110_gym.envs.f110_env_backup.F110Env
sim_p (defined in f110_gym.envs.f110_env_backup.F110Env)f110_gym.envs.f110_env_backup.F110Env
socket (defined in f110_gym.envs.f110_env_backup.F110Env)f110_gym.envs.f110_env_backup.F110Env
start_rot (defined in f110_gym.envs.f110_env_backup.F110Env)f110_gym.envs.f110_env_backup.F110Env
start_theta (defined in f110_gym.envs.f110_env_backup.F110Env)f110_gym.envs.f110_env_backup.F110Env
start_thetas (defined in f110_gym.envs.f110_env_backup.F110Env)f110_gym.envs.f110_env_backup.F110Env
start_thresh (defined in f110_gym.envs.f110_env_backup.F110Env)f110_gym.envs.f110_env_backup.F110Env
start_x (defined in f110_gym.envs.f110_env_backup.F110Env)f110_gym.envs.f110_env_backup.F110Env
start_xs (defined in f110_gym.envs.f110_env_backup.F110Env)f110_gym.envs.f110_env_backup.F110Env
start_y (defined in f110_gym.envs.f110_env_backup.F110Env)f110_gym.envs.f110_env_backup.F110Env
start_ys (defined in f110_gym.envs.f110_env_backup.F110Env)f110_gym.envs.f110_env_backup.F110Env
step(self, action) (defined in f110_gym.envs.f110_env_backup.F110Env)f110_gym.envs.f110_env_backup.F110Env
theta (defined in f110_gym.envs.f110_env_backup.F110Env)f110_gym.envs.f110_env_backup.F110Env
timeout (defined in f110_gym.envs.f110_env_backup.F110Env)f110_gym.envs.f110_env_backup.F110Env
timestep (defined in f110_gym.envs.f110_env_backup.F110Env)f110_gym.envs.f110_env_backup.F110Env
toggle_list (defined in f110_gym.envs.f110_env_backup.F110Env)f110_gym.envs.f110_env_backup.F110Env
update_params(self, mu, h_cg, l_r, cs_f, cs_r, I_z, mass, exe_path, double_finish=False) (defined in f110_gym.envs.f110_env_backup.F110Env)f110_gym.envs.f110_env_backup.F110Env
x (defined in f110_gym.envs.f110_env_backup.F110Env)f110_gym.envs.f110_env_backup.F110Env
y (defined in f110_gym.envs.f110_env_backup.F110Env)f110_gym.envs.f110_env_backup.F110Env
+ +
+Generated by   +doxygen + 1.8.17 +
+ + diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1envs_1_1f110__env__backup_1_1_f110_env.html b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1envs_1_1f110__env__backup_1_1_f110_env.html new file mode 100644 index 0000000..9c98990 --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1envs_1_1f110__env__backup_1_1_f110_env.html @@ -0,0 +1,344 @@ + + + + + + + +f1tenth_gym: f110_gym.envs.f110_env_backup.F110Env Class Reference + + + + + + + + + +
+
+ + + + + + +
+
f1tenth_gym +
+
+
+ + + + + + + + +
+
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+ +
+ + +
+
+
+Public Member Functions | +Public Attributes | +Static Public Attributes | +List of all members
+
+
f110_gym.envs.f110_env_backup.F110Env Class Reference
+
+
+
+Inheritance diagram for f110_gym.envs.f110_env_backup.F110Env:
+
+
Inheritance graph
+ + + + + +
[legend]
+
+Collaboration diagram for f110_gym.envs.f110_env_backup.F110Env:
+
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Collaboration graph
+ + + + + +
[legend]
+ + + + + + + + + + + + + + + + +

+Public Member Functions

+def __init__ (self)
 
def __del__ (self)
 
+def step (self, action)
 
+def reset (self, poses=None)
 
def init_map (self, map_path, img_ext, rgb, flip)
 
+def render (self, mode='human', close=False)
 
+def update_params (self, mu, h_cg, l_r, cs_f, cs_r, I_z, mass, exe_path, double_finish=False)
 
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Public Attributes

+ params_set
 
+ map_inited
 
+ params
 
+ num_agents
 
+ timestep
 
+ map_path
 
+ map_img
 
+ ego_idx
 
+ timeout
 
+ start_thresh
 
+ x
 
+ y
 
+ theta
 
+ in_collision
 
+ collision_angle
 
+ near_start
 
+ num_toggles
 
+ lap_times
 
+ lap_counts
 
+ map_height
 
+ map_width
 
+ map_resolution
 
+ free_thresh
 
+ origin
 
+ port
 
+ context
 
+ socket
 
+ sim_p
 
+ all_x
 
+ all_y
 
+ current_time
 
+ collision_angles
 
+ near_starts
 
+ toggle_list
 
+ start_x
 
+ start_y
 
+ start_theta
 
+ start_xs
 
+ start_ys
 
+ start_thetas
 
+ start_rot
 
+ double_finish
 
+ + + +

+Static Public Attributes

+dictionary metadata = {'render.modes': []}
 
+

Detailed Description

+
OpenAI gym environment for F1/10 simulator
+Use 0mq's REQ-REP pattern to communicate to the C++ simulator
+ONE env has ONE corresponding C++ instance
+Need to create env with map input, full path to map yaml file, map pgm image and yaml should be in same directory
+
+should be initialized with a map, a timestep, and number of agents
+

Constructor & Destructor Documentation

+ +

◆ __del__()

+ +
+
+ + + + + + + + +
def f110_gym.envs.f110_env_backup.F110Env.__del__ ( self)
+
+
Finalizer, does cleanup
+
+
+
+

Member Function Documentation

+ +

◆ init_map()

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
def f110_gym.envs.f110_env_backup.F110Env.init_map ( self,
 map_path,
 img_ext,
 rgb,
 flip 
)
+
+
    init a map for the gym env
+    map_path: full path for the yaml, same as ROS, img and yaml in same dir
+    rgb: map grayscale or rgb
+    flip: if map needs flipping
+
+
+
+
The documentation for this class was generated from the following file:
    +
  • /home/billyzheng/f1tenth_gym/gym/f110_gym/envs/f110_env_backup.py
    • +
+
+ +
+Generated by   +doxygen + 1.8.17 +
+ + diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1envs_1_1f110__env__backup_1_1_f110_env.png b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1envs_1_1f110__env__backup_1_1_f110_env.png new file mode 100644 index 0000000..77f2b99 Binary files /dev/null and b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1envs_1_1f110__env__backup_1_1_f110_env.png differ diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1envs_1_1f110__env__backup_1_1_f110_env__coll__graph.map b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1envs_1_1f110__env__backup_1_1_f110_env__coll__graph.map new file mode 100644 index 0000000..a63ccf1 --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1envs_1_1f110__env__backup_1_1_f110_env__coll__graph.map @@ -0,0 +1,5 @@ + + + + + diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1envs_1_1f110__env__backup_1_1_f110_env__coll__graph.md5 b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1envs_1_1f110__env__backup_1_1_f110_env__coll__graph.md5 new file mode 100644 index 0000000..894f7dc --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1envs_1_1f110__env__backup_1_1_f110_env__coll__graph.md5 @@ -0,0 +1 @@ +4c7f5ed7430f1bf853e67e2973bb8950 \ No newline at end of file diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1envs_1_1f110__env__backup_1_1_f110_env__coll__graph.png b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1envs_1_1f110__env__backup_1_1_f110_env__coll__graph.png new file mode 100644 index 0000000..d972765 Binary files /dev/null and b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1envs_1_1f110__env__backup_1_1_f110_env__coll__graph.png differ diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1envs_1_1f110__env__backup_1_1_f110_env__inherit__graph.map b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1envs_1_1f110__env__backup_1_1_f110_env__inherit__graph.map new file mode 100644 index 0000000..a63ccf1 --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1envs_1_1f110__env__backup_1_1_f110_env__inherit__graph.map @@ -0,0 +1,5 @@ + + + + + diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1envs_1_1f110__env__backup_1_1_f110_env__inherit__graph.md5 b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1envs_1_1f110__env__backup_1_1_f110_env__inherit__graph.md5 new file mode 100644 index 0000000..894f7dc --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1envs_1_1f110__env__backup_1_1_f110_env__inherit__graph.md5 @@ -0,0 +1 @@ +4c7f5ed7430f1bf853e67e2973bb8950 \ No newline at end of file diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1envs_1_1f110__env__backup_1_1_f110_env__inherit__graph.png b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1envs_1_1f110__env__backup_1_1_f110_env__inherit__graph.png new file mode 100644 index 0000000..d972765 Binary files /dev/null and b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1envs_1_1f110__env__backup_1_1_f110_env__inherit__graph.png differ diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1envs_1_1laser__models_1_1_scan_simulator2_d-members.html b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1envs_1_1laser__models_1_1_scan_simulator2_d-members.html new file mode 100644 index 0000000..fb05125 --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1envs_1_1laser__models_1_1_scan_simulator2_d-members.html @@ -0,0 +1,108 @@ + + + + + + + +f1tenth_gym: Member List + + + + + + + + + +
+
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+
f1tenth_gym +
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+
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+
+
+
f110_gym.envs.laser_models.ScanSimulator2D Member List
+
+
+ +

This is the complete list of members for f110_gym.envs.laser_models.ScanSimulator2D, including all inherited members.

+ + + + + + + + + + + + + + + + + + + + + + + + + + +
__init__(self, num_beams, fov, std_dev=0.01, eps=0.0001, theta_dis=2000, max_range=30.0, seed=123) (defined in f110_gym.envs.laser_models.ScanSimulator2D)f110_gym.envs.laser_models.ScanSimulator2D
angle_increment (defined in f110_gym.envs.laser_models.ScanSimulator2D)f110_gym.envs.laser_models.ScanSimulator2D
cosines (defined in f110_gym.envs.laser_models.ScanSimulator2D)f110_gym.envs.laser_models.ScanSimulator2D
dt (defined in f110_gym.envs.laser_models.ScanSimulator2D)f110_gym.envs.laser_models.ScanSimulator2D
eps (defined in f110_gym.envs.laser_models.ScanSimulator2D)f110_gym.envs.laser_models.ScanSimulator2D
fov (defined in f110_gym.envs.laser_models.ScanSimulator2D)f110_gym.envs.laser_models.ScanSimulator2D
get_increment(self) (defined in f110_gym.envs.laser_models.ScanSimulator2D)f110_gym.envs.laser_models.ScanSimulator2D
map_height (defined in f110_gym.envs.laser_models.ScanSimulator2D)f110_gym.envs.laser_models.ScanSimulator2D
map_img (defined in f110_gym.envs.laser_models.ScanSimulator2D)f110_gym.envs.laser_models.ScanSimulator2D
map_resolution (defined in f110_gym.envs.laser_models.ScanSimulator2D)f110_gym.envs.laser_models.ScanSimulator2D
map_width (defined in f110_gym.envs.laser_models.ScanSimulator2D)f110_gym.envs.laser_models.ScanSimulator2D
max_range (defined in f110_gym.envs.laser_models.ScanSimulator2D)f110_gym.envs.laser_models.ScanSimulator2D
num_beams (defined in f110_gym.envs.laser_models.ScanSimulator2D)f110_gym.envs.laser_models.ScanSimulator2D
orig_c (defined in f110_gym.envs.laser_models.ScanSimulator2D)f110_gym.envs.laser_models.ScanSimulator2D
orig_s (defined in f110_gym.envs.laser_models.ScanSimulator2D)f110_gym.envs.laser_models.ScanSimulator2D
orig_x (defined in f110_gym.envs.laser_models.ScanSimulator2D)f110_gym.envs.laser_models.ScanSimulator2D
orig_y (defined in f110_gym.envs.laser_models.ScanSimulator2D)f110_gym.envs.laser_models.ScanSimulator2D
origin (defined in f110_gym.envs.laser_models.ScanSimulator2D)f110_gym.envs.laser_models.ScanSimulator2D
rng (defined in f110_gym.envs.laser_models.ScanSimulator2D)f110_gym.envs.laser_models.ScanSimulator2D
scan(self, pose)f110_gym.envs.laser_models.ScanSimulator2D
set_map(self, map_path, map_ext)f110_gym.envs.laser_models.ScanSimulator2D
sines (defined in f110_gym.envs.laser_models.ScanSimulator2D)f110_gym.envs.laser_models.ScanSimulator2D
std_dev (defined in f110_gym.envs.laser_models.ScanSimulator2D)f110_gym.envs.laser_models.ScanSimulator2D
theta_dis (defined in f110_gym.envs.laser_models.ScanSimulator2D)f110_gym.envs.laser_models.ScanSimulator2D
theta_index_increment (defined in f110_gym.envs.laser_models.ScanSimulator2D)f110_gym.envs.laser_models.ScanSimulator2D
+ +
+Generated by   +doxygen + 1.8.17 +
+ + diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1envs_1_1laser__models_1_1_scan_simulator2_d.html b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1envs_1_1laser__models_1_1_scan_simulator2_d.html new file mode 100644 index 0000000..e2e0491 --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1envs_1_1laser__models_1_1_scan_simulator2_d.html @@ -0,0 +1,277 @@ + + + + + + + +f1tenth_gym: f110_gym.envs.laser_models.ScanSimulator2D Class Reference + + + + + + + + + +
+
+ + + + + + +
+
f1tenth_gym +
+
+
+ + + + + + + + +
+
+ + +
+ +
+ + +
+
+
+Public Member Functions | +Public Attributes | +List of all members
+
+
f110_gym.envs.laser_models.ScanSimulator2D Class Reference
+
+
+
+Inheritance diagram for f110_gym.envs.laser_models.ScanSimulator2D:
+
+
Inheritance graph
+ + + + +
[legend]
+
+Collaboration diagram for f110_gym.envs.laser_models.ScanSimulator2D:
+
+
Collaboration graph
+ + + + +
[legend]
+ + + + + + + + + + +

+Public Member Functions

+def __init__ (self, num_beams, fov, std_dev=0.01, eps=0.0001, theta_dis=2000, max_range=30.0, seed=123)
 
def set_map (self, map_path, map_ext)
 
def scan (self, pose)
 
+def get_increment (self)
 
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Public Attributes

+ num_beams
 
+ fov
 
+ std_dev
 
+ eps
 
+ theta_dis
 
+ max_range
 
+ angle_increment
 
+ theta_index_increment
 
+ orig_c
 
+ orig_s
 
+ orig_x
 
+ orig_y
 
+ map_height
 
+ map_width
 
+ map_resolution
 
+ dt
 
+ rng
 
+ sines
 
+ cosines
 
+ map_img
 
+ origin
 
+

Detailed Description

+
2D LIDAR scan simulator class
+
+Init params:
+    num_beams (int): number of beams in the scan
+    fov (float): field of view of the laser scan
+    std_dev (float, default=0.01): standard deviation of the generated whitenoise in the scan
+    eps (float, default=0.0001): ray tracing iteration termination condition
+    theta_dis (int, default=2000): number of steps to discretize the angles between 0 and 2pi for look up
+    max_range (float, default=30.0): maximum range of the laser
+    seed (int, default=123): seed for random number generator for the whitenoise in scan
+

Member Function Documentation

+ +

◆ scan()

+ +
+
+ + + + + + + + + + + + + + + + + + +
def f110_gym.envs.laser_models.ScanSimulator2D.scan ( self,
 pose 
)
+
+
Perform simulated 2D scan by pose on the given map
+
+    Args:
+pose (numpy.ndarray (3, )): pose of the scan frame (x, y, theta)
+
+    Returns:
+scan (numpy.ndarray (n, )): data array of the laserscan, n=num_beams
+
+    Raises:
+ValueError: when scan is called before a map is set
+
+
+
+ +

◆ set_map()

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + +
def f110_gym.envs.laser_models.ScanSimulator2D.set_map ( self,
 map_path,
 map_ext 
)
+
+
Set the bitmap of the scan simulator by path
+
+    Args:
+map_path (str): path to the map yaml file
+map_ext (str): extension (image type) of the map image
+
+    Returns:
+flag (bool): if image reading and loading is successful
+
+
+
+
The documentation for this class was generated from the following file:
    +
  • /home/billyzheng/f1tenth_gym/gym/f110_gym/envs/laser_models.py
    • +
+
+ +
+Generated by   +doxygen + 1.8.17 +
+ + diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1envs_1_1laser__models_1_1_scan_simulator2_d.png b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1envs_1_1laser__models_1_1_scan_simulator2_d.png new file mode 100644 index 0000000..68b449d Binary files /dev/null and b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1envs_1_1laser__models_1_1_scan_simulator2_d.png differ diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1envs_1_1laser__models_1_1_scan_simulator2_d__coll__graph.map b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1envs_1_1laser__models_1_1_scan_simulator2_d__coll__graph.map new file mode 100644 index 0000000..0245840 --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1envs_1_1laser__models_1_1_scan_simulator2_d__coll__graph.map @@ -0,0 +1,4 @@ + + + + diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1envs_1_1laser__models_1_1_scan_simulator2_d__coll__graph.md5 b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1envs_1_1laser__models_1_1_scan_simulator2_d__coll__graph.md5 new file mode 100644 index 0000000..f298ef6 --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1envs_1_1laser__models_1_1_scan_simulator2_d__coll__graph.md5 @@ -0,0 +1 @@ +54e4b1d5edcb8c3cb08332fff8851fbd \ No newline at end of file diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1envs_1_1laser__models_1_1_scan_simulator2_d__coll__graph.png b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1envs_1_1laser__models_1_1_scan_simulator2_d__coll__graph.png new file mode 100644 index 0000000..5f79883 Binary files /dev/null and b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1envs_1_1laser__models_1_1_scan_simulator2_d__coll__graph.png differ diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1envs_1_1laser__models_1_1_scan_simulator2_d__inherit__graph.map b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1envs_1_1laser__models_1_1_scan_simulator2_d__inherit__graph.map new file mode 100644 index 0000000..0245840 --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1envs_1_1laser__models_1_1_scan_simulator2_d__inherit__graph.map @@ -0,0 +1,4 @@ + + + + diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1envs_1_1laser__models_1_1_scan_simulator2_d__inherit__graph.md5 b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1envs_1_1laser__models_1_1_scan_simulator2_d__inherit__graph.md5 new file mode 100644 index 0000000..f298ef6 --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1envs_1_1laser__models_1_1_scan_simulator2_d__inherit__graph.md5 @@ -0,0 +1 @@ +54e4b1d5edcb8c3cb08332fff8851fbd \ No newline at end of file diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1envs_1_1laser__models_1_1_scan_simulator2_d__inherit__graph.png b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1envs_1_1laser__models_1_1_scan_simulator2_d__inherit__graph.png new file mode 100644 index 0000000..5f79883 Binary files /dev/null and b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1envs_1_1laser__models_1_1_scan_simulator2_d__inherit__graph.png differ diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1envs_1_1laser__models_1_1_scan_tests-members.html b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1envs_1_1laser__models_1_1_scan_tests-members.html new file mode 100644 index 0000000..fd974ba --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1envs_1_1laser__models_1_1_scan_tests-members.html @@ -0,0 +1,93 @@ + + + + + + + +f1tenth_gym: Member List + + + + + + + + + +
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f110_gym.envs.laser_models.ScanTests Member List
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This is the complete list of members for f110_gym.envs.laser_models.ScanTests, including all inherited members.

+ + + + + + + + + + + +
berlin_scan (defined in f110_gym.envs.laser_models.ScanTests)f110_gym.envs.laser_models.ScanTests
fov (defined in f110_gym.envs.laser_models.ScanTests)f110_gym.envs.laser_models.ScanTests
num_beams (defined in f110_gym.envs.laser_models.ScanTests)f110_gym.envs.laser_models.ScanTests
num_test (defined in f110_gym.envs.laser_models.ScanTests)f110_gym.envs.laser_models.ScanTests
setUp(self) (defined in f110_gym.envs.laser_models.ScanTests)f110_gym.envs.laser_models.ScanTests
skirk_scan (defined in f110_gym.envs.laser_models.ScanTests)f110_gym.envs.laser_models.ScanTests
test_fps(self) (defined in f110_gym.envs.laser_models.ScanTests)f110_gym.envs.laser_models.ScanTests
test_map_berlin(self) (defined in f110_gym.envs.laser_models.ScanTests)f110_gym.envs.laser_models.ScanTests
test_map_skirk(self) (defined in f110_gym.envs.laser_models.ScanTests)f110_gym.envs.laser_models.ScanTests
test_poses (defined in f110_gym.envs.laser_models.ScanTests)f110_gym.envs.laser_models.ScanTests
+ +
+Generated by   +doxygen + 1.8.17 +
+ + diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1envs_1_1laser__models_1_1_scan_tests.html b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1envs_1_1laser__models_1_1_scan_tests.html new file mode 100644 index 0000000..4f8b8f3 --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1envs_1_1laser__models_1_1_scan_tests.html @@ -0,0 +1,142 @@ + + + + + + + +f1tenth_gym: f110_gym.envs.laser_models.ScanTests Class Reference + + + + + + + + + +
+
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+
f1tenth_gym +
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+Public Member Functions | +Public Attributes | +List of all members
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+
f110_gym.envs.laser_models.ScanTests Class Reference
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+Inheritance diagram for f110_gym.envs.laser_models.ScanTests:
+
+
Inheritance graph
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[legend]
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+Collaboration diagram for f110_gym.envs.laser_models.ScanTests:
+
+
Collaboration graph
+ + + + +
[legend]
+ + + + + + + + + + +

+Public Member Functions

+def setUp (self)
 
+def test_map_berlin (self)
 
+def test_map_skirk (self)
 
+def test_fps (self)
 
+ + + + + + + + + + + + + +

+Public Attributes

+ num_beams
 
+ fov
 
+ num_test
 
+ test_poses
 
+ berlin_scan
 
+ skirk_scan
 
+
The documentation for this class was generated from the following file:
    +
  • /home/billyzheng/f1tenth_gym/gym/f110_gym/envs/laser_models.py
    • +
+
+ +
+Generated by   +doxygen + 1.8.17 +
+ + diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1envs_1_1laser__models_1_1_scan_tests.png b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1envs_1_1laser__models_1_1_scan_tests.png new file mode 100644 index 0000000..0b12544 Binary files /dev/null and b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1envs_1_1laser__models_1_1_scan_tests.png differ diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1envs_1_1laser__models_1_1_scan_tests__coll__graph.map b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1envs_1_1laser__models_1_1_scan_tests__coll__graph.map new file mode 100644 index 0000000..30f367d --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1envs_1_1laser__models_1_1_scan_tests__coll__graph.map @@ -0,0 +1,4 @@ + + + + diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1envs_1_1laser__models_1_1_scan_tests__coll__graph.md5 b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1envs_1_1laser__models_1_1_scan_tests__coll__graph.md5 new file mode 100644 index 0000000..e7dd44d --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1envs_1_1laser__models_1_1_scan_tests__coll__graph.md5 @@ -0,0 +1 @@ +8753cf30b5bdb970cca35870109666ee \ No newline at end of file diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1envs_1_1laser__models_1_1_scan_tests__coll__graph.png b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1envs_1_1laser__models_1_1_scan_tests__coll__graph.png new file mode 100644 index 0000000..5749b79 Binary files /dev/null and b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1envs_1_1laser__models_1_1_scan_tests__coll__graph.png differ diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1envs_1_1laser__models_1_1_scan_tests__inherit__graph.map b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1envs_1_1laser__models_1_1_scan_tests__inherit__graph.map new file mode 100644 index 0000000..30f367d --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1envs_1_1laser__models_1_1_scan_tests__inherit__graph.map @@ -0,0 +1,4 @@ + + + + diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1envs_1_1laser__models_1_1_scan_tests__inherit__graph.md5 b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1envs_1_1laser__models_1_1_scan_tests__inherit__graph.md5 new file mode 100644 index 0000000..e7dd44d --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1envs_1_1laser__models_1_1_scan_tests__inherit__graph.md5 @@ -0,0 +1 @@ +8753cf30b5bdb970cca35870109666ee \ No newline at end of file diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1envs_1_1laser__models_1_1_scan_tests__inherit__graph.png b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1envs_1_1laser__models_1_1_scan_tests__inherit__graph.png new file mode 100644 index 0000000..5749b79 Binary files /dev/null and b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1envs_1_1laser__models_1_1_scan_tests__inherit__graph.png differ diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1envs_1_1rendering_1_1_env_renderer-members.html b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1envs_1_1rendering_1_1_env_renderer-members.html new file mode 100644 index 0000000..a94e762 --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1envs_1_1rendering_1_1_env_renderer-members.html @@ -0,0 +1,106 @@ + + + + + + + +f1tenth_gym: Member List + + + + + + + + + +
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f110_gym.envs.rendering.EnvRenderer Member List
+
+
+ +

This is the complete list of members for f110_gym.envs.rendering.EnvRenderer, including all inherited members.

+ + + + + + + + + + + + + + + + + + + + + + + + +
__init__(self, width, height, *args, **kwargs)f110_gym.envs.rendering.EnvRenderer
batch (defined in f110_gym.envs.rendering.EnvRenderer)f110_gym.envs.rendering.EnvRenderer
bottom (defined in f110_gym.envs.rendering.EnvRenderer)f110_gym.envs.rendering.EnvRenderer
cars (defined in f110_gym.envs.rendering.EnvRenderer)f110_gym.envs.rendering.EnvRenderer
ego_idx (defined in f110_gym.envs.rendering.EnvRenderer)f110_gym.envs.rendering.EnvRenderer
fps_display (defined in f110_gym.envs.rendering.EnvRenderer)f110_gym.envs.rendering.EnvRenderer
left (defined in f110_gym.envs.rendering.EnvRenderer)f110_gym.envs.rendering.EnvRenderer
map_points (defined in f110_gym.envs.rendering.EnvRenderer)f110_gym.envs.rendering.EnvRenderer
on_close(self)f110_gym.envs.rendering.EnvRenderer
on_draw(self)f110_gym.envs.rendering.EnvRenderer
on_mouse_drag(self, x, y, dx, dy, buttons, modifiers)f110_gym.envs.rendering.EnvRenderer
on_mouse_scroll(self, x, y, dx, dy)f110_gym.envs.rendering.EnvRenderer
on_resize(self, width, height)f110_gym.envs.rendering.EnvRenderer
poses (defined in f110_gym.envs.rendering.EnvRenderer)f110_gym.envs.rendering.EnvRenderer
right (defined in f110_gym.envs.rendering.EnvRenderer)f110_gym.envs.rendering.EnvRenderer
score_label (defined in f110_gym.envs.rendering.EnvRenderer)f110_gym.envs.rendering.EnvRenderer
top (defined in f110_gym.envs.rendering.EnvRenderer)f110_gym.envs.rendering.EnvRenderer
update_map(self, map_path, map_ext)f110_gym.envs.rendering.EnvRenderer
update_obs(self, obs)f110_gym.envs.rendering.EnvRenderer
vertices (defined in f110_gym.envs.rendering.EnvRenderer)f110_gym.envs.rendering.EnvRenderer
zoom_level (defined in f110_gym.envs.rendering.EnvRenderer)f110_gym.envs.rendering.EnvRenderer
zoomed_height (defined in f110_gym.envs.rendering.EnvRenderer)f110_gym.envs.rendering.EnvRenderer
zoomed_width (defined in f110_gym.envs.rendering.EnvRenderer)f110_gym.envs.rendering.EnvRenderer
+ +
+Generated by   +doxygen + 1.8.17 +
+ + diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1envs_1_1rendering_1_1_env_renderer.html b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1envs_1_1rendering_1_1_env_renderer.html new file mode 100644 index 0000000..258133a --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1envs_1_1rendering_1_1_env_renderer.html @@ -0,0 +1,531 @@ + + + + + + + +f1tenth_gym: f110_gym.envs.rendering.EnvRenderer Class Reference + + + + + + + + + +
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+Public Member Functions | +Public Attributes | +List of all members
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f110_gym.envs.rendering.EnvRenderer Class Reference
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+Inheritance diagram for f110_gym.envs.rendering.EnvRenderer:
+
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+
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+ + + + + + + + + + + + + + + + + + +

+Public Member Functions

def __init__ (self, width, height, *args, **kwargs)
 
def update_map (self, map_path, map_ext)
 
def on_resize (self, width, height)
 
def on_mouse_drag (self, x, y, dx, dy, buttons, modifiers)
 
def on_mouse_scroll (self, x, y, dx, dy)
 
def on_close (self)
 
def on_draw (self)
 
def update_obs (self, obs)
 
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Public Attributes

+ left
 
+ right
 
+ bottom
 
+ top
 
+ zoom_level
 
+ zoomed_width
 
+ zoomed_height
 
+ batch
 
+ map_points
 
+ poses
 
+ vertices
 
+ score_label
 
+ fps_display
 
+ ego_idx
 
+ cars
 
+

Detailed Description

+
A window class inherited from pyglet.window.Window, handles the camera/projection interaction, resizing window, and rendering the environment
+

Constructor & Destructor Documentation

+ +

◆ __init__()

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
def f110_gym.envs.rendering.EnvRenderer.__init__ ( self,
 width,
 height,
* args,
** kwargs 
)
+
+
Class constructor
+
+Args:
+    width (int): width of the window
+    height (int): height of the window
+
+Returns:
+    None
+
+
+
+

Member Function Documentation

+ +

◆ on_close()

+ +
+
+ + + + + + + + +
def f110_gym.envs.rendering.EnvRenderer.on_close ( self)
+
+
Callback function when the 'x' is clicked on the window, overrides inherited method. Also throws exception to end the python program when in a loop.
+
+Args:
+    None
+
+Returns:
+    None
+
+Raises:
+    Exception: with a message that indicates the rendering window was closed
+
+
+
+ +

◆ on_draw()

+ +
+
+ + + + + + + + +
def f110_gym.envs.rendering.EnvRenderer.on_draw ( self)
+
+
Function when the pyglet is drawing. The function draws the batch created that includes the map points, the agent polygons, and the information text, and the fps display.
+
+Args:
+    None
+
+Returns:
+    None
+
+
+
+ +

◆ on_mouse_drag()

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
def f110_gym.envs.rendering.EnvRenderer.on_mouse_drag ( self,
 x,
 y,
 dx,
 dy,
 buttons,
 modifiers 
)
+
+
Callback function on mouse drag, overrides inherited method.
+
+Args:
+    x (int): Distance in pixels from the left edge of the window.
+    y (int): Distance in pixels from the bottom edge of the window.
+    dx (int): Relative X position from the previous mouse position.
+    dy (int): Relative Y position from the previous mouse position.
+    buttons (int): Bitwise combination of the mouse buttons currently pressed.
+    modifiers (int): Bitwise combination of any keyboard modifiers currently active.
+
+Returns:
+    None
+
+
+
+ +

◆ on_mouse_scroll()

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
def f110_gym.envs.rendering.EnvRenderer.on_mouse_scroll ( self,
 x,
 y,
 dx,
 dy 
)
+
+
Callback function on mouse scroll, overrides inherited method.
+
+Args:
+    x (int): Distance in pixels from the left edge of the window.
+    y (int): Distance in pixels from the bottom edge of the window.
+    scroll_x (float): Amount of movement on the horizontal axis.
+    scroll_y (float): Amount of movement on the vertical axis.
+
+Returns:
+    None
+
+
+
+ +

◆ on_resize()

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + +
def f110_gym.envs.rendering.EnvRenderer.on_resize ( self,
 width,
 height 
)
+
+
Callback function on window resize, overrides inherited method, and updates camera values on top of the inherited on_resize() method.
+
+Potential improvements on current behavior: zoom/pan resets on window resize.
+
+Args:
+    width (int): new width of window
+    height (int): new height of window
+
+Returns:
+    None
+
+
+
+ +

◆ update_map()

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + +
def f110_gym.envs.rendering.EnvRenderer.update_map ( self,
 map_path,
 map_ext 
)
+
+
Update the map being drawn by the renderer. Converts image to a list of 3D points representing each obstacle pixel in the map.
+
+Args:
+    map_path (str): absolute path to the map without extensions
+    map_ext (str): extension for the map image file
+
+Returns:
+    None
+
+
+
+ +

◆ update_obs()

+ +
+
+ + + + + + + + + + + + + + + + + + +
def f110_gym.envs.rendering.EnvRenderer.update_obs ( self,
 obs 
)
+
+
Updates the renderer with the latest observation from the gym environment, including the agent poses, and the information text.
+
+Args:
+    obs (dict): observation dict from the gym env
+
+Returns:
+    None
+
+
+
+
The documentation for this class was generated from the following file:
    +
  • /home/billyzheng/f1tenth_gym/gym/f110_gym/envs/rendering.py
    • +
+
+ +
+Generated by   +doxygen + 1.8.17 +
+ + diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1envs_1_1rendering_1_1_env_renderer__coll__graph.map b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1envs_1_1rendering_1_1_env_renderer__coll__graph.map new file mode 100644 index 0000000..3e47ff4 --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1envs_1_1rendering_1_1_env_renderer__coll__graph.map @@ -0,0 +1,4 @@ + + + + diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1envs_1_1rendering_1_1_env_renderer__coll__graph.md5 b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1envs_1_1rendering_1_1_env_renderer__coll__graph.md5 new file mode 100644 index 0000000..a6ec4c6 --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1envs_1_1rendering_1_1_env_renderer__coll__graph.md5 @@ -0,0 +1 @@ +d65f22e3d9fc873a24c94108e26579ac \ No newline at end of file diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1envs_1_1rendering_1_1_env_renderer__coll__graph.png b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1envs_1_1rendering_1_1_env_renderer__coll__graph.png new file mode 100644 index 0000000..db29c63 Binary files /dev/null and b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1envs_1_1rendering_1_1_env_renderer__coll__graph.png differ diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1envs_1_1rendering_1_1_env_renderer__inherit__graph.map b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1envs_1_1rendering_1_1_env_renderer__inherit__graph.map new file mode 100644 index 0000000..3e47ff4 --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1envs_1_1rendering_1_1_env_renderer__inherit__graph.map @@ -0,0 +1,4 @@ + + + + diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1envs_1_1rendering_1_1_env_renderer__inherit__graph.md5 b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1envs_1_1rendering_1_1_env_renderer__inherit__graph.md5 new file mode 100644 index 0000000..a6ec4c6 --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1envs_1_1rendering_1_1_env_renderer__inherit__graph.md5 @@ -0,0 +1 @@ +d65f22e3d9fc873a24c94108e26579ac \ No newline at end of file diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1envs_1_1rendering_1_1_env_renderer__inherit__graph.png b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1envs_1_1rendering_1_1_env_renderer__inherit__graph.png new file mode 100644 index 0000000..db29c63 Binary files /dev/null and b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1envs_1_1rendering_1_1_env_renderer__inherit__graph.png differ diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1unittest_1_1collision__checks_1_1_collision_tests-members.html b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1unittest_1_1collision__checks_1_1_collision_tests-members.html new file mode 100644 index 0000000..e764031 --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1unittest_1_1collision__checks_1_1_collision_tests-members.html @@ -0,0 +1,91 @@ + + + + + + + +f1tenth_gym: Member List + + + + + + + + + +
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+
+
f110_gym.unittest.collision_checks.CollisionTests Member List
+
+
+ +

This is the complete list of members for f110_gym.unittest.collision_checks.CollisionTests, including all inherited members.

+ + + + + + + + + +
length (defined in f110_gym.unittest.collision_checks.CollisionTests)f110_gym.unittest.collision_checks.CollisionTests
setUp(self) (defined in f110_gym.unittest.collision_checks.CollisionTests)f110_gym.unittest.collision_checks.CollisionTests
test_fps(self) (defined in f110_gym.unittest.collision_checks.CollisionTests)f110_gym.unittest.collision_checks.CollisionTests
test_get_vert(self) (defined in f110_gym.unittest.collision_checks.CollisionTests)f110_gym.unittest.collision_checks.CollisionTests
test_get_vert_fps(self) (defined in f110_gym.unittest.collision_checks.CollisionTests)f110_gym.unittest.collision_checks.CollisionTests
test_random_collision(self) (defined in f110_gym.unittest.collision_checks.CollisionTests)f110_gym.unittest.collision_checks.CollisionTests
vertices1 (defined in f110_gym.unittest.collision_checks.CollisionTests)f110_gym.unittest.collision_checks.CollisionTests
width (defined in f110_gym.unittest.collision_checks.CollisionTests)f110_gym.unittest.collision_checks.CollisionTests
+ +
+Generated by   +doxygen + 1.8.17 +
+ + diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1unittest_1_1collision__checks_1_1_collision_tests.html b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1unittest_1_1collision__checks_1_1_collision_tests.html new file mode 100644 index 0000000..6e033d7 --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1unittest_1_1collision__checks_1_1_collision_tests.html @@ -0,0 +1,136 @@ + + + + + + + +f1tenth_gym: f110_gym.unittest.collision_checks.CollisionTests Class Reference + + + + + + + + + +
+
+ + + + + + +
+
f1tenth_gym +
+
+
+ + + + + + + + +
+
+ + +
+ +
+ + +
+
+
+Public Member Functions | +Public Attributes | +List of all members
+
+
f110_gym.unittest.collision_checks.CollisionTests Class Reference
+
+
+
+Inheritance diagram for f110_gym.unittest.collision_checks.CollisionTests:
+
+
Inheritance graph
+ + + + +
[legend]
+
+Collaboration diagram for f110_gym.unittest.collision_checks.CollisionTests:
+
+
Collaboration graph
+ + + + +
[legend]
+ + + + + + + + + + + + +

+Public Member Functions

+def setUp (self)
 
+def test_get_vert (self)
 
+def test_get_vert_fps (self)
 
+def test_random_collision (self)
 
+def test_fps (self)
 
+ + + + + + + +

+Public Attributes

+ vertices1
 
+ length
 
+ width
 
+
The documentation for this class was generated from the following file:
    +
  • /home/billyzheng/f1tenth_gym/gym/f110_gym/unittest/collision_checks.py
    • +
+
+ +
+Generated by   +doxygen + 1.8.17 +
+ + diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1unittest_1_1collision__checks_1_1_collision_tests.png b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1unittest_1_1collision__checks_1_1_collision_tests.png new file mode 100644 index 0000000..7001cad Binary files /dev/null and b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1unittest_1_1collision__checks_1_1_collision_tests.png differ diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1unittest_1_1collision__checks_1_1_collision_tests__coll__graph.map b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1unittest_1_1collision__checks_1_1_collision_tests__coll__graph.map new file mode 100644 index 0000000..0cd1eeb --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1unittest_1_1collision__checks_1_1_collision_tests__coll__graph.map @@ -0,0 +1,4 @@ + + + + diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1unittest_1_1collision__checks_1_1_collision_tests__coll__graph.md5 b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1unittest_1_1collision__checks_1_1_collision_tests__coll__graph.md5 new file mode 100644 index 0000000..598630c --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1unittest_1_1collision__checks_1_1_collision_tests__coll__graph.md5 @@ -0,0 +1 @@ +9e664bc780db4cd0eb9d736d3f5eca76 \ No newline at end of file diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1unittest_1_1collision__checks_1_1_collision_tests__coll__graph.png b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1unittest_1_1collision__checks_1_1_collision_tests__coll__graph.png new file mode 100644 index 0000000..5c8238a Binary files /dev/null and b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1unittest_1_1collision__checks_1_1_collision_tests__coll__graph.png differ diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1unittest_1_1collision__checks_1_1_collision_tests__inherit__graph.map b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1unittest_1_1collision__checks_1_1_collision_tests__inherit__graph.map new file mode 100644 index 0000000..0cd1eeb --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1unittest_1_1collision__checks_1_1_collision_tests__inherit__graph.map @@ -0,0 +1,4 @@ + + + + diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1unittest_1_1collision__checks_1_1_collision_tests__inherit__graph.md5 b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1unittest_1_1collision__checks_1_1_collision_tests__inherit__graph.md5 new file mode 100644 index 0000000..598630c --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1unittest_1_1collision__checks_1_1_collision_tests__inherit__graph.md5 @@ -0,0 +1 @@ +9e664bc780db4cd0eb9d736d3f5eca76 \ No newline at end of file diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1unittest_1_1collision__checks_1_1_collision_tests__inherit__graph.png b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1unittest_1_1collision__checks_1_1_collision_tests__inherit__graph.png new file mode 100644 index 0000000..5c8238a Binary files /dev/null and b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1unittest_1_1collision__checks_1_1_collision_tests__inherit__graph.png differ diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1unittest_1_1dynamics__test_1_1_dynamics_test-members.html b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1unittest_1_1dynamics__test_1_1_dynamics_test-members.html new file mode 100644 index 0000000..cb0f7d6 --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1unittest_1_1dynamics__test_1_1_dynamics_test-members.html @@ -0,0 +1,105 @@ + + + + + + + +f1tenth_gym: Member List + + + + + + + + + +
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f110_gym.unittest.dynamics_test.DynamicsTest Member List
+
+
+ +

This is the complete list of members for f110_gym.unittest.dynamics_test.DynamicsTest, including all inherited members.

+ + + + + + + + + + + + + + + + + + + + + + + +
a_max (defined in f110_gym.unittest.dynamics_test.DynamicsTest)f110_gym.unittest.dynamics_test.DynamicsTest
C_Sf (defined in f110_gym.unittest.dynamics_test.DynamicsTest)f110_gym.unittest.dynamics_test.DynamicsTest
C_Sr (defined in f110_gym.unittest.dynamics_test.DynamicsTest)f110_gym.unittest.dynamics_test.DynamicsTest
h (defined in f110_gym.unittest.dynamics_test.DynamicsTest)f110_gym.unittest.dynamics_test.DynamicsTest
I (defined in f110_gym.unittest.dynamics_test.DynamicsTest)f110_gym.unittest.dynamics_test.DynamicsTest
lf (defined in f110_gym.unittest.dynamics_test.DynamicsTest)f110_gym.unittest.dynamics_test.DynamicsTest
lr (defined in f110_gym.unittest.dynamics_test.DynamicsTest)f110_gym.unittest.dynamics_test.DynamicsTest
m (defined in f110_gym.unittest.dynamics_test.DynamicsTest)f110_gym.unittest.dynamics_test.DynamicsTest
mu (defined in f110_gym.unittest.dynamics_test.DynamicsTest)f110_gym.unittest.dynamics_test.DynamicsTest
s_max (defined in f110_gym.unittest.dynamics_test.DynamicsTest)f110_gym.unittest.dynamics_test.DynamicsTest
s_min (defined in f110_gym.unittest.dynamics_test.DynamicsTest)f110_gym.unittest.dynamics_test.DynamicsTest
setUp(self) (defined in f110_gym.unittest.dynamics_test.DynamicsTest)f110_gym.unittest.dynamics_test.DynamicsTest
sv_max (defined in f110_gym.unittest.dynamics_test.DynamicsTest)f110_gym.unittest.dynamics_test.DynamicsTest
sv_min (defined in f110_gym.unittest.dynamics_test.DynamicsTest)f110_gym.unittest.dynamics_test.DynamicsTest
test_derivatives(self) (defined in f110_gym.unittest.dynamics_test.DynamicsTest)f110_gym.unittest.dynamics_test.DynamicsTest
test_zeroinit_acc(self) (defined in f110_gym.unittest.dynamics_test.DynamicsTest)f110_gym.unittest.dynamics_test.DynamicsTest
test_zeroinit_dec(self) (defined in f110_gym.unittest.dynamics_test.DynamicsTest)f110_gym.unittest.dynamics_test.DynamicsTest
test_zeroinit_roll(self) (defined in f110_gym.unittest.dynamics_test.DynamicsTest)f110_gym.unittest.dynamics_test.DynamicsTest
test_zeroinit_rollleft(self) (defined in f110_gym.unittest.dynamics_test.DynamicsTest)f110_gym.unittest.dynamics_test.DynamicsTest
v_max (defined in f110_gym.unittest.dynamics_test.DynamicsTest)f110_gym.unittest.dynamics_test.DynamicsTest
v_min (defined in f110_gym.unittest.dynamics_test.DynamicsTest)f110_gym.unittest.dynamics_test.DynamicsTest
v_switch (defined in f110_gym.unittest.dynamics_test.DynamicsTest)f110_gym.unittest.dynamics_test.DynamicsTest
+ +
+Generated by   +doxygen + 1.8.17 +
+ + diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1unittest_1_1dynamics__test_1_1_dynamics_test.html b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1unittest_1_1dynamics__test_1_1_dynamics_test.html new file mode 100644 index 0000000..e5445ea --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1unittest_1_1dynamics__test_1_1_dynamics_test.html @@ -0,0 +1,178 @@ + + + + + + + +f1tenth_gym: f110_gym.unittest.dynamics_test.DynamicsTest Class Reference + + + + + + + + + +
+
+ + + + + + +
+
f1tenth_gym +
+
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+Public Member Functions | +Public Attributes | +List of all members
+
+
f110_gym.unittest.dynamics_test.DynamicsTest Class Reference
+
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+Inheritance diagram for f110_gym.unittest.dynamics_test.DynamicsTest:
+
+
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[legend]
+
+Collaboration diagram for f110_gym.unittest.dynamics_test.DynamicsTest:
+
+
Collaboration graph
+ + + + +
[legend]
+ + + + + + + + + + + + + + +

+Public Member Functions

+def setUp (self)
 
+def test_derivatives (self)
 
+def test_zeroinit_roll (self)
 
+def test_zeroinit_dec (self)
 
+def test_zeroinit_acc (self)
 
+def test_zeroinit_rollleft (self)
 
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Public Attributes

+ mu
 
+ C_Sf
 
+ C_Sr
 
+ lf
 
+ lr
 
+ h
 
+ m
 
+ I
 
+ s_min
 
+ s_max
 
+ sv_min
 
+ sv_max
 
+ v_min
 
+ v_max
 
+ v_switch
 
+ a_max
 
+
The documentation for this class was generated from the following file:
    +
  • /home/billyzheng/f1tenth_gym/gym/f110_gym/unittest/dynamics_test.py
    • +
+
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+Generated by   +doxygen + 1.8.17 +
+ + diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1unittest_1_1dynamics__test_1_1_dynamics_test.png b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1unittest_1_1dynamics__test_1_1_dynamics_test.png new file mode 100644 index 0000000..2d0a315 Binary files /dev/null and b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1unittest_1_1dynamics__test_1_1_dynamics_test.png differ diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1unittest_1_1dynamics__test_1_1_dynamics_test__coll__graph.map b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1unittest_1_1dynamics__test_1_1_dynamics_test__coll__graph.map new file mode 100644 index 0000000..386c51b --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1unittest_1_1dynamics__test_1_1_dynamics_test__coll__graph.map @@ -0,0 +1,4 @@ + + + + diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1unittest_1_1dynamics__test_1_1_dynamics_test__coll__graph.md5 b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1unittest_1_1dynamics__test_1_1_dynamics_test__coll__graph.md5 new file mode 100644 index 0000000..e87063e --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1unittest_1_1dynamics__test_1_1_dynamics_test__coll__graph.md5 @@ -0,0 +1 @@ +8425abfb79b383b7ff3bf50717bb48e4 \ No newline at end of file diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1unittest_1_1dynamics__test_1_1_dynamics_test__coll__graph.png b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1unittest_1_1dynamics__test_1_1_dynamics_test__coll__graph.png new file mode 100644 index 0000000..9208fce Binary files /dev/null and b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1unittest_1_1dynamics__test_1_1_dynamics_test__coll__graph.png differ diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1unittest_1_1dynamics__test_1_1_dynamics_test__inherit__graph.map b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1unittest_1_1dynamics__test_1_1_dynamics_test__inherit__graph.map new file mode 100644 index 0000000..386c51b --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1unittest_1_1dynamics__test_1_1_dynamics_test__inherit__graph.map @@ -0,0 +1,4 @@ + + + + diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1unittest_1_1dynamics__test_1_1_dynamics_test__inherit__graph.md5 b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1unittest_1_1dynamics__test_1_1_dynamics_test__inherit__graph.md5 new file mode 100644 index 0000000..e87063e --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1unittest_1_1dynamics__test_1_1_dynamics_test__inherit__graph.md5 @@ -0,0 +1 @@ +8425abfb79b383b7ff3bf50717bb48e4 \ No newline at end of file diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1unittest_1_1dynamics__test_1_1_dynamics_test__inherit__graph.png b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1unittest_1_1dynamics__test_1_1_dynamics_test__inherit__graph.png new file mode 100644 index 0000000..9208fce Binary files /dev/null and b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1unittest_1_1dynamics__test_1_1_dynamics_test__inherit__graph.png differ diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1unittest_1_1pyglet__test_1_1_camera-members.html b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1unittest_1_1pyglet__test_1_1_camera-members.html new file mode 100644 index 0000000..df7de25 --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1unittest_1_1pyglet__test_1_1_camera-members.html @@ -0,0 +1,98 @@ + + + + + + + +f1tenth_gym: Member List + + + + + + + + + +
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f110_gym.unittest.pyglet_test.Camera Member List
+
+
+ +

This is the complete list of members for f110_gym.unittest.pyglet_test.Camera, including all inherited members.

+ + + + + + + + + + + + + + + + +
__enter__(self) (defined in f110_gym.unittest.pyglet_test.Camera)f110_gym.unittest.pyglet_test.Camera
__exit__(self, exception_type, exception_value, traceback) (defined in f110_gym.unittest.pyglet_test.Camera)f110_gym.unittest.pyglet_test.Camera
__init__(self, pyglet.window.Window window, scroll_speed=1, min_zoom=1, max_zoom=4) (defined in f110_gym.unittest.pyglet_test.Camera)f110_gym.unittest.pyglet_test.Camera
begin(self) (defined in f110_gym.unittest.pyglet_test.Camera)f110_gym.unittest.pyglet_test.Camera
end(self) (defined in f110_gym.unittest.pyglet_test.Camera)f110_gym.unittest.pyglet_test.Camera
max_zoom (defined in f110_gym.unittest.pyglet_test.Camera)f110_gym.unittest.pyglet_test.Camera
min_zoom (defined in f110_gym.unittest.pyglet_test.Camera)f110_gym.unittest.pyglet_test.Camera
move(self, axis_x, axis_y)f110_gym.unittest.pyglet_test.Camera
offset_x (defined in f110_gym.unittest.pyglet_test.Camera)f110_gym.unittest.pyglet_test.Camera
offset_y (defined in f110_gym.unittest.pyglet_test.Camera)f110_gym.unittest.pyglet_test.Camera
position(self)f110_gym.unittest.pyglet_test.Camera
position(self, value)f110_gym.unittest.pyglet_test.Camera
scroll_speed (defined in f110_gym.unittest.pyglet_test.Camera)f110_gym.unittest.pyglet_test.Camera
zoom(self) (defined in f110_gym.unittest.pyglet_test.Camera)f110_gym.unittest.pyglet_test.Camera
zoom(self, value)f110_gym.unittest.pyglet_test.Camera
+ +
+Generated by   +doxygen + 1.8.17 +
+ + diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1unittest_1_1pyglet__test_1_1_camera.html b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1unittest_1_1pyglet__test_1_1_camera.html new file mode 100644 index 0000000..6bf5449 --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1unittest_1_1pyglet__test_1_1_camera.html @@ -0,0 +1,255 @@ + + + + + + + +f1tenth_gym: f110_gym.unittest.pyglet_test.Camera Class Reference + + + + + + + + + +
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+Public Member Functions | +Public Attributes | +List of all members
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f110_gym.unittest.pyglet_test.Camera Class Reference
+
+
+
+Inheritance diagram for f110_gym.unittest.pyglet_test.Camera:
+
+
Inheritance graph
+ + + + +
[legend]
+ + + + + + + + + + + + + + + + + + + + + + +

+Public Member Functions

+def __init__ (self, pyglet.window.Window window, scroll_speed=1, min_zoom=1, max_zoom=4)
 
+def zoom (self)
 
def zoom (self, value)
 
def position (self)
 
def position (self, value)
 
def move (self, axis_x, axis_y)
 
+def begin (self)
 
+def end (self)
 
+def __enter__ (self)
 
+def __exit__ (self, exception_type, exception_value, traceback)
 
+ + + + + + + + + + + +

+Public Attributes

+ scroll_speed
 
+ max_zoom
 
+ min_zoom
 
+ offset_x
 
+ offset_y
 
+

Detailed Description

+
A simple 2D camera that contains the speed and offset.

Member Function Documentation

+ +

◆ move()

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + +
def f110_gym.unittest.pyglet_test.Camera.move ( self,
 axis_x,
 axis_y 
)
+
+
Move axis direction with scroll_speed.
+    Example: Move left -> move(-1, 0)
+
+
+ +

◆ position() [1/2]

+ +
+
+ + + + + + + + +
def f110_gym.unittest.pyglet_test.Camera.position ( self)
+
+
Query the current offset.
+
+
+ +

◆ position() [2/2]

+ +
+
+ + + + + + + + + + + + + + + + + + +
def f110_gym.unittest.pyglet_test.Camera.position ( self,
 value 
)
+
+
Set the scroll offset directly.
+
+
+ +

◆ zoom()

+ +
+
+ + + + + + + + + + + + + + + + + + +
def f110_gym.unittest.pyglet_test.Camera.zoom ( self,
 value 
)
+
+
Here we set zoom, clamp value to minimum of min_zoom and max of max_zoom.
+
+
+
The documentation for this class was generated from the following file:
    +
  • /home/billyzheng/f1tenth_gym/gym/f110_gym/unittest/pyglet_test.py
    • +
+
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+Generated by   +doxygen + 1.8.17 +
+ + diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1unittest_1_1pyglet__test_1_1_camera__inherit__graph.map b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1unittest_1_1pyglet__test_1_1_camera__inherit__graph.map new file mode 100644 index 0000000..4580767 --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1unittest_1_1pyglet__test_1_1_camera__inherit__graph.map @@ -0,0 +1,4 @@ + + + + diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1unittest_1_1pyglet__test_1_1_camera__inherit__graph.md5 b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1unittest_1_1pyglet__test_1_1_camera__inherit__graph.md5 new file mode 100644 index 0000000..69744d3 --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1unittest_1_1pyglet__test_1_1_camera__inherit__graph.md5 @@ -0,0 +1 @@ +ed93bf5dfa5d73ea78bbb103858facd1 \ No newline at end of file diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1unittest_1_1pyglet__test_1_1_camera__inherit__graph.png b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1unittest_1_1pyglet__test_1_1_camera__inherit__graph.png new file mode 100644 index 0000000..e017fa6 Binary files /dev/null and b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1unittest_1_1pyglet__test_1_1_camera__inherit__graph.png differ diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1unittest_1_1pyglet__test_1_1_centered_camera-members.html b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1unittest_1_1pyglet__test_1_1_centered_camera-members.html new file mode 100644 index 0000000..fbd7212 --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1unittest_1_1pyglet__test_1_1_centered_camera-members.html @@ -0,0 +1,98 @@ + + + + + + + +f1tenth_gym: Member List + + + + + + + + + +
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+
+
f110_gym.unittest.pyglet_test.CenteredCamera Member List
+
+
+ +

This is the complete list of members for f110_gym.unittest.pyglet_test.CenteredCamera, including all inherited members.

+ + + + + + + + + + + + + + + + +
__enter__(self) (defined in f110_gym.unittest.pyglet_test.Camera)f110_gym.unittest.pyglet_test.Camera
__exit__(self, exception_type, exception_value, traceback) (defined in f110_gym.unittest.pyglet_test.Camera)f110_gym.unittest.pyglet_test.Camera
__init__(self, pyglet.window.Window window, scroll_speed=1, min_zoom=1, max_zoom=4) (defined in f110_gym.unittest.pyglet_test.Camera)f110_gym.unittest.pyglet_test.Camera
begin(self) (defined in f110_gym.unittest.pyglet_test.CenteredCamera)f110_gym.unittest.pyglet_test.CenteredCamera
end(self) (defined in f110_gym.unittest.pyglet_test.CenteredCamera)f110_gym.unittest.pyglet_test.CenteredCamera
max_zoom (defined in f110_gym.unittest.pyglet_test.Camera)f110_gym.unittest.pyglet_test.Camera
min_zoom (defined in f110_gym.unittest.pyglet_test.Camera)f110_gym.unittest.pyglet_test.Camera
move(self, axis_x, axis_y)f110_gym.unittest.pyglet_test.Camera
offset_x (defined in f110_gym.unittest.pyglet_test.Camera)f110_gym.unittest.pyglet_test.Camera
offset_y (defined in f110_gym.unittest.pyglet_test.Camera)f110_gym.unittest.pyglet_test.Camera
position(self)f110_gym.unittest.pyglet_test.Camera
position(self, value)f110_gym.unittest.pyglet_test.Camera
scroll_speed (defined in f110_gym.unittest.pyglet_test.Camera)f110_gym.unittest.pyglet_test.Camera
zoom(self) (defined in f110_gym.unittest.pyglet_test.Camera)f110_gym.unittest.pyglet_test.Camera
zoom(self, value)f110_gym.unittest.pyglet_test.Camera
+ +
+Generated by   +doxygen + 1.8.17 +
+ + diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1unittest_1_1pyglet__test_1_1_centered_camera.html b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1unittest_1_1pyglet__test_1_1_centered_camera.html new file mode 100644 index 0000000..12ed05b --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1unittest_1_1pyglet__test_1_1_centered_camera.html @@ -0,0 +1,155 @@ + + + + + + + +f1tenth_gym: f110_gym.unittest.pyglet_test.CenteredCamera Class Reference + + + + + + + + + +
+
+ + + + + + +
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f1tenth_gym +
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+Public Member Functions | +List of all members
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f110_gym.unittest.pyglet_test.CenteredCamera Class Reference
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+
+
Inheritance graph
+ + + + +
[legend]
+
+Collaboration diagram for f110_gym.unittest.pyglet_test.CenteredCamera:
+
+
Collaboration graph
+ + + + +
[legend]
+ + + + + + + + + + + + + + + + + + + + + + + +

+Public Member Functions

+def begin (self)
 
+def end (self)
 
- Public Member Functions inherited from f110_gym.unittest.pyglet_test.Camera
+def __init__ (self, pyglet.window.Window window, scroll_speed=1, min_zoom=1, max_zoom=4)
 
+def zoom (self)
 
def zoom (self, value)
 
def position (self)
 
def position (self, value)
 
def move (self, axis_x, axis_y)
 
+def __enter__ (self)
 
+def __exit__ (self, exception_type, exception_value, traceback)
 
+ + + + + + + + + + + + +

+Additional Inherited Members

- Public Attributes inherited from f110_gym.unittest.pyglet_test.Camera
+ scroll_speed
 
+ max_zoom
 
+ min_zoom
 
+ offset_x
 
+ offset_y
 
+

Detailed Description

+
A simple 2D camera class. 0, 0 will be the center of the screen, as opposed to the bottom left.
The documentation for this class was generated from the following file:
    +
  • /home/billyzheng/f1tenth_gym/gym/f110_gym/unittest/pyglet_test.py
    • +
+
+ +
+Generated by   +doxygen + 1.8.17 +
+ + diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1unittest_1_1pyglet__test_1_1_centered_camera__coll__graph.map b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1unittest_1_1pyglet__test_1_1_centered_camera__coll__graph.map new file mode 100644 index 0000000..f80afe5 --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1unittest_1_1pyglet__test_1_1_centered_camera__coll__graph.map @@ -0,0 +1,4 @@ + + + + diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1unittest_1_1pyglet__test_1_1_centered_camera__coll__graph.md5 b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1unittest_1_1pyglet__test_1_1_centered_camera__coll__graph.md5 new file mode 100644 index 0000000..a1b471d --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1unittest_1_1pyglet__test_1_1_centered_camera__coll__graph.md5 @@ -0,0 +1 @@ +9ead0e598ba3028279f78ce15cdd0b0f \ No newline at end of file diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1unittest_1_1pyglet__test_1_1_centered_camera__coll__graph.png b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1unittest_1_1pyglet__test_1_1_centered_camera__coll__graph.png new file mode 100644 index 0000000..57e3e87 Binary files /dev/null and b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1unittest_1_1pyglet__test_1_1_centered_camera__coll__graph.png differ diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1unittest_1_1pyglet__test_1_1_centered_camera__inherit__graph.map b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1unittest_1_1pyglet__test_1_1_centered_camera__inherit__graph.map new file mode 100644 index 0000000..f80afe5 --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1unittest_1_1pyglet__test_1_1_centered_camera__inherit__graph.map @@ -0,0 +1,4 @@ + + + + diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1unittest_1_1pyglet__test_1_1_centered_camera__inherit__graph.md5 b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1unittest_1_1pyglet__test_1_1_centered_camera__inherit__graph.md5 new file mode 100644 index 0000000..a1b471d --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1unittest_1_1pyglet__test_1_1_centered_camera__inherit__graph.md5 @@ -0,0 +1 @@ +9ead0e598ba3028279f78ce15cdd0b0f \ No newline at end of file diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1unittest_1_1pyglet__test_1_1_centered_camera__inherit__graph.png b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1unittest_1_1pyglet__test_1_1_centered_camera__inherit__graph.png new file mode 100644 index 0000000..57e3e87 Binary files /dev/null and b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1unittest_1_1pyglet__test_1_1_centered_camera__inherit__graph.png differ diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1unittest_1_1pyglet__test__camera_1_1_app-members.html b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1unittest_1_1pyglet__test__camera_1_1_app-members.html new file mode 100644 index 0000000..7dc378c --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1unittest_1_1pyglet__test__camera_1_1_app-members.html @@ -0,0 +1,97 @@ + + + + + + + +f1tenth_gym: Member List + + + + + + + + + +
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+
+
+
f110_gym.unittest.pyglet_test_camera.App Member List
+
+
+ +

This is the complete list of members for f110_gym.unittest.pyglet_test_camera.App, including all inherited members.

+ + + + + + + + + + + + + + + +
__init__(self, width, height, *args, **kwargs) (defined in f110_gym.unittest.pyglet_test_camera.App)f110_gym.unittest.pyglet_test_camera.App
bottom (defined in f110_gym.unittest.pyglet_test_camera.App)f110_gym.unittest.pyglet_test_camera.App
init_gl(self, width, height) (defined in f110_gym.unittest.pyglet_test_camera.App)f110_gym.unittest.pyglet_test_camera.App
left (defined in f110_gym.unittest.pyglet_test_camera.App)f110_gym.unittest.pyglet_test_camera.App
on_draw(self) (defined in f110_gym.unittest.pyglet_test_camera.App)f110_gym.unittest.pyglet_test_camera.App
on_mouse_drag(self, x, y, dx, dy, buttons, modifiers) (defined in f110_gym.unittest.pyglet_test_camera.App)f110_gym.unittest.pyglet_test_camera.App
on_mouse_scroll(self, x, y, dx, dy) (defined in f110_gym.unittest.pyglet_test_camera.App)f110_gym.unittest.pyglet_test_camera.App
on_resize(self, width, height) (defined in f110_gym.unittest.pyglet_test_camera.App)f110_gym.unittest.pyglet_test_camera.App
right (defined in f110_gym.unittest.pyglet_test_camera.App)f110_gym.unittest.pyglet_test_camera.App
run(self) (defined in f110_gym.unittest.pyglet_test_camera.App)f110_gym.unittest.pyglet_test_camera.App
top (defined in f110_gym.unittest.pyglet_test_camera.App)f110_gym.unittest.pyglet_test_camera.App
zoom_level (defined in f110_gym.unittest.pyglet_test_camera.App)f110_gym.unittest.pyglet_test_camera.App
zoomed_height (defined in f110_gym.unittest.pyglet_test_camera.App)f110_gym.unittest.pyglet_test_camera.App
zoomed_width (defined in f110_gym.unittest.pyglet_test_camera.App)f110_gym.unittest.pyglet_test_camera.App
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+Generated by   +doxygen + 1.8.17 +
+ + diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1unittest_1_1pyglet__test__camera_1_1_app.html b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1unittest_1_1pyglet__test__camera_1_1_app.html new file mode 100644 index 0000000..d816d48 --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1unittest_1_1pyglet__test__camera_1_1_app.html @@ -0,0 +1,154 @@ + + + + + + + +f1tenth_gym: f110_gym.unittest.pyglet_test_camera.App Class Reference + + + + + + + + + +
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f110_gym.unittest.pyglet_test_camera.App Class Reference
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+Public Member Functions

+def __init__ (self, width, height, *args, **kwargs)
 
+def init_gl (self, width, height)
 
+def on_resize (self, width, height)
 
+def on_mouse_drag (self, x, y, dx, dy, buttons, modifiers)
 
+def on_mouse_scroll (self, x, y, dx, dy)
 
+def on_draw (self)
 
+def run (self)
 
+ + + + + + + + + + + + + + + +

+Public Attributes

+ left
 
+ right
 
+ bottom
 
+ top
 
+ zoom_level
 
+ zoomed_width
 
+ zoomed_height
 
+
The documentation for this class was generated from the following file:
    +
  • /home/billyzheng/f1tenth_gym/gym/f110_gym/unittest/pyglet_test_camera.py
    • +
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+Generated by   +doxygen + 1.8.17 +
+ + diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1unittest_1_1pyglet__test__camera_1_1_app__coll__graph.map b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1unittest_1_1pyglet__test__camera_1_1_app__coll__graph.map new file mode 100644 index 0000000..4c0dc64 --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1unittest_1_1pyglet__test__camera_1_1_app__coll__graph.map @@ -0,0 +1,4 @@ + + + + diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1unittest_1_1pyglet__test__camera_1_1_app__coll__graph.md5 b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1unittest_1_1pyglet__test__camera_1_1_app__coll__graph.md5 new file mode 100644 index 0000000..40356a9 --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1unittest_1_1pyglet__test__camera_1_1_app__coll__graph.md5 @@ -0,0 +1 @@ +90b7d1a8632cd234acaf42a487be351d \ No newline at end of file diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1unittest_1_1pyglet__test__camera_1_1_app__coll__graph.png b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1unittest_1_1pyglet__test__camera_1_1_app__coll__graph.png new file mode 100644 index 0000000..22f1d20 Binary files /dev/null and b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1unittest_1_1pyglet__test__camera_1_1_app__coll__graph.png differ diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1unittest_1_1pyglet__test__camera_1_1_app__inherit__graph.map b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1unittest_1_1pyglet__test__camera_1_1_app__inherit__graph.map new file mode 100644 index 0000000..4c0dc64 --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1unittest_1_1pyglet__test__camera_1_1_app__inherit__graph.map @@ -0,0 +1,4 @@ + + + + diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1unittest_1_1pyglet__test__camera_1_1_app__inherit__graph.md5 b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1unittest_1_1pyglet__test__camera_1_1_app__inherit__graph.md5 new file mode 100644 index 0000000..40356a9 --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1unittest_1_1pyglet__test__camera_1_1_app__inherit__graph.md5 @@ -0,0 +1 @@ +90b7d1a8632cd234acaf42a487be351d \ No newline at end of file diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1unittest_1_1pyglet__test__camera_1_1_app__inherit__graph.png b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1unittest_1_1pyglet__test__camera_1_1_app__inherit__graph.png new file mode 100644 index 0000000..22f1d20 Binary files /dev/null and b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1unittest_1_1pyglet__test__camera_1_1_app__inherit__graph.png differ diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1unittest_1_1scan__sim_1_1_scan_simulator2_d-members.html b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1unittest_1_1scan__sim_1_1_scan_simulator2_d-members.html new file mode 100644 index 0000000..5b78f6e --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1unittest_1_1scan__sim_1_1_scan_simulator2_d-members.html @@ -0,0 +1,108 @@ + + + + + + + +f1tenth_gym: Member List + + + + + + + + + +
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+
f110_gym.unittest.scan_sim.ScanSimulator2D Member List
+
+
+ +

This is the complete list of members for f110_gym.unittest.scan_sim.ScanSimulator2D, including all inherited members.

+ + + + + + + + + + + + + + + + + + + + + + + + + + +
__init__(self, num_beams, fov, std_dev=0.01, eps=0.0001, theta_dis=2000, max_range=30.0, seed=123) (defined in f110_gym.unittest.scan_sim.ScanSimulator2D)f110_gym.unittest.scan_sim.ScanSimulator2D
angle_increment (defined in f110_gym.unittest.scan_sim.ScanSimulator2D)f110_gym.unittest.scan_sim.ScanSimulator2D
cosines (defined in f110_gym.unittest.scan_sim.ScanSimulator2D)f110_gym.unittest.scan_sim.ScanSimulator2D
dt (defined in f110_gym.unittest.scan_sim.ScanSimulator2D)f110_gym.unittest.scan_sim.ScanSimulator2D
eps (defined in f110_gym.unittest.scan_sim.ScanSimulator2D)f110_gym.unittest.scan_sim.ScanSimulator2D
fov (defined in f110_gym.unittest.scan_sim.ScanSimulator2D)f110_gym.unittest.scan_sim.ScanSimulator2D
get_increment(self) (defined in f110_gym.unittest.scan_sim.ScanSimulator2D)f110_gym.unittest.scan_sim.ScanSimulator2D
map_height (defined in f110_gym.unittest.scan_sim.ScanSimulator2D)f110_gym.unittest.scan_sim.ScanSimulator2D
map_img (defined in f110_gym.unittest.scan_sim.ScanSimulator2D)f110_gym.unittest.scan_sim.ScanSimulator2D
map_resolution (defined in f110_gym.unittest.scan_sim.ScanSimulator2D)f110_gym.unittest.scan_sim.ScanSimulator2D
map_width (defined in f110_gym.unittest.scan_sim.ScanSimulator2D)f110_gym.unittest.scan_sim.ScanSimulator2D
max_range (defined in f110_gym.unittest.scan_sim.ScanSimulator2D)f110_gym.unittest.scan_sim.ScanSimulator2D
num_beams (defined in f110_gym.unittest.scan_sim.ScanSimulator2D)f110_gym.unittest.scan_sim.ScanSimulator2D
orig_c (defined in f110_gym.unittest.scan_sim.ScanSimulator2D)f110_gym.unittest.scan_sim.ScanSimulator2D
orig_s (defined in f110_gym.unittest.scan_sim.ScanSimulator2D)f110_gym.unittest.scan_sim.ScanSimulator2D
orig_x (defined in f110_gym.unittest.scan_sim.ScanSimulator2D)f110_gym.unittest.scan_sim.ScanSimulator2D
orig_y (defined in f110_gym.unittest.scan_sim.ScanSimulator2D)f110_gym.unittest.scan_sim.ScanSimulator2D
origin (defined in f110_gym.unittest.scan_sim.ScanSimulator2D)f110_gym.unittest.scan_sim.ScanSimulator2D
rng (defined in f110_gym.unittest.scan_sim.ScanSimulator2D)f110_gym.unittest.scan_sim.ScanSimulator2D
scan(self, pose)f110_gym.unittest.scan_sim.ScanSimulator2D
set_map(self, map_path, map_ext)f110_gym.unittest.scan_sim.ScanSimulator2D
sines (defined in f110_gym.unittest.scan_sim.ScanSimulator2D)f110_gym.unittest.scan_sim.ScanSimulator2D
std_dev (defined in f110_gym.unittest.scan_sim.ScanSimulator2D)f110_gym.unittest.scan_sim.ScanSimulator2D
theta_dis (defined in f110_gym.unittest.scan_sim.ScanSimulator2D)f110_gym.unittest.scan_sim.ScanSimulator2D
theta_index_increment (defined in f110_gym.unittest.scan_sim.ScanSimulator2D)f110_gym.unittest.scan_sim.ScanSimulator2D
+ +
+Generated by   +doxygen + 1.8.17 +
+ + diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1unittest_1_1scan__sim_1_1_scan_simulator2_d.html b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1unittest_1_1scan__sim_1_1_scan_simulator2_d.html new file mode 100644 index 0000000..8387e72 --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/classf110__gym_1_1unittest_1_1scan__sim_1_1_scan_simulator2_d.html @@ -0,0 +1,277 @@ + + + + + + + +f1tenth_gym: f110_gym.unittest.scan_sim.ScanSimulator2D Class Reference + + + + + + + + + +
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+Public Member Functions | +Public Attributes | +List of all members
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+
f110_gym.unittest.scan_sim.ScanSimulator2D Class Reference
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+Inheritance diagram for f110_gym.unittest.scan_sim.ScanSimulator2D:
+
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Inheritance graph
+ + + + +
[legend]
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+Collaboration diagram for f110_gym.unittest.scan_sim.ScanSimulator2D:
+
+
Collaboration graph
+ + + + +
[legend]
+ + + + + + + + + + +

+Public Member Functions

+def __init__ (self, num_beams, fov, std_dev=0.01, eps=0.0001, theta_dis=2000, max_range=30.0, seed=123)
 
def set_map (self, map_path, map_ext)
 
def scan (self, pose)
 
+def get_increment (self)
 
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Public Attributes

+ num_beams
 
+ fov
 
+ std_dev
 
+ eps
 
+ theta_dis
 
+ max_range
 
+ angle_increment
 
+ theta_index_increment
 
+ orig_c
 
+ orig_s
 
+ orig_x
 
+ orig_y
 
+ map_height
 
+ map_width
 
+ map_resolution
 
+ dt
 
+ rng
 
+ sines
 
+ cosines
 
+ map_img
 
+ origin
 
+

Detailed Description

+
2D LIDAR scan simulator class
+
+Init params:
+    num_beams (int): number of beams in the scan
+    fov (float): field of view of the laser scan
+    std_dev (float, default=0.01): standard deviation of the generated whitenoise in the scan
+    eps (float, default=0.0001): ray tracing iteration termination condition
+    theta_dis (int, default=2000): number of steps to discretize the angles between 0 and 2pi for look up
+    max_range (float, default=30.0): maximum range of the laser
+    seed (int, default=123): seed for random number generator for the whitenoise in scan
+

Member Function Documentation

+ +

◆ scan()

+ +
+
+ + + + + + + + + + + + + + + + + + +
def f110_gym.unittest.scan_sim.ScanSimulator2D.scan ( self,
 pose 
)
+
+
Perform simulated 2D scan by pose on the given map
+
+    Args:
+pose (numpy.ndarray (3, )): pose of the scan frame (x, y, theta)
+
+    Returns:
+scan (numpy.ndarray (n, )): data array of the laserscan, n=num_beams
+
+    Raises:
+ValueError: when scan is called before a map is set
+
+
+
+ +

◆ set_map()

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + +
def f110_gym.unittest.scan_sim.ScanSimulator2D.set_map ( self,
 map_path,
 map_ext 
)
+
+
Set the bitmap of the scan simulator by path
+
+    Args:
+map_path (str): path to the map yaml file
+map_ext (str): extension (image type) of the map image
+
+    Returns:
+flag (bool): if image reading and loading is successful
+
+
+
+
The documentation for this class was generated from the following file:
    +
  • /home/billyzheng/f1tenth_gym/gym/f110_gym/unittest/scan_sim.py
    • +
+
+ +
+Generated by   +doxygen + 1.8.17 +
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f110_gym.unittest.scan_sim.ScanTests Member List
+
+
+ +

This is the complete list of members for f110_gym.unittest.scan_sim.ScanTests, including all inherited members.

+ + + + + + + + + + + +
berlin_scan (defined in f110_gym.unittest.scan_sim.ScanTests)f110_gym.unittest.scan_sim.ScanTests
fov (defined in f110_gym.unittest.scan_sim.ScanTests)f110_gym.unittest.scan_sim.ScanTests
num_beams (defined in f110_gym.unittest.scan_sim.ScanTests)f110_gym.unittest.scan_sim.ScanTests
num_test (defined in f110_gym.unittest.scan_sim.ScanTests)f110_gym.unittest.scan_sim.ScanTests
setUp(self) (defined in f110_gym.unittest.scan_sim.ScanTests)f110_gym.unittest.scan_sim.ScanTests
skirk_scan (defined in f110_gym.unittest.scan_sim.ScanTests)f110_gym.unittest.scan_sim.ScanTests
test_fps(self) (defined in f110_gym.unittest.scan_sim.ScanTests)f110_gym.unittest.scan_sim.ScanTests
test_map_berlin(self) (defined in f110_gym.unittest.scan_sim.ScanTests)f110_gym.unittest.scan_sim.ScanTests
test_map_skirk(self) (defined in f110_gym.unittest.scan_sim.ScanTests)f110_gym.unittest.scan_sim.ScanTests
test_poses (defined in f110_gym.unittest.scan_sim.ScanTests)f110_gym.unittest.scan_sim.ScanTests
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f110_gym.unittest.scan_sim.ScanTests Class Reference
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+def setUp (self)
 
+def test_map_berlin (self)
 
+def test_map_skirk (self)
 
+def test_fps (self)
 
+ + + + + + + + + + + + + +

+Public Attributes

+ num_beams
 
+ fov
 
+ num_test
 
+ test_poses
 
+ berlin_scan
 
+ skirk_scan
 
+
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+} + +.dirtab { + padding: 4px; + border-collapse: collapse; + border: 1px solid #A3B4D7; +} + +th.dirtab { + background: #EBEFF6; + font-weight: bold; +} + +hr { + height: 0px; + border: none; + border-top: 1px solid #4A6AAA; +} + +hr.footer { + height: 1px; +} + +/* @group Member Descriptions */ + +table.memberdecls { + border-spacing: 0px; + padding: 0px; +} + +.memberdecls td, .fieldtable tr { + -webkit-transition-property: background-color, box-shadow; + -webkit-transition-duration: 0.5s; + -moz-transition-property: background-color, box-shadow; + -moz-transition-duration: 0.5s; + -ms-transition-property: background-color, box-shadow; + -ms-transition-duration: 0.5s; + -o-transition-property: background-color, box-shadow; + -o-transition-duration: 0.5s; + transition-property: background-color, box-shadow; + transition-duration: 0.5s; +} + +.memberdecls td.glow, .fieldtable tr.glow { + background-color: cyan; + box-shadow: 0 0 15px cyan; +} + +.mdescLeft, .mdescRight, +.memItemLeft, .memItemRight, +.memTemplItemLeft, .memTemplItemRight, .memTemplParams { + background-color: #F9FAFC; 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+} + +.memtemplate { + font-size: 80%; + color: #4665A2; + font-weight: normal; + margin-left: 9px; +} + +.memnav { + background-color: #EBEFF6; + border: 1px solid #A3B4D7; + text-align: center; + margin: 2px; + margin-right: 15px; + padding: 2px; +} + +.mempage { + width: 100%; +} + +.memitem { + padding: 0; + margin-bottom: 10px; + margin-right: 5px; + -webkit-transition: box-shadow 0.5s linear; + -moz-transition: box-shadow 0.5s linear; + -ms-transition: box-shadow 0.5s linear; + -o-transition: box-shadow 0.5s linear; + transition: box-shadow 0.5s linear; + display: table !important; + width: 100%; +} + +.memitem.glow { + box-shadow: 0 0 15px cyan; +} + +.memname { + font-weight: 400; + margin-left: 6px; +} + +.memname td { + vertical-align: bottom; +} + +.memproto, dl.reflist dt { + border-top: 1px solid #A8B8D9; + border-left: 1px solid #A8B8D9; + border-right: 1px solid #A8B8D9; + padding: 6px 0px 6px 0px; + color: #253555; + font-weight: bold; + text-shadow: 0px 1px 1px rgba(255, 255, 255, 0.9); + background-color: #DFE5F1; + /* opera specific markup */ + box-shadow: 5px 5px 5px rgba(0, 0, 0, 0.15); + border-top-right-radius: 4px; + /* firefox specific markup */ + -moz-box-shadow: rgba(0, 0, 0, 0.15) 5px 5px 5px; + -moz-border-radius-topright: 4px; + /* webkit specific markup */ + -webkit-box-shadow: 5px 5px 5px rgba(0, 0, 0, 0.15); + -webkit-border-top-right-radius: 4px; + +} + +.overload { + font-family: "courier new",courier,monospace; + font-size: 65%; +} + +.memdoc, dl.reflist dd { + border-bottom: 1px solid #A8B8D9; + border-left: 1px solid #A8B8D9; + border-right: 1px solid #A8B8D9; + padding: 6px 10px 2px 10px; + background-color: #FBFCFD; + border-top-width: 0; + background-image:url('nav_g.png'); + background-repeat:repeat-x; + background-color: #FFFFFF; + /* opera specific markup */ + border-bottom-left-radius: 4px; + border-bottom-right-radius: 4px; + box-shadow: 5px 5px 5px rgba(0, 0, 0, 0.15); + /* firefox specific markup */ + -moz-border-radius-bottomleft: 4px; + -moz-border-radius-bottomright: 4px; + -moz-box-shadow: rgba(0, 0, 0, 0.15) 5px 5px 5px; + /* webkit specific markup */ + -webkit-border-bottom-left-radius: 4px; + -webkit-border-bottom-right-radius: 4px; + -webkit-box-shadow: 5px 5px 5px rgba(0, 0, 0, 0.15); +} + +dl.reflist dt { + padding: 5px; +} + +dl.reflist dd { + margin: 0px 0px 10px 0px; + padding: 5px; +} + +.paramkey { + text-align: right; +} + +.paramtype { + white-space: nowrap; +} + +.paramname { + color: #602020; + white-space: nowrap; +} +.paramname em { + font-style: normal; +} +.paramname code { + line-height: 14px; +} + +.params, .retval, .exception, .tparams { + margin-left: 0px; + padding-left: 0px; +} + +.params .paramname, .retval .paramname, .tparams .paramname, .exception .paramname { + font-weight: bold; + vertical-align: top; +} + +.params .paramtype, .tparams .paramtype { + font-style: italic; + vertical-align: top; +} + +.params .paramdir, .tparams .paramdir { + font-family: "courier new",courier,monospace; + vertical-align: top; +} + +table.mlabels { + border-spacing: 0px; +} + +td.mlabels-left { + width: 100%; + padding: 0px; +} + +td.mlabels-right { + vertical-align: bottom; + padding: 0px; + white-space: nowrap; +} + +span.mlabels { + margin-left: 8px; +} + +span.mlabel { + background-color: #728DC1; + border-top:1px solid #5373B4; + border-left:1px solid #5373B4; + border-right:1px solid #C4CFE5; + border-bottom:1px solid #C4CFE5; + text-shadow: none; + color: white; + margin-right: 4px; + padding: 2px 3px; + border-radius: 3px; + font-size: 7pt; + white-space: nowrap; + vertical-align: middle; +} + + + +/* @end */ + +/* these are for tree view inside a (index) page */ + +div.directory { + margin: 10px 0px; + border-top: 1px solid #9CAFD4; + border-bottom: 1px solid #9CAFD4; + width: 100%; +} + +.directory table { + border-collapse:collapse; +} + +.directory td { + margin: 0px; + padding: 0px; + vertical-align: top; +} + +.directory td.entry { + white-space: nowrap; + padding-right: 6px; + padding-top: 3px; +} + +.directory td.entry a { + outline:none; +} + +.directory td.entry a img { + border: none; +} + +.directory td.desc { + width: 100%; + padding-left: 6px; + padding-right: 6px; + padding-top: 3px; + border-left: 1px solid rgba(0,0,0,0.05); +} + +.directory tr.even { + padding-left: 6px; + background-color: #F7F8FB; +} + +.directory img { + vertical-align: -30%; +} + +.directory .levels { + white-space: nowrap; + width: 100%; + text-align: right; + font-size: 9pt; +} + +.directory .levels span { + cursor: pointer; + padding-left: 2px; + padding-right: 2px; + color: #3D578C; +} + +.arrow { + color: #9CAFD4; + -webkit-user-select: none; + -khtml-user-select: none; + -moz-user-select: none; + -ms-user-select: none; + user-select: none; + cursor: pointer; + font-size: 80%; + display: inline-block; + width: 16px; + height: 22px; +} + +.icon { + font-family: Arial, Helvetica; + font-weight: bold; + font-size: 12px; + height: 14px; + width: 16px; + display: inline-block; + background-color: #728DC1; + color: white; + text-align: center; + border-radius: 4px; + margin-left: 2px; + margin-right: 2px; +} + +.icona { + width: 24px; + height: 22px; + display: inline-block; +} + +.iconfopen { + width: 24px; + height: 18px; + margin-bottom: 4px; + background-image:url('folderopen.png'); + background-position: 0px -4px; + background-repeat: repeat-y; + vertical-align:top; + display: inline-block; +} + +.iconfclosed { + width: 24px; + height: 18px; + margin-bottom: 4px; + background-image:url('folderclosed.png'); + background-position: 0px -4px; + background-repeat: repeat-y; + vertical-align:top; + display: inline-block; +} + +.icondoc { + width: 24px; + height: 18px; + margin-bottom: 4px; + background-image:url('doc.png'); + background-position: 0px -4px; + background-repeat: repeat-y; + vertical-align:top; + display: inline-block; +} + +table.directory { + font: 400 14px Roboto,sans-serif; +} + +/* @end */ + +div.dynheader { + margin-top: 8px; + -webkit-touch-callout: none; + -webkit-user-select: none; + -khtml-user-select: none; + -moz-user-select: none; + -ms-user-select: none; + user-select: none; +} + +address { + font-style: normal; + color: #2A3D61; +} + +table.doxtable caption { + caption-side: top; +} + +table.doxtable { + border-collapse:collapse; + margin-top: 4px; + margin-bottom: 4px; +} + +table.doxtable td, table.doxtable th { + border: 1px solid #2D4068; + padding: 3px 7px 2px; +} + +table.doxtable th { + background-color: #374F7F; + color: #FFFFFF; + font-size: 110%; + padding-bottom: 4px; + padding-top: 5px; +} + +table.fieldtable { + /*width: 100%;*/ + margin-bottom: 10px; + border: 1px solid #A8B8D9; + border-spacing: 0px; + -moz-border-radius: 4px; + -webkit-border-radius: 4px; + border-radius: 4px; + -moz-box-shadow: rgba(0, 0, 0, 0.15) 2px 2px 2px; + -webkit-box-shadow: 2px 2px 2px rgba(0, 0, 0, 0.15); + box-shadow: 2px 2px 2px rgba(0, 0, 0, 0.15); +} + +.fieldtable td, .fieldtable th { + padding: 3px 7px 2px; +} + +.fieldtable td.fieldtype, .fieldtable td.fieldname { + white-space: nowrap; + border-right: 1px solid #A8B8D9; + border-bottom: 1px solid #A8B8D9; + vertical-align: top; +} + +.fieldtable td.fieldname { + padding-top: 3px; +} + +.fieldtable td.fielddoc { + border-bottom: 1px solid #A8B8D9; + /*width: 100%;*/ +} + +.fieldtable td.fielddoc p:first-child { + margin-top: 0px; +} + +.fieldtable td.fielddoc p:last-child { + margin-bottom: 2px; +} + +.fieldtable tr:last-child td { + border-bottom: none; +} + +.fieldtable th { + background-image:url('nav_f.png'); + background-repeat:repeat-x; + background-color: #E2E8F2; + font-size: 90%; + color: #253555; + padding-bottom: 4px; + padding-top: 5px; + text-align:left; + font-weight: 400; + -moz-border-radius-topleft: 4px; + -moz-border-radius-topright: 4px; + -webkit-border-top-left-radius: 4px; + -webkit-border-top-right-radius: 4px; + border-top-left-radius: 4px; + border-top-right-radius: 4px; + border-bottom: 1px solid #A8B8D9; +} + + +.tabsearch { + top: 0px; + left: 10px; + height: 36px; + background-image: url('tab_b.png'); + z-index: 101; + overflow: hidden; + font-size: 13px; +} + +.navpath ul +{ + font-size: 11px; + background-image:url('tab_b.png'); + background-repeat:repeat-x; + background-position: 0 -5px; + height:30px; + line-height:30px; + color:#8AA0CC; + border:solid 1px #C2CDE4; + overflow:hidden; + margin:0px; + padding:0px; +} + +.navpath li +{ + list-style-type:none; + float:left; + padding-left:10px; + padding-right:15px; + background-image:url('bc_s.png'); + background-repeat:no-repeat; + background-position:right; + color:#364D7C; +} + +.navpath li.navelem a +{ + height:32px; + display:block; + text-decoration: none; + outline: none; + color: #283A5D; + font-family: 'Lucida Grande',Geneva,Helvetica,Arial,sans-serif; + text-shadow: 0px 1px 1px rgba(255, 255, 255, 0.9); + text-decoration: none; +} + +.navpath li.navelem a:hover +{ + color:#6884BD; +} + +.navpath li.footer +{ + list-style-type:none; + float:right; + padding-left:10px; + padding-right:15px; + background-image:none; + background-repeat:no-repeat; + background-position:right; + color:#364D7C; + font-size: 8pt; +} + + +div.summary +{ + float: right; + font-size: 8pt; + padding-right: 5px; + width: 50%; + text-align: right; +} + +div.summary a +{ + white-space: nowrap; +} + +table.classindex +{ + margin: 10px; + white-space: nowrap; + margin-left: 3%; + margin-right: 3%; + width: 94%; + border: 0; + border-spacing: 0; + padding: 0; +} + +div.ingroups +{ + font-size: 8pt; + width: 50%; + text-align: left; +} + +div.ingroups a +{ + white-space: nowrap; +} + +div.header +{ + background-image:url('nav_h.png'); + background-repeat:repeat-x; + background-color: #F9FAFC; + margin: 0px; + border-bottom: 1px solid #C4CFE5; +} + +div.headertitle +{ + padding: 5px 5px 5px 10px; +} + +.PageDocRTL-title div.headertitle { + text-align: right; + direction: rtl; +} + +dl { + padding: 0 0 0 0; +} + +/* dl.note, dl.warning, dl.attention, dl.pre, dl.post, dl.invariant, dl.deprecated, dl.todo, dl.test, dl.bug, dl.examples */ +dl.section { + margin-left: 0px; + padding-left: 0px; +} + +dl.section.DocNodeRTL { + margin-right: 0px; + padding-right: 0px; +} + +dl.note { + margin-left: -7px; + padding-left: 3px; + border-left: 4px solid; + border-color: #D0C000; +} + +dl.note.DocNodeRTL { + margin-left: 0; + padding-left: 0; + border-left: 0; + margin-right: -7px; + padding-right: 3px; + border-right: 4px solid; + border-color: #D0C000; +} + +dl.warning, dl.attention { + margin-left: -7px; + padding-left: 3px; + border-left: 4px solid; + border-color: #FF0000; +} + +dl.warning.DocNodeRTL, dl.attention.DocNodeRTL { + margin-left: 0; + padding-left: 0; + border-left: 0; + margin-right: -7px; + padding-right: 3px; + border-right: 4px solid; + border-color: #FF0000; +} + +dl.pre, dl.post, dl.invariant { + margin-left: -7px; + padding-left: 3px; + border-left: 4px solid; + border-color: #00D000; +} + +dl.pre.DocNodeRTL, dl.post.DocNodeRTL, dl.invariant.DocNodeRTL { + margin-left: 0; + padding-left: 0; + border-left: 0; + margin-right: -7px; + padding-right: 3px; + border-right: 4px solid; + border-color: #00D000; +} + +dl.deprecated { + margin-left: -7px; + padding-left: 3px; + border-left: 4px solid; + border-color: #505050; +} + +dl.deprecated.DocNodeRTL { + margin-left: 0; + padding-left: 0; + border-left: 0; + margin-right: -7px; + padding-right: 3px; + border-right: 4px solid; + border-color: #505050; +} + +dl.todo { + margin-left: -7px; + padding-left: 3px; + border-left: 4px solid; + border-color: #00C0E0; +} + +dl.todo.DocNodeRTL { + margin-left: 0; + padding-left: 0; + border-left: 0; + margin-right: -7px; + padding-right: 3px; + border-right: 4px solid; + border-color: #00C0E0; +} + +dl.test { + margin-left: -7px; + padding-left: 3px; + border-left: 4px solid; + border-color: #3030E0; +} + +dl.test.DocNodeRTL { + margin-left: 0; + padding-left: 0; + border-left: 0; + margin-right: -7px; + padding-right: 3px; + border-right: 4px solid; + border-color: #3030E0; +} + +dl.bug { + margin-left: -7px; + padding-left: 3px; + border-left: 4px solid; + border-color: #C08050; +} + +dl.bug.DocNodeRTL { + margin-left: 0; + padding-left: 0; + border-left: 0; + margin-right: -7px; + padding-right: 3px; + border-right: 4px solid; + border-color: #C08050; +} + +dl.section dd { + margin-bottom: 6px; +} + + +#projectlogo +{ + text-align: center; + vertical-align: bottom; + border-collapse: separate; +} + +#projectlogo img +{ + border: 0px none; +} + +#projectalign +{ + vertical-align: middle; +} + +#projectname +{ + font: 300% Tahoma, Arial,sans-serif; + margin: 0px; + padding: 2px 0px; +} + +#projectbrief +{ + font: 120% Tahoma, Arial,sans-serif; + margin: 0px; + padding: 0px; +} + +#projectnumber +{ + font: 50% Tahoma, Arial,sans-serif; + margin: 0px; + padding: 0px; +} + +#titlearea +{ + padding: 0px; + margin: 0px; + width: 100%; + border-bottom: 1px solid #5373B4; +} + +.image +{ + text-align: center; +} + +.dotgraph +{ + text-align: center; +} + +.mscgraph +{ + text-align: center; +} + +.plantumlgraph +{ + text-align: center; +} + +.diagraph +{ + text-align: center; +} + +.caption +{ + font-weight: bold; +} + +div.zoom +{ + border: 1px solid #90A5CE; +} + +dl.citelist { + margin-bottom:50px; +} + +dl.citelist dt { + color:#334975; + float:left; + font-weight:bold; + margin-right:10px; + padding:5px; +} + +dl.citelist dd { + margin:2px 0; + padding:5px 0; +} + +div.toc { + padding: 14px 25px; + background-color: #F4F6FA; + border: 1px solid #D8DFEE; + border-radius: 7px 7px 7px 7px; + float: right; + height: auto; + margin: 0 8px 10px 10px; + width: 200px; +} + +.PageDocRTL-title div.toc { + float: left !important; + text-align: right; +} + +div.toc li { + background: url("bdwn.png") no-repeat scroll 0 5px transparent; + font: 10px/1.2 Verdana,DejaVu Sans,Geneva,sans-serif; + margin-top: 5px; + padding-left: 10px; + padding-top: 2px; +} + +.PageDocRTL-title div.toc li { + background-position-x: right !important; + padding-left: 0 !important; + padding-right: 10px; +} + +div.toc h3 { + font: bold 12px/1.2 Arial,FreeSans,sans-serif; + color: #4665A2; + border-bottom: 0 none; + margin: 0; +} + +div.toc ul { + list-style: none outside none; + border: medium none; + padding: 0px; +} + +div.toc li.level1 { + margin-left: 0px; +} + +div.toc li.level2 { + margin-left: 15px; +} + +div.toc li.level3 { + margin-left: 30px; +} + +div.toc li.level4 { + margin-left: 45px; +} + +.PageDocRTL-title div.toc li.level1 { + margin-left: 0 !important; + margin-right: 0; +} + +.PageDocRTL-title div.toc li.level2 { + margin-left: 0 !important; + margin-right: 15px; +} + +.PageDocRTL-title div.toc li.level3 { + margin-left: 0 !important; + margin-right: 30px; +} + +.PageDocRTL-title div.toc li.level4 { + margin-left: 0 !important; + margin-right: 45px; +} + +.inherit_header { + font-weight: bold; + color: gray; + cursor: pointer; + -webkit-touch-callout: none; + -webkit-user-select: none; + -khtml-user-select: none; + -moz-user-select: none; + -ms-user-select: none; + user-select: none; +} + +.inherit_header td { + padding: 6px 0px 2px 5px; +} + +.inherit { + display: none; +} + +tr.heading h2 { + margin-top: 12px; + margin-bottom: 4px; +} + +/* tooltip related style info */ + +.ttc { + position: absolute; + display: none; +} + +#powerTip { + cursor: default; + white-space: nowrap; + background-color: white; + border: 1px solid gray; + border-radius: 4px 4px 4px 4px; + box-shadow: 1px 1px 7px gray; + display: none; + font-size: smaller; + max-width: 80%; + opacity: 0.9; + padding: 1ex 1em 1em; + position: absolute; + z-index: 2147483647; +} + +#powerTip div.ttdoc { + color: grey; + font-style: italic; +} + +#powerTip div.ttname a { + font-weight: bold; +} + +#powerTip div.ttname { + font-weight: bold; +} + +#powerTip div.ttdeci { + color: #006318; +} + +#powerTip div { + margin: 0px; + padding: 0px; + font: 12px/16px Roboto,sans-serif; +} + +#powerTip:before, #powerTip:after { + content: ""; + position: absolute; + margin: 0px; +} + +#powerTip.n:after, #powerTip.n:before, +#powerTip.s:after, #powerTip.s:before, +#powerTip.w:after, #powerTip.w:before, +#powerTip.e:after, #powerTip.e:before, +#powerTip.ne:after, #powerTip.ne:before, +#powerTip.se:after, #powerTip.se:before, +#powerTip.nw:after, #powerTip.nw:before, +#powerTip.sw:after, #powerTip.sw:before { + border: solid transparent; + content: " "; + height: 0; + width: 0; + position: absolute; +} + +#powerTip.n:after, #powerTip.s:after, +#powerTip.w:after, #powerTip.e:after, +#powerTip.nw:after, #powerTip.ne:after, +#powerTip.sw:after, #powerTip.se:after { + border-color: rgba(255, 255, 255, 0); +} + +#powerTip.n:before, #powerTip.s:before, +#powerTip.w:before, #powerTip.e:before, +#powerTip.nw:before, #powerTip.ne:before, +#powerTip.sw:before, #powerTip.se:before { + border-color: rgba(128, 128, 128, 0); +} + +#powerTip.n:after, #powerTip.n:before, +#powerTip.ne:after, #powerTip.ne:before, +#powerTip.nw:after, #powerTip.nw:before { + top: 100%; +} + +#powerTip.n:after, #powerTip.ne:after, #powerTip.nw:after { + border-top-color: #FFFFFF; + border-width: 10px; + margin: 0px -10px; +} +#powerTip.n:before { + border-top-color: #808080; + border-width: 11px; + margin: 0px -11px; +} +#powerTip.n:after, #powerTip.n:before { + left: 50%; +} + +#powerTip.nw:after, #powerTip.nw:before { + right: 14px; +} + +#powerTip.ne:after, #powerTip.ne:before { + left: 14px; +} + +#powerTip.s:after, #powerTip.s:before, +#powerTip.se:after, #powerTip.se:before, +#powerTip.sw:after, #powerTip.sw:before { + bottom: 100%; +} + +#powerTip.s:after, #powerTip.se:after, #powerTip.sw:after { + border-bottom-color: #FFFFFF; + border-width: 10px; + margin: 0px -10px; +} + +#powerTip.s:before, #powerTip.se:before, #powerTip.sw:before { + border-bottom-color: #808080; + border-width: 11px; + margin: 0px -11px; +} + +#powerTip.s:after, #powerTip.s:before { + left: 50%; +} + +#powerTip.sw:after, #powerTip.sw:before { + right: 14px; +} + +#powerTip.se:after, #powerTip.se:before { + left: 14px; +} + +#powerTip.e:after, #powerTip.e:before { + left: 100%; +} +#powerTip.e:after { + border-left-color: #FFFFFF; + border-width: 10px; + top: 50%; + margin-top: -10px; +} +#powerTip.e:before { + border-left-color: #808080; + border-width: 11px; + top: 50%; + margin-top: -11px; +} + +#powerTip.w:after, #powerTip.w:before { + right: 100%; +} +#powerTip.w:after { + border-right-color: #FFFFFF; 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+} + +.DocNodeLTR { + text-align: left; + direction: ltr; +} + +table.DocNodeRTL { + width: auto; + margin-right: 0; + margin-left: auto; +} + +table.DocNodeLTR { + width: auto; + margin-right: auto; + margin-left: 0; +} + +tt, code, kbd, samp +{ + display: inline-block; + direction:ltr; +} +/* @end */ + +u { + text-decoration: underline; +} + diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/doxygen.png b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/doxygen.png new file mode 100644 index 0000000..3ff17d8 Binary files /dev/null and b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/doxygen.png differ diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/doxygen.svg b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/doxygen.svg new file mode 100644 index 0000000..d42dad5 --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/doxygen.svg @@ -0,0 +1,26 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/dynsections.js b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/dynsections.js new file mode 100644 index 0000000..ea0a7b3 --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/dynsections.js @@ -0,0 +1,120 @@ +/* + @licstart The following is the entire license notice for the + JavaScript code in this file. + + Copyright (C) 1997-2017 by Dimitri van Heesch + + This program is free software; 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Graph Legend
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This page explains how to interpret the graphs that are generated by doxygen.

+

Consider the following example:

/*! Invisible class because of truncation */
+
class Invisible { };
+
+
/*! Truncated class, inheritance relation is hidden */
+
class Truncated : public Invisible { };
+
+
/* Class not documented with doxygen comments */
+
class Undocumented { };
+
+
/*! Class that is inherited using public inheritance */
+
class PublicBase : public Truncated { };
+
+
/*! A template class */
+
template<class T> class Templ { };
+
+
/*! Class that is inherited using protected inheritance */
+
class ProtectedBase { };
+
+
/*! Class that is inherited using private inheritance */
+
class PrivateBase { };
+
+
/*! Class that is used by the Inherited class */
+
class Used { };
+
+
/*! Super class that inherits a number of other classes */
+
class Inherited : public PublicBase,
+
protected ProtectedBase,
+
private PrivateBase,
+
public Undocumented,
+
public Templ<int>
+
{
+
private:
+
Used *m_usedClass;
+
};
+

This will result in the following graph:

+

The boxes in the above graph have the following meaning:

+
    +
  • +A filled gray box represents the struct or class for which the graph is generated.
    • +
  • +A box with a black border denotes a documented struct or class.
    • +
  • +A box with a gray border denotes an undocumented struct or class.
    • +
  • +A box with a red border denotes a documented struct or class forwhich not all inheritance/containment relations are shown. A graph is truncated if it does not fit within the specified boundaries.
    • +
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The arrows have the following meaning:

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  • +A dark blue arrow is used to visualize a public inheritance relation between two classes.
    • +
  • +A dark green arrow is used for protected inheritance.
    • +
  • +A dark red arrow is used for private inheritance.
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f1tenth_gym +
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Class Hierarchy
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Go to the graphical class hierarchy

+This inheritance list is sorted roughly, but not completely, alphabetically:
+
[detail level 12]
+ + + + + + + + + + + + + + + + + + + + + + + +
 ▼Cf110_gym.unittest.pyglet_test.Camera
 Cf110_gym.unittest.pyglet_test.CenteredCamera
 ▼CEnv
 Cf110_gym.envs.f110_env.F110Env
 Cf110_gym.envs.f110_env_backup.F110Env
 ▼CEzPickle
 Cf110_gym.envs.f110_env.F110Env
 Cf110_gym.envs.f110_env_backup.F110Env
 ▼Cobject
 Cf110_gym.envs.base_classes.RaceCar
 Cf110_gym.envs.base_classes.Simulator
 Cf110_gym.envs.laser_models.ScanSimulator2D
 Cf110_gym.unittest.scan_sim.ScanSimulator2D
 ▼CTestCase
 Cf110_gym.envs.collision_models.CollisionTests
 Cf110_gym.envs.dynamic_models.DynamicsTest
 Cf110_gym.envs.laser_models.ScanTests
 Cf110_gym.unittest.collision_checks.CollisionTests
 Cf110_gym.unittest.dynamics_test.DynamicsTest
 Cf110_gym.unittest.scan_sim.ScanTests
 ▼CWindow
 Cf110_gym.envs.rendering.EnvRenderer
 Cf110_gym.unittest.pyglet_test_camera.App
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+
+ + + + + + +
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f1tenth_gym +
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Go to the textual class hierarchy

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+ +
+Generated by   +doxygen + 1.8.17 +
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orientationchange":$.proxy(this.winResize,this)},i)),this.opts.subIndicators&&(this.$subArrow=$("").addClass("sub-arrow"),this.opts.subIndicatorsText&&this.$subArrow.html(this.opts.subIndicatorsText)),initMouseDetection()}if(this.$firstSub=this.$root.find("ul").each(function(){e.menuInit($(this))}).eq(0),this.$firstLink=this.$root.find("a").eq(0),this.opts.markCurrentItem){var s=/(index|default)\.[^#\?\/]*/i,o=/#.*/,a=window.location.href.replace(s,""),n=a.replace(o,"");this.$root.find("a").each(function(){var t=this.href.replace(s,""),i=$(this);(t==a||t==n)&&(i.addClass("current"),e.opts.markCurrentTree&&i.parentsUntil("[data-smartmenus-id]","ul").each(function(){$(this).dataSM("parent-a").addClass("current")}))})}this.wasCollapsible=this.isCollapsible()},destroy:function(t){if(!t){var e=".smartmenus";this.$root.removeData("smartmenus").removeAttr("data-smartmenus-id").removeDataSM("level").off(e),e+=this.rootId,$(document).off(e),$(window).off(e),this.opts.subIndicators&&(this.$subArrow=null)}this.menuHideAll();var i=this;this.$root.find("ul").each(function(){var t=$(this);t.dataSM("scroll-arrows")&&t.dataSM("scroll-arrows").remove(),t.dataSM("shown-before")&&((i.opts.subMenusMinWidth||i.opts.subMenusMaxWidth)&&t.css({width:"",minWidth:"",maxWidth:""}).removeClass("sm-nowrap"),t.dataSM("scroll-arrows")&&t.dataSM("scroll-arrows").remove(),t.css({zIndex:"",top:"",left:"",marginLeft:"",marginTop:"",display:""})),0==(t.attr("id")||"").indexOf(i.accessIdPrefix)&&t.removeAttr("id")}).removeDataSM("in-mega").removeDataSM("shown-before").removeDataSM("scroll-arrows").removeDataSM("parent-a").removeDataSM("level").removeDataSM("beforefirstshowfired").removeAttr("role").removeAttr("aria-hidden").removeAttr("aria-labelledby").removeAttr("aria-expanded"),this.$root.find("a.has-submenu").each(function(){var t=$(this);0==t.attr("id").indexOf(i.accessIdPrefix)&&t.removeAttr("id")}).removeClass("has-submenu").removeDataSM("sub").removeAttr("aria-haspopup").removeAttr("aria-controls").removeAttr("aria-expanded").closest("li").removeDataSM("sub"),this.opts.subIndicators&&this.$root.find("span.sub-arrow").remove(),this.opts.markCurrentItem&&this.$root.find("a.current").removeClass("current"),t||(this.$root=null,this.$firstLink=null,this.$firstSub=null,this.$disableOverlay&&(this.$disableOverlay.remove(),this.$disableOverlay=null),menuTrees.splice($.inArray(this,menuTrees),1))},disable:function(t){if(!this.disabled){if(this.menuHideAll(),!t&&!this.opts.isPopup&&this.$root.is(":visible")){var e=this.$root.offset();this.$disableOverlay=$('
').css({position:"absolute",top:e.top,left:e.left,width:this.$root.outerWidth(),height:this.$root.outerHeight(),zIndex:this.getStartZIndex(!0),opacity:0}).appendTo(document.body)}this.disabled=!0}},docClick:function(t){return this.$touchScrollingSub?(this.$touchScrollingSub=null,void 0):((this.visibleSubMenus.length&&!$.contains(this.$root[0],t.target)||$(t.target).closest("a").length)&&this.menuHideAll(),void 0)},docTouchEnd:function(){if(this.lastTouch){if(!(!this.visibleSubMenus.length||void 0!==this.lastTouch.x2&&this.lastTouch.x1!=this.lastTouch.x2||void 0!==this.lastTouch.y2&&this.lastTouch.y1!=this.lastTouch.y2||this.lastTouch.target&&$.contains(this.$root[0],this.lastTouch.target))){this.hideTimeout&&(clearTimeout(this.hideTimeout),this.hideTimeout=0);var t=this;this.hideTimeout=setTimeout(function(){t.menuHideAll()},350)}this.lastTouch=null}},docTouchMove:function(t){if(this.lastTouch){var e=t.originalEvent.touches[0];this.lastTouch.x2=e.pageX,this.lastTouch.y2=e.pageY}},docTouchStart:function(t){var e=t.originalEvent.touches[0];this.lastTouch={x1:e.pageX,y1:e.pageY,target:e.target}},enable:function(){this.disabled&&(this.$disableOverlay&&(this.$disableOverlay.remove(),this.$disableOverlay=null),this.disabled=!1)},getClosestMenu:function(t){for(var e=$(t).closest("ul");e.dataSM("in-mega");)e=e.parent().closest("ul");return e[0]||null},getHeight:function(t){return this.getOffset(t,!0)},getOffset:function(t,e){var i;"none"==t.css("display")&&(i={position:t[0].style.position,visibility:t[0].style.visibility},t.css({position:"absolute",visibility:"hidden"}).show());var s=t[0].getBoundingClientRect&&t[0].getBoundingClientRect(),o=s&&(e?s.height||s.bottom-s.top:s.width||s.right-s.left);return o||0===o||(o=e?t[0].offsetHeight:t[0].offsetWidth),i&&t.hide().css(i),o},getStartZIndex:function(t){var e=parseInt(this[t?"$root":"$firstSub"].css("z-index"));return!t&&isNaN(e)&&(e=parseInt(this.$root.css("z-index"))),isNaN(e)?1:e},getTouchPoint:function(t){return t.touches&&t.touches[0]||t.changedTouches&&t.changedTouches[0]||t},getViewport:function(t){var e=t?"Height":"Width",i=document.documentElement["client"+e],s=window["inner"+e];return s&&(i=Math.min(i,s)),i},getViewportHeight:function(){return this.getViewport(!0)},getViewportWidth:function(){return this.getViewport()},getWidth:function(t){return this.getOffset(t)},handleEvents:function(){return!this.disabled&&this.isCSSOn()},handleItemEvents:function(t){return this.handleEvents()&&!this.isLinkInMegaMenu(t)},isCollapsible:function(){return"static"==this.$firstSub.css("position")},isCSSOn:function(){return"inline"!=this.$firstLink.css("display")},isFixed:function(){var t="fixed"==this.$root.css("position");return t||this.$root.parentsUntil("body").each(function(){return"fixed"==$(this).css("position")?(t=!0,!1):void 0}),t},isLinkInMegaMenu:function(t){return $(this.getClosestMenu(t[0])).hasClass("mega-menu")},isTouchMode:function(){return!mouse||this.opts.noMouseOver||this.isCollapsible()},itemActivate:function(t,e){var i=t.closest("ul"),s=i.dataSM("level");if(s>1&&(!this.activatedItems[s-2]||this.activatedItems[s-2][0]!=i.dataSM("parent-a")[0])){var o=this;$(i.parentsUntil("[data-smartmenus-id]","ul").get().reverse()).add(i).each(function(){o.itemActivate($(this).dataSM("parent-a"))})}if((!this.isCollapsible()||e)&&this.menuHideSubMenus(this.activatedItems[s-1]&&this.activatedItems[s-1][0]==t[0]?s:s-1),this.activatedItems[s-1]=t,this.$root.triggerHandler("activate.smapi",t[0])!==!1){var a=t.dataSM("sub");a&&(this.isTouchMode()||!this.opts.showOnClick||this.clickActivated)&&this.menuShow(a)}},itemBlur:function(t){var e=$(t.currentTarget);this.handleItemEvents(e)&&this.$root.triggerHandler("blur.smapi",e[0])},itemClick:function(t){var e=$(t.currentTarget);if(this.handleItemEvents(e)){if(this.$touchScrollingSub&&this.$touchScrollingSub[0]==e.closest("ul")[0])return this.$touchScrollingSub=null,t.stopPropagation(),!1;if(this.$root.triggerHandler("click.smapi",e[0])===!1)return!1;var i=$(t.target).is(".sub-arrow"),s=e.dataSM("sub"),o=s?2==s.dataSM("level"):!1,a=this.isCollapsible(),n=/toggle$/.test(this.opts.collapsibleBehavior),r=/link$/.test(this.opts.collapsibleBehavior),h=/^accordion/.test(this.opts.collapsibleBehavior);if(s&&!s.is(":visible")){if((!r||!a||i)&&(this.opts.showOnClick&&o&&(this.clickActivated=!0),this.itemActivate(e,h),s.is(":visible")))return this.focusActivated=!0,!1}else if(a&&(n||i))return this.itemActivate(e,h),this.menuHide(s),n&&(this.focusActivated=!1),!1;return this.opts.showOnClick&&o||e.hasClass("disabled")||this.$root.triggerHandler("select.smapi",e[0])===!1?!1:void 0}},itemDown:function(t){var e=$(t.currentTarget);this.handleItemEvents(e)&&e.dataSM("mousedown",!0)},itemEnter:function(t){var e=$(t.currentTarget);if(this.handleItemEvents(e)){if(!this.isTouchMode()){this.showTimeout&&(clearTimeout(this.showTimeout),this.showTimeout=0);var i=this;this.showTimeout=setTimeout(function(){i.itemActivate(e)},this.opts.showOnClick&&1==e.closest("ul").dataSM("level")?1:this.opts.showTimeout)}this.$root.triggerHandler("mouseenter.smapi",e[0])}},itemFocus:function(t){var e=$(t.currentTarget);this.handleItemEvents(e)&&(!this.focusActivated||this.isTouchMode()&&e.dataSM("mousedown")||this.activatedItems.length&&this.activatedItems[this.activatedItems.length-1][0]==e[0]||this.itemActivate(e,!0),this.$root.triggerHandler("focus.smapi",e[0]))},itemLeave:function(t){var e=$(t.currentTarget);this.handleItemEvents(e)&&(this.isTouchMode()||(e[0].blur(),this.showTimeout&&(clearTimeout(this.showTimeout),this.showTimeout=0)),e.removeDataSM("mousedown"),this.$root.triggerHandler("mouseleave.smapi",e[0]))},menuHide:function(t){if(this.$root.triggerHandler("beforehide.smapi",t[0])!==!1&&(canAnimate&&t.stop(!0,!0),"none"!=t.css("display"))){var e=function(){t.css("z-index","")};this.isCollapsible()?canAnimate&&this.opts.collapsibleHideFunction?this.opts.collapsibleHideFunction.call(this,t,e):t.hide(this.opts.collapsibleHideDuration,e):canAnimate&&this.opts.hideFunction?this.opts.hideFunction.call(this,t,e):t.hide(this.opts.hideDuration,e),t.dataSM("scroll")&&(this.menuScrollStop(t),t.css({"touch-action":"","-ms-touch-action":"","-webkit-transform":"",transform:""}).off(".smartmenus_scroll").removeDataSM("scroll").dataSM("scroll-arrows").hide()),t.dataSM("parent-a").removeClass("highlighted").attr("aria-expanded","false"),t.attr({"aria-expanded":"false","aria-hidden":"true"});var i=t.dataSM("level");this.activatedItems.splice(i-1,1),this.visibleSubMenus.splice($.inArray(t,this.visibleSubMenus),1),this.$root.triggerHandler("hide.smapi",t[0])}},menuHideAll:function(){this.showTimeout&&(clearTimeout(this.showTimeout),this.showTimeout=0);for(var t=this.opts.isPopup?1:0,e=this.visibleSubMenus.length-1;e>=t;e--)this.menuHide(this.visibleSubMenus[e]);this.opts.isPopup&&(canAnimate&&this.$root.stop(!0,!0),this.$root.is(":visible")&&(canAnimate&&this.opts.hideFunction?this.opts.hideFunction.call(this,this.$root):this.$root.hide(this.opts.hideDuration))),this.activatedItems=[],this.visibleSubMenus=[],this.clickActivated=!1,this.focusActivated=!1,this.zIndexInc=0,this.$root.triggerHandler("hideAll.smapi")},menuHideSubMenus:function(t){for(var e=this.activatedItems.length-1;e>=t;e--){var i=this.activatedItems[e].dataSM("sub");i&&this.menuHide(i)}},menuInit:function(t){if(!t.dataSM("in-mega")){t.hasClass("mega-menu")&&t.find("ul").dataSM("in-mega",!0);for(var e=2,i=t[0];(i=i.parentNode.parentNode)!=this.$root[0];)e++;var s=t.prevAll("a").eq(-1);s.length||(s=t.prevAll().find("a").eq(-1)),s.addClass("has-submenu").dataSM("sub",t),t.dataSM("parent-a",s).dataSM("level",e).parent().dataSM("sub",t);var o=s.attr("id")||this.accessIdPrefix+ ++this.idInc,a=t.attr("id")||this.accessIdPrefix+ ++this.idInc;s.attr({id:o,"aria-haspopup":"true","aria-controls":a,"aria-expanded":"false"}),t.attr({id:a,role:"group","aria-hidden":"true","aria-labelledby":o,"aria-expanded":"false"}),this.opts.subIndicators&&s[this.opts.subIndicatorsPos](this.$subArrow.clone())}},menuPosition:function(t){var e,i,s=t.dataSM("parent-a"),o=s.closest("li"),a=o.parent(),n=t.dataSM("level"),r=this.getWidth(t),h=this.getHeight(t),u=s.offset(),l=u.left,c=u.top,d=this.getWidth(s),m=this.getHeight(s),p=$(window),f=p.scrollLeft(),v=p.scrollTop(),b=this.getViewportWidth(),S=this.getViewportHeight(),g=a.parent().is("[data-sm-horizontal-sub]")||2==n&&!a.hasClass("sm-vertical"),M=this.opts.rightToLeftSubMenus&&!o.is("[data-sm-reverse]")||!this.opts.rightToLeftSubMenus&&o.is("[data-sm-reverse]"),w=2==n?this.opts.mainMenuSubOffsetX:this.opts.subMenusSubOffsetX,T=2==n?this.opts.mainMenuSubOffsetY:this.opts.subMenusSubOffsetY;if(g?(e=M?d-r-w:w,i=this.opts.bottomToTopSubMenus?-h-T:m+T):(e=M?w-r:d-w,i=this.opts.bottomToTopSubMenus?m-T-h:T),this.opts.keepInViewport){var y=l+e,I=c+i;if(M&&f>y?e=g?f-y+e:d-w:!M&&y+r>f+b&&(e=g?f+b-r-y+e:w-r),g||(S>h&&I+h>v+S?i+=v+S-h-I:(h>=S||v>I)&&(i+=v-I)),g&&(I+h>v+S+.49||v>I)||!g&&h>S+.49){var x=this;t.dataSM("scroll-arrows")||t.dataSM("scroll-arrows",$([$('')[0],$('')[0]]).on({mouseenter:function(){t.dataSM("scroll").up=$(this).hasClass("scroll-up"),x.menuScroll(t)},mouseleave:function(e){x.menuScrollStop(t),x.menuScrollOut(t,e)},"mousewheel DOMMouseScroll":function(t){t.preventDefault()}}).insertAfter(t));var A=".smartmenus_scroll";if(t.dataSM("scroll",{y:this.cssTransforms3d?0:i-m,step:1,itemH:m,subH:h,arrowDownH:this.getHeight(t.dataSM("scroll-arrows").eq(1))}).on(getEventsNS({mouseover:function(e){x.menuScrollOver(t,e)},mouseout:function(e){x.menuScrollOut(t,e)},"mousewheel DOMMouseScroll":function(e){x.menuScrollMousewheel(t,e)}},A)).dataSM("scroll-arrows").css({top:"auto",left:"0",marginLeft:e+(parseInt(t.css("border-left-width"))||0),width:r-(parseInt(t.css("border-left-width"))||0)-(parseInt(t.css("border-right-width"))||0),zIndex:t.css("z-index")}).eq(g&&this.opts.bottomToTopSubMenus?0:1).show(),this.isFixed()){var C={};C[touchEvents?"touchstart touchmove touchend":"pointerdown pointermove pointerup MSPointerDown MSPointerMove MSPointerUp"]=function(e){x.menuScrollTouch(t,e)},t.css({"touch-action":"none","-ms-touch-action":"none"}).on(getEventsNS(C,A))}}}t.css({top:"auto",left:"0",marginLeft:e,marginTop:i-m})},menuScroll:function(t,e,i){var s,o=t.dataSM("scroll"),a=t.dataSM("scroll-arrows"),n=o.up?o.upEnd:o.downEnd;if(!e&&o.momentum){if(o.momentum*=.92,s=o.momentum,.5>s)return this.menuScrollStop(t),void 0}else s=i||(e||!this.opts.scrollAccelerate?this.opts.scrollStep:Math.floor(o.step));var r=t.dataSM("level");if(this.activatedItems[r-1]&&this.activatedItems[r-1].dataSM("sub")&&this.activatedItems[r-1].dataSM("sub").is(":visible")&&this.menuHideSubMenus(r-1),o.y=o.up&&o.y>=n||!o.up&&n>=o.y?o.y:Math.abs(n-o.y)>s?o.y+(o.up?s:-s):n,t.css(this.cssTransforms3d?{"-webkit-transform":"translate3d(0, "+o.y+"px, 0)",transform:"translate3d(0, "+o.y+"px, 0)"}:{marginTop:o.y}),mouse&&(o.up&&o.y>o.downEnd||!o.up&&o.y0;t.dataSM("scroll-arrows").eq(i?0:1).is(":visible")&&(t.dataSM("scroll").up=i,this.menuScroll(t,!0))}e.preventDefault()},menuScrollOut:function(t,e){mouse&&(/^scroll-(up|down)/.test((e.relatedTarget||"").className)||(t[0]==e.relatedTarget||$.contains(t[0],e.relatedTarget))&&this.getClosestMenu(e.relatedTarget)==t[0]||t.dataSM("scroll-arrows").css("visibility","hidden"))},menuScrollOver:function(t,e){if(mouse&&!/^scroll-(up|down)/.test(e.target.className)&&this.getClosestMenu(e.target)==t[0]){this.menuScrollRefreshData(t);var i=t.dataSM("scroll"),s=$(window).scrollTop()-t.dataSM("parent-a").offset().top-i.itemH;t.dataSM("scroll-arrows").eq(0).css("margin-top",s).end().eq(1).css("margin-top",s+this.getViewportHeight()-i.arrowDownH).end().css("visibility","visible")}},menuScrollRefreshData:function(t){var e=t.dataSM("scroll"),i=$(window).scrollTop()-t.dataSM("parent-a").offset().top-e.itemH;this.cssTransforms3d&&(i=-(parseFloat(t.css("margin-top"))-i)),$.extend(e,{upEnd:i,downEnd:i+this.getViewportHeight()-e.subH})},menuScrollStop:function(t){return this.scrollTimeout?(cancelAnimationFrame(this.scrollTimeout),this.scrollTimeout=0,t.dataSM("scroll").step=1,!0):void 0},menuScrollTouch:function(t,e){if(e=e.originalEvent,isTouchEvent(e)){var i=this.getTouchPoint(e);if(this.getClosestMenu(i.target)==t[0]){var s=t.dataSM("scroll");if(/(start|down)$/i.test(e.type))this.menuScrollStop(t)?(e.preventDefault(),this.$touchScrollingSub=t):this.$touchScrollingSub=null,this.menuScrollRefreshData(t),$.extend(s,{touchStartY:i.pageY,touchStartTime:e.timeStamp});else if(/move$/i.test(e.type)){var o=void 0!==s.touchY?s.touchY:s.touchStartY;if(void 0!==o&&o!=i.pageY){this.$touchScrollingSub=t;var a=i.pageY>o;void 0!==s.up&&s.up!=a&&$.extend(s,{touchStartY:i.pageY,touchStartTime:e.timeStamp}),$.extend(s,{up:a,touchY:i.pageY}),this.menuScroll(t,!0,Math.abs(i.pageY-o))}e.preventDefault()}else void 0!==s.touchY&&((s.momentum=15*Math.pow(Math.abs(i.pageY-s.touchStartY)/(e.timeStamp-s.touchStartTime),2))&&(this.menuScrollStop(t),this.menuScroll(t),e.preventDefault()),delete s.touchY)}}},menuShow:function(t){if((t.dataSM("beforefirstshowfired")||(t.dataSM("beforefirstshowfired",!0),this.$root.triggerHandler("beforefirstshow.smapi",t[0])!==!1))&&this.$root.triggerHandler("beforeshow.smapi",t[0])!==!1&&(t.dataSM("shown-before",!0),canAnimate&&t.stop(!0,!0),!t.is(":visible"))){var e=t.dataSM("parent-a"),i=this.isCollapsible();if((this.opts.keepHighlighted||i)&&e.addClass("highlighted"),i)t.removeClass("sm-nowrap").css({zIndex:"",width:"auto",minWidth:"",maxWidth:"",top:"",left:"",marginLeft:"",marginTop:""});else{if(t.css("z-index",this.zIndexInc=(this.zIndexInc||this.getStartZIndex())+1),(this.opts.subMenusMinWidth||this.opts.subMenusMaxWidth)&&(t.css({width:"auto",minWidth:"",maxWidth:""}).addClass("sm-nowrap"),this.opts.subMenusMinWidth&&t.css("min-width",this.opts.subMenusMinWidth),this.opts.subMenusMaxWidth)){var s=this.getWidth(t);t.css("max-width",this.opts.subMenusMaxWidth),s>this.getWidth(t)&&t.removeClass("sm-nowrap").css("width",this.opts.subMenusMaxWidth)}this.menuPosition(t)}var o=function(){t.css("overflow","")};i?canAnimate&&this.opts.collapsibleShowFunction?this.opts.collapsibleShowFunction.call(this,t,o):t.show(this.opts.collapsibleShowDuration,o):canAnimate&&this.opts.showFunction?this.opts.showFunction.call(this,t,o):t.show(this.opts.showDuration,o),e.attr("aria-expanded","true"),t.attr({"aria-expanded":"true","aria-hidden":"false"}),this.visibleSubMenus.push(t),this.$root.triggerHandler("show.smapi",t[0])}},popupHide:function(t){this.hideTimeout&&(clearTimeout(this.hideTimeout),this.hideTimeout=0);var e=this;this.hideTimeout=setTimeout(function(){e.menuHideAll()},t?1:this.opts.hideTimeout)},popupShow:function(t,e){if(!this.opts.isPopup)return alert('SmartMenus jQuery Error:\n\nIf you want to show this menu via the "popupShow" method, set the isPopup:true option.'),void 0;if(this.hideTimeout&&(clearTimeout(this.hideTimeout),this.hideTimeout=0),this.$root.dataSM("shown-before",!0),canAnimate&&this.$root.stop(!0,!0),!this.$root.is(":visible")){this.$root.css({left:t,top:e});var i=this,s=function(){i.$root.css("overflow","")};canAnimate&&this.opts.showFunction?this.opts.showFunction.call(this,this.$root,s):this.$root.show(this.opts.showDuration,s),this.visibleSubMenus[0]=this.$root}},refresh:function(){this.destroy(!0),this.init(!0)},rootKeyDown:function(t){if(this.handleEvents())switch(t.keyCode){case 27:var e=this.activatedItems[0];if(e){this.menuHideAll(),e[0].focus();var i=e.dataSM("sub");i&&this.menuHide(i)}break;case 32:var s=$(t.target);if(s.is("a")&&this.handleItemEvents(s)){var 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file mode 100644 index 0000000..433c15b --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/menu.js @@ -0,0 +1,50 @@ +/* + @licstart The following is the entire license notice for the + JavaScript code in this file. + + Copyright (C) 1997-2017 by Dimitri van Heesch + + This program is free software; you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation; either version 2 of the License, or + (at your option) any later version. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. 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    +
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    +Functions | +Variables
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    f110_gym.unittest.random_trackgen Namespace Reference
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    + + + + + + +

    +Functions

    +def create_track ()
     
    +def convert_track (track, track_int, track_ext, iter)
     
    + + + + + + + + + + + +

    +Variables

    +int NUM_MAPS = 10
     
    +float WIDTH = 5.0
     
    + track
     
    + track_int
     
    + track_ext
     
    +

    Detailed Description

    +
     Generates random tracks.
+    Adapted from https://gym.openai.com/envs/CarRacing-v0
    + +
    +Generated by doxygen 1.9.1 +
    + + diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/namespaces.html b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/namespaces.html new file mode 100644 index 0000000..d0d7fa4 --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/namespaces.html @@ -0,0 +1,105 @@ + + + + + + + +f1tenth_gym: Namespace List + + + + + + + + + +
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    Here is a list of all documented namespaces with brief descriptions:
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     Npyglet_test
     Nrandom_trackgen
     ▼Nscan_sim
     CScanSimulator2D
     CScanTests
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    + + diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/search/search.css b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/search/search.css new file mode 100644 index 0000000..3cf9df9 --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/search/search.css @@ -0,0 +1,271 @@ +/*---------------- Search Box */ + +#FSearchBox { + float: left; +} + +#MSearchBox { + white-space : nowrap; + float: none; + margin-top: 8px; + right: 0px; + width: 170px; + height: 24px; + z-index: 102; +} + +#MSearchBox .left +{ + display:block; + position:absolute; + left:10px; + width:20px; + height:19px; + background:url('search_l.png') no-repeat; + background-position:right; +} + +#MSearchSelect { + display:block; + position:absolute; + width:20px; + height:19px; +} + +.left #MSearchSelect { + left:4px; +} + +.right #MSearchSelect { + right:5px; +} + +#MSearchField { + display:block; + position:absolute; + height:19px; + background:url('search_m.png') repeat-x; + border:none; + width:115px; + margin-left:20px; + padding-left:4px; + color: #909090; + outline: none; + font: 9pt Arial, Verdana, sans-serif; + -webkit-border-radius: 0px; +} + +#FSearchBox #MSearchField { + margin-left:15px; +} + +#MSearchBox .right { + display:block; + position:absolute; + right:10px; + top:8px; + width:20px; + height:19px; + background:url('search_r.png') no-repeat; + background-position:left; +} + +#MSearchClose { + display: none; + position: absolute; + top: 4px; + background : none; + border: none; + margin: 0px 4px 0px 0px; + padding: 0px 0px; + outline: none; +} + +.left #MSearchClose { + left: 6px; +} + +.right #MSearchClose { + right: 2px; +} + +.MSearchBoxActive #MSearchField { + color: #000000; +} + +/*---------------- Search filter selection */ + +#MSearchSelectWindow { + display: none; + position: absolute; + left: 0; top: 0; + border: 1px solid #90A5CE; + background-color: #F9FAFC; + z-index: 10001; + padding-top: 4px; + padding-bottom: 4px; + -moz-border-radius: 4px; + -webkit-border-top-left-radius: 4px; + -webkit-border-top-right-radius: 4px; + -webkit-border-bottom-left-radius: 4px; + -webkit-border-bottom-right-radius: 4px; + -webkit-box-shadow: 5px 5px 5px rgba(0, 0, 0, 0.15); +} + +.SelectItem { + font: 8pt Arial, Verdana, sans-serif; + padding-left: 2px; + padding-right: 12px; + border: 0px; +} + +span.SelectionMark { + margin-right: 4px; + font-family: monospace; + outline-style: none; + text-decoration: none; +} + +a.SelectItem { + display: block; + outline-style: none; + color: #000000; + text-decoration: none; + padding-left: 6px; + padding-right: 12px; +} + +a.SelectItem:focus, +a.SelectItem:active { + color: #000000; + outline-style: none; + text-decoration: none; +} + +a.SelectItem:hover { + color: #FFFFFF; + background-color: #3D578C; + outline-style: none; + text-decoration: none; + cursor: pointer; + display: block; +} + +/*---------------- Search results window */ + +iframe#MSearchResults { + width: 60ex; + height: 15em; +} + +#MSearchResultsWindow { + display: none; + position: absolute; + left: 0; top: 0; + border: 1px solid #000; + background-color: #EEF1F7; + z-index:10000; +} + +/* ----------------------------------- */ + + +#SRIndex { + clear:both; + padding-bottom: 15px; +} + +.SREntry { + font-size: 10pt; + padding-left: 1ex; +} + +.SRPage .SREntry { + font-size: 8pt; + padding: 1px 5px; +} + +body.SRPage { + margin: 5px 2px; +} + +.SRChildren { + padding-left: 3ex; padding-bottom: .5em +} + +.SRPage .SRChildren { + display: none; +} + +.SRSymbol { + font-weight: bold; + color: #425E97; + font-family: Arial, Verdana, sans-serif; + text-decoration: none; + outline: none; +} + +a.SRScope { + display: block; + color: #425E97; + font-family: Arial, Verdana, sans-serif; + text-decoration: none; + outline: none; +} + +a.SRSymbol:focus, a.SRSymbol:active, +a.SRScope:focus, a.SRScope:active { + text-decoration: underline; +} + +span.SRScope { + padding-left: 4px; +} + +.SRPage .SRStatus { + padding: 2px 5px; + font-size: 8pt; + font-style: italic; +} + +.SRResult { + display: none; +} + +DIV.searchresults { + margin-left: 10px; + margin-right: 10px; +} + +/*---------------- External search page results */ + +.searchresult { + background-color: #F0F3F8; +} + +.pages b { + color: white; + padding: 5px 5px 3px 5px; + background-image: url("../tab_a.png"); + background-repeat: repeat-x; + text-shadow: 0 1px 1px #000000; +} + +.pages { + line-height: 17px; + margin-left: 4px; + text-decoration: none; +} + +.hl { + font-weight: bold; +} + +#searchresults { + margin-bottom: 20px; +} + +.searchpages { + margin-top: 10px; +} + diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/search/search.js b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/search/search.js new file mode 100644 index 0000000..a554ab9 --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/html/search/search.js @@ -0,0 +1,814 @@ +/* + @licstart The following is the entire license notice for the + JavaScript code in this file. + + Copyright (C) 1997-2017 by Dimitri van Heesch + + This program is free software; you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation; either version 2 of the License, or + (at your option) any later version. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License along + with this program; if not, write to the Free Software Foundation, Inc., + 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA. + + @licend The above is the entire license notice + for the JavaScript code in this file + */ +function convertToId(search) +{ + var result = ''; + for (i=0;i do a search + { + this.Search(); + } + } + + this.OnSearchSelectKey = function(evt) + { + var e = (evt) ? evt : window.event; // for IE + if (e.keyCode==40 && this.searchIndex0) // Up + { + this.searchIndex--; + this.OnSelectItem(this.searchIndex); + } + else if (e.keyCode==13 || e.keyCode==27) + { + this.OnSelectItem(this.searchIndex); + this.CloseSelectionWindow(); + this.DOMSearchField().focus(); + } + return false; + } + + // --------- Actions + + // Closes the results window. + this.CloseResultsWindow = function() + { + this.DOMPopupSearchResultsWindow().style.display = 'none'; + this.DOMSearchClose().style.display = 'none'; + this.Activate(false); + } + + this.CloseSelectionWindow = function() + { + this.DOMSearchSelectWindow().style.display = 'none'; + } + + // Performs a search. + this.Search = function() + { + this.keyTimeout = 0; + + // strip leading whitespace + var searchValue = this.DOMSearchField().value.replace(/^ +/, ""); + + var code = searchValue.toLowerCase().charCodeAt(0); + var idxChar = searchValue.substr(0, 1).toLowerCase(); + if ( 0xD800 <= code && code <= 0xDBFF && searchValue > 1) // surrogate pair + { + idxChar = searchValue.substr(0, 2); + } + + var resultsPage; + var resultsPageWithSearch; + var hasResultsPage; + + var idx = indexSectionsWithContent[this.searchIndex].indexOf(idxChar); + if (idx!=-1) + { + var hexCode=idx.toString(16); + resultsPage = this.resultsPath + '/' + indexSectionNames[this.searchIndex] + '_' + hexCode + '.html'; + resultsPageWithSearch = resultsPage+'?'+escape(searchValue); + hasResultsPage = true; + } + else // nothing available for this search term + { + resultsPage = this.resultsPath + '/nomatches.html'; + resultsPageWithSearch = resultsPage; + hasResultsPage = false; + } + + window.frames.MSearchResults.location = resultsPageWithSearch; + var domPopupSearchResultsWindow = this.DOMPopupSearchResultsWindow(); + + if (domPopupSearchResultsWindow.style.display!='block') + { + var domSearchBox = this.DOMSearchBox(); + this.DOMSearchClose().style.display = 'inline'; + if (this.insideFrame) + { + var domPopupSearchResults = this.DOMPopupSearchResults(); + domPopupSearchResultsWindow.style.position = 'relative'; + domPopupSearchResultsWindow.style.display = 'block'; + var width = document.body.clientWidth - 8; // the -8 is for IE :-( + domPopupSearchResultsWindow.style.width = width + 'px'; + domPopupSearchResults.style.width = width + 'px'; + } + else + { + var domPopupSearchResults = this.DOMPopupSearchResults(); + var left = getXPos(domSearchBox) + 150; // domSearchBox.offsetWidth; + var top = getYPos(domSearchBox) + 20; // domSearchBox.offsetHeight + 1; + domPopupSearchResultsWindow.style.display = 'block'; + left -= domPopupSearchResults.offsetWidth; + domPopupSearchResultsWindow.style.top = top + 'px'; + domPopupSearchResultsWindow.style.left = left + 'px'; + } + } + + this.lastSearchValue = searchValue; + this.lastResultsPage = resultsPage; + } + + // -------- Activation Functions + + // Activates or deactivates the search panel, resetting things to + // their default values if necessary. + this.Activate = function(isActive) + { + if (isActive || // open it + this.DOMPopupSearchResultsWindow().style.display == 'block' + ) + { + this.DOMSearchBox().className = 'MSearchBoxActive'; + + var searchField = this.DOMSearchField(); + + if (searchField.value == this.searchLabel) // clear "Search" term upon entry + { + searchField.value = ''; + this.searchActive = true; + } + } + else if (!isActive) // directly remove the panel + { + this.DOMSearchBox().className = 'MSearchBoxInactive'; + this.DOMSearchField().value = this.searchLabel; + this.searchActive = false; + this.lastSearchValue = '' + this.lastResultsPage = ''; + } + } +} + +// ----------------------------------------------------------------------- + +// The class that handles everything on the search results page. +function SearchResults(name) +{ + // The number of matches from the last run of . + this.lastMatchCount = 0; + this.lastKey = 0; + this.repeatOn = false; + + // Toggles the visibility of the passed element ID. + this.FindChildElement = function(id) + { + var parentElement = document.getElementById(id); + var element = parentElement.firstChild; + + while (element && element!=parentElement) + { + if (element.nodeName == 'DIV' && element.className == 'SRChildren') + { + return element; + } + + if (element.nodeName == 'DIV' && element.hasChildNodes()) + { + element = element.firstChild; + } + else if (element.nextSibling) + { + element = element.nextSibling; + } + else + { + do + { + element = element.parentNode; + } + while (element && element!=parentElement && !element.nextSibling); + + if (element && element!=parentElement) + { + element = element.nextSibling; + } + } + } + } + + this.Toggle = function(id) + { + var element = this.FindChildElement(id); + if (element) + { + if (element.style.display == 'block') + { + element.style.display = 'none'; + } + else + { + element.style.display = 'block'; + } + } + } + + // Searches for the passed string. If there is no parameter, + // it takes it from the URL query. + // + // Always returns true, since other documents may try to call it + // and that may or may not be possible. + this.Search = function(search) + { + if (!search) // get search word from URL + { + search = window.location.search; + search = search.substring(1); // Remove the leading '?' + search = unescape(search); + } + + search = search.replace(/^ +/, ""); // strip leading spaces + search = search.replace(/ +$/, ""); // strip trailing spaces + search = search.toLowerCase(); + search = convertToId(search); + + var resultRows = document.getElementsByTagName("div"); + var matches = 0; + + var i = 0; + while (i < resultRows.length) + { + var row = resultRows.item(i); + if (row.className == "SRResult") + { + var rowMatchName = row.id.toLowerCase(); + rowMatchName = rowMatchName.replace(/^sr\d*_/, ''); // strip 'sr123_' + + if (search.length<=rowMatchName.length && + rowMatchName.substr(0, search.length)==search) + { + row.style.display = 'block'; + matches++; + } + else + { + row.style.display = 'none'; + } + } + i++; + } + document.getElementById("Searching").style.display='none'; + if (matches == 0) // no results + { + document.getElementById("NoMatches").style.display='block'; + } + else // at least one result + { + document.getElementById("NoMatches").style.display='none'; + } + this.lastMatchCount = matches; + return true; + } + + // return the first item with index index or higher that is visible + this.NavNext = function(index) + { + var focusItem; + while (1) + { + var focusName = 'Item'+index; + focusItem = document.getElementById(focusName); + if (focusItem && focusItem.parentNode.parentNode.style.display=='block') + { + break; + } + else if (!focusItem) // last element + { + break; + } + focusItem=null; + index++; + } + return focusItem; + } + + this.NavPrev = function(index) + { + var focusItem; + while (1) + { + var focusName = 'Item'+index; + focusItem = document.getElementById(focusName); + if (focusItem && focusItem.parentNode.parentNode.style.display=='block') + { + break; + } + else if (!focusItem) // last element + { + break; + } + focusItem=null; + index--; + } + return focusItem; + } + + this.ProcessKeys = function(e) + { + if (e.type == "keydown") + { + this.repeatOn = false; + this.lastKey = e.keyCode; + } + else if (e.type == "keypress") + { + if (!this.repeatOn) + { + if (this.lastKey) this.repeatOn = true; + return false; // ignore first keypress after keydown + } + } + else if (e.type == "keyup") + { + this.lastKey = 0; + this.repeatOn = false; + } + return this.lastKey!=0; + } + + this.Nav = function(evt,itemIndex) + { + var e = (evt) ? evt : window.event; // for IE + if (e.keyCode==13) return true; + if (!this.ProcessKeys(e)) return false; + + if (this.lastKey==38) // Up + { + var newIndex = itemIndex-1; + var focusItem = this.NavPrev(newIndex); + if (focusItem) + { + var child = this.FindChildElement(focusItem.parentNode.parentNode.id); + if (child && child.style.display == 'block') // children visible + { + var n=0; + var tmpElem; + while (1) // search for last child + { + tmpElem = document.getElementById('Item'+newIndex+'_c'+n); + if (tmpElem) + { + focusItem = tmpElem; + } + else // found it! + { + break; + } + n++; + } + } + } + if (focusItem) + { + focusItem.focus(); + } + else // return focus to search field + { + parent.document.getElementById("MSearchField").focus(); + } + } + else if (this.lastKey==40) // Down + { + var newIndex = itemIndex+1; + var focusItem; + var item = document.getElementById('Item'+itemIndex); + var elem = this.FindChildElement(item.parentNode.parentNode.id); + if (elem && elem.style.display == 'block') // children visible + { + focusItem = document.getElementById('Item'+itemIndex+'_c0'); + } + if (!focusItem) focusItem = this.NavNext(newIndex); + if (focusItem) focusItem.focus(); + } + else if (this.lastKey==39) // Right + { + var item = document.getElementById('Item'+itemIndex); + var elem = this.FindChildElement(item.parentNode.parentNode.id); + if (elem) elem.style.display = 'block'; + } + else if (this.lastKey==37) // Left + { + var item = document.getElementById('Item'+itemIndex); + var elem = this.FindChildElement(item.parentNode.parentNode.id); + if (elem) elem.style.display = 'none'; + } + else if (this.lastKey==27) // Escape + { + parent.searchBox.CloseResultsWindow(); + parent.document.getElementById("MSearchField").focus(); + } + else if (this.lastKey==13) // Enter + { + return true; + } + return false; + } + + this.NavChild = function(evt,itemIndex,childIndex) + { + var e = (evt) ? evt : window.event; // for IE + if (e.keyCode==13) return true; + if (!this.ProcessKeys(e)) return false; + + if (this.lastKey==38) // Up + { + if (childIndex>0) + { + var newIndex = childIndex-1; + document.getElementById('Item'+itemIndex+'_c'+newIndex).focus(); + } + else // already at first child, jump to parent + { + document.getElementById('Item'+itemIndex).focus(); + } + } + else if (this.lastKey==40) // Down + { + var newIndex = childIndex+1; + var elem = document.getElementById('Item'+itemIndex+'_c'+newIndex); + if (!elem) // last child, jump to parent next parent + { + elem = this.NavNext(itemIndex+1); + } + if (elem) + { + elem.focus(); + } + } + else if (this.lastKey==27) // Escape + { + parent.searchBox.CloseResultsWindow(); + parent.document.getElementById("MSearchField").focus(); + } + else if (this.lastKey==13) // Enter + { + return true; + } + return false; + } +} + +function setKeyActions(elem,action) +{ + elem.setAttribute('onkeydown',action); + elem.setAttribute('onkeypress',action); + elem.setAttribute('onkeyup',action); +} + +function setClassAttr(elem,attr) +{ + elem.setAttribute('class',attr); + elem.setAttribute('className',attr); +} + +function createResults() +{ + var results = document.getElementById("SRResults"); + for (var e=0; 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transparent}.sm-dox.sm-vertical{padding:10px 0;border-radius:5px}.sm-dox.sm-vertical a{padding:10px 20px}.sm-dox.sm-vertical a:hover,.sm-dox.sm-vertical a:focus,.sm-dox.sm-vertical a:active,.sm-dox.sm-vertical a.highlighted{background:#fff}.sm-dox.sm-vertical a.disabled{background-image:url("tab_b.png")}.sm-dox.sm-vertical a span.sub-arrow{right:8px;top:50%;margin-top:-5px;border-width:5px;border-style:dashed dashed dashed solid;border-color:transparent transparent transparent #555}.sm-dox.sm-vertical>li>ul:before,.sm-dox.sm-vertical>li>ul:after{display:none}.sm-dox.sm-vertical ul a{padding:10px 20px}.sm-dox.sm-vertical ul a:hover,.sm-dox.sm-vertical ul a:focus,.sm-dox.sm-vertical ul a:active,.sm-dox.sm-vertical ul a.highlighted{background:#eee}.sm-dox.sm-vertical ul a.disabled{background:#fff}} diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/index.rst b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/index.rst new file mode 100644 index 0000000..2f830f9 --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/index.rst @@ -0,0 +1,94 @@ +.. image:: assets/f1_stickers_01.png + :width: 60 + :align: left + +F1TENTH Gym Documentation +================================================ + +Overview +--------- +The F1TENTH Gym environment is created for research that needs a asynchronous, realistic vehicle simulation with multiple vehicle instances in the same environment, with applications in reinforcement learning. + +The environment is designed with determinism in mind. All agents' physics simulation are stepped simultaneously, and all randomness are seeded and experiments can be reproduced. The explicit stepping also enables the physics engine to take advantage of faster than real-time execution (up to 30x realtime) and enable massively parallel applications. + +Github repo: https://github.com/f1tenth/f1tenth_gym + +Note that the GitHub will have more up to date documentation than this page. If you see a mistake, please contribute a fix! + +Example Usecases +------------------ + +1. The gym environment is used as the backend for the F1TENTH virtual racing online competition at IROS 2020: + +.. raw:: html + + + + +2. The gym environment is used as the simulation engine for the FormulaZero project: https://github.com/travelbureau/f0_icml_code + +.. raw:: html + + + +3. The gym environment is used as the simulation engine for the TunerCar project: http://www.lewissoft.com/pdf/ICRA2020/1667.pdf + +.. raw:: html + + + +Citing +-------- +If you find this Gym environment useful, please consider citing: + +.. code:: + + @inproceedings{o2020textscf1tenth, + title={textscF1TENTH: An Open-source Evaluation Environment for Continuous Control and Reinforcement Learning}, + author={O’Kelly, Matthew and Zheng, Hongrui and Karthik, Dhruv and Mangharam, Rahul}, + booktitle={NeurIPS 2019 Competition and Demonstration Track}, + pages={77--89}, + year={2020}, + organization={PMLR} + } + +Physical Platform +------------------- + +To build a physical 1/10th scale vehicle, following the guide here: https://f1tenth.org/build.html + +.. image:: assets/f110cover.png + :width: 400 + :align: center + +.. toctree:: + :caption: INSTALLATION + :maxdepth: 2 + + installation + + +.. toctree:: + :caption: USAGE + :maxdepth: 2 + + basic_usage + customized_usage + +.. toctree:: + :caption: REPRODUCIBILITY + :maxdepth: 2 + + reproduce + +.. toctree:: + :caption: API REFERENCE + :maxdepth: 2 + + api/base_classes + api/dynamic_models + api/laser_models + api/collision_models + api/env + api/obv + api/rendering diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/installation.rst b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/installation.rst new file mode 100644 index 0000000..19a3072 --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/installation.rst @@ -0,0 +1,42 @@ +.. raw:: html + + + +Installation +================= +``f1tenth_gym`` is a pure Python library. We provide two ways to set up the environment. + +.. image:: assets/docker_logo.png + +Using docker +---------------- + +A Dockerfile is provided. A container can be created by running the following commands. Note that ``sudo`` might be needed depending on how you've set up your Docker engine. + +.. code:: bash + + $ git clone https://github.com/f1tenth/f1tenth_gym.git + $ cd f1tenth_gym + $ git checkout exp_py + $ docker build -t f1tenth_gym -f Dockerfile . + $ docker run -it --name=f1tenth_gym_container --rm f1tenth_gym + +.. image:: assets/pip_logo.svg + +Using pip +--------------- + +The environment is a Python package, and only depends on ``numpy``, ``scipy``, ``numba``, ``Pillow``, ``gym``, ``pyyaml``, and ``pyglet``. You can install the package via pip: + +.. code:: bash + + $ pip3 install git+https://github.com/f1tenth/f1tenth_gym.git diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/make.bat b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/make.bat new file mode 100644 index 0000000..2119f51 --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/make.bat @@ -0,0 +1,35 @@ +@ECHO OFF + +pushd %~dp0 + +REM Command file for Sphinx documentation + +if "%SPHINXBUILD%" == "" ( + set SPHINXBUILD=sphinx-build +) +set SOURCEDIR=. +set BUILDDIR=_build + +if "%1" == "" goto help + +%SPHINXBUILD% >NUL 2>NUL +if errorlevel 9009 ( + echo. + echo.The 'sphinx-build' command was not found. Make sure you have Sphinx + echo.installed, then set the SPHINXBUILD environment variable to point + echo.to the full path of the 'sphinx-build' executable. Alternatively you + echo.may add the Sphinx directory to PATH. + echo. + echo.If you don't have Sphinx installed, grab it from + echo.http://sphinx-doc.org/ + exit /b 1 +) + +%SPHINXBUILD% -M %1 %SOURCEDIR% %BUILDDIR% %SPHINXOPTS% %O% +goto end + +:help +%SPHINXBUILD% -M help %SOURCEDIR% %BUILDDIR% %SPHINXOPTS% %O% + +:end +popd diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/reproduce.rst b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/reproduce.rst new file mode 100644 index 0000000..2d70229 --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/reproduce.rst @@ -0,0 +1,6 @@ +.. _reproduce: + +Reproducing experiments when using the environment +==================================================== + +COMING SOON... \ No newline at end of file diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/requirements.txt b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/requirements.txt new file mode 100644 index 0000000..188f51e --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/requirements.txt @@ -0,0 +1 @@ +breathe \ No newline at end of file diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/____init_____8py.xml b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/____init_____8py.xml new file mode 100644 index 0000000..3aa36e4 --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/____init_____8py.xml @@ -0,0 +1,19 @@ + + + + __init__.py + f110_gym + + + + + +fromgym.envs.registrationimportregister +register( +id='f110-v0', +entry_point='f110_gym.envs:F110Env', +) + + + + diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/base__classes_8py.xml b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/base__classes_8py.xml new file mode 100644 index 0000000..87973cd --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/base__classes_8py.xml @@ -0,0 +1,510 @@ + + + + base_classes.py + f110_gym::envs::base_classes::RaceCar + f110_gym::envs::base_classes::Simulator + f110_gym::envs::base_classes + + + + + +#MITLicense + +#Copyright(c)2020JosephAuckley,MatthewO'Kelly,AmanSinha,HongruiZheng + +#Permissionisherebygranted,freeofcharge,toanypersonobtainingacopy +#ofthissoftwareandassociateddocumentationfiles(the"Software"),todeal +#intheSoftwarewithoutrestriction,includingwithoutlimitationtherights +#touse,copy,modify,merge,publish,distribute,sublicense,and/orsell +#copiesoftheSoftware,andtopermitpersonstowhomtheSoftwareis +#furnishedtodoso,subjecttothefollowingconditions: + +#Theabovecopyrightnoticeandthispermissionnoticeshallbeincludedinall +#copiesorsubstantialportionsoftheSoftware. + +#THESOFTWAREISPROVIDED"ASIS",WITHOUTWARRANTYOFANYKIND,EXPRESSOR +#IMPLIED,INCLUDINGBUTNOTLIMITEDTOTHEWARRANTIESOFMERCHANTABILITY, +#FITNESSFORAPARTICULARPURPOSEANDNONINFRINGEMENT.INNOEVENTSHALLTHE +#AUTHORSORCOPYRIGHTHOLDERSBELIABLEFORANYCLAIM,DAMAGESOROTHER +#LIABILITY,WHETHERINANACTIONOFCONTRACT,TORTOROTHERWISE,ARISINGFROM, +#OUTOFORINCONNECTIONWITHTHESOFTWAREORTHEUSEOROTHERDEALINGSINTHE +#SOFTWARE. + + + +""" +Prototypeofbaseclasses +ReplacementoftheoldRaceCar,SimulatorclassesinC++ +Author:HongruiZheng +""" + +importnumpyasnp +fromnumbaimportnjit + +fromf110_gym.envs.dynamic_modelsimportvehicle_dynamics_st,pid +fromf110_gym.envs.laser_modelsimportScanSimulator2D,check_ttc_jit,ray_cast +fromf110_gym.envs.collision_modelsimportget_vertices,collision_multiple + +classRaceCar(object): +""" +Baselevelracecarclass,handlesthephysicsandlaserscanofasinglevehicle + +DataMembers: +params(dict):vehicleparametersdictionary +is_ego(bool):egoidentifier +time_step(float):physicstimestep +num_beams(int):numberofbeamsinlaser +fov(float):fieldofviewoflaser +state(np.ndarray(7,)):statevector[x,y,theta,vel,steer_angle,ang_vel,slip_angle] +odom(np.ndarray(13,)):odometryvector[x,y,z,qx,qy,qz,qw,linear_x,linear_y,linear_z,angular_x,angular_y,angular_z] +accel(float):currentaccelerationinput +steer_angle_vel(float):currentsteeringvelocityinput +in_collision(bool):collisionindicator + +""" + +def__init__(self,params,is_ego=False,time_step=0.01,num_beams=1080,fov=4.7): +""" +Initfunction + +Args: +params(dict):vehicleparameterdictionary,includes{'mu','C_Sf','C_Sr','lf','lr','h','m','I','s_min','s_max','sv_min','sv_max','v_switch','a_max':9.51,'v_min','v_max','length','width'} +is_ego(bool,default=False):egoidentifier +time_step(float,default=0.01):physicssimtimestep +num_beams(int,default=1080):numberofbeamsinthelaserscan +fov(float,default=4.7):fieldofviewofthelaser + +Returns: +None +""" + +#initialization +self.params=params +self.is_ego=False +self.time_step=time_step +self.num_beams=1080 +self.fov=4.7 + +#stateis[x,y,steer_angle,vel,yaw_angle,yaw_rate,slip_angle] +self.state=np.zeros((7,)) + +#poseofopponentsintheworld +self.opp_poses=None + +#controlinputs +self.accel=0.0 +self.steer_angle_vel=0.0 + +#steeringdelaybuffer +self.steer_buffer=np.empty((0,)) +self.steer_buffer_size=2 + +#collisionidentifier +self.in_collision=False + +#collisionthresholdforiTTCtoenvironment +self.ttc_thresh=0.005 + +#initializescansim +self.scan_simulator=ScanSimulator2D(num_beams,fov) +scan_ang_incr=self.scan_simulator.get_increment() + +#currentscan +self.current_scan=np.zeros((num_beams,)) + +#anglesofeachscanbeam,distancefromlidartoedgeofcarateachbeam,andprecomputedcosinesofeachangle +self.cosines=np.zeros((num_beams,)) +self.scan_angles=np.zeros((num_beams,)) +self.side_distances=np.zeros((num_beams,)) + +dist_sides=params['width']/2. +dist_fr=(params['lf']+params['lr'])/2. + +foriinrange(num_beams): +angle=-fov/2.+i*scan_ang_incr +self.scan_angles[i]=angle +self.cosines[i]=np.cos(angle) + +ifangle>0: +ifangle<np.pi/2: +#between0andpi/2 +to_side=dist_sides/np.sin(angle) +to_fr=dist_fr/np.cos(angle) +self.side_distances[i]=min(to_side,to_fr) +else: +#betweenpi/2andpi +to_side=dist_sides/np.cos(angle-np.pi/2.) +to_fr=dist_fr/np.sin(angle-np.pi/2.) +self.side_distances[i]=min(to_side,to_fr) +else: +ifangle>-np.pi/2: +#between0and-pi/2 +to_side=dist_sides/np.sin(-angle) +to_fr=dist_fr/np.cos(-angle) +self.side_distances[i]=min(to_side,to_fr) +else: +#between-pi/2and-pi +to_side=dist_sides/np.cos(-angle-np.pi/2) +to_fr=dist_fr/np.sin(-angle-np.pi/2) +self.side_distances[i]=min(to_side,to_fr) + +defupdate_params(self,params): +""" +Updatesthephysicalparametersofthevehicle +Notethatdoesnotneedtobecalledatinitializationofclassanymore + +Args: +params(dict):newparametersforthevehicle + +Returns: +None +""" +self.params=params + +defset_map(self,map_path,map_ext): +""" +Setsthemapforscansimulator + +Args: +map_path(str):absolutepathtothemapyamlfile +map_ext(str):extensionofthemapimagefile +""" +self.scan_simulator.set_map(map_path,map_ext) + +defreset(self,pose): +""" +Resetsthevehicletoapose + +Args: +pose(np.ndarray(3,)):posetoresetthevehicleto + +Returns: +None +""" +#clearcontrolinputs +self.accel=0.0 +self.steer_angle_vel=0.0 +#clearcollisionindicator +self.in_collision=False +#clearstate +self.state=np.zeros((7,)) +self.state[0:2]=pose[0:2] +self.state[4]=pose[2] + +defray_cast_agents(self,scan): +""" +Raycastontootheragentsintheenv,modifyoriginalscan + +Args: +scan(np.ndarray,(n,)):originalscanrangearray + +Returns: +new_scan(np.ndarray,(n,)):modifiedscan +""" + +#startingfromoriginalscan +new_scan=scan + +#loopoverallopponentvehicleposes +foropp_poseinself.opp_poses: +#getverticesofcurrentoppoenent +opp_vertices=get_vertices(opp_pose,self.params['length'],self.params['width']) +new_scan=ray_cast(np.append(self.state[0:2],self.state[4]),new_scan,self.scan_angles,opp_vertices) + +returnnew_scan + +defcheck_ttc(self): +""" +CheckiTTCagainsttheenvironment,setsvehiclestatesaccordinglyifcollisionoccurs. +NotethatthisdoesNOTcheckcollisionwithotheragents. + +stateis[x,y,steer_angle,vel,yaw_angle,yaw_rate,slip_angle] + +Args: +None + +Returns: +None +""" + +in_collision=check_ttc_jit(self.current_scan,self.state[3],self.scan_angles,self.cosines,self.side_distances,self.ttc_thresh) + +#ifincollisionstopvehicle +ifin_collision: +self.state[3:]=0. +self.accel=0.0 +self.steer_angle_vel=0.0 + +#updatestate +self.in_collision=in_collision + +returnin_collision + +defupdate_pose(self,raw_steer,vel): +""" +Stepsthevehicle'sphysicalsimulation + +Args: +steer(float):desiredsteeringangle +vel(float):desiredlongitudinalvelocity + +Returns: +None +""" + +#stateis[x,y,steer_angle,vel,yaw_angle,yaw_rate,slip_angle] + +#steeringdelay +steer=0. +ifself.steer_buffer.shape[0]<self.steer_buffer_size: +steer=0. +self.steer_buffer=np.append(raw_steer,self.steer_buffer) +else: +steer=self.steer_buffer[-1] +self.steer_buffer=self.steer_buffer[:-1] +self.steer_buffer=np.append(raw_steer,self.steer_buffer) + + +#steeringanglevelocityinputtosteeringvelocityaccelerationinput +accl,sv=pid(vel,steer,self.state[3],self.state[2],self.params['sv_max'],self.params['a_max'],self.params['v_max'],self.params['v_min']) + +#updatephysics,getRHSofdiff'eq +f=vehicle_dynamics_st( +self.state, +np.array([sv,accl]), +self.params['mu'], +self.params['C_Sf'], +self.params['C_Sr'], +self.params['lf'], +self.params['lr'], +self.params['h'], +self.params['m'], +self.params['I'], +self.params['s_min'], +self.params['s_max'], +self.params['sv_min'], +self.params['sv_max'], +self.params['v_switch'], +self.params['a_max'], +self.params['v_min'], +self.params['v_max']) + +#updatestate +self.state=self.state+f*self.time_step + +#updatescan +self.current_scan=self.scan_simulator.scan(np.append(self.state[0:2],self.state[4])) + +defupdate_opp_poses(self,opp_poses): +""" +Updatesthevehicle'sinformationonothervehicles + +Args: +opp_poses(np.ndarray(num_other_agents,3)):updatedposesofotheragents + +Returns: +None +""" +self.opp_poses=opp_poses + + +defupdate_scan(self): +""" +Stepsthevehicle'slaserscansimulation +Separatedfromupdate_posebecauseneedstoupdatescanbasedonNEWposesofagentsintheenvironment + +Args: +None + +Returns: +None +""" + +#checkttc +self.check_ttc() + +#raycastotheragentstomodifyscan +self.current_scan=self.ray_cast_agents(self.current_scan) + + + +classSimulator(object): +""" +Simulatorclass,handlestheinteractionandupdateofallvehiclesintheenvironment + +DataMembers: +num_agents(int):numberofagentsintheenvironment +time_step(float):physicstimestep +agent_poses(np.ndarray(num_agents,3)):allposesofallagents +agents(list[RaceCar]):containerforRaceCarobjects +collisions(np.ndarray(num_agents,)):arrayofcollisionindicatorforeachagent +collision_idx(np.ndarray(num_agents,)):whichagentiseachagentincollisionwith + +""" + +def__init__(self,params,num_agents,time_step=0.01,ego_idx=0): +""" +Initfunction + +Args: +params(dict):vehicleparameterdictionary,includes{'mu','C_Sf','C_Sr','lf','lr','h','m','I','s_min','s_max','sv_min','sv_max','v_switch','a_max','v_min','v_max','length','width'} +num_agents(int):numberofagentsintheenvironment +time_step(float,default=0.01):physicstimestep +ego_idx(int,default=0):egovehicle'sindexinlistofagents + +Returns: +None +""" +self.num_agents=num_agents +self.time_step=time_step +self.ego_idx=ego_idx +self.params=params +self.agent_poses=np.empty((self.num_agents,3)) +self.agents=[] +self.collisions=np.zeros((self.num_agents,)) +self.collision_idx=-1*np.ones((self.num_agents,)) + +#initializingagents +foriinrange(self.num_agents): +ifi==ego_idx: +ego_car=RaceCar(params,is_ego=True) +self.agents.append(ego_car) +else: +agent=RaceCar(params) +self.agents.append(agent) + +defset_map(self,map_path,map_ext): +""" +Setsthemapoftheenvironmentandsetsthemapforscansimulatorofeachagent + +Args: +map_path(str):pathtothemapyamlfile +map_ext(str):extensionforthemapimagefile + +Returns: +None +""" +foragentinself.agents: +agent.set_map(map_path,map_ext) + + +defupdate_params(self,params,agent_idx=-1): +""" +Updatestheparamsofagents,ifanindexofanagentisgiven,updateonlythatagent'sparams + +Args: +params(dict):dictionaryofparams,seedetailsindocstringof__init__ +agent_idx(int,default=-1):indexforagentthatneedsparamupdate,ifnegative,updateallagents + +Returns: +None +""" +ifagent_idx<0: +#updateparamsforall +foragentinself.agents: +agent.update_params(params) +elifagent_idx>=0andagent_idx<self.num_agents: +#onlyupdateoneagent'sparams +self.agents[agent_idx].update_params(params) +else: +#indexoutofbounds,throwerror +raiseIndexError('Indexgivenisoutofboundsforlistofagents.') + +defcheck_collision(self): +""" +ChecksforcollisionbetweenagentsusingGJKandagents'bodyvertices + +Args: +None + +Returns: +None +""" +#getverticesofallagents +all_vertices=np.empty((self.num_agents,4,2)) +foriinrange(self.num_agents): +all_vertices[i,:,:]=get_vertices(np.append(self.agents[i].state[0:2],self.agents[i].state[4]),self.params['length'],self.params['width']) +self.collisions,self.collision_idx=collision_multiple(all_vertices) + + +defstep(self,control_inputs): +""" +Stepsthesimulationenvironment + +Args: +control_inputs(np.ndarray(num_agents,2)):controlinputsofallagents,firstcolumnisdesiredsteeringangle,secondcolumnisdesiredvelocity + +Returns: +observations(dict):dictionaryforobservations:posesofagents,currentlaserscanofeachagent,collisionindicators,etc. +""" + +#loopingoveragents +fori,agentinenumerate(self.agents): +#updateeachagent'spose +agent.update_pose(control_inputs[i,0],control_inputs[i,1]) + +#updatesim'sinformationofagentposes +self.agent_poses[i,:]=np.append(agent.state[0:2],agent.state[4]) + +#checkcollisionsbetweenallagents +self.check_collision() + + +fori,agentinenumerate(self.agents): +#updateagent'sinformationonotheragents +opp_poses=np.concatenate((self.agent_poses[0:i,:],self.agent_poses[i+1:,:]),axis=0) +agent.update_opp_poses(opp_poses) + +#updateeachagent'scurrentscanbasedonotheragents +agent.update_scan() + +#updateagentcollisionwithenvironment +ifagent.in_collision: +self.collisions[i]=1. + +#fillinobservations +#stateis[x,y,steer_angle,vel,yaw_angle,yaw_rate,slip_angle] +#collision_anglesisremovedfromobservations +observations={'ego_idx':self.ego_idx, +'scans':[], +'poses_x':[], +'poses_y':[], +'poses_theta':[], +'linear_vels_x':[], +'linear_vels_y':[], +'ang_vels_z':[], +'collisions':self.collisions} +foragentinself.agents: +observations['scans'].append(agent.current_scan) +observations['poses_x'].append(agent.state[0]) +observations['poses_y'].append(agent.state[1]) +observations['poses_theta'].append(agent.state[4]) +observations['linear_vels_x'].append(agent.state[3]) +observations['linear_vels_y'].append(0.) +observations['ang_vels_z'].append(agent.state[5]) + +returnobservations + +defreset(self,poses): +""" +Resetsthesimulationenvironmentbygivenposes + +Arges: +poses(np.ndarray(num_agents,3)):posestoresetagentsto + +Returns: +None +""" + +ifposes.shape[0]!=self.num_agents: +raiseValueError('Numberofposesforresetdoesnotmatchnumberofagents.') + +#loopoverposestoreset +foriinrange(self.num_agents): +self.agents[i].reset(poses[i,:]) + + + + diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/classf110__gym_1_1envs_1_1base__classes_1_1_race_car.xml b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/classf110__gym_1_1envs_1_1base__classes_1_1_race_car.xml new file mode 100644 index 0000000..905e330 --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/classf110__gym_1_1envs_1_1base__classes_1_1_race_car.xml @@ -0,0 +1,603 @@ + + + + f110_gym::envs::base_classes::RaceCar + object + + + + f110_gym.envs.base_classes.RaceCar::params + + params + + + + + + + + + + + f110_gym.envs.base_classes.RaceCar::is_ego + + is_ego + + + + + + + + + + + f110_gym.envs.base_classes.RaceCar::time_step + + time_step + + + + + + + + + + + f110_gym.envs.base_classes.RaceCar::num_beams + + num_beams + + + + + + + + + + + f110_gym.envs.base_classes.RaceCar::fov + + fov + + + + + + + + + + + f110_gym.envs.base_classes.RaceCar::state + + state + + + + + + + + + + + f110_gym.envs.base_classes.RaceCar::opp_poses + + opp_poses + + + + + + + + + + + f110_gym.envs.base_classes.RaceCar::accel + + accel + + + + + + + + + + + f110_gym.envs.base_classes.RaceCar::steer_angle_vel + + steer_angle_vel + + + + + + + + + + + f110_gym.envs.base_classes.RaceCar::steer_buffer + + steer_buffer + + + + + + + + + + + f110_gym.envs.base_classes.RaceCar::steer_buffer_size + + steer_buffer_size + + + + + + + + + + + f110_gym.envs.base_classes.RaceCar::in_collision + + in_collision + + + + + + + + + + + f110_gym.envs.base_classes.RaceCar::ttc_thresh + + ttc_thresh + + + + + + + + + + + f110_gym.envs.base_classes.RaceCar::scan_simulator + + scan_simulator + + + + + + + + + + + f110_gym.envs.base_classes.RaceCar::current_scan + + current_scan + + + + + + + + + + + f110_gym.envs.base_classes.RaceCar::cosines + + cosines + + + + + + + + + + + f110_gym.envs.base_classes.RaceCar::scan_angles + + scan_angles + + + + + + + + + + + f110_gym.envs.base_classes.RaceCar::side_distances + + side_distances + + + + + + + + + + + + def + def f110_gym.envs.base_classes.RaceCar.__init__ + (self, params, is_ego=False, time_step=0.01, num_beams=1080, fov=4.7) + __init__ + + self + self + + + params + params + + + is_ego + is_ego + False + + + time_step + time_step + 0.01 + + + num_beams + num_beams + 1080 + + + fov + fov + 4.7 + + + + +Init function + +Args: + params (dict): vehicle parameter dictionary, includes {'mu', 'C_Sf', 'C_Sr', 'lf', 'lr', 'h', 'm', 'I', 's_min', 's_max', 'sv_min', 'sv_max', 'v_switch', 'a_max': 9.51, 'v_min', 'v_max', 'length', 'width'} + is_ego (bool, default=False): ego identifier + time_step (float, default=0.01): physics sim time step + num_beams (int, default=1080): number of beams in the laser scan + fov (float, default=4.7): field of view of the laser + +Returns: + None + + + + + + + + def + def f110_gym.envs.base_classes.RaceCar.update_params + (self, params) + update_params + + self + self + + + params + params + + + + +Updates the physical parameters of the vehicle +Note that does not need to be called at initialization of class anymore + +Args: + params (dict): new parameters for the vehicle + +Returns: + None + + + + + + + + def + def f110_gym.envs.base_classes.RaceCar.set_map + (self, map_path, map_ext) + set_map + + self + self + + + map_path + map_path + + + map_ext + map_ext + + + + +Sets the map for scan simulator + +Args: + map_path (str): absolute path to the map yaml file + map_ext (str): extension of the map image file + + + + + + + + def + def f110_gym.envs.base_classes.RaceCar.reset + (self, pose) + reset + + self + self + + + pose + pose + + + + +Resets the vehicle to a pose + +Args: + pose (np.ndarray (3, )): pose to reset the vehicle to + +Returns: + None + + + + + + + + def + def f110_gym.envs.base_classes.RaceCar.ray_cast_agents + (self, scan) + ray_cast_agents + + self + self + + + scan + scan + + + + +Ray cast onto other agents in the env, modify original scan + +Args: + scan (np.ndarray, (n, )): original scan range array + +Returns: + new_scan (np.ndarray, (n, )): modified scan + + + + + + + + def + def f110_gym.envs.base_classes.RaceCar.check_ttc + (self) + check_ttc + + self + self + + + + +Check iTTC against the environment, sets vehicle states accordingly if collision occurs. +Note that this does NOT check collision with other agents. + +state is [x, y, steer_angle, vel, yaw_angle, yaw_rate, slip_angle] + +Args: + None + +Returns: + None + + + + + + + + def + def f110_gym.envs.base_classes.RaceCar.update_pose + (self, raw_steer, vel) + update_pose + + self + self + + + raw_steer + raw_steer + + + vel + vel + + + + +Steps the vehicle's physical simulation + +Args: + steer (float): desired steering angle + vel (float): desired longitudinal velocity + +Returns: + None + + + + + + + + def + def f110_gym.envs.base_classes.RaceCar.update_opp_poses + (self, opp_poses) + update_opp_poses + + self + self + + + opp_poses + opp_poses + + + + +Updates the vehicle's information on other vehicles + +Args: + opp_poses (np.ndarray(num_other_agents, 3)): updated poses of other agents + +Returns: + None + + + + + + + + def + def f110_gym.envs.base_classes.RaceCar.update_scan + (self) + update_scan + + self + self + + + + +Steps the vehicle's laser scan simulation +Separated from update_pose because needs to update scan based on NEW poses of agents in the environment + +Args: + None + +Returns: + None + + + + + + + + + + +Base level race car class, handles the physics and laser scan of a single vehicle + +Data Members: + params (dict): vehicle parameters dictionary + is_ego (bool): ego identifier + time_step (float): physics timestep + num_beams (int): number of beams in laser + fov (float): field of view of laser + state (np.ndarray (7, )): state vector [x, y, theta, vel, steer_angle, ang_vel, slip_angle] + odom (np.ndarray(13, )): odometry vector [x, y, z, qx, qy, qz, qw, linear_x, linear_y, linear_z, angular_x, angular_y, angular_z] + accel (float): current acceleration input + steer_angle_vel (float): current steering velocity input + in_collision (bool): collision indicator + + + + + + + + + + + + + + + + + + + + + + + + + + f110_gym::envs::base_classes::RaceCar__init__ + f110_gym::envs::base_classes::RaceCaraccel + f110_gym::envs::base_classes::RaceCarcheck_ttc + f110_gym::envs::base_classes::RaceCarcosines + f110_gym::envs::base_classes::RaceCarcurrent_scan + f110_gym::envs::base_classes::RaceCarfov + f110_gym::envs::base_classes::RaceCarin_collision + f110_gym::envs::base_classes::RaceCaris_ego + f110_gym::envs::base_classes::RaceCarnum_beams + f110_gym::envs::base_classes::RaceCaropp_poses + f110_gym::envs::base_classes::RaceCarparams + f110_gym::envs::base_classes::RaceCarray_cast_agents + f110_gym::envs::base_classes::RaceCarreset + f110_gym::envs::base_classes::RaceCarscan_angles + f110_gym::envs::base_classes::RaceCarscan_simulator + f110_gym::envs::base_classes::RaceCarset_map + f110_gym::envs::base_classes::RaceCarside_distances + f110_gym::envs::base_classes::RaceCarstate + f110_gym::envs::base_classes::RaceCarsteer_angle_vel + f110_gym::envs::base_classes::RaceCarsteer_buffer + f110_gym::envs::base_classes::RaceCarsteer_buffer_size + f110_gym::envs::base_classes::RaceCartime_step + f110_gym::envs::base_classes::RaceCarttc_thresh + f110_gym::envs::base_classes::RaceCarupdate_opp_poses + f110_gym::envs::base_classes::RaceCarupdate_params + f110_gym::envs::base_classes::RaceCarupdate_pose + f110_gym::envs::base_classes::RaceCarupdate_scan + + + diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/classf110__gym_1_1envs_1_1base__classes_1_1_simulator.xml b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/classf110__gym_1_1envs_1_1base__classes_1_1_simulator.xml new file mode 100644 index 0000000..8932551 --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/classf110__gym_1_1envs_1_1base__classes_1_1_simulator.xml @@ -0,0 +1,365 @@ + + + + f110_gym::envs::base_classes::Simulator + object + + + + f110_gym.envs.base_classes.Simulator::num_agents + + num_agents + + + + + + + + + + + f110_gym.envs.base_classes.Simulator::time_step + + time_step + + + + + + + + + + + f110_gym.envs.base_classes.Simulator::ego_idx + + ego_idx + + + + + + + + + + + f110_gym.envs.base_classes.Simulator::params + + params + + + + + + + + + + + f110_gym.envs.base_classes.Simulator::agent_poses + + agent_poses + + + + + + + + + + + f110_gym.envs.base_classes.Simulator::agents + + agents + + + + + + + + + + + f110_gym.envs.base_classes.Simulator::collisions + + collisions + + + + + + + + + + + f110_gym.envs.base_classes.Simulator::collision_idx + + collision_idx + + + + + + + + + + + + def + def f110_gym.envs.base_classes.Simulator.__init__ + (self, params, num_agents, time_step=0.01, ego_idx=0) + __init__ + + self + self + + + params + params + + + num_agents + num_agents + + + time_step + time_step + 0.01 + + + ego_idx + ego_idx + 0 + + + + +Init function + +Args: + params (dict): vehicle parameter dictionary, includes {'mu', 'C_Sf', 'C_Sr', 'lf', 'lr', 'h', 'm', 'I', 's_min', 's_max', 'sv_min', 'sv_max', 'v_switch', 'a_max', 'v_min', 'v_max', 'length', 'width'} + num_agents (int): number of agents in the environment + time_step (float, default=0.01): physics time step + ego_idx (int, default=0): ego vehicle's index in list of agents + +Returns: + None + + + + + + + + def + def f110_gym.envs.base_classes.Simulator.set_map + (self, map_path, map_ext) + set_map + + self + self + + + map_path + map_path + + + map_ext + map_ext + + + + +Sets the map of the environment and sets the map for scan simulator of each agent + +Args: + map_path (str): path to the map yaml file + map_ext (str): extension for the map image file + +Returns: + None + + + + + + + + def + def f110_gym.envs.base_classes.Simulator.update_params + (self, params, agent_idx=-1) + update_params + + self + self + + + params + params + + + agent_idx + agent_idx + -1 + + + + +Updates the params of agents, if an index of an agent is given, update only that agent's params + +Args: + params (dict): dictionary of params, see details in docstring of __init__ + agent_idx (int, default=-1): index for agent that needs param update, if negative, update all agents + +Returns: + None + + + + + + + + def + def f110_gym.envs.base_classes.Simulator.check_collision + (self) + check_collision + + self + self + + + + +Checks for collision between agents using GJK and agents' body vertices + +Args: + None + +Returns: + None + + + + + + + + def + def f110_gym.envs.base_classes.Simulator.step + (self, control_inputs) + step + + self + self + + + control_inputs + control_inputs + + + + +Steps the simulation environment + +Args: + control_inputs (np.ndarray (num_agents, 2)): control inputs of all agents, first column is desired steering angle, second column is desired velocity + +Returns: + observations (dict): dictionary for observations: poses of agents, current laser scan of each agent, collision indicators, etc. + + + + + + + + def + def f110_gym.envs.base_classes.Simulator.reset + (self, poses) + reset + + self + self + + + poses + poses + + + + +Resets the simulation environment by given poses + +Arges: + poses (np.ndarray (num_agents, 3)): poses to reset agents to + +Returns: + None + + + + + + + + + + +Simulator class, handles the interaction and update of all vehicles in the environment + +Data Members: + num_agents (int): number of agents in the environment + time_step (float): physics time step + agent_poses (np.ndarray(num_agents, 3)): all poses of all agents + agents (list[RaceCar]): container for RaceCar objects + collisions (np.ndarray(num_agents, )): array of collision indicator for each agent + collision_idx (np.ndarray(num_agents, )): which agent is each agent in collision with + + + + + + + + + + + + + + + + + + + + + + + + + + f110_gym::envs::base_classes::Simulator__init__ + f110_gym::envs::base_classes::Simulatoragent_poses + f110_gym::envs::base_classes::Simulatoragents + f110_gym::envs::base_classes::Simulatorcheck_collision + f110_gym::envs::base_classes::Simulatorcollision_idx + f110_gym::envs::base_classes::Simulatorcollisions + f110_gym::envs::base_classes::Simulatorego_idx + f110_gym::envs::base_classes::Simulatornum_agents + f110_gym::envs::base_classes::Simulatorparams + f110_gym::envs::base_classes::Simulatorreset + f110_gym::envs::base_classes::Simulatorset_map + f110_gym::envs::base_classes::Simulatorstep + f110_gym::envs::base_classes::Simulatortime_step + f110_gym::envs::base_classes::Simulatorupdate_params + + + diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/classf110__gym_1_1envs_1_1collision__models_1_1_collision_tests.xml b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/classf110__gym_1_1envs_1_1collision__models_1_1_collision_tests.xml new file mode 100644 index 0000000..e34072f --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/classf110__gym_1_1envs_1_1collision__models_1_1_collision_tests.xml @@ -0,0 +1,190 @@ + + + + f110_gym::envs::collision_models::CollisionTests + TestCase + + + + f110_gym.envs.collision_models.CollisionTests::vertices1 + + vertices1 + + + + + + + + + + + f110_gym.envs.collision_models.CollisionTests::length + + length + + + + + + + + + + + f110_gym.envs.collision_models.CollisionTests::width + + width + + + + + + + + + + + + def + def f110_gym.envs.collision_models.CollisionTests.setUp + (self) + setUp + + self + self + + + + + + + + + + + def + def f110_gym.envs.collision_models.CollisionTests.test_get_vert + (self) + test_get_vert + + self + self + + + + + + + + + + + def + def f110_gym.envs.collision_models.CollisionTests.test_get_vert_fps + (self) + test_get_vert_fps + + self + self + + + + + + + + + + + def + def f110_gym.envs.collision_models.CollisionTests.test_random_collision + (self) + test_random_collision + + self + self + + + + + + + + + + + def + def f110_gym.envs.collision_models.CollisionTests.test_multiple_collisions + (self) + test_multiple_collisions + + self + self + + + + + + + + + + + def + def f110_gym.envs.collision_models.CollisionTests.test_fps + (self) + test_fps + + self + self + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + f110_gym::envs::collision_models::CollisionTestslength + f110_gym::envs::collision_models::CollisionTestssetUp + f110_gym::envs::collision_models::CollisionTeststest_fps + f110_gym::envs::collision_models::CollisionTeststest_get_vert + f110_gym::envs::collision_models::CollisionTeststest_get_vert_fps + f110_gym::envs::collision_models::CollisionTeststest_multiple_collisions + f110_gym::envs::collision_models::CollisionTeststest_random_collision + f110_gym::envs::collision_models::CollisionTestsvertices1 + f110_gym::envs::collision_models::CollisionTestswidth + + + diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/classf110__gym_1_1envs_1_1dynamic__models_1_1_dynamics_test.xml b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/classf110__gym_1_1envs_1_1dynamic__models_1_1_dynamics_test.xml new file mode 100644 index 0000000..5487daf --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/classf110__gym_1_1envs_1_1dynamic__models_1_1_dynamics_test.xml @@ -0,0 +1,372 @@ + + + + f110_gym::envs::dynamic_models::DynamicsTest + TestCase + + + + f110_gym.envs.dynamic_models.DynamicsTest::mu + + mu + + + + + + + + + + + f110_gym.envs.dynamic_models.DynamicsTest::C_Sf + + C_Sf + + + + + + + + + + + f110_gym.envs.dynamic_models.DynamicsTest::C_Sr + + C_Sr + + + + + + + + + + + f110_gym.envs.dynamic_models.DynamicsTest::lf + + lf + + + + + + + + + + + f110_gym.envs.dynamic_models.DynamicsTest::lr + + lr + + + + + + + + + + + f110_gym.envs.dynamic_models.DynamicsTest::h + + h + + + + + + + + + + + f110_gym.envs.dynamic_models.DynamicsTest::m + + m + + + + + + + + + + + f110_gym.envs.dynamic_models.DynamicsTest::I + + I + + + + + + + + + + + f110_gym.envs.dynamic_models.DynamicsTest::s_min + + s_min + + + + + + + + + + + f110_gym.envs.dynamic_models.DynamicsTest::s_max + + s_max + + + + + + + + + + + f110_gym.envs.dynamic_models.DynamicsTest::sv_min + + sv_min + + + + + + + + + + + f110_gym.envs.dynamic_models.DynamicsTest::sv_max + + sv_max + + + + + + + + + + + f110_gym.envs.dynamic_models.DynamicsTest::v_min + + v_min + + + + + + + + + + + f110_gym.envs.dynamic_models.DynamicsTest::v_max + + v_max + + + + + + + + + + + f110_gym.envs.dynamic_models.DynamicsTest::v_switch + + v_switch + + + + + + + + + + + f110_gym.envs.dynamic_models.DynamicsTest::a_max + + a_max + + + + + + + + + + + + def + def f110_gym.envs.dynamic_models.DynamicsTest.setUp + (self) + setUp + + self + self + + + + + + + + + + + def + def f110_gym.envs.dynamic_models.DynamicsTest.test_derivatives + (self) + test_derivatives + + self + self + + + + + + + + + + + def + def f110_gym.envs.dynamic_models.DynamicsTest.test_zeroinit_roll + (self) + test_zeroinit_roll + + self + self + + + + + + + + + + + def + def f110_gym.envs.dynamic_models.DynamicsTest.test_zeroinit_dec + (self) + test_zeroinit_dec + + self + self + + + + + + + + + + + def + def f110_gym.envs.dynamic_models.DynamicsTest.test_zeroinit_acc + (self) + test_zeroinit_acc + + self + self + + + + + + + + + + + def + def f110_gym.envs.dynamic_models.DynamicsTest.test_zeroinit_rollleft + (self) + test_zeroinit_rollleft + + self + self + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + f110_gym::envs::dynamic_models::DynamicsTesta_max + f110_gym::envs::dynamic_models::DynamicsTestC_Sf + f110_gym::envs::dynamic_models::DynamicsTestC_Sr + f110_gym::envs::dynamic_models::DynamicsTesth + f110_gym::envs::dynamic_models::DynamicsTestI + f110_gym::envs::dynamic_models::DynamicsTestlf + f110_gym::envs::dynamic_models::DynamicsTestlr + f110_gym::envs::dynamic_models::DynamicsTestm + f110_gym::envs::dynamic_models::DynamicsTestmu + f110_gym::envs::dynamic_models::DynamicsTests_max + f110_gym::envs::dynamic_models::DynamicsTests_min + f110_gym::envs::dynamic_models::DynamicsTestsetUp + f110_gym::envs::dynamic_models::DynamicsTestsv_max + f110_gym::envs::dynamic_models::DynamicsTestsv_min + f110_gym::envs::dynamic_models::DynamicsTesttest_derivatives + f110_gym::envs::dynamic_models::DynamicsTesttest_zeroinit_acc + f110_gym::envs::dynamic_models::DynamicsTesttest_zeroinit_dec + f110_gym::envs::dynamic_models::DynamicsTesttest_zeroinit_roll + f110_gym::envs::dynamic_models::DynamicsTesttest_zeroinit_rollleft + f110_gym::envs::dynamic_models::DynamicsTestv_max + f110_gym::envs::dynamic_models::DynamicsTestv_min + f110_gym::envs::dynamic_models::DynamicsTestv_switch + + + diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/classf110__gym_1_1envs_1_1f110__env_1_1_f110_env.xml b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/classf110__gym_1_1envs_1_1f110__env_1_1_f110_env.xml new file mode 100644 index 0000000..2f61148 --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/classf110__gym_1_1envs_1_1f110__env_1_1_f110_env.xml @@ -0,0 +1,741 @@ + + + + f110_gym::envs::f110_env::F110Env + Env + EzPickle + + + dictionary + dictionary f110_gym.envs.f110_env.F110Env::metadata + + metadata + = {'render.modes': ['human', 'human_fast']} + + + + + + + + + + + + + f110_gym.envs.f110_env.F110Env::map_name + + map_name + + + + + + + + + + + f110_gym.envs.f110_env.F110Env::map_path + + map_path + + + + + + + + + + + f110_gym.envs.f110_env.F110Env::map_ext + + map_ext + + + + + + + + + + + f110_gym.envs.f110_env.F110Env::params + + params + + + + + + + + + + + f110_gym.envs.f110_env.F110Env::num_agents + + num_agents + + + + + + + + + + + f110_gym.envs.f110_env.F110Env::timestep + + timestep + + + + + + + + + + + f110_gym.envs.f110_env.F110Env::ego_idx + + ego_idx + + + + + + + + + + + f110_gym.envs.f110_env.F110Env::start_thresh + + start_thresh + + + + + + + + + + + f110_gym.envs.f110_env.F110Env::poses_x + + poses_x + + + + + + + + + + + f110_gym.envs.f110_env.F110Env::poses_y + + poses_y + + + + + + + + + + + f110_gym.envs.f110_env.F110Env::poses_theta + + poses_theta + + + + + + + + + + + f110_gym.envs.f110_env.F110Env::collisions + + collisions + + + + + + + + + + + f110_gym.envs.f110_env.F110Env::near_start + + near_start + + + + + + + + + + + f110_gym.envs.f110_env.F110Env::num_toggles + + num_toggles + + + + + + + + + + + f110_gym.envs.f110_env.F110Env::lap_times + + lap_times + + + + + + + + + + + f110_gym.envs.f110_env.F110Env::lap_counts + + lap_counts + + + + + + + + + + + f110_gym.envs.f110_env.F110Env::current_time + + current_time + + + + + + + + + + + f110_gym.envs.f110_env.F110Env::near_starts + + near_starts + + + + + + + + + + + f110_gym.envs.f110_env.F110Env::toggle_list + + toggle_list + + + + + + + + + + + f110_gym.envs.f110_env.F110Env::start_xs + + start_xs + + + + + + + + + + + f110_gym.envs.f110_env.F110Env::start_ys + + start_ys + + + + + + + + + + + f110_gym.envs.f110_env.F110Env::start_thetas + + start_thetas + + + + + + + + + + + f110_gym.envs.f110_env.F110Env::start_rot + + start_rot + + + + + + + + + + + f110_gym.envs.f110_env.F110Env::sim + + sim + + + + + + + + + + + f110_gym.envs.f110_env.F110Env::renderer + + renderer + + + + + + + + + + + f110_gym.envs.f110_env.F110Env::current_obs + + current_obs + + + + + + + + + + + + def + def f110_gym.envs.f110_env.F110Env.__init__ + (self, **kwargs) + __init__ + + self + self + + + ** + kwargs + + + + + + + + + + + def + def f110_gym.envs.f110_env.F110Env.__del__ + (self) + __del__ + + self + self + + + + +Finalizer, does cleanup + + + + + + + + def + def f110_gym.envs.f110_env.F110Env.step + (self, action) + step + + self + self + + + action + action + + + + +Step function for the gym env + +Args: + action (np.ndarray(num_agents, 2)) + +Returns: + obs (dict): observation of the current step + reward (float, default=self.timestep): step reward, currently is physics timestep + done (bool): if the simulation is done + info (dict): auxillary information dictionary + + + + + + + + def + def f110_gym.envs.f110_env.F110Env.reset + (self, poses) + reset + + self + self + + + poses + poses + + + + +Reset the gym environment by given poses + +Args: + poses (np.ndarray (num_agents, 3)): poses to reset agents to + +Returns: + obs (dict): observation of the current step + reward (float, default=self.timestep): step reward, currently is physics timestep + done (bool): if the simulation is done + info (dict): auxillary information dictionary + + + + + + + + def + def f110_gym.envs.f110_env.F110Env.update_map + (self, map_path, map_ext) + update_map + + self + self + + + map_path + map_path + + + map_ext + map_ext + + + + +Updates the map used by simulation + +Args: + map_path (str): absolute path to the map yaml file + map_ext (str): extension of the map image file + +Returns: + None + + + + + + + + def + def f110_gym.envs.f110_env.F110Env.update_params + (self, params, index=-1) + update_params + + self + self + + + params + params + + + index + index + -1 + + + + +Updates the parameters used by simulation for vehicles + +Args: + params (dict): dictionary of parameters + index (int, default=-1): if >= 0 then only update a specific agent's params + +Returns: + None + + + + + + + + def + def f110_gym.envs.f110_env.F110Env.render + (self, mode='human') + render + + self + self + + + mode + mode + 'human' + + + + +Renders the environment with pyglet. Use mouse scroll in the window to zoom in/out, use mouse click drag to pan. Shows the agents, the map, current fps (bottom left corner), and the race information near as text. + +Args: + mode (str, default='human'): rendering mode, currently supports: +'human': slowed down rendering such that the env is rendered in a way that sim time elapsed is close to real time elapsed +'human_fast': render as fast as possible + +Returns: + None + + + + + + + + + + def + def f110_gym.envs.f110_env.F110Env._check_done + (self) + _check_done + + self + self + + + + +Check if the current rollout is done + +Args: + None + +Returns: + done (bool): whether the rollout is done + toggle_list (list[int]): each agent's toggle list for crossing the finish zone + + + + + + + + def + def f110_gym.envs.f110_env.F110Env._update_state + (self, obs_dict) + _update_state + + self + self + + + obs_dict + obs_dict + + + + +Update the env's states according to observations + +Args: + obs_dict (dict): dictionary of observation + +Returns: + None + + + + + + + + + + +OpenAI gym environment for F1TENTH + +Env should be initialized by calling gym.make('f110_gym:f110-v0', **kwargs) + +Args: + kwargs: + seed (int): seed for random state and reproducibility + + map (str, default='vegas'): name of the map used for the environment. Currently, available environments include: 'berlin', 'vegas', 'skirk'. You could use a string of the absolute path to the yaml file of your custom map. + + map_ext (str, default='png'): image extension of the map image file. For example 'png', 'pgm' + + params (dict, default={'mu': 1.0489, 'C_Sf':, 'C_Sr':, 'lf': 0.15875, 'lr': 0.17145, 'h': 0.074, 'm': 3.74, 'I': 0.04712, 's_min': -0.4189, 's_max': 0.4189, 'sv_min': -3.2, 'sv_max': 3.2, 'v_switch':7.319, 'a_max': 9.51, 'v_min':-5.0, 'v_max': 20.0, 'width': 0.31, 'length': 0.58}): dictionary of vehicle parameters. + mu: surface friction coefficient + C_Sf: Cornering stiffness coefficient, front + C_Sr: Cornering stiffness coefficient, rear + lf: Distance from center of gravity to front axle + lr: Distance from center of gravity to rear axle + h: Height of center of gravity + m: Total mass of the vehicle + I: Moment of inertial of the entire vehicle about the z axis + s_min: Minimum steering angle constraint + s_max: Maximum steering angle constraint + sv_min: Minimum steering velocity constraint + sv_max: Maximum steering velocity constraint + v_switch: Switching velocity (velocity at which the acceleration is no longer able to create wheel spin) + a_max: Maximum longitudinal acceleration + v_min: Minimum longitudinal velocity + v_max: Maximum longitudinal velocity + width: width of the vehicle in meters + length: length of the vehicle in meters + + num_agents (int, default=2): number of agents in the environment + + timestep (float, default=0.01): physics timestep + + ego_idx (int, default=0): ego's index in list of agents + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + f110_gym::envs::f110_env::F110Env__del__ + f110_gym::envs::f110_env::F110Env__init__ + f110_gym::envs::f110_env::F110Env_check_done + f110_gym::envs::f110_env::F110Env_update_state + f110_gym::envs::f110_env::F110Envcollisions + f110_gym::envs::f110_env::F110Envcurrent_obs + f110_gym::envs::f110_env::F110Envcurrent_time + f110_gym::envs::f110_env::F110Envego_idx + f110_gym::envs::f110_env::F110Envlap_counts + f110_gym::envs::f110_env::F110Envlap_times + f110_gym::envs::f110_env::F110Envmap_ext + f110_gym::envs::f110_env::F110Envmap_name + f110_gym::envs::f110_env::F110Envmap_path + f110_gym::envs::f110_env::F110Envmetadata + f110_gym::envs::f110_env::F110Envnear_start + f110_gym::envs::f110_env::F110Envnear_starts + f110_gym::envs::f110_env::F110Envnum_agents + f110_gym::envs::f110_env::F110Envnum_toggles + f110_gym::envs::f110_env::F110Envparams + f110_gym::envs::f110_env::F110Envposes_theta + f110_gym::envs::f110_env::F110Envposes_x + f110_gym::envs::f110_env::F110Envposes_y + f110_gym::envs::f110_env::F110Envrender + f110_gym::envs::f110_env::F110Envrenderer + f110_gym::envs::f110_env::F110Envreset + f110_gym::envs::f110_env::F110Envsim + f110_gym::envs::f110_env::F110Envstart_rot + f110_gym::envs::f110_env::F110Envstart_thetas + f110_gym::envs::f110_env::F110Envstart_thresh + f110_gym::envs::f110_env::F110Envstart_xs + f110_gym::envs::f110_env::F110Envstart_ys + f110_gym::envs::f110_env::F110Envstep + f110_gym::envs::f110_env::F110Envtimestep + f110_gym::envs::f110_env::F110Envtoggle_list + f110_gym::envs::f110_env::F110Envupdate_map + f110_gym::envs::f110_env::F110Envupdate_params + + + diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/classf110__gym_1_1envs_1_1f110__env__backup_1_1_f110_env.xml b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/classf110__gym_1_1envs_1_1f110__env__backup_1_1_f110_env.xml new file mode 100644 index 0000000..325121f --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/classf110__gym_1_1envs_1_1f110__env__backup_1_1_f110_env.xml @@ -0,0 +1,1003 @@ + + + + f110_gym::envs::f110_env_backup::F110Env + Env + EzPickle + + + dictionary + dictionary f110_gym.envs.f110_env_backup.F110Env::metadata + + metadata + = {'render.modes': []} + + + + + + + + + + + + + f110_gym.envs.f110_env_backup.F110Env::params_set + + params_set + + + + + + + + + + + f110_gym.envs.f110_env_backup.F110Env::map_inited + + map_inited + + + + + + + + + + + f110_gym.envs.f110_env_backup.F110Env::params + + params + + + + + + + + + + + f110_gym.envs.f110_env_backup.F110Env::num_agents + + num_agents + + + + + + + + + + + f110_gym.envs.f110_env_backup.F110Env::timestep + + timestep + + + + + + + + + + + f110_gym.envs.f110_env_backup.F110Env::map_path + + map_path + + + + + + + + + + + f110_gym.envs.f110_env_backup.F110Env::map_img + + map_img + + + + + + + + + + + f110_gym.envs.f110_env_backup.F110Env::ego_idx + + ego_idx + + + + + + + + + + + f110_gym.envs.f110_env_backup.F110Env::timeout + + timeout + + + + + + + + + + + f110_gym.envs.f110_env_backup.F110Env::start_thresh + + start_thresh + + + + + + + + + + + f110_gym.envs.f110_env_backup.F110Env::x + + x + + + + + + + + + + + f110_gym.envs.f110_env_backup.F110Env::y + + y + + + + + + + + + + + f110_gym.envs.f110_env_backup.F110Env::theta + + theta + + + + + + + + + + + f110_gym.envs.f110_env_backup.F110Env::in_collision + + in_collision + + + + + + + + + + + f110_gym.envs.f110_env_backup.F110Env::collision_angle + + collision_angle + + + + + + + + + + + f110_gym.envs.f110_env_backup.F110Env::near_start + + near_start + + + + + + + + + + + f110_gym.envs.f110_env_backup.F110Env::num_toggles + + num_toggles + + + + + + + + + + + f110_gym.envs.f110_env_backup.F110Env::lap_times + + lap_times + + + + + + + + + + + f110_gym.envs.f110_env_backup.F110Env::lap_counts + + lap_counts + + + + + + + + + + + f110_gym.envs.f110_env_backup.F110Env::map_height + + map_height + + + + + + + + + + + f110_gym.envs.f110_env_backup.F110Env::map_width + + map_width + + + + + + + + + + + f110_gym.envs.f110_env_backup.F110Env::map_resolution + + map_resolution + + + + + + + + + + + f110_gym.envs.f110_env_backup.F110Env::free_thresh + + free_thresh + + + + + + + + + + + f110_gym.envs.f110_env_backup.F110Env::origin + + origin + + + + + + + + + + + f110_gym.envs.f110_env_backup.F110Env::port + + port + + + + + + + + + + + f110_gym.envs.f110_env_backup.F110Env::context + + context + + + + + + + + + + + f110_gym.envs.f110_env_backup.F110Env::socket + + socket + + + + + + + + + + + f110_gym.envs.f110_env_backup.F110Env::sim_p + + sim_p + + + + + + + + + + + f110_gym.envs.f110_env_backup.F110Env::all_x + + all_x + + + + + + + + + + + f110_gym.envs.f110_env_backup.F110Env::all_y + + all_y + + + + + + + + + + + f110_gym.envs.f110_env_backup.F110Env::current_time + + current_time + + + + + + + + + + + f110_gym.envs.f110_env_backup.F110Env::collision_angles + + collision_angles + + + + + + + + + + + f110_gym.envs.f110_env_backup.F110Env::near_starts + + near_starts + + + + + + + + + + + f110_gym.envs.f110_env_backup.F110Env::toggle_list + + toggle_list + + + + + + + + + + + f110_gym.envs.f110_env_backup.F110Env::start_x + + start_x + + + + + + + + + + + f110_gym.envs.f110_env_backup.F110Env::start_y + + start_y + + + + + + + + + + + f110_gym.envs.f110_env_backup.F110Env::start_theta + + start_theta + + + + + + + + + + + f110_gym.envs.f110_env_backup.F110Env::start_xs + + start_xs + + + + + + + + + + + f110_gym.envs.f110_env_backup.F110Env::start_ys + + start_ys + + + + + + + + + + + f110_gym.envs.f110_env_backup.F110Env::start_thetas + + start_thetas + + + + + + + + + + + f110_gym.envs.f110_env_backup.F110Env::start_rot + + start_rot + + + + + + + + + + + f110_gym.envs.f110_env_backup.F110Env::double_finish + + double_finish + + + + + + + + + + + + def + def f110_gym.envs.f110_env_backup.F110Env.__init__ + (self) + __init__ + + self + self + + + + + + + + + + + def + def f110_gym.envs.f110_env_backup.F110Env.__del__ + (self) + __del__ + + self + self + + + + +Finalizer, does cleanup + + + + + + + + def + def f110_gym.envs.f110_env_backup.F110Env.step + (self, action) + step + + self + self + + + action + action + + + + + + + + + + + def + def f110_gym.envs.f110_env_backup.F110Env.reset + (self, poses=None) + reset + + self + self + + + poses + poses + None + + + + + + + + + + + def + def f110_gym.envs.f110_env_backup.F110Env.init_map + (self, map_path, img_ext, rgb, flip) + init_map + + self + self + + + map_path + map_path + + + img_ext + img_ext + + + rgb + rgb + + + flip + flip + + + + + init a map for the gym env + map_path: full path for the yaml, same as ROS, img and yaml in same dir + rgb: map grayscale or rgb + flip: if map needs flipping + + + + + + + + def + def f110_gym.envs.f110_env_backup.F110Env.render + (self, mode='human', close=False) + render + + self + self + + + mode + mode + 'human' + + + close + close + False + + + + + + + + + + + def + def f110_gym.envs.f110_env_backup.F110Env.update_params + (self, mu, h_cg, l_r, cs_f, cs_r, I_z, mass, exe_path, double_finish=False) + update_params + + self + self + + + mu + mu + + + h_cg + h_cg + + + l_r + l_r + + + cs_f + cs_f + + + cs_r + cs_r + + + I_z + I_z + + + mass + mass + + + exe_path + exe_path + + + double_finish + double_finish + False + + + + + + + + + + + + + def + def f110_gym.envs.f110_env_backup.F110Env._start_executable + (self, path) + _start_executable + + self + self + + + path + path + + + + + + + + + + + def + def f110_gym.envs.f110_env_backup.F110Env._set_map + (self) + _set_map + + self + self + + + + +Sets the map for the simulator instance + + + + + + + + def + def f110_gym.envs.f110_env_backup.F110Env._check_done + (self) + _check_done + + self + self + + + + +Check if the episode is done +This is in terms of the ego car +For our case, whether the car ends up close enough to the starting point +And if accumulated time is over the timeout +return true if done, false if not +This assumes start is always (0, 0) + + + + + + + def + def f110_gym.envs.f110_env_backup.F110Env._check_passed + (self) + _check_passed + + self + self + + + + +Returns the times that the ego car overtook the other car + + + + + + + + def + def f110_gym.envs.f110_env_backup.F110Env._update_state + (self, obs_dict) + _update_state + + self + self + + + obs_dict + obs_dict + + + + +Update the env's states according to observations +obs is observation dictionary + + + + + + + + def + def f110_gym.envs.f110_env_backup.F110Env._raycast_opponents + (self, obs_dict) + _raycast_opponents + + self + self + + + obs_dict + obs_dict + + + + + + + + + + + + + +OpenAI gym environment for F1/10 simulator +Use 0mq's REQ-REP pattern to communicate to the C++ simulator +ONE env has ONE corresponding C++ instance +Need to create env with map input, full path to map yaml file, map pgm image and yaml should be in same directory + +should be initialized with a map, a timestep, and number of agents + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + f110_gym::envs::f110_env_backup::F110Env__del__ + f110_gym::envs::f110_env_backup::F110Env__init__ + f110_gym::envs::f110_env_backup::F110Env_check_done + f110_gym::envs::f110_env_backup::F110Env_check_passed + f110_gym::envs::f110_env_backup::F110Env_raycast_opponents + f110_gym::envs::f110_env_backup::F110Env_set_map + f110_gym::envs::f110_env_backup::F110Env_start_executable + f110_gym::envs::f110_env_backup::F110Env_update_state + f110_gym::envs::f110_env_backup::F110Envall_x + f110_gym::envs::f110_env_backup::F110Envall_y + f110_gym::envs::f110_env_backup::F110Envcollision_angle + f110_gym::envs::f110_env_backup::F110Envcollision_angles + f110_gym::envs::f110_env_backup::F110Envcontext + f110_gym::envs::f110_env_backup::F110Envcurrent_time + f110_gym::envs::f110_env_backup::F110Envdouble_finish + f110_gym::envs::f110_env_backup::F110Envego_idx + f110_gym::envs::f110_env_backup::F110Envfree_thresh + f110_gym::envs::f110_env_backup::F110Envin_collision + f110_gym::envs::f110_env_backup::F110Envinit_map + f110_gym::envs::f110_env_backup::F110Envlap_counts + f110_gym::envs::f110_env_backup::F110Envlap_times + f110_gym::envs::f110_env_backup::F110Envmap_height + f110_gym::envs::f110_env_backup::F110Envmap_img + f110_gym::envs::f110_env_backup::F110Envmap_inited + f110_gym::envs::f110_env_backup::F110Envmap_path + f110_gym::envs::f110_env_backup::F110Envmap_resolution + f110_gym::envs::f110_env_backup::F110Envmap_width + f110_gym::envs::f110_env_backup::F110Envmetadata + f110_gym::envs::f110_env_backup::F110Envnear_start + f110_gym::envs::f110_env_backup::F110Envnear_starts + f110_gym::envs::f110_env_backup::F110Envnum_agents + f110_gym::envs::f110_env_backup::F110Envnum_toggles + f110_gym::envs::f110_env_backup::F110Envorigin + f110_gym::envs::f110_env_backup::F110Envparams + f110_gym::envs::f110_env_backup::F110Envparams_set + f110_gym::envs::f110_env_backup::F110Envport + f110_gym::envs::f110_env_backup::F110Envrender + f110_gym::envs::f110_env_backup::F110Envreset + f110_gym::envs::f110_env_backup::F110Envsim_p + f110_gym::envs::f110_env_backup::F110Envsocket + f110_gym::envs::f110_env_backup::F110Envstart_rot + f110_gym::envs::f110_env_backup::F110Envstart_theta + f110_gym::envs::f110_env_backup::F110Envstart_thetas + f110_gym::envs::f110_env_backup::F110Envstart_thresh + f110_gym::envs::f110_env_backup::F110Envstart_x + f110_gym::envs::f110_env_backup::F110Envstart_xs + f110_gym::envs::f110_env_backup::F110Envstart_y + f110_gym::envs::f110_env_backup::F110Envstart_ys + f110_gym::envs::f110_env_backup::F110Envstep + f110_gym::envs::f110_env_backup::F110Envtheta + f110_gym::envs::f110_env_backup::F110Envtimeout + f110_gym::envs::f110_env_backup::F110Envtimestep + f110_gym::envs::f110_env_backup::F110Envtoggle_list + f110_gym::envs::f110_env_backup::F110Envupdate_params + f110_gym::envs::f110_env_backup::F110Envx + f110_gym::envs::f110_env_backup::F110Envy + + + diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/classf110__gym_1_1envs_1_1laser__models_1_1_scan_simulator2_d.xml b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/classf110__gym_1_1envs_1_1laser__models_1_1_scan_simulator2_d.xml new file mode 100644 index 0000000..b0ec5d1 --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/classf110__gym_1_1envs_1_1laser__models_1_1_scan_simulator2_d.xml @@ -0,0 +1,482 @@ + + + + f110_gym::envs::laser_models::ScanSimulator2D + object + + + + f110_gym.envs.laser_models.ScanSimulator2D::num_beams + + num_beams + + + + + + + + + + + f110_gym.envs.laser_models.ScanSimulator2D::fov + + fov + + + + + + + + + + + f110_gym.envs.laser_models.ScanSimulator2D::std_dev + + std_dev + + + + + + + + + + + f110_gym.envs.laser_models.ScanSimulator2D::eps + + eps + + + + + + + + + + + f110_gym.envs.laser_models.ScanSimulator2D::theta_dis + + theta_dis + + + + + + + + + + + f110_gym.envs.laser_models.ScanSimulator2D::max_range + + max_range + + + + + + + + + + + f110_gym.envs.laser_models.ScanSimulator2D::angle_increment + + angle_increment + + + + + + + + + + + f110_gym.envs.laser_models.ScanSimulator2D::theta_index_increment + + theta_index_increment + + + + + + + + + + + f110_gym.envs.laser_models.ScanSimulator2D::orig_c + + orig_c + + + + + + + + + + + f110_gym.envs.laser_models.ScanSimulator2D::orig_s + + orig_s + + + + + + + + + + + f110_gym.envs.laser_models.ScanSimulator2D::orig_x + + orig_x + + + + + + + + + + + f110_gym.envs.laser_models.ScanSimulator2D::orig_y + + orig_y + + + + + + + + + + + f110_gym.envs.laser_models.ScanSimulator2D::map_height + + map_height + + + + + + + + + + + f110_gym.envs.laser_models.ScanSimulator2D::map_width + + map_width + + + + + + + + + + + f110_gym.envs.laser_models.ScanSimulator2D::map_resolution + + map_resolution + + + + + + + + + + + f110_gym.envs.laser_models.ScanSimulator2D::dt + + dt + + + + + + + + + + + f110_gym.envs.laser_models.ScanSimulator2D::rng + + rng + + + + + + + + + + + f110_gym.envs.laser_models.ScanSimulator2D::sines + + sines + + + + + + + + + + + f110_gym.envs.laser_models.ScanSimulator2D::cosines + + cosines + + + + + + + + + + + f110_gym.envs.laser_models.ScanSimulator2D::map_img + + map_img + + + + + + + + + + + f110_gym.envs.laser_models.ScanSimulator2D::origin + + origin + + + + + + + + + + + + def + def f110_gym.envs.laser_models.ScanSimulator2D.__init__ + (self, num_beams, fov, std_dev=0.01, eps=0.0001, theta_dis=2000, max_range=30.0, seed=123) + __init__ + + self + self + + + num_beams + num_beams + + + fov + fov + + + std_dev + std_dev + 0.01 + + + eps + eps + 0.0001 + + + theta_dis + theta_dis + 2000 + + + max_range + max_range + 30.0 + + + seed + seed + 123 + + + + + + + + + + + def + def f110_gym.envs.laser_models.ScanSimulator2D.set_map + (self, map_path, map_ext) + set_map + + self + self + + + map_path + map_path + + + map_ext + map_ext + + + + +Set the bitmap of the scan simulator by path + + Args: +map_path (str): path to the map yaml file +map_ext (str): extension (image type) of the map image + + Returns: +flag (bool): if image reading and loading is successful + + + + + + + + def + def f110_gym.envs.laser_models.ScanSimulator2D.scan + (self, pose) + scan + + self + self + + + pose + pose + + + + +Perform simulated 2D scan by pose on the given map + + Args: +pose (numpy.ndarray (3, )): pose of the scan frame (x, y, theta) + + Returns: +scan (numpy.ndarray (n, )): data array of the laserscan, n=num_beams + + Raises: +ValueError: when scan is called before a map is set + + + + + + + + def + def f110_gym.envs.laser_models.ScanSimulator2D.get_increment + (self) + get_increment + + self + self + + + + + + + + + + + + + +2D LIDAR scan simulator class + +Init params: + num_beams (int): number of beams in the scan + fov (float): field of view of the laser scan + std_dev (float, default=0.01): standard deviation of the generated whitenoise in the scan + eps (float, default=0.0001): ray tracing iteration termination condition + theta_dis (int, default=2000): number of steps to discretize the angles between 0 and 2pi for look up + max_range (float, default=30.0): maximum range of the laser + seed (int, default=123): seed for random number generator for the whitenoise in scan + + + + + + + + + + + + + + + + + + + + + + + + + + + f110_gym::envs::laser_models::ScanSimulator2D__init__ + f110_gym::envs::laser_models::ScanSimulator2Dangle_increment + f110_gym::envs::laser_models::ScanSimulator2Dcosines + f110_gym::envs::laser_models::ScanSimulator2Ddt + f110_gym::envs::laser_models::ScanSimulator2Deps + f110_gym::envs::laser_models::ScanSimulator2Dfov + f110_gym::envs::laser_models::ScanSimulator2Dget_increment + f110_gym::envs::laser_models::ScanSimulator2Dmap_height + f110_gym::envs::laser_models::ScanSimulator2Dmap_img + f110_gym::envs::laser_models::ScanSimulator2Dmap_resolution + f110_gym::envs::laser_models::ScanSimulator2Dmap_width + f110_gym::envs::laser_models::ScanSimulator2Dmax_range + f110_gym::envs::laser_models::ScanSimulator2Dnum_beams + f110_gym::envs::laser_models::ScanSimulator2Dorig_c + f110_gym::envs::laser_models::ScanSimulator2Dorig_s + f110_gym::envs::laser_models::ScanSimulator2Dorig_x + f110_gym::envs::laser_models::ScanSimulator2Dorig_y + f110_gym::envs::laser_models::ScanSimulator2Dorigin + f110_gym::envs::laser_models::ScanSimulator2Drng + f110_gym::envs::laser_models::ScanSimulator2Dscan + f110_gym::envs::laser_models::ScanSimulator2Dset_map + f110_gym::envs::laser_models::ScanSimulator2Dsines + f110_gym::envs::laser_models::ScanSimulator2Dstd_dev + f110_gym::envs::laser_models::ScanSimulator2Dtheta_dis + f110_gym::envs::laser_models::ScanSimulator2Dtheta_index_increment + + + diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/classf110__gym_1_1envs_1_1laser__models_1_1_scan_tests.xml b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/classf110__gym_1_1envs_1_1laser__models_1_1_scan_tests.xml new file mode 100644 index 0000000..8801bc4 --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/classf110__gym_1_1envs_1_1laser__models_1_1_scan_tests.xml @@ -0,0 +1,196 @@ + + + + f110_gym::envs::laser_models::ScanTests + TestCase + + + + f110_gym.envs.laser_models.ScanTests::num_beams + + num_beams + + + + + + + + + + + f110_gym.envs.laser_models.ScanTests::fov + + fov + + + + + + + + + + + f110_gym.envs.laser_models.ScanTests::num_test + + num_test + + + + + + + + + + + f110_gym.envs.laser_models.ScanTests::test_poses + + test_poses + + + + + + + + + + + f110_gym.envs.laser_models.ScanTests::berlin_scan + + berlin_scan + + + + + + + + + + + f110_gym.envs.laser_models.ScanTests::skirk_scan + + skirk_scan + + + + + + + + + + + + def + def f110_gym.envs.laser_models.ScanTests.setUp + (self) + setUp + + self + self + + + + + + + + + + + def + def f110_gym.envs.laser_models.ScanTests.test_map_berlin + (self) + test_map_berlin + + self + self + + + + + + + + + + + def + def f110_gym.envs.laser_models.ScanTests.test_map_skirk + (self) + test_map_skirk + + self + self + + + + + + + + + + + def + def f110_gym.envs.laser_models.ScanTests.test_fps + (self) + test_fps + + self + self + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + f110_gym::envs::laser_models::ScanTestsberlin_scan + f110_gym::envs::laser_models::ScanTestsfov + f110_gym::envs::laser_models::ScanTestsnum_beams + f110_gym::envs::laser_models::ScanTestsnum_test + f110_gym::envs::laser_models::ScanTestssetUp + f110_gym::envs::laser_models::ScanTestsskirk_scan + f110_gym::envs::laser_models::ScanTeststest_fps + f110_gym::envs::laser_models::ScanTeststest_map_berlin + f110_gym::envs::laser_models::ScanTeststest_map_skirk + f110_gym::envs::laser_models::ScanTeststest_poses + + + diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/classf110__gym_1_1envs_1_1rendering_1_1_env_renderer.xml b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/classf110__gym_1_1envs_1_1rendering_1_1_env_renderer.xml new file mode 100644 index 0000000..27e6d44 --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/classf110__gym_1_1envs_1_1rendering_1_1_env_renderer.xml @@ -0,0 +1,552 @@ + + + + f110_gym::envs::rendering::EnvRenderer + Window + + + + f110_gym.envs.rendering.EnvRenderer::left + + left + + + + + + + + + + + f110_gym.envs.rendering.EnvRenderer::right + + right + + + + + + + + + + + f110_gym.envs.rendering.EnvRenderer::bottom + + bottom + + + + + + + + + + + f110_gym.envs.rendering.EnvRenderer::top + + top + + + + + + + + + + + f110_gym.envs.rendering.EnvRenderer::zoom_level + + zoom_level + + + + + + + + + + + f110_gym.envs.rendering.EnvRenderer::zoomed_width + + zoomed_width + + + + + + + + + + + f110_gym.envs.rendering.EnvRenderer::zoomed_height + + zoomed_height + + + + + + + + + + + f110_gym.envs.rendering.EnvRenderer::batch + + batch + + + + + + + + + + + f110_gym.envs.rendering.EnvRenderer::map_points + + map_points + + + + + + + + + + + f110_gym.envs.rendering.EnvRenderer::poses + + poses + + + + + + + + + + + f110_gym.envs.rendering.EnvRenderer::vertices + + vertices + + + + + + + + + + + f110_gym.envs.rendering.EnvRenderer::score_label + + score_label + + + + + + + + + + + f110_gym.envs.rendering.EnvRenderer::fps_display + + fps_display + + + + + + + + + + + f110_gym.envs.rendering.EnvRenderer::ego_idx + + ego_idx + + + + + + + + + + + f110_gym.envs.rendering.EnvRenderer::cars + + cars + + + + + + + + + + + + def + def f110_gym.envs.rendering.EnvRenderer.__init__ + (self, width, height, *args, **kwargs) + __init__ + + self + self + + + width + width + + + height + height + + + * + args + + + ** + kwargs + + + + +Class constructor + +Args: + width (int): width of the window + height (int): height of the window + +Returns: + None + + + + + + + + def + def f110_gym.envs.rendering.EnvRenderer.update_map + (self, map_path, map_ext) + update_map + + self + self + + + map_path + map_path + + + map_ext + map_ext + + + + +Update the map being drawn by the renderer. Converts image to a list of 3D points representing each obstacle pixel in the map. + +Args: + map_path (str): absolute path to the map without extensions + map_ext (str): extension for the map image file + +Returns: + None + + + + + + + + def + def f110_gym.envs.rendering.EnvRenderer.on_resize + (self, width, height) + on_resize + + self + self + + + width + width + + + height + height + + + + +Callback function on window resize, overrides inherited method, and updates camera values on top of the inherited on_resize() method. + +Potential improvements on current behavior: zoom/pan resets on window resize. + +Args: + width (int): new width of window + height (int): new height of window + +Returns: + None + + + + + + + + def + def f110_gym.envs.rendering.EnvRenderer.on_mouse_drag + (self, x, y, dx, dy, buttons, modifiers) + on_mouse_drag + + self + self + + + x + x + + + y + y + + + dx + dx + + + dy + dy + + + buttons + buttons + + + modifiers + modifiers + + + + +Callback function on mouse drag, overrides inherited method. + +Args: + x (int): Distance in pixels from the left edge of the window. + y (int): Distance in pixels from the bottom edge of the window. + dx (int): Relative X position from the previous mouse position. + dy (int): Relative Y position from the previous mouse position. + buttons (int): Bitwise combination of the mouse buttons currently pressed. + modifiers (int): Bitwise combination of any keyboard modifiers currently active. + +Returns: + None + + + + + + + + def + def f110_gym.envs.rendering.EnvRenderer.on_mouse_scroll + (self, x, y, dx, dy) + on_mouse_scroll + + self + self + + + x + x + + + y + y + + + dx + dx + + + dy + dy + + + + +Callback function on mouse scroll, overrides inherited method. + +Args: + x (int): Distance in pixels from the left edge of the window. + y (int): Distance in pixels from the bottom edge of the window. + scroll_x (float): Amount of movement on the horizontal axis. + scroll_y (float): Amount of movement on the vertical axis. + +Returns: + None + + + + + + + + def + def f110_gym.envs.rendering.EnvRenderer.on_close + (self) + on_close + + self + self + + + + +Callback function when the 'x' is clicked on the window, overrides inherited method. Also throws exception to end the python program when in a loop. + +Args: + None + +Returns: + None + +Raises: + Exception: with a message that indicates the rendering window was closed + + + + + + + + def + def f110_gym.envs.rendering.EnvRenderer.on_draw + (self) + on_draw + + self + self + + + + +Function when the pyglet is drawing. The function draws the batch created that includes the map points, the agent polygons, and the information text, and the fps display. + +Args: + None + +Returns: + None + + + + + + + + def + def f110_gym.envs.rendering.EnvRenderer.update_obs + (self, obs) + update_obs + + self + self + + + obs + obs + + + + +Updates the renderer with the latest observation from the gym environment, including the agent poses, and the information text. + +Args: + obs (dict): observation dict from the gym env + +Returns: + None + + + + + + + + + + +A window class inherited from pyglet.window.Window, handles the camera/projection interaction, resizing window, and rendering the environment + + + + + + + + + + + + + + + + + + + + + + + + + + + f110_gym::envs::rendering::EnvRenderer__init__ + f110_gym::envs::rendering::EnvRendererbatch + f110_gym::envs::rendering::EnvRendererbottom + f110_gym::envs::rendering::EnvRenderercars + f110_gym::envs::rendering::EnvRendererego_idx + f110_gym::envs::rendering::EnvRendererfps_display + f110_gym::envs::rendering::EnvRendererleft + f110_gym::envs::rendering::EnvRenderermap_points + f110_gym::envs::rendering::EnvRendereron_close + f110_gym::envs::rendering::EnvRendereron_draw + f110_gym::envs::rendering::EnvRendereron_mouse_drag + f110_gym::envs::rendering::EnvRendereron_mouse_scroll + f110_gym::envs::rendering::EnvRendereron_resize + f110_gym::envs::rendering::EnvRendererposes + f110_gym::envs::rendering::EnvRendererright + f110_gym::envs::rendering::EnvRendererscore_label + f110_gym::envs::rendering::EnvRenderertop + f110_gym::envs::rendering::EnvRendererupdate_map + f110_gym::envs::rendering::EnvRendererupdate_obs + f110_gym::envs::rendering::EnvRenderervertices + f110_gym::envs::rendering::EnvRendererzoom_level + f110_gym::envs::rendering::EnvRendererzoomed_height + f110_gym::envs::rendering::EnvRendererzoomed_width + + + diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/classf110__gym_1_1unittest_1_1collision__checks_1_1_collision_tests.xml b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/classf110__gym_1_1unittest_1_1collision__checks_1_1_collision_tests.xml new file mode 100644 index 0000000..c4fdfdd --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/classf110__gym_1_1unittest_1_1collision__checks_1_1_collision_tests.xml @@ -0,0 +1,172 @@ + + + + f110_gym::unittest::collision_checks::CollisionTests + TestCase + + + + f110_gym.unittest.collision_checks.CollisionTests::vertices1 + + vertices1 + + + + + + + + + + + f110_gym.unittest.collision_checks.CollisionTests::length + + length + + + + + + + + + + + f110_gym.unittest.collision_checks.CollisionTests::width + + width + + + + + + + + + + + + def + def f110_gym.unittest.collision_checks.CollisionTests.setUp + (self) + setUp + + self + self + + + + + + + + + + + def + def f110_gym.unittest.collision_checks.CollisionTests.test_get_vert + (self) + test_get_vert + + self + self + + + + + + + + + + + def + def f110_gym.unittest.collision_checks.CollisionTests.test_get_vert_fps + (self) + test_get_vert_fps + + self + self + + + + + + + + + + + def + def f110_gym.unittest.collision_checks.CollisionTests.test_random_collision + (self) + test_random_collision + + self + self + + + + + + + + + + + def + def f110_gym.unittest.collision_checks.CollisionTests.test_fps + (self) + test_fps + + self + self + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + f110_gym::unittest::collision_checks::CollisionTestslength + f110_gym::unittest::collision_checks::CollisionTestssetUp + f110_gym::unittest::collision_checks::CollisionTeststest_fps + f110_gym::unittest::collision_checks::CollisionTeststest_get_vert + f110_gym::unittest::collision_checks::CollisionTeststest_get_vert_fps + f110_gym::unittest::collision_checks::CollisionTeststest_random_collision + f110_gym::unittest::collision_checks::CollisionTestsvertices1 + f110_gym::unittest::collision_checks::CollisionTestswidth + + + diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/classf110__gym_1_1unittest_1_1dynamics__test_1_1_dynamics_test.xml b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/classf110__gym_1_1unittest_1_1dynamics__test_1_1_dynamics_test.xml new file mode 100644 index 0000000..7c7b3e1 --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/classf110__gym_1_1unittest_1_1dynamics__test_1_1_dynamics_test.xml @@ -0,0 +1,372 @@ + + + + f110_gym::unittest::dynamics_test::DynamicsTest + TestCase + + + + f110_gym.unittest.dynamics_test.DynamicsTest::mu + + mu + + + + + + + + + + + f110_gym.unittest.dynamics_test.DynamicsTest::C_Sf + + C_Sf + + + + + + + + + + + f110_gym.unittest.dynamics_test.DynamicsTest::C_Sr + + C_Sr + + + + + + + + + + + f110_gym.unittest.dynamics_test.DynamicsTest::lf + + lf + + + + + + + + + + + f110_gym.unittest.dynamics_test.DynamicsTest::lr + + lr + + + + + + + + + + + f110_gym.unittest.dynamics_test.DynamicsTest::h + + h + + + + + + + + + + + f110_gym.unittest.dynamics_test.DynamicsTest::m + + m + + + + + + + + + + + f110_gym.unittest.dynamics_test.DynamicsTest::I + + I + + + + + + + + + + + f110_gym.unittest.dynamics_test.DynamicsTest::s_min + + s_min + + + + + + + + + + + f110_gym.unittest.dynamics_test.DynamicsTest::s_max + + s_max + + + + + + + + + + + f110_gym.unittest.dynamics_test.DynamicsTest::sv_min + + sv_min + + + + + + + + + + + f110_gym.unittest.dynamics_test.DynamicsTest::sv_max + + sv_max + + + + + + + + + + + f110_gym.unittest.dynamics_test.DynamicsTest::v_min + + v_min + + + + + + + + + + + f110_gym.unittest.dynamics_test.DynamicsTest::v_max + + v_max + + + + + + + + + + + f110_gym.unittest.dynamics_test.DynamicsTest::v_switch + + v_switch + + + + + + + + + + + f110_gym.unittest.dynamics_test.DynamicsTest::a_max + + a_max + + + + + + + + + + + + def + def f110_gym.unittest.dynamics_test.DynamicsTest.setUp + (self) + setUp + + self + self + + + + + + + + + + + def + def f110_gym.unittest.dynamics_test.DynamicsTest.test_derivatives + (self) + test_derivatives + + self + self + + + + + + + + + + + def + def f110_gym.unittest.dynamics_test.DynamicsTest.test_zeroinit_roll + (self) + test_zeroinit_roll + + self + self + + + + + + + + + + + def + def f110_gym.unittest.dynamics_test.DynamicsTest.test_zeroinit_dec + (self) + test_zeroinit_dec + + self + self + + + + + + + + + + + def + def f110_gym.unittest.dynamics_test.DynamicsTest.test_zeroinit_acc + (self) + test_zeroinit_acc + + self + self + + + + + + + + + + + def + def f110_gym.unittest.dynamics_test.DynamicsTest.test_zeroinit_rollleft + (self) + test_zeroinit_rollleft + + self + self + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + f110_gym::unittest::dynamics_test::DynamicsTesta_max + f110_gym::unittest::dynamics_test::DynamicsTestC_Sf + f110_gym::unittest::dynamics_test::DynamicsTestC_Sr + f110_gym::unittest::dynamics_test::DynamicsTesth + f110_gym::unittest::dynamics_test::DynamicsTestI + f110_gym::unittest::dynamics_test::DynamicsTestlf + f110_gym::unittest::dynamics_test::DynamicsTestlr + f110_gym::unittest::dynamics_test::DynamicsTestm + f110_gym::unittest::dynamics_test::DynamicsTestmu + f110_gym::unittest::dynamics_test::DynamicsTests_max + f110_gym::unittest::dynamics_test::DynamicsTests_min + f110_gym::unittest::dynamics_test::DynamicsTestsetUp + f110_gym::unittest::dynamics_test::DynamicsTestsv_max + f110_gym::unittest::dynamics_test::DynamicsTestsv_min + f110_gym::unittest::dynamics_test::DynamicsTesttest_derivatives + f110_gym::unittest::dynamics_test::DynamicsTesttest_zeroinit_acc + f110_gym::unittest::dynamics_test::DynamicsTesttest_zeroinit_dec + f110_gym::unittest::dynamics_test::DynamicsTesttest_zeroinit_roll + f110_gym::unittest::dynamics_test::DynamicsTesttest_zeroinit_rollleft + f110_gym::unittest::dynamics_test::DynamicsTestv_max + f110_gym::unittest::dynamics_test::DynamicsTestv_min + f110_gym::unittest::dynamics_test::DynamicsTestv_switch + + + diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/classf110__gym_1_1unittest_1_1pyglet__test_1_1_camera.xml b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/classf110__gym_1_1unittest_1_1pyglet__test_1_1_camera.xml new file mode 100644 index 0000000..869ddbb --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/classf110__gym_1_1unittest_1_1pyglet__test_1_1_camera.xml @@ -0,0 +1,365 @@ + + + + f110_gym::unittest::pyglet_test::Camera + f110_gym.unittest.pyglet_test.CenteredCamera + + + + f110_gym.unittest.pyglet_test.Camera::_window + + _window + + + + + + + + + + + f110_gym.unittest.pyglet_test.Camera::_zoom + + _zoom + + + + + + + + + + + + + f110_gym.unittest.pyglet_test.Camera::scroll_speed + + scroll_speed + + + + + + + + + + + f110_gym.unittest.pyglet_test.Camera::max_zoom + + max_zoom + + + + + + + + + + + f110_gym.unittest.pyglet_test.Camera::min_zoom + + min_zoom + + + + + + + + + + + f110_gym.unittest.pyglet_test.Camera::offset_x + + offset_x + + + + + + + + + + + f110_gym.unittest.pyglet_test.Camera::offset_y + + offset_y + + + + + + + + + + + + def + def f110_gym.unittest.pyglet_test.Camera.__init__ + (self, pyglet.window.Window window, scroll_speed=1, min_zoom=1, max_zoom=4) + __init__ + + self + self + + + pyglet.window.Window + window + + + scroll_speed + scroll_speed + 1 + + + min_zoom + min_zoom + 1 + + + max_zoom + max_zoom + 4 + + + + + + + + + + + def + def f110_gym.unittest.pyglet_test.Camera.zoom + (self) + zoom + + self + self + + + + + + + + + + + def + def f110_gym.unittest.pyglet_test.Camera.zoom + (self, value) + zoom + + self + self + + + value + value + + + + +Here we set zoom, clamp value to minimum of min_zoom and max of max_zoom. + + + + + + + def + def f110_gym.unittest.pyglet_test.Camera.position + (self) + position + + self + self + + + + +Query the current offset. + + + + + + + def + def f110_gym.unittest.pyglet_test.Camera.position + (self, value) + position + + self + self + + + value + value + + + + +Set the scroll offset directly. + + + + + + + def + def f110_gym.unittest.pyglet_test.Camera.move + (self, axis_x, axis_y) + move + + self + self + + + axis_x + axis_x + + + axis_y + axis_y + + + + +Move axis direction with scroll_speed. + Example: Move left -> move(-1, 0) + + + + + + + def + def f110_gym.unittest.pyglet_test.Camera.begin + (self) + begin + begin + + self + self + + + + + + + + + + + def + def f110_gym.unittest.pyglet_test.Camera.end + (self) + end + end + + self + self + + + + + + + + + + + def + def f110_gym.unittest.pyglet_test.Camera.__enter__ + (self) + __enter__ + + self + self + + + + + + + + + + + def + def f110_gym.unittest.pyglet_test.Camera.__exit__ + (self, exception_type, exception_value, traceback) + __exit__ + + self + self + + + exception_type + exception_type + + + exception_value + exception_value + + + traceback + traceback + + + + + + + + + + + + + +A simple 2D camera that contains the speed and offset. + + + + + + + + + + + + + + + + f110_gym::unittest::pyglet_test::Camera__enter__ + f110_gym::unittest::pyglet_test::Camera__exit__ + f110_gym::unittest::pyglet_test::Camera__init__ + f110_gym::unittest::pyglet_test::Camera_window + f110_gym::unittest::pyglet_test::Camera_zoom + f110_gym::unittest::pyglet_test::Camerabegin + f110_gym::unittest::pyglet_test::Cameraend + f110_gym::unittest::pyglet_test::Cameramax_zoom + f110_gym::unittest::pyglet_test::Cameramin_zoom + f110_gym::unittest::pyglet_test::Cameramove + f110_gym::unittest::pyglet_test::Cameraoffset_x + f110_gym::unittest::pyglet_test::Cameraoffset_y + f110_gym::unittest::pyglet_test::Cameraposition + f110_gym::unittest::pyglet_test::Cameraposition + f110_gym::unittest::pyglet_test::Camerascroll_speed + f110_gym::unittest::pyglet_test::Camerazoom + f110_gym::unittest::pyglet_test::Camerazoom + + + diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/classf110__gym_1_1unittest_1_1pyglet__test_1_1_centered_camera.xml b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/classf110__gym_1_1unittest_1_1pyglet__test_1_1_centered_camera.xml new file mode 100644 index 0000000..3b444eb --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/classf110__gym_1_1unittest_1_1pyglet__test_1_1_centered_camera.xml @@ -0,0 +1,92 @@ + + + + f110_gym::unittest::pyglet_test::CenteredCamera + f110_gym.unittest.pyglet_test.Camera + + + def + def f110_gym.unittest.pyglet_test.CenteredCamera.begin + (self) + begin + begin + + self + self + + + + + + + + + + + def + def f110_gym.unittest.pyglet_test.CenteredCamera.end + (self) + end + end + + self + self + + + + + + + + + + + + + +A simple 2D camera class. 0, 0 will be the center of the screen, as opposed to the bottom left. + + + + + + + + + + + + + + + + + + + + + + + + + + + + f110_gym::unittest::pyglet_test::CenteredCamera__enter__ + f110_gym::unittest::pyglet_test::CenteredCamera__exit__ + f110_gym::unittest::pyglet_test::CenteredCamera__init__ + f110_gym::unittest::pyglet_test::CenteredCamerabegin + f110_gym::unittest::pyglet_test::CenteredCameraend + f110_gym::unittest::pyglet_test::CenteredCameramax_zoom + f110_gym::unittest::pyglet_test::CenteredCameramin_zoom + f110_gym::unittest::pyglet_test::CenteredCameramove + f110_gym::unittest::pyglet_test::CenteredCameraoffset_x + f110_gym::unittest::pyglet_test::CenteredCameraoffset_y + f110_gym::unittest::pyglet_test::CenteredCameraposition + f110_gym::unittest::pyglet_test::CenteredCameraposition + f110_gym::unittest::pyglet_test::CenteredCamerascroll_speed + f110_gym::unittest::pyglet_test::CenteredCamerazoom + f110_gym::unittest::pyglet_test::CenteredCamerazoom + + + diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/classf110__gym_1_1unittest_1_1pyglet__test__camera_1_1_app.xml b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/classf110__gym_1_1unittest_1_1pyglet__test__camera_1_1_app.xml new file mode 100644 index 0000000..ece91a9 --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/classf110__gym_1_1unittest_1_1pyglet__test__camera_1_1_app.xml @@ -0,0 +1,336 @@ + + + + f110_gym::unittest::pyglet_test_camera::App + Window + + + + f110_gym.unittest.pyglet_test_camera.App::left + + left + + + + + + + + + + + f110_gym.unittest.pyglet_test_camera.App::right + + right + + + + + + + + + + + f110_gym.unittest.pyglet_test_camera.App::bottom + + bottom + + + + + + + + + + + f110_gym.unittest.pyglet_test_camera.App::top + + top + + + + + + + + + + + f110_gym.unittest.pyglet_test_camera.App::zoom_level + + zoom_level + + + + + + + + + + + f110_gym.unittest.pyglet_test_camera.App::zoomed_width + + zoomed_width + + + + + + + + + + + f110_gym.unittest.pyglet_test_camera.App::zoomed_height + + zoomed_height + + + + + + + + + + + + def + def f110_gym.unittest.pyglet_test_camera.App.__init__ + (self, width, height, *args, **kwargs) + __init__ + + self + self + + + width + width + + + height + height + + + * + args + + + ** + kwargs + + + + + + + + + + + def + def f110_gym.unittest.pyglet_test_camera.App.init_gl + (self, width, height) + init_gl + + self + self + + + width + width + + + height + height + + + + + + + + + + + def + def f110_gym.unittest.pyglet_test_camera.App.on_resize + (self, width, height) + on_resize + + self + self + + + width + width + + + height + height + + + + + + + + + + + def + def f110_gym.unittest.pyglet_test_camera.App.on_mouse_drag + (self, x, y, dx, dy, buttons, modifiers) + on_mouse_drag + + self + self + + + x + x + + + y + y + + + dx + dx + + + dy + dy + + + buttons + buttons + + + modifiers + modifiers + + + + + + + + + + + def + def f110_gym.unittest.pyglet_test_camera.App.on_mouse_scroll + (self, x, y, dx, dy) + on_mouse_scroll + + self + self + + + x + x + + + y + y + + + dx + dx + + + dy + dy + + + + + + + + + + + def + def f110_gym.unittest.pyglet_test_camera.App.on_draw + (self) + on_draw + + self + self + + + + + + + + + + + def + def f110_gym.unittest.pyglet_test_camera.App.run + (self) + run + + self + self + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + f110_gym::unittest::pyglet_test_camera::App__init__ + f110_gym::unittest::pyglet_test_camera::Appbottom + f110_gym::unittest::pyglet_test_camera::Appinit_gl + f110_gym::unittest::pyglet_test_camera::Appleft + f110_gym::unittest::pyglet_test_camera::Appon_draw + f110_gym::unittest::pyglet_test_camera::Appon_mouse_drag + f110_gym::unittest::pyglet_test_camera::Appon_mouse_scroll + f110_gym::unittest::pyglet_test_camera::Appon_resize + f110_gym::unittest::pyglet_test_camera::Appright + f110_gym::unittest::pyglet_test_camera::Apprun + f110_gym::unittest::pyglet_test_camera::Apptop + f110_gym::unittest::pyglet_test_camera::Appzoom_level + f110_gym::unittest::pyglet_test_camera::Appzoomed_height + f110_gym::unittest::pyglet_test_camera::Appzoomed_width + + + diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/classf110__gym_1_1unittest_1_1scan__sim_1_1_scan_simulator2_d.xml b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/classf110__gym_1_1unittest_1_1scan__sim_1_1_scan_simulator2_d.xml new file mode 100644 index 0000000..d5de811 --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/classf110__gym_1_1unittest_1_1scan__sim_1_1_scan_simulator2_d.xml @@ -0,0 +1,482 @@ + + + + f110_gym::unittest::scan_sim::ScanSimulator2D + object + + + + f110_gym.unittest.scan_sim.ScanSimulator2D::num_beams + + num_beams + + + + + + + + + + + f110_gym.unittest.scan_sim.ScanSimulator2D::fov + + fov + + + + + + + + + + + f110_gym.unittest.scan_sim.ScanSimulator2D::std_dev + + std_dev + + + + + + + + + + + f110_gym.unittest.scan_sim.ScanSimulator2D::eps + + eps + + + + + + + + + + + f110_gym.unittest.scan_sim.ScanSimulator2D::theta_dis + + theta_dis + + + + + + + + + + + f110_gym.unittest.scan_sim.ScanSimulator2D::max_range + + max_range + + + + + + + + + + + f110_gym.unittest.scan_sim.ScanSimulator2D::angle_increment + + angle_increment + + + + + + + + + + + f110_gym.unittest.scan_sim.ScanSimulator2D::theta_index_increment + + theta_index_increment + + + + + + + + + + + f110_gym.unittest.scan_sim.ScanSimulator2D::orig_c + + orig_c + + + + + + + + + + + f110_gym.unittest.scan_sim.ScanSimulator2D::orig_s + + orig_s + + + + + + + + + + + f110_gym.unittest.scan_sim.ScanSimulator2D::orig_x + + orig_x + + + + + + + + + + + f110_gym.unittest.scan_sim.ScanSimulator2D::orig_y + + orig_y + + + + + + + + + + + f110_gym.unittest.scan_sim.ScanSimulator2D::map_height + + map_height + + + + + + + + + + + f110_gym.unittest.scan_sim.ScanSimulator2D::map_width + + map_width + + + + + + + + + + + f110_gym.unittest.scan_sim.ScanSimulator2D::map_resolution + + map_resolution + + + + + + + + + + + f110_gym.unittest.scan_sim.ScanSimulator2D::dt + + dt + + + + + + + + + + + f110_gym.unittest.scan_sim.ScanSimulator2D::rng + + rng + + + + + + + + + + + f110_gym.unittest.scan_sim.ScanSimulator2D::sines + + sines + + + + + + + + + + + f110_gym.unittest.scan_sim.ScanSimulator2D::cosines + + cosines + + + + + + + + + + + f110_gym.unittest.scan_sim.ScanSimulator2D::map_img + + map_img + + + + + + + + + + + f110_gym.unittest.scan_sim.ScanSimulator2D::origin + + origin + + + + + + + + + + + + def + def f110_gym.unittest.scan_sim.ScanSimulator2D.__init__ + (self, num_beams, fov, std_dev=0.01, eps=0.0001, theta_dis=2000, max_range=30.0, seed=123) + __init__ + + self + self + + + num_beams + num_beams + + + fov + fov + + + std_dev + std_dev + 0.01 + + + eps + eps + 0.0001 + + + theta_dis + theta_dis + 2000 + + + max_range + max_range + 30.0 + + + seed + seed + 123 + + + + + + + + + + + def + def f110_gym.unittest.scan_sim.ScanSimulator2D.set_map + (self, map_path, map_ext) + set_map + + self + self + + + map_path + map_path + + + map_ext + map_ext + + + + +Set the bitmap of the scan simulator by path + + Args: +map_path (str): path to the map yaml file +map_ext (str): extension (image type) of the map image + + Returns: +flag (bool): if image reading and loading is successful + + + + + + + + def + def f110_gym.unittest.scan_sim.ScanSimulator2D.scan + (self, pose) + scan + + self + self + + + pose + pose + + + + +Perform simulated 2D scan by pose on the given map + + Args: +pose (numpy.ndarray (3, )): pose of the scan frame (x, y, theta) + + Returns: +scan (numpy.ndarray (n, )): data array of the laserscan, n=num_beams + + Raises: +ValueError: when scan is called before a map is set + + + + + + + + def + def f110_gym.unittest.scan_sim.ScanSimulator2D.get_increment + (self) + get_increment + + self + self + + + + + + + + + + + + + +2D LIDAR scan simulator class + +Init params: + num_beams (int): number of beams in the scan + fov (float): field of view of the laser scan + std_dev (float, default=0.01): standard deviation of the generated whitenoise in the scan + eps (float, default=0.0001): ray tracing iteration termination condition + theta_dis (int, default=2000): number of steps to discretize the angles between 0 and 2pi for look up + max_range (float, default=30.0): maximum range of the laser + seed (int, default=123): seed for random number generator for the whitenoise in scan + + + + + + + + + + + + + + + + + + + + + + + + + + + f110_gym::unittest::scan_sim::ScanSimulator2D__init__ + f110_gym::unittest::scan_sim::ScanSimulator2Dangle_increment + f110_gym::unittest::scan_sim::ScanSimulator2Dcosines + f110_gym::unittest::scan_sim::ScanSimulator2Ddt + f110_gym::unittest::scan_sim::ScanSimulator2Deps + f110_gym::unittest::scan_sim::ScanSimulator2Dfov + f110_gym::unittest::scan_sim::ScanSimulator2Dget_increment + f110_gym::unittest::scan_sim::ScanSimulator2Dmap_height + f110_gym::unittest::scan_sim::ScanSimulator2Dmap_img + f110_gym::unittest::scan_sim::ScanSimulator2Dmap_resolution + f110_gym::unittest::scan_sim::ScanSimulator2Dmap_width + f110_gym::unittest::scan_sim::ScanSimulator2Dmax_range + f110_gym::unittest::scan_sim::ScanSimulator2Dnum_beams + f110_gym::unittest::scan_sim::ScanSimulator2Dorig_c + f110_gym::unittest::scan_sim::ScanSimulator2Dorig_s + f110_gym::unittest::scan_sim::ScanSimulator2Dorig_x + f110_gym::unittest::scan_sim::ScanSimulator2Dorig_y + f110_gym::unittest::scan_sim::ScanSimulator2Dorigin + f110_gym::unittest::scan_sim::ScanSimulator2Drng + f110_gym::unittest::scan_sim::ScanSimulator2Dscan + f110_gym::unittest::scan_sim::ScanSimulator2Dset_map + f110_gym::unittest::scan_sim::ScanSimulator2Dsines + f110_gym::unittest::scan_sim::ScanSimulator2Dstd_dev + f110_gym::unittest::scan_sim::ScanSimulator2Dtheta_dis + f110_gym::unittest::scan_sim::ScanSimulator2Dtheta_index_increment + + + diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/classf110__gym_1_1unittest_1_1scan__sim_1_1_scan_tests.xml b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/classf110__gym_1_1unittest_1_1scan__sim_1_1_scan_tests.xml new file mode 100644 index 0000000..a64a111 --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/classf110__gym_1_1unittest_1_1scan__sim_1_1_scan_tests.xml @@ -0,0 +1,196 @@ + + + + f110_gym::unittest::scan_sim::ScanTests + TestCase + + + + f110_gym.unittest.scan_sim.ScanTests::num_beams + + num_beams + + + + + + + + + + + f110_gym.unittest.scan_sim.ScanTests::fov + + fov + + + + + + + + + + + f110_gym.unittest.scan_sim.ScanTests::num_test + + num_test + + + + + + + + + + + f110_gym.unittest.scan_sim.ScanTests::test_poses + + test_poses + + + + + + + + + + + f110_gym.unittest.scan_sim.ScanTests::berlin_scan + + berlin_scan + + + + + + + + + + + f110_gym.unittest.scan_sim.ScanTests::skirk_scan + + skirk_scan + + + + + + + + + + + + def + def f110_gym.unittest.scan_sim.ScanTests.setUp + (self) + setUp + + self + self + + + + + + + + + + + def + def f110_gym.unittest.scan_sim.ScanTests.test_map_berlin + (self) + test_map_berlin + + self + self + + + + + + + + + + + def + def f110_gym.unittest.scan_sim.ScanTests.test_map_skirk + (self) + test_map_skirk + + self + self + + + + + + + + + + + def + def f110_gym.unittest.scan_sim.ScanTests.test_fps + (self) + test_fps + + self + self + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + f110_gym::unittest::scan_sim::ScanTestsberlin_scan + f110_gym::unittest::scan_sim::ScanTestsfov + f110_gym::unittest::scan_sim::ScanTestsnum_beams + f110_gym::unittest::scan_sim::ScanTestsnum_test + f110_gym::unittest::scan_sim::ScanTestssetUp + f110_gym::unittest::scan_sim::ScanTestsskirk_scan + f110_gym::unittest::scan_sim::ScanTeststest_fps + f110_gym::unittest::scan_sim::ScanTeststest_map_berlin + f110_gym::unittest::scan_sim::ScanTeststest_map_skirk + f110_gym::unittest::scan_sim::ScanTeststest_poses + + + diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/collision__checks_8py.xml b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/collision__checks_8py.xml new file mode 100644 index 0000000..31b16b0 --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/collision__checks_8py.xml @@ -0,0 +1,311 @@ + + + + collision_checks.py + f110_gym::unittest::collision_checks::CollisionTests + f110_gym::unittest::collision_checks + + + + + +#MITLicense + +#Copyright(c)2020JosephAuckley,MatthewO'Kelly,AmanSinha,HongruiZheng + +#Permissionisherebygranted,freeofcharge,toanypersonobtainingacopy +#ofthissoftwareandassociateddocumentationfiles(the"Software"),todeal +#intheSoftwarewithoutrestriction,includingwithoutlimitationtherights +#touse,copy,modify,merge,publish,distribute,sublicense,and/orsell +#copiesoftheSoftware,andtopermitpersonstowhomtheSoftwareis +#furnishedtodoso,subjecttothefollowingconditions: + +#Theabovecopyrightnoticeandthispermissionnoticeshallbeincludedinall +#copiesorsubstantialportionsoftheSoftware. + +#THESOFTWAREISPROVIDED"ASIS",WITHOUTWARRANTYOFANYKIND,EXPRESSOR +#IMPLIED,INCLUDINGBUTNOTLIMITEDTOTHEWARRANTIESOFMERCHANTABILITY, +#FITNESSFORAPARTICULARPURPOSEANDNONINFRINGEMENT.INNOEVENTSHALLTHE +#AUTHORSORCOPYRIGHTHOLDERSBELIABLEFORANYCLAIM,DAMAGESOROTHER +#LIABILITY,WHETHERINANACTIONOFCONTRACT,TORTOROTHERWISE,ARISINGFROM, +#OUTOFORINCONNECTIONWITHTHESOFTWAREORTHEUSEOROTHERDEALINGSINTHE +#SOFTWARE. + + + +""" +PrototypeofUtilityfunctionsandGJKalgorithmforCollisionchecksbetweenvehicles +Originallyfromhttps://github.com/kroitor/gjk.c +Author:HongruiZheng +""" + +importnumpyasnp +fromnumbaimportnjit + +@njit(cache=True) +defperpendicular(pt): +""" +Returna2-vector'sperpendicularvector + +Args: +pt(np.ndarray,(2,)):inputvector + +Returns: +pt(np.ndarray,(2,)):perpendicularvector +""" +temp=pt[0] +pt[0]=pt[1] +pt[1]=-1*temp +returnpt + + +@njit(cache=True) +deftripleProduct(a,b,c): +""" +Returntripleproductofthreevectors + +Args: +a,b,c(np.ndarray,(2,)):inputvectors + +Returns: +(np.ndarray,(2,)):tripleproduct +""" +ac=a.dot(c) +bc=b.dot(c) +returnb*ac-a*bc + + +@njit(cache=True) +defavgPoint(vertices): +""" +Returntheaveragepointofmultiplevertices + +Args: +vertices(np.ndarray,(n,2)):theverticeswewanttofindavgon + +Returns: +avg(np.ndarray,(2,)):averagepointofthevertices +""" +returnnp.sum(vertices,axis=0)/vertices.shape[0] + + +@njit(cache=True) +defindexOfFurthestPoint(vertices,d): +""" +Returntheindexofthevertexfurthestawayalongadirectioninthelistofvertices + +Args: +vertices(np.ndarray,(n,2)):theverticeswewanttofindavgon + +Returns: +idx(int):indexofthefurthestpoint +""" +returnnp.argmax(vertices.dot(d)) + + +@njit(cache=True) +defsupport(vertices1,vertices2,d): +""" +MinkowskisumsupportfunctionforGJK + +Args: +vertices1(np.ndarray,(n,2)):verticesofthefirstbody +vertices2(np.ndarray,(n,2)):verticesofthesecondbody +d(np.ndarray,(2,)):directiontofindthesupportalong + +Returns: +support(np.ndarray,(n,2)):Minkowskisum +""" +i=indexOfFurthestPoint(vertices1,d) +j=indexOfFurthestPoint(vertices2,-d) +returnvertices1[i]-vertices2[j] + + +@njit(cache=True) +defcollision(vertices1,vertices2): +""" +GJKtesttoseewhethertwobodiesoverlap + +Args: +vertices1(np.ndarray,(n,2)):verticesofthefirstbody +vertices2(np.ndarray,(n,2)):verticesofthesecondbody + +Returns: +overlap(boolean):Trueiftwobodiescollide +""" +index=0 +simplex=np.empty((3,2)) + +position1=avgPoint(vertices1) +position2=avgPoint(vertices2) + +d=position1-position2 + +ifd[0]==0andd[1]==0: +d[0]=1.0 + +a=support(vertices1,vertices2,d) +simplex[index,:]=a + +ifd.dot(a)<=0: +returnFalse + +d=-a + +iter_count=0 +whileiter_count<1e3: +a=support(vertices1,vertices2,d) +index+=1 +simplex[index,:]=a +ifd.dot(a)<=0: +returnFalse + +ao=-a + +ifindex<2: +b=simplex[0,:] +ab=b-a +d=tripleProduct(ab,ao,ab) +ifnp.linalg.norm(d)<1e-10: +d=perpendicular(ab) +continue + +b=simplex[1,:] +c=simplex[0,:] +ab=b-a +ac=c-a + +acperp=tripleProduct(ab,ac,ac) + +ifacperp.dot(ao)>=0: +d=acperp +else: +abperp=tripleProduct(ac,ab,ab) +ifabperp.dot(ao)<0: +returnTrue +simplex[0,:]=simplex[1,:] +d=abperp + +simplex[1,:]=simplex[2,:] +index-=1 + +iter_count+=1 +returnFalse + +""" +Utilityfunctionsforgettingverticesbyposeandshape +""" + +@njit(cache=True) +defget_trmtx(pose): +""" +Gettransformationmatrixofvehicleframe->globalframe + +Args: +pose(np.ndarray(3,)):currentposeofthevehicle + +return: +H(np.ndarray(4,4)):transformationmatrix +""" +x=pose[0] +y=pose[1] +th=pose[2] +cos=np.cos(th) +sin=np.sin(th) +H=np.array([[cos,-sin,0.,x],[sin,cos,0.,y],[0.,0.,1.,0.],[0.,0.,0.,1.]]) +returnH + +@njit(cache=True) +defget_vertices(pose,length,width): +""" +Utilityfunctiontoreturnverticesofthecarbodygivenposeandsize + +Args: +pose(np.ndarray,(3,)):currentworldcoordinateposeofthevehicle +length(float):carlength +width(float):carwidth + +Returns: +vertices(np.ndarray,(4,2)):cornerverticesofthevehiclebody +""" +H=get_trmtx(pose) +rl=H.dot(np.asarray([[-length/2],[width/2],[0.],[1.]])).flatten() +rr=H.dot(np.asarray([[-length/2],[-width/2],[0.],[1.]])).flatten() +fl=H.dot(np.asarray([[length/2],[width/2],[0.],[1.]])).flatten() +fr=H.dot(np.asarray([[length/2],[-width/2],[0.],[1.]])).flatten() +rl=rl/rl[3] +rr=rr/rr[3] +fl=fl/fl[3] +fr=fr/fr[3] +vertices=np.asarray([[rl[0],rl[1]],[rr[0],rr[1]],[fr[0],fr[1]],[fl[0],fl[1]]]) +returnvertices + + +""" +UnittestsforGJKcollisionchecks +Author:HongruiZheng +""" + +importtime +importunittest + +classCollisionTests(unittest.TestCase): +defsetUp(self): +#testparams +np.random.seed(1234) + +#Collisioncheckbody +self.vertices1=np.asarray([[4,11.],[5,5],[9,9],[10,10]]) + +#carsize +self.length=0.32 +self.width=0.22 + +deftest_get_vert(self): +test_pose=np.array([2.3,6.7,0.8]) +vertices=get_vertices(test_pose,self.length,self.width) +rect=np.vstack((vertices,vertices[0,:])) +importmatplotlib.pyplotasplt +plt.scatter(test_pose[0],test_pose[1],c='red') +plt.plot(rect[:,0],rect[:,1]) +plt.xlim([1,4]) +plt.ylim([5,8]) +plt.axes().set_aspect('equal') +plt.show() +self.assertTrue(vertices.shape==(4,2)) + +deftest_get_vert_fps(self): +test_pose=np.array([2.3,6.7,0.8]) +start=time.time() +for_inrange(1000): +vertices=get_vertices(test_pose,self.length,self.width) +elapsed=time.time()-start +fps=1000/elapsed +print('getverticesfps:',fps) +self.assertTrue(fps>500) + +deftest_random_collision(self): +#perturbthebodybyasmallamountandmakesureitallcollideswiththeoriginalbody +for_inrange(1000): +a=self.vertices1+np.random.normal(size=(self.vertices1.shape))/100. +b=self.vertices1+np.random.normal(size=(self.vertices1.shape))/100. +self.assertTrue(collision(a,b)) + +deftest_fps(self): +#alsoperturbthebodybutmainlywanttotestGJKspeed +start=time.time() +for_inrange(1000): +a=self.vertices1+np.random.normal(size=(self.vertices1.shape))/100. +b=self.vertices1+np.random.normal(size=(self.vertices1.shape))/100. +collision(a,b) +elapsed=time.time()-start +fps=1000/elapsed +print('gjkfps:',fps) +self.assertTrue(fps>500) + +if__name__=='__main__': +unittest.main() + + + + diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/collision__models_8py.xml b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/collision__models_8py.xml new file mode 100644 index 0000000..1c22cba --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/collision__models_8py.xml @@ -0,0 +1,354 @@ + + + + collision_models.py + f110_gym::envs::collision_models::CollisionTests + f110_gym::envs::collision_models + + + + + +#MITLicense + +#Copyright(c)2020JosephAuckley,MatthewO'Kelly,AmanSinha,HongruiZheng + +#Permissionisherebygranted,freeofcharge,toanypersonobtainingacopy +#ofthissoftwareandassociateddocumentationfiles(the"Software"),todeal +#intheSoftwarewithoutrestriction,includingwithoutlimitationtherights +#touse,copy,modify,merge,publish,distribute,sublicense,and/orsell +#copiesoftheSoftware,andtopermitpersonstowhomtheSoftwareis +#furnishedtodoso,subjecttothefollowingconditions: + +#Theabovecopyrightnoticeandthispermissionnoticeshallbeincludedinall +#copiesorsubstantialportionsoftheSoftware. + +#THESOFTWAREISPROVIDED"ASIS",WITHOUTWARRANTYOFANYKIND,EXPRESSOR +#IMPLIED,INCLUDINGBUTNOTLIMITEDTOTHEWARRANTIESOFMERCHANTABILITY, +#FITNESSFORAPARTICULARPURPOSEANDNONINFRINGEMENT.INNOEVENTSHALLTHE +#AUTHORSORCOPYRIGHTHOLDERSBELIABLEFORANYCLAIM,DAMAGESOROTHER +#LIABILITY,WHETHERINANACTIONOFCONTRACT,TORTOROTHERWISE,ARISINGFROM, +#OUTOFORINCONNECTIONWITHTHESOFTWAREORTHEUSEOROTHERDEALINGSINTHE +#SOFTWARE. + + + +""" +PrototypeofUtilityfunctionsandGJKalgorithmforCollisionchecksbetweenvehicles +Originallyfromhttps://github.com/kroitor/gjk.c +Author:HongruiZheng +""" + +importnumpyasnp +fromnumbaimportnjit + +@njit(cache=True) +defperpendicular(pt): +""" +Returna2-vector'sperpendicularvector + +Args: +pt(np.ndarray,(2,)):inputvector + +Returns: +pt(np.ndarray,(2,)):perpendicularvector +""" +temp=pt[0] +pt[0]=pt[1] +pt[1]=-1*temp +returnpt + + +@njit(cache=True) +deftripleProduct(a,b,c): +""" +Returntripleproductofthreevectors + +Args: +a,b,c(np.ndarray,(2,)):inputvectors + +Returns: +(np.ndarray,(2,)):tripleproduct +""" +ac=a.dot(c) +bc=b.dot(c) +returnb*ac-a*bc + + +@njit(cache=True) +defavgPoint(vertices): +""" +Returntheaveragepointofmultiplevertices + +Args: +vertices(np.ndarray,(n,2)):theverticeswewanttofindavgon + +Returns: +avg(np.ndarray,(2,)):averagepointofthevertices +""" +returnnp.sum(vertices,axis=0)/vertices.shape[0] + + +@njit(cache=True) +defindexOfFurthestPoint(vertices,d): +""" +Returntheindexofthevertexfurthestawayalongadirectioninthelistofvertices + +Args: +vertices(np.ndarray,(n,2)):theverticeswewanttofindavgon + +Returns: +idx(int):indexofthefurthestpoint +""" +returnnp.argmax(vertices.dot(d)) + + +@njit(cache=True) +defsupport(vertices1,vertices2,d): +""" +MinkowskisumsupportfunctionforGJK + +Args: +vertices1(np.ndarray,(n,2)):verticesofthefirstbody +vertices2(np.ndarray,(n,2)):verticesofthesecondbody +d(np.ndarray,(2,)):directiontofindthesupportalong + +Returns: +support(np.ndarray,(n,2)):Minkowskisum +""" +i=indexOfFurthestPoint(vertices1,d) +j=indexOfFurthestPoint(vertices2,-d) +returnvertices1[i]-vertices2[j] + + +@njit(cache=True) +defcollision(vertices1,vertices2): +""" +GJKtesttoseewhethertwobodiesoverlap + +Args: +vertices1(np.ndarray,(n,2)):verticesofthefirstbody +vertices2(np.ndarray,(n,2)):verticesofthesecondbody + +Returns: +overlap(boolean):Trueiftwobodiescollide +""" +index=0 +simplex=np.empty((3,2)) + +position1=avgPoint(vertices1) +position2=avgPoint(vertices2) + +d=position1-position2 + +ifd[0]==0andd[1]==0: +d[0]=1.0 + +a=support(vertices1,vertices2,d) +simplex[index,:]=a + +ifd.dot(a)<=0: +returnFalse + +d=-a + +iter_count=0 +whileiter_count<1e3: +a=support(vertices1,vertices2,d) +index+=1 +simplex[index,:]=a +ifd.dot(a)<=0: +returnFalse + +ao=-a + +ifindex<2: +b=simplex[0,:] +ab=b-a +d=tripleProduct(ab,ao,ab) +ifnp.linalg.norm(d)<1e-10: +d=perpendicular(ab) +continue + +b=simplex[1,:] +c=simplex[0,:] +ab=b-a +ac=c-a + +acperp=tripleProduct(ab,ac,ac) + +ifacperp.dot(ao)>=0: +d=acperp +else: +abperp=tripleProduct(ac,ab,ab) +ifabperp.dot(ao)<0: +returnTrue +simplex[0,:]=simplex[1,:] +d=abperp + +simplex[1,:]=simplex[2,:] +index-=1 + +iter_count+=1 +returnFalse + +@njit(cache=True) +defcollision_multiple(vertices): +""" +Checkpair-wisecollisionsforallprovidedvertices + +Args: +vertices(np.ndarray(num_bodies,4,2)):allverticesforcheckingpair-wisecollision + +Returns: +collisions(np.ndarray(num_vertices,)):whethereachbodyisincollision +collision_idx(np.ndarray(num_vertices,)):whichindexofotherbodyiseachindex'sbodyisincollision,-1ifnotincollision +""" +collisions=np.zeros((vertices.shape[0],)) +collision_idx=-1*np.ones((vertices.shape[0],)) +#loopingoverallpairs +foriinrange(vertices.shape[0]-1): +forjinrange(i+1,vertices.shape[0]): +#checkcollision +vi=np.ascontiguousarray(vertices[i,:,:]) +vj=np.ascontiguousarray(vertices[j,:,:]) +ij_collision=collision(vi,vj) +#fillinresults +ifij_collision: +collisions[i]=1. +collisions[j]=1. +collision_idx[i]=j +collision_idx[j]=i + +returncollisions,collision_idx + +""" +Utilityfunctionsforgettingverticesbyposeandshape +""" + +@njit(cache=True) +defget_trmtx(pose): +""" +Gettransformationmatrixofvehicleframe->globalframe + +Args: +pose(np.ndarray(3,)):currentposeofthevehicle + +return: +H(np.ndarray(4,4)):transformationmatrix +""" +x=pose[0] +y=pose[1] +th=pose[2] +cos=np.cos(th) +sin=np.sin(th) +H=np.array([[cos,-sin,0.,x],[sin,cos,0.,y],[0.,0.,1.,0.],[0.,0.,0.,1.]]) +returnH + +@njit(cache=True) +defget_vertices(pose,length,width): +""" +Utilityfunctiontoreturnverticesofthecarbodygivenposeandsize + +Args: +pose(np.ndarray,(3,)):currentworldcoordinateposeofthevehicle +length(float):carlength +width(float):carwidth + +Returns: +vertices(np.ndarray,(4,2)):cornerverticesofthevehiclebody +""" +H=get_trmtx(pose) +rl=H.dot(np.asarray([[-length/2],[width/2],[0.],[1.]])).flatten() +rr=H.dot(np.asarray([[-length/2],[-width/2],[0.],[1.]])).flatten() +fl=H.dot(np.asarray([[length/2],[width/2],[0.],[1.]])).flatten() +fr=H.dot(np.asarray([[length/2],[-width/2],[0.],[1.]])).flatten() +rl=rl/rl[3] +rr=rr/rr[3] +fl=fl/fl[3] +fr=fr/fr[3] +vertices=np.asarray([[rl[0],rl[1]],[rr[0],rr[1]],[fr[0],fr[1]],[fl[0],fl[1]]]) +returnvertices + + +""" +UnittestsforGJKcollisionchecks +Author:HongruiZheng +""" + +importtime +importunittest + +classCollisionTests(unittest.TestCase): +defsetUp(self): +#testparams +np.random.seed(1234) + +#Collisioncheckbody +self.vertices1=np.asarray([[4,11.],[5,5],[9,9],[10,10]]) + +#carsize +self.length=0.32 +self.width=0.22 + +deftest_get_vert(self): +test_pose=np.array([2.3,6.7,0.8]) +vertices=get_vertices(test_pose,self.length,self.width) +rect=np.vstack((vertices,vertices[0,:])) +importmatplotlib.pyplotasplt +plt.scatter(test_pose[0],test_pose[1],c='red') +plt.plot(rect[:,0],rect[:,1]) +plt.xlim([1,4]) +plt.ylim([5,8]) +plt.axes().set_aspect('equal') +plt.show() +self.assertTrue(vertices.shape==(4,2)) + +deftest_get_vert_fps(self): +test_pose=np.array([2.3,6.7,0.8]) +start=time.time() +for_inrange(1000): +vertices=get_vertices(test_pose,self.length,self.width) +elapsed=time.time()-start +fps=1000/elapsed +print('getverticesfps:',fps) +self.assertTrue(fps>500) + +deftest_random_collision(self): +#perturbthebodybyasmallamountandmakesureitallcollideswiththeoriginalbody +for_inrange(1000): +a=self.vertices1+np.random.normal(size=(self.vertices1.shape))/100. +b=self.vertices1+np.random.normal(size=(self.vertices1.shape))/100. +self.assertTrue(collision(a,b)) + +deftest_multiple_collisions(self): +a=self.vertices1+np.random.normal(size=(self.vertices1.shape))/100. +b=self.vertices1+np.random.normal(size=(self.vertices1.shape))/100. +c=self.vertices1+np.random.normal(size=(self.vertices1.shape))/100. +d=self.vertices1+np.random.normal(size=(self.vertices1.shape))/100. +e=self.vertices1+np.random.normal(size=(self.vertices1.shape))/100. +f=self.vertices1+np.random.normal(size=(self.vertices1.shape))/100. +g=self.vertices1+10. +allv=np.stack((a,b,c,d,e,f,g)) +collisions,collision_idx=collision_multiple(allv) +self.assertTrue(np.all(collisions==np.array([1.,1.,1.,1.,1.,1.,0.]))) +self.assertTrue(np.all(collision_idx==np.array([5.,5.,5.,5.,5.,4.,-1.]))) + +deftest_fps(self): +#alsoperturbthebodybutmainlywanttotestGJKspeed +start=time.time() +for_inrange(1000): +a=self.vertices1+np.random.normal(size=(self.vertices1.shape))/100. +b=self.vertices1+np.random.normal(size=(self.vertices1.shape))/100. +collision(a,b) +elapsed=time.time()-start +fps=1000/elapsed +print('gjkfps:',fps) +self.assertTrue(fps>500) + +if__name__=='__main__': +unittest.main() + + + + diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/combine.xslt b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/combine.xslt new file mode 100644 index 0000000..f0ee1fd --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/combine.xslt @@ -0,0 +1,15 @@ + + + + + + + + + + + + diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/compound.xsd b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/compound.xsd new file mode 100644 index 0000000..083df15 --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/compound.xsd @@ -0,0 +1,1187 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 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Packages/f1tenth_sim/f1tenth_gym/docs/xml/dir_0d9aa0052a6017cb7aea189bf393af42.xml b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/dir_0d9aa0052a6017cb7aea189bf393af42.xml new file mode 100644 index 0000000..b4ec9ec --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/dir_0d9aa0052a6017cb7aea189bf393af42.xml @@ -0,0 +1,14 @@ + + + + /home/billyzheng/f1tenth_gym/gym/f110_gym + /home/billyzheng/f1tenth_gym/gym/f110_gym/envs + /home/billyzheng/f1tenth_gym/gym/f110_gym/unittest + __init__.py + + + + + + + diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/dir_70fc25f479e8e19f7e6bd12b95eca2dc.xml b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/dir_70fc25f479e8e19f7e6bd12b95eca2dc.xml new file mode 100644 index 0000000..a3bb575 --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/dir_70fc25f479e8e19f7e6bd12b95eca2dc.xml @@ -0,0 +1,19 @@ + + + + /home/billyzheng/f1tenth_gym/gym/f110_gym/unittest + __init__.py + collision_checks.py + dynamics_test.py + legacy_scan_gen.py + pyglet_test.py + pyglet_test_camera.py + random_trackgen.py + scan_sim.py + + + + + + + diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/dir_87aab0849a7ff80b67f27d7f0ecafd88.xml b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/dir_87aab0849a7ff80b67f27d7f0ecafd88.xml new file mode 100644 index 0000000..c0ca9f1 --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/dir_87aab0849a7ff80b67f27d7f0ecafd88.xml @@ -0,0 +1,19 @@ + + + + /home/billyzheng/f1tenth_gym/gym/f110_gym/envs + __init__.py + base_classes.py + collision_models.py + dynamic_models.py + f110_env.py + f110_env_backup.py + laser_models.py + rendering.py + + + + + + + diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/dir_cc06cd2fc16f827f09405fcedd02c7bb.xml b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/dir_cc06cd2fc16f827f09405fcedd02c7bb.xml new file mode 100644 index 0000000..a8a7fb0 --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/dir_cc06cd2fc16f827f09405fcedd02c7bb.xml @@ -0,0 +1,12 @@ + + + + /home/billyzheng/f1tenth_gym/gym + /home/billyzheng/f1tenth_gym/gym/f110_gym + + + + + + + diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/dynamic__models_8py.xml b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/dynamic__models_8py.xml new file mode 100644 index 0000000..e0ddc6d --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/dynamic__models_8py.xml @@ -0,0 +1,441 @@ + + + + dynamic_models.py + f110_gym::envs::dynamic_models::DynamicsTest + f110_gym::envs::dynamic_models + + + + + +#Copyright2020TechnicalUniversityofMunich,ProfessorshipofCyber-PhysicalSystems,MatthewO'Kelly,AmanSinha,HongruiZheng + +#Redistributionanduseinsourceandbinaryforms,withorwithoutmodification,arepermittedprovidedthatthefollowingconditionsaremet: + +#1.Redistributionsofsourcecodemustretaintheabovecopyrightnotice,thislistofconditionsandthefollowingdisclaimer. + +#2.Redistributionsinbinaryformmustreproducetheabovecopyrightnotice,thislistofconditionsandthefollowingdisclaimerinthedocumentationand/orothermaterialsprovidedwiththedistribution. + +#3.Neitherthenameofthecopyrightholdernorthenamesofitscontributorsmaybeusedtoendorseorpromoteproductsderivedfromthissoftwarewithoutspecificpriorwrittenpermission. + +#THISSOFTWAREISPROVIDEDBYTHECOPYRIGHTHOLDERSANDCONTRIBUTORS"ASIS"ANDANYEXPRESSORIMPLIEDWARRANTIES,INCLUDING,BUTNOTLIMITEDTO,THEIMPLIEDWARRANTIESOFMERCHANTABILITYANDFITNESSFORAPARTICULARPURPOSEAREDISCLAIMED.INNOEVENTSHALLTHECOPYRIGHTHOLDERORCONTRIBUTORSBELIABLEFORANYDIRECT,INDIRECT,INCIDENTAL,SPECIAL,EXEMPLARY,ORCONSEQUENTIALDAMAGES(INCLUDING,BUTNOTLIMITEDTO,PROCUREMENTOFSUBSTITUTEGOODSORSERVICES;LOSSOFUSE,DATA,ORPROFITS;ORBUSINESSINTERRUPTION)HOWEVERCAUSEDANDONANYTHEORYOFLIABILITY,WHETHERINCONTRACT,STRICTLIABILITY,ORTORT(INCLUDINGNEGLIGENCEOROTHERWISE)ARISINGINANYWAYOUTOFTHEUSEOFTHISSOFTWARE,EVENIFADVISEDOFTHEPOSSIBILITYOFSUCHDAMAGE. + + + +""" +Prototypeofvehicledynamicsfunctionsandclassesforsimulating2DSingle +Trackdynamicmodel +Followingtheimplementationofcommanroad'sSingleTrackDynamicsmodel +Originalimplementation:https://gitlab.lrz.de/tum-cps/commonroad-vehicle-models/ +Author:HongruiZheng +""" + +importnumpyasnp +fromnumbaimportnjit + +importunittest +importtime + +@njit(cache=True) +defaccl_constraints(vel,accl,v_switch,a_max,v_min,v_max): +""" +Accelerationconstraints,adjuststheaccelerationbasedonconstraints + +Args: +vel(float):currentvelocityofthevehicle +accl(float):unconstraintdesiredacceleration +v_switch(float):switchingvelocity(velocityatwhichtheaccelerationisnolongerabletocreatewheelspin) +a_max(float):maximumallowedacceleration +v_min(float):minimumallowedvelocity +v_max(float):maximumallowedvelocity + +Returns: +accl(float):adjustedacceleration +""" + +#positiveaccllimit +ifvel>v_switch: +pos_limit=a_max*v_switch/vel +else: +pos_limit=a_max + +#accllimitreached? +if(vel<=v_minandaccl<=0)or(vel>=v_maxandaccl>=0): +accl=0. +elifaccl<=-a_max: +accl=-a_max +elifaccl>=pos_limit: +accl=pos_limit + +returnaccl + +@njit(cache=True) +defsteering_constraint(steering_angle,steering_velocity,s_min,s_max,sv_min,sv_max): +""" +Steeringconstraints,adjuststhesteeringvelocitybasedonconstraints + +Args: +steering_angle(float):currentsteering_angleofthevehicle +steering_velocity(float):unconstraintdesiredsteering_velocity +s_min(float):minimumsteeringangle +s_max(float):maximumsteeringangle +sv_min(float):minimumsteeringvelocity +sv_max(float):maximumsteeringvelocity + +Returns: +steering_velocity(float):adjustedsteeringvelocity +""" + +#constraintsteeringvelocity +if(steering_angle<=s_minandsteering_velocity<=0)or(steering_angle>=s_maxandsteering_velocity>=0): +steering_velocity=0. +elifsteering_velocity<=sv_min: +steering_velocity=sv_min +elifsteering_velocity>=sv_max: +steering_velocity=sv_max + +returnsteering_velocity + + +@njit(cache=True) +defvehicle_dynamics_ks(x,u_init,mu,C_Sf,C_Sr,lf,lr,h,m,I,s_min,s_max,sv_min,sv_max,v_switch,a_max,v_min,v_max): +""" +SingleTrackKinematicVehicleDynamics. + +Args: +x(numpy.ndarray(3,)):vehiclestatevector(x1,x2,x3,x4,x5) +x1:xpositioninglobalcoordinates +x2:ypositioninglobalcoordinates +x3:steeringangleoffrontwheels +x4:velocityinxdirection +x5:yawangle +u(numpy.ndarray(2,)):controlinputvector(u1,u2) +u1:steeringanglevelocityoffrontwheels +u2:longitudinalacceleration + +Returns: +f(numpy.ndarray):righthandsideofdifferentialequations +""" +#wheelbase +lwb=lf+lr + +#constraints +u=np.array([steering_constraint(x[2],u_init[0],s_min,s_max,sv_min,sv_max),accl_constraints(x[3],u_init[1],v_switch,a_max,v_min,v_max)]) + +#systemdynamics +f=np.array([x[3]*np.cos(x[4]), +x[3]*np.sin(x[4]), +u[0], +u[1], +x[3]/lwb*np.tan(x[2])]) +returnf + +@njit(cache=True) +defvehicle_dynamics_st(x,u_init,mu,C_Sf,C_Sr,lf,lr,h,m,I,s_min,s_max,sv_min,sv_max,v_switch,a_max,v_min,v_max): +""" +SingleTrackDynamicVehicleDynamics. + +Args: +x(numpy.ndarray(3,)):vehiclestatevector(x1,x2,x3,x4,x5,x6,x7) +x1:xpositioninglobalcoordinates +x2:ypositioninglobalcoordinates +x3:steeringangleoffrontwheels +x4:velocityinxdirection +x5:yawangle +x6:yawrate +x7:slipangleatvehiclecenter +u(numpy.ndarray(2,)):controlinputvector(u1,u2) +u1:steeringanglevelocityoffrontwheels +u2:longitudinalacceleration + +Returns: +f(numpy.ndarray):righthandsideofdifferentialequations +""" + +#gravityconstantm/s^2 +g=9.81 + +#constraints +u=np.array([steering_constraint(x[2],u_init[0],s_min,s_max,sv_min,sv_max),accl_constraints(x[3],u_init[1],v_switch,a_max,v_min,v_max)]) + +#switchtokinematicmodelforsmallvelocities +ifabs(x[3])<0.1: +#wheelbase +lwb=lf+lr + +#systemdynamics +x_ks=x[0:5] +f_ks=vehicle_dynamics_ks(x_ks,u,mu,C_Sf,C_Sr,lf,lr,h,m,I,s_min,s_max,sv_min,sv_max,v_switch,a_max,v_min,v_max) +f=np.hstack((f_ks,np.array([u[1]/lwb*np.tan(x[2])+x[3]/(lwb*np.cos(x[2])**2)*u[0], +0]))) + +else: +#systemdynamics +f=np.array([x[3]*np.cos(x[6]+x[4]), +x[3]*np.sin(x[6]+x[4]), +u[0], +u[1], +x[5], +-mu*m/(x[3]*I*(lr+lf))*(lf**2*C_Sf*(g*lr-u[1]*h)+lr**2*C_Sr*(g*lf+u[1]*h))*x[5]\ ++mu*m/(I*(lr+lf))*(lr*C_Sr*(g*lf+u[1]*h)-lf*C_Sf*(g*lr-u[1]*h))*x[6]\ ++mu*m/(I*(lr+lf))*lf*C_Sf*(g*lr-u[1]*h)*x[2], +(mu/(x[3]**2*(lr+lf))*(C_Sr*(g*lf+u[1]*h)*lr-C_Sf*(g*lr-u[1]*h)*lf)-1)*x[5]\ +-mu/(x[3]*(lr+lf))*(C_Sr*(g*lf+u[1]*h)+C_Sf*(g*lr-u[1]*h))*x[6]\ ++mu/(x[3]*(lr+lf))*(C_Sf*(g*lr-u[1]*h))*x[2]]) + +returnf + +@njit(cache=True) +defpid(speed,steer,current_speed,current_steer,max_sv,max_a,max_v,min_v): +""" +Basiccontrollerforspeed/steer->accl./steervel. + +Args: +speed(float):desiredinputspeed +steer(float):desiredinputsteeringangle + +Returns: +accl(float):desiredinputacceleration +sv(float):desiredinputsteeringvelocity +""" +#steering +steer_diff=steer-current_steer +ifnp.fabs(steer_diff)>1e-4: +sv=(steer_diff/np.fabs(steer_diff))*max_sv +else: +sv=0.0 + +#accl +vel_diff=speed-current_speed +#currentlyforward +ifcurrent_speed>0.: +if(vel_diff>0): +#accelerate +kp=2.0*max_a/max_v +accl=kp*vel_diff +else: +#braking +kp=2.0*max_a/(-min_v) +accl=kp*vel_diff +#currentlybackwards +else: +if(vel_diff>0): +#braking +kp=2.0*max_a/max_v +accl=kp*vel_diff +else: +#accelerating +kp=2.0*max_a/(-min_v) +accl=kp*vel_diff + +returnaccl,sv + +deffunc_KS(x,t,u,mu,C_Sf,C_Sr,lf,lr,h,m,I,s_min,s_max,sv_min,sv_max,v_switch,a_max,v_min,v_max): +f=vehicle_dynamics_ks(x,u,mu,C_Sf,C_Sr,lf,lr,h,m,I,s_min,s_max,sv_min,sv_max,v_switch,a_max,v_min,v_max) +returnf + +deffunc_ST(x,t,u,mu,C_Sf,C_Sr,lf,lr,h,m,I,s_min,s_max,sv_min,sv_max,v_switch,a_max,v_min,v_max): +f=vehicle_dynamics_st(x,u,mu,C_Sf,C_Sr,lf,lr,h,m,I,s_min,s_max,sv_min,sv_max,v_switch,a_max,v_min,v_max) +returnf + +classDynamicsTest(unittest.TestCase): +defsetUp(self): +#testparams +self.mu=1.0489 +self.C_Sf=21.92/1.0489 +self.C_Sr=21.92/1.0489 +self.lf=0.3048*3.793293 +self.lr=0.3048*4.667707 +self.h=0.3048*2.01355 +self.m=4.4482216152605/0.3048*74.91452 +self.I=4.4482216152605*0.3048*1321.416 + +#steeringconstraints +self.s_min=-1.066#minimumsteeringangle[rad] +self.s_max=1.066#maximumsteeringangle[rad] +self.sv_min=-0.4#minimumsteeringvelocity[rad/s] +self.sv_max=0.4#maximumsteeringvelocity[rad/s] + +#longitudinalconstraints +self.v_min=-13.6#minimumvelocity[m/s] +self.v_max=50.8#minimumvelocity[m/s] +self.v_switch=7.319#switchingvelocity[m/s] +self.a_max=11.5#maximumabsoluteacceleration[m/s^2] + +deftest_derivatives(self): +#groundtruthderivatives +f_ks_gt=[16.3475935934250209,0.4819314886013121,0.1500000000000000,5.1464424102339752,0.2401426578627629] +f_st_gt=[15.7213512030862397,0.0925527979719355,0.1500000000000000,5.3536773276413925,0.0529001056654038,0.6435589397748606,0.0313297971641291] + +#systemdynamics +g=9.81 +x_ks=np.array([3.9579422297936526,0.0391650102771405,0.0378491427211811,16.3546957860883566,0.0294717351052816]) +x_st=np.array([2.0233348142065677,0.0041907137716636,0.0197545248559617,15.7216236334290116,0.0025857914776859,0.0529001056654038,0.0033012170610298]) +v_delta=0.15 +acc=0.63*g +u=np.array([v_delta,acc]) + +f_ks=vehicle_dynamics_ks(x_ks,u,self.mu,self.C_Sf,self.C_Sr,self.lf,self.lr,self.h,self.m,self.I,self.s_min,self.s_max,self.sv_min,self.sv_max,self.v_switch,self.a_max,self.v_min,self.v_max) +f_st=vehicle_dynamics_st(x_st,u,self.mu,self.C_Sf,self.C_Sr,self.lf,self.lr,self.h,self.m,self.I,self.s_min,self.s_max,self.sv_min,self.sv_max,self.v_switch,self.a_max,self.v_min,self.v_max) + +start=time.time() +foriinrange(10000): +f_st=vehicle_dynamics_st(x_st,u,self.mu,self.C_Sf,self.C_Sr,self.lf,self.lr,self.h,self.m,self.I,self.s_min,self.s_max,self.sv_min,self.sv_max,self.v_switch,self.a_max,self.v_min,self.v_max) +duration=time.time()-start +avg_fps=10000/duration + +self.assertAlmostEqual(np.max(np.abs(f_ks_gt-f_ks)),0.) +self.assertAlmostEqual(np.max(np.abs(f_st_gt-f_st)),0.) +self.assertGreater(avg_fps,5000) + +deftest_zeroinit_roll(self): +fromscipy.integrateimportodeint + +#testingforzeroinitialstate,zeroinputsingularities +g=9.81 +t_start=0. +t_final=1. +delta0=0. +vel0=0. +Psi0=0. +dotPsi0=0. +beta0=0. +sy0=0. +initial_state=[0,sy0,delta0,vel0,Psi0,dotPsi0,beta0] + +x0_KS=np.array(initial_state[0:5]) +x0_ST=np.array(initial_state) + +#timevector +t=np.arange(t_start,t_final,1e-4) + +#setinput:rollingcar(velocityshouldstayconstant) +u=np.array([0.,0.]) + +#simulatesingle-trackmodel +x_roll_st=odeint(func_ST,x0_ST,t,args=(u,self.mu,self.C_Sf,self.C_Sr,self.lf,self.lr,self.h,self.m,self.I,self.s_min,self.s_max,self.sv_min,self.sv_max,self.v_switch,self.a_max,self.v_min,self.v_max)) +#simulatekinematicsingle-trackmodel +x_roll_ks=odeint(func_KS,x0_KS,t,args=(u,self.mu,self.C_Sf,self.C_Sr,self.lf,self.lr,self.h,self.m,self.I,self.s_min,self.s_max,self.sv_min,self.sv_max,self.v_switch,self.a_max,self.v_min,self.v_max)) + +self.assertTrue(all(x_roll_st[-1]==x0_ST)) +self.assertTrue(all(x_roll_ks[-1]==x0_KS)) + +deftest_zeroinit_dec(self): +fromscipy.integrateimportodeint + +#testingforzeroinitialstate,deceleratinginputsingularities +g=9.81 +t_start=0. +t_final=1. +delta0=0. +vel0=0. +Psi0=0. +dotPsi0=0. +beta0=0. +sy0=0. +initial_state=[0,sy0,delta0,vel0,Psi0,dotPsi0,beta0] + +x0_KS=np.array(initial_state[0:5]) +x0_ST=np.array(initial_state) + +#timevector +t=np.arange(t_start,t_final,1e-4) + +#setdecelinput +u=np.array([0.,-0.7*g]) + +#simulatesingle-trackmodel +x_dec_st=odeint(func_ST,x0_ST,t,args=(u,self.mu,self.C_Sf,self.C_Sr,self.lf,self.lr,self.h,self.m,self.I,self.s_min,self.s_max,self.sv_min,self.sv_max,self.v_switch,self.a_max,self.v_min,self.v_max)) +#simulatekinematicsingle-trackmodel +x_dec_ks=odeint(func_KS,x0_KS,t,args=(u,self.mu,self.C_Sf,self.C_Sr,self.lf,self.lr,self.h,self.m,self.I,self.s_min,self.s_max,self.sv_min,self.sv_max,self.v_switch,self.a_max,self.v_min,self.v_max)) + +#groundtruthforsingle-trackmodel +x_dec_st_gt=[-3.4335000000000013,0.0000000000000000,0.0000000000000000,-6.8670000000000018,0.0000000000000000,0.0000000000000000,0.0000000000000000] +#groundtruthforkinematicsingle-trackmodel +x_dec_ks_gt=[-3.4335000000000013,0.0000000000000000,0.0000000000000000,-6.8670000000000018,0.0000000000000000] + +self.assertTrue(all(abs(x_dec_st[-1]-x_dec_st_gt)<1e-2)) +self.assertTrue(all(abs(x_dec_ks[-1]-x_dec_ks_gt)<1e-2)) + +deftest_zeroinit_acc(self): +fromscipy.integrateimportodeint + +#testingforzeroinitialstate,acceleratingwithleftsteerinputsingularities +#wheelspinandvelocityshouldincreasemorewheelspinatrear +g=9.81 +t_start=0. +t_final=1. +delta0=0. +vel0=0. +Psi0=0. +dotPsi0=0. +beta0=0. +sy0=0. +initial_state=[0,sy0,delta0,vel0,Psi0,dotPsi0,beta0] + +x0_KS=np.array(initial_state[0:5]) +x0_ST=np.array(initial_state) + +#timevector +t=np.arange(t_start,t_final,1e-4) + +#setdecelinput +u=np.array([0.15,0.63*g]) + +#simulatesingle-trackmodel +x_acc_st=odeint(func_ST,x0_ST,t,args=(u,self.mu,self.C_Sf,self.C_Sr,self.lf,self.lr,self.h,self.m,self.I,self.s_min,self.s_max,self.sv_min,self.sv_max,self.v_switch,self.a_max,self.v_min,self.v_max)) +#simulatekinematicsingle-trackmodel +x_acc_ks=odeint(func_KS,x0_KS,t,args=(u,self.mu,self.C_Sf,self.C_Sr,self.lf,self.lr,self.h,self.m,self.I,self.s_min,self.s_max,self.sv_min,self.sv_max,self.v_switch,self.a_max,self.v_min,self.v_max)) + +#groundtruthforsingle-trackmodel +x_acc_st_gt=[3.0731976046859715,0.2869835398304389,0.1500000000000000,6.1802999999999999,0.1097747074946325,0.3248268063223301,0.0697547542798040] +#groundtruthforkinematicsingle-trackmodel +x_acc_ks_gt=[3.0845676868494927,0.1484249221523042,0.1500000000000000,6.1803000000000017,0.1203664469224163] + +self.assertTrue(all(abs(x_acc_st[-1]-x_acc_st_gt)<1e-2)) +self.assertTrue(all(abs(x_acc_ks[-1]-x_acc_ks_gt)<1e-2)) + +deftest_zeroinit_rollleft(self): +fromscipy.integrateimportodeint + +#testingforzeroinitialstate,rollingandsteeringleftinputsingularities +g=9.81 +t_start=0. +t_final=1. +delta0=0. +vel0=0. +Psi0=0. +dotPsi0=0. +beta0=0. +sy0=0. +initial_state=[0,sy0,delta0,vel0,Psi0,dotPsi0,beta0] + +x0_KS=np.array(initial_state[0:5]) +x0_ST=np.array(initial_state) + +#timevector +t=np.arange(t_start,t_final,1e-4) + +#setdecelinput +u=np.array([0.15,0.]) + +#simulatesingle-trackmodel +x_left_st=odeint(func_ST,x0_ST,t,args=(u,self.mu,self.C_Sf,self.C_Sr,self.lf,self.lr,self.h,self.m,self.I,self.s_min,self.s_max,self.sv_min,self.sv_max,self.v_switch,self.a_max,self.v_min,self.v_max)) +#simulatekinematicsingle-trackmodel +x_left_ks=odeint(func_KS,x0_KS,t,args=(u,self.mu,self.C_Sf,self.C_Sr,self.lf,self.lr,self.h,self.m,self.I,self.s_min,self.s_max,self.sv_min,self.sv_max,self.v_switch,self.a_max,self.v_min,self.v_max)) + +#groundtruthforsingle-trackmodel +x_left_st_gt=[0.0000000000000000,0.0000000000000000,0.1500000000000000,0.0000000000000000,0.0000000000000000,0.0000000000000000,0.0000000000000000] +#groundtruthforkinematicsingle-trackmodel +x_left_ks_gt=[0.0000000000000000,0.0000000000000000,0.1500000000000000,0.0000000000000000,0.0000000000000000] + +self.assertTrue(all(abs(x_left_st[-1]-x_left_st_gt)<1e-2)) +self.assertTrue(all(abs(x_left_ks[-1]-x_left_ks_gt)<1e-2)) + +if__name__=='__main__': +unittest.main() + + + + diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/dynamics__test_8py.xml b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/dynamics__test_8py.xml new file mode 100644 index 0000000..7ed9ed5 --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/dynamics__test_8py.xml @@ -0,0 +1,411 @@ + + + + dynamics_test.py + f110_gym::unittest::dynamics_test::DynamicsTest + f110_gym::unittest::dynamics_test + + + + + +#Copyright2020TechnicalUniversityofMunich,ProfessorshipofCyber-PhysicalSystems,MatthewO'Kelly,AmanSinha,HongruiZheng + +#Redistributionanduseinsourceandbinaryforms,withorwithoutmodification,arepermittedprovidedthatthefollowingconditionsaremet: + +#1.Redistributionsofsourcecodemustretaintheabovecopyrightnotice,thislistofconditionsandthefollowingdisclaimer. + +#2.Redistributionsinbinaryformmustreproducetheabovecopyrightnotice,thislistofconditionsandthefollowingdisclaimerinthedocumentationand/orothermaterialsprovidedwiththedistribution. + +#3.Neitherthenameofthecopyrightholdernorthenamesofitscontributorsmaybeusedtoendorseorpromoteproductsderivedfromthissoftwarewithoutspecificpriorwrittenpermission. + +#THISSOFTWAREISPROVIDEDBYTHECOPYRIGHTHOLDERSANDCONTRIBUTORS"ASIS"ANDANYEXPRESSORIMPLIEDWARRANTIES,INCLUDING,BUTNOTLIMITEDTO,THEIMPLIEDWARRANTIESOFMERCHANTABILITYANDFITNESSFORAPARTICULARPURPOSEAREDISCLAIMED.INNOEVENTSHALLTHECOPYRIGHTHOLDERORCONTRIBUTORSBELIABLEFORANYDIRECT,INDIRECT,INCIDENTAL,SPECIAL,EXEMPLARY,ORCONSEQUENTIALDAMAGES(INCLUDING,BUTNOTLIMITEDTO,PROCUREMENTOFSUBSTITUTEGOODSORSERVICES;LOSSOFUSE,DATA,ORPROFITS;ORBUSINESSINTERRUPTION)HOWEVERCAUSEDANDONANYTHEORYOFLIABILITY,WHETHERINCONTRACT,STRICTLIABILITY,ORTORT(INCLUDINGNEGLIGENCEOROTHERWISE)ARISINGINANYWAYOUTOFTHEUSEOFTHISSOFTWARE,EVENIFADVISEDOFTHEPOSSIBILITYOFSUCHDAMAGE. + + + +""" +Prototypeofvehicledynamicsfunctionsandclassesforsimulating2DSingle +Trackdynamicmodel +Followingtheimplementationofcommanroad'sSingleTrackDynamicsmodel +Originalimplementation:https://gitlab.lrz.de/tum-cps/commonroad-vehicle-models/ +Author:HongruiZheng +""" + +importnumpyasnp +fromnumbaimportnjit + +importunittest +importtime + +@njit(cache=True) +defaccl_constraints(vel,accl,v_switch,a_max,v_min,v_max): +""" +Accelerationconstraints,adjuststheaccelerationbasedonconstraints + +Args: +vel(float):currentvelocityofthevehicle +accl(float):unconstraintdesiredacceleration +v_switch(float):switchingvelocity(velocityatwhichtheaccelerationisnolongerabletocreatewheelspin) +a_max(float):maximumallowedacceleration +v_min(float):minimumallowedvelocity +v_max(float):maximumallowedvelocity + +Returns: +accl(float):adjustedacceleration +""" + +#positiveaccllimit +ifvel>v_switch: +pos_limit=a_max*v_switch/vel +else: +pos_limit=a_max + +#accllimitreached? +if(vel<=v_minandaccl<=0)or(vel>=v_maxandaccl>=0): +accl=0. +elifaccl<=-a_max: +accl=-a_max +elifaccl>=pos_limit: +accl=pos_limit + +returnaccl + +@njit(cache=True) +defsteering_constraint(steering_angle,steering_velocity,s_min,s_max,sv_min,sv_max): +""" +Steeringconstraints,adjuststhesteeringvelocitybasedonconstraints + +Args: +steering_angle(float):currentsteering_angleofthevehicle +steering_velocity(float):unconstraintdesiredsteering_velocity +s_min(float):minimumsteeringangle +s_max(float):maximumsteeringangle +sv_min(float):minimumsteeringvelocity +sv_max(float):maximumsteeringvelocity + +Returns: +steering_velocity(float):adjustedsteeringvelocity +""" + +#constraintsteeringvelocity +if(steering_angle<=s_minandsteering_velocity<=0)or(steering_angle>=s_maxandsteering_velocity>=0): +steering_velocity=0. +elifsteering_velocity<=sv_min: +steering_velocity=sv_min +elifsteering_velocity>=sv_max: +steering_velocity=sv_max + +returnsteering_velocity + + +@njit(cache=True) +defvehicle_dynamics_ks(x,u_init,mu,C_Sf,C_Sr,lf,lr,h,m,I,s_min,s_max,sv_min,sv_max,v_switch,a_max,v_min,v_max): +""" +SingleTrackKinematicVehicleDynamics. + +Args: +x(numpy.ndarray(3,)):vehiclestatevector(x1,x2,x3,x4,x5) +x1:xpositioninglobalcoordinates +x2:ypositioninglobalcoordinates +x3:steeringangleoffrontwheels +x4:velocityinxdirection +x5:yawangle +u(numpy.ndarray(2,)):controlinputvector(u1,u2) +u1:steeringanglevelocityoffrontwheels +u2:longitudinalacceleration + +Returns: +f(numpy.ndarray):righthandsideofdifferentialequations +""" +#wheelbase +lwb=lf+lr + +#constraints +u=np.array([steering_constraint(x[2],u_init[0],s_min,s_max,sv_min,sv_max),accl_constraints(x[3],u_init[1],v_switch,a_max,v_min,v_max)]) + +#systemdynamics +f=np.array([x[3]*np.cos(x[4]), +x[3]*np.sin(x[4]), +u[0], +u[1], +x[3]/lwb*np.tan(x[2])]) +returnf + +@njit(cache=True) +defvehicle_dynamics_st(x,u_init,mu,C_Sf,C_Sr,lf,lr,h,m,I,s_min,s_max,sv_min,sv_max,v_switch,a_max,v_min,v_max): +""" +SingleTrackDynamicVehicleDynamics. + +Args: +x(numpy.ndarray(3,)):vehiclestatevector(x1,x2,x3,x4,x5,x6,x7) +x1:xpositioninglobalcoordinates +x2:ypositioninglobalcoordinates +x3:steeringangleoffrontwheels +x4:velocityinxdirection +x5:yawangle +x6:yawrate +x7:slipangleatvehiclecenter +u(numpy.ndarray(2,)):controlinputvector(u1,u2) +u1:steeringanglevelocityoffrontwheels +u2:longitudinalacceleration + +Returns: +f(numpy.ndarray):righthandsideofdifferentialequations +""" + +#gravityconstantm/s^2 +g=9.81 + +#constraints +u=np.array([steering_constraint(x[2],u_init[0],s_min,s_max,sv_min,sv_max),accl_constraints(x[3],u_init[1],v_switch,a_max,v_min,v_max)]) + +#switchtokinematicmodelforsmallvelocities +ifabs(x[3])<0.1: +#wheelbase +lwb=lf+lr + +#systemdynamics +x_ks=x[0:5] +f_ks=vehicle_dynamics_ks(x_ks,u,mu,C_Sf,C_Sr,lf,lr,h,m,I,s_min,s_max,sv_min,sv_max,v_switch,a_max,v_min,v_max) +f=np.hstack((f_ks,np.array([u[1]/lwb*np.tan(x[2])+x[3]/(lwb*np.cos(x[2])**2)*u[0], +0]))) + +else: +#systemdynamics +f=np.array([x[3]*np.cos(x[6]+x[4]), +x[3]*np.sin(x[6]+x[4]), +u[0], +u[1], +x[5], +-mu*m/(x[3]*I*(lr+lf))*(lf**2*C_Sf*(g*lr-u[1]*h)+lr**2*C_Sr*(g*lf+u[1]*h))*x[5]\ ++mu*m/(I*(lr+lf))*(lr*C_Sr*(g*lf+u[1]*h)-lf*C_Sf*(g*lr-u[1]*h))*x[6]\ ++mu*m/(I*(lr+lf))*lf*C_Sf*(g*lr-u[1]*h)*x[2], +(mu/(x[3]**2*(lr+lf))*(C_Sr*(g*lf+u[1]*h)*lr-C_Sf*(g*lr-u[1]*h)*lf)-1)*x[5]\ +-mu/(x[3]*(lr+lf))*(C_Sr*(g*lf+u[1]*h)+C_Sf*(g*lr-u[1]*h))*x[6]\ ++mu/(x[3]*(lr+lf))*(C_Sf*(g*lr-u[1]*h))*x[2]]) + +returnf + +@njit(cache=True) +defpid(speed,steer): +""" +Basiccontrollerforspeed/steer->accl./steervel. + +Args: +speed(float):desiredinputspeed +steer(float):desiredinputsteeringangle + +Returns: +accl(float):desiredinputacceleration +sv(float):desiredinputsteeringvelocity +""" +return + +deffunc_KS(x,t,u,mu,C_Sf,C_Sr,lf,lr,h,m,I,s_min,s_max,sv_min,sv_max,v_switch,a_max,v_min,v_max): +f=vehicle_dynamics_ks(x,u,mu,C_Sf,C_Sr,lf,lr,h,m,I,s_min,s_max,sv_min,sv_max,v_switch,a_max,v_min,v_max) +returnf + +deffunc_ST(x,t,u,mu,C_Sf,C_Sr,lf,lr,h,m,I,s_min,s_max,sv_min,sv_max,v_switch,a_max,v_min,v_max): +f=vehicle_dynamics_st(x,u,mu,C_Sf,C_Sr,lf,lr,h,m,I,s_min,s_max,sv_min,sv_max,v_switch,a_max,v_min,v_max) +returnf + +classDynamicsTest(unittest.TestCase): +defsetUp(self): +#testparams +self.mu=1.0489 +self.C_Sf=21.92/1.0489 +self.C_Sr=21.92/1.0489 +self.lf=0.3048*3.793293 +self.lr=0.3048*4.667707 +self.h=0.3048*2.01355 +self.m=4.4482216152605/0.3048*74.91452 +self.I=4.4482216152605*0.3048*1321.416 + +#steeringconstraints +self.s_min=-1.066#minimumsteeringangle[rad] +self.s_max=1.066#maximumsteeringangle[rad] +self.sv_min=-0.4#minimumsteeringvelocity[rad/s] +self.sv_max=0.4#maximumsteeringvelocity[rad/s] + +#longitudinalconstraints +self.v_min=-13.6#minimumvelocity[m/s] +self.v_max=50.8#minimumvelocity[m/s] +self.v_switch=7.319#switchingvelocity[m/s] +self.a_max=11.5#maximumabsoluteacceleration[m/s^2] + +deftest_derivatives(self): +#groundtruthderivatives +f_ks_gt=[16.3475935934250209,0.4819314886013121,0.1500000000000000,5.1464424102339752,0.2401426578627629] +f_st_gt=[15.7213512030862397,0.0925527979719355,0.1500000000000000,5.3536773276413925,0.0529001056654038,0.6435589397748606,0.0313297971641291] + +#systemdynamics +g=9.81 +x_ks=np.array([3.9579422297936526,0.0391650102771405,0.0378491427211811,16.3546957860883566,0.0294717351052816]) +x_st=np.array([2.0233348142065677,0.0041907137716636,0.0197545248559617,15.7216236334290116,0.0025857914776859,0.0529001056654038,0.0033012170610298]) +v_delta=0.15 +acc=0.63*g +u=np.array([v_delta,acc]) + +f_ks=vehicle_dynamics_ks(x_ks,u,self.mu,self.C_Sf,self.C_Sr,self.lf,self.lr,self.h,self.m,self.I,self.s_min,self.s_max,self.sv_min,self.sv_max,self.v_switch,self.a_max,self.v_min,self.v_max) +f_st=vehicle_dynamics_st(x_st,u,self.mu,self.C_Sf,self.C_Sr,self.lf,self.lr,self.h,self.m,self.I,self.s_min,self.s_max,self.sv_min,self.sv_max,self.v_switch,self.a_max,self.v_min,self.v_max) + +start=time.time() +foriinrange(10000): +f_st=vehicle_dynamics_st(x_st,u,self.mu,self.C_Sf,self.C_Sr,self.lf,self.lr,self.h,self.m,self.I,self.s_min,self.s_max,self.sv_min,self.sv_max,self.v_switch,self.a_max,self.v_min,self.v_max) +duration=time.time()-start +avg_fps=10000/duration + +self.assertAlmostEqual(np.max(np.abs(f_ks_gt-f_ks)),0.) +self.assertAlmostEqual(np.max(np.abs(f_st_gt-f_st)),0.) +self.assertGreater(avg_fps,5000) + +deftest_zeroinit_roll(self): +fromscipy.integrateimportodeint + +#testingforzeroinitialstate,zeroinputsingularities +g=9.81 +t_start=0. +t_final=1. +delta0=0. +vel0=0. +Psi0=0. +dotPsi0=0. +beta0=0. +sy0=0. +initial_state=[0,sy0,delta0,vel0,Psi0,dotPsi0,beta0] + +x0_KS=np.array(initial_state[0:5]) +x0_ST=np.array(initial_state) + +#timevector +t=np.arange(t_start,t_final,1e-4) + +#setinput:rollingcar(velocityshouldstayconstant) +u=np.array([0.,0.]) + +#simulatesingle-trackmodel +x_roll_st=odeint(func_ST,x0_ST,t,args=(u,self.mu,self.C_Sf,self.C_Sr,self.lf,self.lr,self.h,self.m,self.I,self.s_min,self.s_max,self.sv_min,self.sv_max,self.v_switch,self.a_max,self.v_min,self.v_max)) +#simulatekinematicsingle-trackmodel +x_roll_ks=odeint(func_KS,x0_KS,t,args=(u,self.mu,self.C_Sf,self.C_Sr,self.lf,self.lr,self.h,self.m,self.I,self.s_min,self.s_max,self.sv_min,self.sv_max,self.v_switch,self.a_max,self.v_min,self.v_max)) + +self.assertTrue(all(x_roll_st[-1]==x0_ST)) +self.assertTrue(all(x_roll_ks[-1]==x0_KS)) + +deftest_zeroinit_dec(self): +fromscipy.integrateimportodeint + +#testingforzeroinitialstate,deceleratinginputsingularities +g=9.81 +t_start=0. +t_final=1. +delta0=0. +vel0=0. +Psi0=0. +dotPsi0=0. +beta0=0. +sy0=0. +initial_state=[0,sy0,delta0,vel0,Psi0,dotPsi0,beta0] + +x0_KS=np.array(initial_state[0:5]) +x0_ST=np.array(initial_state) + +#timevector +t=np.arange(t_start,t_final,1e-4) + +#setdecelinput +u=np.array([0.,-0.7*g]) + +#simulatesingle-trackmodel +x_dec_st=odeint(func_ST,x0_ST,t,args=(u,self.mu,self.C_Sf,self.C_Sr,self.lf,self.lr,self.h,self.m,self.I,self.s_min,self.s_max,self.sv_min,self.sv_max,self.v_switch,self.a_max,self.v_min,self.v_max)) +#simulatekinematicsingle-trackmodel +x_dec_ks=odeint(func_KS,x0_KS,t,args=(u,self.mu,self.C_Sf,self.C_Sr,self.lf,self.lr,self.h,self.m,self.I,self.s_min,self.s_max,self.sv_min,self.sv_max,self.v_switch,self.a_max,self.v_min,self.v_max)) + +#groundtruthforsingle-trackmodel +x_dec_st_gt=[-3.4335000000000013,0.0000000000000000,0.0000000000000000,-6.8670000000000018,0.0000000000000000,0.0000000000000000,0.0000000000000000] +#groundtruthforkinematicsingle-trackmodel +x_dec_ks_gt=[-3.4335000000000013,0.0000000000000000,0.0000000000000000,-6.8670000000000018,0.0000000000000000] + +self.assertTrue(all(abs(x_dec_st[-1]-x_dec_st_gt)<1e-2)) +self.assertTrue(all(abs(x_dec_ks[-1]-x_dec_ks_gt)<1e-2)) + +deftest_zeroinit_acc(self): +fromscipy.integrateimportodeint + +#testingforzeroinitialstate,acceleratingwithleftsteerinputsingularities +#wheelspinandvelocityshouldincreasemorewheelspinatrear +g=9.81 +t_start=0. +t_final=1. +delta0=0. +vel0=0. +Psi0=0. +dotPsi0=0. +beta0=0. +sy0=0. +initial_state=[0,sy0,delta0,vel0,Psi0,dotPsi0,beta0] + +x0_KS=np.array(initial_state[0:5]) +x0_ST=np.array(initial_state) + +#timevector +t=np.arange(t_start,t_final,1e-4) + +#setdecelinput +u=np.array([0.15,0.63*g]) + +#simulatesingle-trackmodel +x_acc_st=odeint(func_ST,x0_ST,t,args=(u,self.mu,self.C_Sf,self.C_Sr,self.lf,self.lr,self.h,self.m,self.I,self.s_min,self.s_max,self.sv_min,self.sv_max,self.v_switch,self.a_max,self.v_min,self.v_max)) +#simulatekinematicsingle-trackmodel +x_acc_ks=odeint(func_KS,x0_KS,t,args=(u,self.mu,self.C_Sf,self.C_Sr,self.lf,self.lr,self.h,self.m,self.I,self.s_min,self.s_max,self.sv_min,self.sv_max,self.v_switch,self.a_max,self.v_min,self.v_max)) + +#groundtruthforsingle-trackmodel +x_acc_st_gt=[3.0731976046859715,0.2869835398304389,0.1500000000000000,6.1802999999999999,0.1097747074946325,0.3248268063223301,0.0697547542798040] +#groundtruthforkinematicsingle-trackmodel +x_acc_ks_gt=[3.0845676868494927,0.1484249221523042,0.1500000000000000,6.1803000000000017,0.1203664469224163] + +self.assertTrue(all(abs(x_acc_st[-1]-x_acc_st_gt)<1e-2)) +self.assertTrue(all(abs(x_acc_ks[-1]-x_acc_ks_gt)<1e-2)) + +deftest_zeroinit_rollleft(self): +fromscipy.integrateimportodeint + +#testingforzeroinitialstate,rollingandsteeringleftinputsingularities +g=9.81 +t_start=0. +t_final=1. +delta0=0. +vel0=0. +Psi0=0. +dotPsi0=0. +beta0=0. +sy0=0. +initial_state=[0,sy0,delta0,vel0,Psi0,dotPsi0,beta0] + +x0_KS=np.array(initial_state[0:5]) +x0_ST=np.array(initial_state) + +#timevector +t=np.arange(t_start,t_final,1e-4) + +#setdecelinput +u=np.array([0.15,0.]) + +#simulatesingle-trackmodel +x_left_st=odeint(func_ST,x0_ST,t,args=(u,self.mu,self.C_Sf,self.C_Sr,self.lf,self.lr,self.h,self.m,self.I,self.s_min,self.s_max,self.sv_min,self.sv_max,self.v_switch,self.a_max,self.v_min,self.v_max)) +#simulatekinematicsingle-trackmodel +x_left_ks=odeint(func_KS,x0_KS,t,args=(u,self.mu,self.C_Sf,self.C_Sr,self.lf,self.lr,self.h,self.m,self.I,self.s_min,self.s_max,self.sv_min,self.sv_max,self.v_switch,self.a_max,self.v_min,self.v_max)) + +#groundtruthforsingle-trackmodel +x_left_st_gt=[0.0000000000000000,0.0000000000000000,0.1500000000000000,0.0000000000000000,0.0000000000000000,0.0000000000000000,0.0000000000000000] +#groundtruthforkinematicsingle-trackmodel +x_left_ks_gt=[0.0000000000000000,0.0000000000000000,0.1500000000000000,0.0000000000000000,0.0000000000000000] + +self.assertTrue(all(abs(x_left_st[-1]-x_left_st_gt)<1e-2)) +self.assertTrue(all(abs(x_left_ks[-1]-x_left_ks_gt)<1e-2)) + +if__name__=='__main__': +unittest.main() + + + + diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/envs_2____init_____8py.xml b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/envs_2____init_____8py.xml new file mode 100644 index 0000000..f379fa7 --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/envs_2____init_____8py.xml @@ -0,0 +1,19 @@ + + + + __init__.py + f110_gym::envs + + + + + +fromf110_gym.envs.f110_envimportF110Env +fromf110_gym.envs.dynamic_modelsimport* +fromf110_gym.envs.laser_modelsimport* +fromf110_gym.envs.base_classesimport* +fromf110_gym.envs.collision_modelsimport* + + + + diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/f110__env_8py.xml b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/f110__env_8py.xml new file mode 100644 index 0000000..666383d --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/f110__env_8py.xml @@ -0,0 +1,380 @@ + + + + f110_env.py + f110_gym::envs::f110_env::F110Env + f110_gym::envs::f110_env + + + + + +#MITLicense + +#Copyright(c)2020JosephAuckley,MatthewO'Kelly,AmanSinha,HongruiZheng + +#Permissionisherebygranted,freeofcharge,toanypersonobtainingacopy +#ofthissoftwareandassociateddocumentationfiles(the"Software"),todeal +#intheSoftwarewithoutrestriction,includingwithoutlimitationtherights +#touse,copy,modify,merge,publish,distribute,sublicense,and/orsell +#copiesoftheSoftware,andtopermitpersonstowhomtheSoftwareis +#furnishedtodoso,subjecttothefollowingconditions: + +#Theabovecopyrightnoticeandthispermissionnoticeshallbeincludedinall +#copiesorsubstantialportionsoftheSoftware. + +#THESOFTWAREISPROVIDED"ASIS",WITHOUTWARRANTYOFANYKIND,EXPRESSOR +#IMPLIED,INCLUDINGBUTNOTLIMITEDTOTHEWARRANTIESOFMERCHANTABILITY, +#FITNESSFORAPARTICULARPURPOSEANDNONINFRINGEMENT.INNOEVENTSHALLTHE +#AUTHORSORCOPYRIGHTHOLDERSBELIABLEFORANYCLAIM,DAMAGESOROTHER +#LIABILITY,WHETHERINANACTIONOFCONTRACT,TORTOROTHERWISE,ARISINGFROM, +#OUTOFORINCONNECTIONWITHTHESOFTWAREORTHEUSEOROTHERDEALINGSINTHE +#SOFTWARE. + +''' +Author:HongruiZheng +''' + +#gymimports +importgym +fromgymimporterror,spaces,utils +fromgym.utilsimportseeding + +#baseclasses +fromf110_gym.envs.base_classesimportSimulator + +#others +importnumpyasnp +importos +importtime + +#gl +importpyglet +pyglet.options['debug_gl']=False +frompygletimportgl + +#constants + +#rendering +VIDEO_W=600 +VIDEO_H=400 +WINDOW_W=1000 +WINDOW_H=800 + +classF110Env(gym.Env,utils.EzPickle): +""" +OpenAIgymenvironmentforF1TENTH + +Envshouldbeinitializedbycallinggym.make('f110_gym:f110-v0',**kwargs) + +Args: +kwargs: +seed(int):seedforrandomstateandreproducibility + +map(str,default='vegas'):nameofthemapusedfortheenvironment.Currently,availableenvironmentsinclude:'berlin','vegas','skirk'.Youcoulduseastringoftheabsolutepathtotheyamlfileofyourcustommap. + +map_ext(str,default='png'):imageextensionofthemapimagefile.Forexample'png','pgm' + +params(dict,default={'mu':1.0489,'C_Sf':,'C_Sr':,'lf':0.15875,'lr':0.17145,'h':0.074,'m':3.74,'I':0.04712,'s_min':-0.4189,'s_max':0.4189,'sv_min':-3.2,'sv_max':3.2,'v_switch':7.319,'a_max':9.51,'v_min':-5.0,'v_max':20.0,'width':0.31,'length':0.58}):dictionaryofvehicleparameters. +mu:surfacefrictioncoefficient +C_Sf:Corneringstiffnesscoefficient,front +C_Sr:Corneringstiffnesscoefficient,rear +lf:Distancefromcenterofgravitytofrontaxle +lr:Distancefromcenterofgravitytorearaxle +h:Heightofcenterofgravity +m:Totalmassofthevehicle +I:Momentofinertialoftheentirevehicleaboutthezaxis +s_min:Minimumsteeringangleconstraint +s_max:Maximumsteeringangleconstraint +sv_min:Minimumsteeringvelocityconstraint +sv_max:Maximumsteeringvelocityconstraint +v_switch:Switchingvelocity(velocityatwhichtheaccelerationisnolongerabletocreatewheelspin) +a_max:Maximumlongitudinalacceleration +v_min:Minimumlongitudinalvelocity +v_max:Maximumlongitudinalvelocity +width:widthofthevehicleinmeters +length:lengthofthevehicleinmeters + +num_agents(int,default=2):numberofagentsintheenvironment + +timestep(float,default=0.01):physicstimestep + +ego_idx(int,default=0):ego'sindexinlistofagents +""" +metadata={'render.modes':['human','human_fast']} + +def__init__(self,**kwargs): +#kwargsextraction +try: +np.random.seed(kwargs['seed']) +except: +pass +try: +self.map_name=kwargs['map'] +#differentdefaultmaps +ifself.map_name=='berlin': +self.map_path=os.path.dirname(os.path.abspath(__file__))+'/maps/berlin.yaml' +elifself.map_name=='skirk': +self.map_path=os.path.dirname(os.path.abspath(__file__))+'/maps/skirk.yaml' +elifself.map_name=='levine': +self.map_path=os.path.dirname(os.path.abspath(__file__))+'/maps/levine.yaml' +else: +self.map_path=self.map_name+'.yaml' +except: +self.map_path=os.path.dirname(os.path.abspath(__file__))+'/maps/vegas.yaml' + +try: +self.map_ext=kwargs['map_ext'] +except: +self.map_ext='.png' + +try: +self.params=kwargs['params'] +except: +self.params={'mu':1.0489,'C_Sf':4.718,'C_Sr':5.4562,'lf':0.15875,'lr':0.17145,'h':0.074,'m':3.74,'I':0.04712,'s_min':-0.4189,'s_max':0.4189,'sv_min':-3.2,'sv_max':3.2,'v_switch':7.319,'a_max':9.51,'v_min':-5.0,'v_max':20.0,'width':0.31,'length':0.58} + +#simulationparameters +try: +self.num_agents=kwargs['num_agents'] +except: +self.num_agents=2 + +try: +self.timestep=kwargs['timestep'] +except: +self.timestep=0.01 + +#defaultegoindex +try: +self.ego_idx=kwargs['ego_idx'] +except: +self.ego_idx=0 + +#radiustoconsiderdone +self.start_thresh=0.5#10cm + +#envstates +self.poses_x=[] +self.poses_y=[] +self.poses_theta=[] +self.collisions=np.zeros((self.num_agents,)) +#TODO:collision_idxnotusedyet +#self.collision_idx=-1*np.ones((self.num_agents,)) + +#loopcompletion +self.near_start=True +self.num_toggles=0 + +#raceinfo +self.lap_times=np.zeros((self.num_agents,)) +self.lap_counts=np.zeros((self.num_agents,)) +self.current_time=0.0 + +#finishlineinfo +self.num_toggles=0 +self.near_start=True +self.near_starts=np.array([True]*self.num_agents) +self.toggle_list=np.zeros((self.num_agents,)) +self.start_xs=np.zeros((self.num_agents,)) +self.start_ys=np.zeros((self.num_agents,)) +self.start_thetas=np.zeros((self.num_agents,)) +self.start_rot=np.eye(2) + +#initiatestuff +self.sim=Simulator(self.params,self.num_agents) +self.sim.set_map(self.map_path,self.map_ext) + +#rendering +self.renderer=None +self.current_obs=None + +def__del__(self): +""" +Finalizer,doescleanup +""" +pass + +def_check_done(self): +""" +Checkifthecurrentrolloutisdone + +Args: +None + +Returns: +done(bool):whethertherolloutisdone +toggle_list(list[int]):eachagent'stogglelistforcrossingthefinishzone +""" + +#thisisassuming2agents +#TODO:switchtomaybes-based +left_t=2 +right_t=2 + +poses_x=np.array(self.poses_x)-self.start_xs +poses_y=np.array(self.poses_y)-self.start_ys +delta_pt=np.dot(self.start_rot,np.stack((poses_x,poses_y),axis=0)) +temp_y=delta_pt[1,:] +idx1=temp_y>left_t +idx2=temp_y<-right_t +temp_y[idx1]-=left_t +temp_y[idx2]=-right_t-temp_y[idx2] +temp_y[np.invert(np.logical_or(idx1,idx2))]=0 + +dist2=delta_pt[0,:]**2+temp_y**2 +closes=dist2<=0.1 +foriinrange(self.num_agents): +ifcloses[i]andnotself.near_starts[i]: +self.near_starts[i]=True +self.toggle_list[i]+=1 +elifnotcloses[i]andself.near_starts[i]: +self.near_starts[i]=False +self.toggle_list[i]+=1 +self.lap_counts[i]=self.toggle_list[i]//2 +ifself.toggle_list[i]<4: +self.lap_times[i]=self.current_time + +done=(self.collisions[self.ego_idx])ornp.all(self.toggle_list>=4) + +returndone,self.toggle_list>=4 + +def_update_state(self,obs_dict): +""" +Updatetheenv'sstatesaccordingtoobservations + +Args: +obs_dict(dict):dictionaryofobservation + +Returns: +None +""" +self.poses_x=obs_dict['poses_x'] +self.poses_y=obs_dict['poses_y'] +self.poses_theta=obs_dict['poses_theta'] +self.collisions=obs_dict['collisions'] + +defstep(self,action): +""" +Stepfunctionforthegymenv + +Args: +action(np.ndarray(num_agents,2)) + +Returns: +obs(dict):observationofthecurrentstep +reward(float,default=self.timestep):stepreward,currentlyisphysicstimestep +done(bool):ifthesimulationisdone +info(dict):auxillaryinformationdictionary +""" + +#callsimulationstep +obs=self.sim.step(action) +obs['lap_times']=self.lap_times +obs['lap_counts']=self.lap_counts + +self.current_obs=obs + +#times +reward=self.timestep +self.current_time=self.current_time+self.timestep + +#updatedatamember +self._update_state(obs) + +#checkdone +done,toggle_list=self._check_done() +info={'checkpoint_done':toggle_list} + +returnobs,reward,done,info + +defreset(self,poses): +""" +Resetthegymenvironmentbygivenposes + +Args: +poses(np.ndarray(num_agents,3)):posestoresetagentsto + +Returns: +obs(dict):observationofthecurrentstep +reward(float,default=self.timestep):stepreward,currentlyisphysicstimestep +done(bool):ifthesimulationisdone +info(dict):auxillaryinformationdictionary +""" +#resetcountersanddatamembers +self.current_time=0.0 +self.collisions=np.zeros((self.num_agents,)) +self.num_toggles=0 +self.near_start=True +self.near_starts=np.array([True]*self.num_agents) +self.toggle_list=np.zeros((self.num_agents,)) + +#statesafterreset +self.start_xs=poses[:,0] +self.start_ys=poses[:,1] +self.start_thetas=poses[:,2] +self.start_rot=np.array([[np.cos(-self.start_thetas[self.ego_idx]),-np.sin(-self.start_thetas[self.ego_idx])],[np.sin(-self.start_thetas[self.ego_idx]),np.cos(-self.start_thetas[self.ego_idx])]]) + +#callresettosimulator +self.sim.reset(poses) + +#getnoinputobservations +action=np.zeros((self.num_agents,2)) +obs,reward,done,info=self.step(action) +returnobs,reward,done,info + +defupdate_map(self,map_path,map_ext): +""" +Updatesthemapusedbysimulation + +Args: +map_path(str):absolutepathtothemapyamlfile +map_ext(str):extensionofthemapimagefile + +Returns: +None +""" +self.sim.set_map(map_path,map_ext) + +defupdate_params(self,params,index=-1): +""" +Updatestheparametersusedbysimulationforvehicles + +Args: +params(dict):dictionaryofparameters +index(int,default=-1):if>=0thenonlyupdateaspecificagent'sparams + +Returns: +None +""" +self.sim.update_params(params,agent_idx=index) + +defrender(self,mode='human'): +""" +Renderstheenvironmentwithpyglet.Usemousescrollinthewindowtozoomin/out,usemouseclickdragtopan.Showstheagents,themap,currentfps(bottomleftcorner),andtheraceinformationnearastext. + +Args: +mode(str,default='human'):renderingmode,currentlysupports: +'human':sloweddownrenderingsuchthattheenvisrenderedinawaythatsimtimeelapsedisclosetorealtimeelapsed +'human_fast':renderasfastaspossible + +Returns: +None +""" +assertmodein['human','human_fast'] +ifself.rendererisNone: +#firstcall,initializeeverything +fromf110_gym.envs.renderingimportEnvRenderer +self.renderer=EnvRenderer(WINDOW_W,WINDOW_H) +self.renderer.update_map(self.map_name,self.map_ext) +self.renderer.update_obs(self.current_obs) +self.renderer.dispatch_events() +self.renderer.on_draw() +self.renderer.flip() +ifmode=='human': +time.sleep(0.005) +elifmode=='human_fast': +pass + + + + diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/f110__env__backup_8py.xml b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/f110__env__backup_8py.xml new file mode 100644 index 0000000..7b59ab6 --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/f110__env__backup_8py.xml @@ -0,0 +1,602 @@ + + + + f110_env_backup.py + f110_gym::envs::f110_env_backup::F110Env + f110_gym::envs::f110_env_backup + + + + + +#MITLicense + +#Copyright(c)2020JosephAuckley,MatthewO'Kelly,AmanSinha,HongruiZheng + +#Permissionisherebygranted,freeofcharge,toanypersonobtainingacopy +#ofthissoftwareandassociateddocumentationfiles(the"Software"),todeal +#intheSoftwarewithoutrestriction,includingwithoutlimitationtherights +#touse,copy,modify,merge,publish,distribute,sublicense,and/orsell +#copiesoftheSoftware,andtopermitpersonstowhomtheSoftwareis +#furnishedtodoso,subjecttothefollowingconditions: + +#Theabovecopyrightnoticeandthispermissionnoticeshallbeincludedinall +#copiesorsubstantialportionsoftheSoftware. + +#THESOFTWAREISPROVIDED"ASIS",WITHOUTWARRANTYOFANYKIND,EXPRESSOR +#IMPLIED,INCLUDINGBUTNOTLIMITEDTOTHEWARRANTIESOFMERCHANTABILITY, +#FITNESSFORAPARTICULARPURPOSEANDNONINFRINGEMENT.INNOEVENTSHALLTHE +#AUTHORSORCOPYRIGHTHOLDERSBELIABLEFORANYCLAIM,DAMAGESOROTHER +#LIABILITY,WHETHERINANACTIONOFCONTRACT,TORTOROTHERWISE,ARISINGFROM, +#OUTOFORINCONNECTIONWITHTHESOFTWAREORTHEUSEOROTHERDEALINGSINTHE +#SOFTWARE. + +''' +Author:HongruiZheng +''' + +#gymimports +importgym +fromgymimporterror,spaces,utils +fromgym.utilsimportseeding + +#zmqimports +importzmq + +#protobufimport +importsim_requests_pb2 + +#others +importnumpyasnp + +fromnumbaimportnjit +fromscipy.ndimageimportdistance_transform_edtasedt + +fromPILimportImage +importsys +importos +importsignal +importsubprocess +importmath +importyaml +importcsv + +#frommatplotlib.pyplotimportimshow +#importmatplotlib.pyplotasplt + +classF110Env(gym.Env,utils.EzPickle): +""" +OpenAIgymenvironmentforF1/10simulator +Use0mq'sREQ-REPpatterntocommunicatetotheC++simulator +ONEenvhasONEcorrespondingC++instance +Needtocreateenvwithmapinput,fullpathtomapyamlfile,mappgmimageandyamlshouldbeinsamedirectory + +shouldbeinitializedwithamap,atimestep,andnumberofagents +""" +metadata={'render.modes':[]} + +def__init__(self): +#simualtorparams +self.params_set=False +self.map_inited=False +#paramslistis[mu,h_cg,l_r,cs_f,cs_r,I_z,mass] +self.params=[] +#TODO:addmultiagentstuff,needa_add_agentfunctionofsth +self.num_agents=2 +self.timestep=0.01 + +#TODO:cleanupthemappathstuff,rightnowit'sainit_mapfunction +self.map_path=None +self.map_img=None + +#current_dir=os.path.dirname(os.path.abspath(__file__)) +#map_path=current_dir+'/../../../maps/levine.yaml' + +#default +self.ego_idx=0 + +#TODO:alsosetthesethingsininitfunction? +self.timeout=120.0 +#radiustoconsiderdone +self.start_thresh=0.5#10cm + +#envstates +#moreaccuratedescriptionshouldbeegocarstate +#mightnotneedtokeepscan +self.x=None +self.y=None +self.theta=None + +self.in_collision=False +self.collision_angle=None + +#loopcompletion +self.near_start=True +self.num_toggles=0 + +#raceinfo +self.lap_times=[0.0,0.0] +self.lap_counts=[0,0] + +#TODO:loadthemap(sameasROS.yamlformat) +#ifnotmap_path.endswith('.yaml'): +#print('Gymenv-Pleaseuseayamlfileformapinput.') +#sys.exit() +#loadmapimg +#map_img_path='levine.png' +#self.map_img=cv2.imread(map_img_path,0) +#self.map_img=cv2.flip(self.map_img,0) +#self.map_img=np.array(Image.open(map_img_path).transpose(Image.FLIP_TOP_BOTTOM)) +#self.map_img=self.map_img.astype(np.float64) +#self.map_img=self.map_img[::-1] +#self.map_img=np.dot(self.map_img[...,:3],[0.29,0.57,0.14]) +#plt.imshow(self.map_img) +#plt.show() + +#mapmetadata +#self.map_height=self.map_img.shape[0] +#self.map_width=self.map_img.shape[1] +self.map_height=0.0 +self.map_width=0.0 +self.map_resolution=0.0 +self.free_thresh=0.0 +self.origin=[] +#loadmapmetadata +#withopen(map_path,'r')asyaml_stream: +#try: +#map_metadata=yaml.safe_load(yaml_stream) +#self.map_resolution=map_metadata['resolution'] +#self.origin=map_metadata['origin'] +##print(self.origin) +##self.free_thresh????? +#exceptyaml.YAMLErrorasex: +#print(ex) + +#createzmqstuff +#portnumberrangefrom6666-6766 +#max100triestoconnect/bind +tries=0 +max_tries=100 +min_port=6666 +self.port=min_port +self.context=zmq.Context() +self.socket=self.context.socket(zmq.PAIR) +whiletries<max_tries: +try: +self.socket.bind('tcp://*:%s'%str(min_port+tries)) +#self.socket.connect('tcp://localhost:6666') +self.port=min_port+tries +break +except: +tries=tries+1 +#print('Gymenv-retryingfor'+str(tries)+'times') + +print('Gymenv-Connectedenvtoport:'+str(self.port)) + +#createcppinstanceifcreatethenneedtopassportnumber +#subprocesscallassumesdirectorystructure +#initsimwitharguments:[extimestepnum_agentsport_num] +#TODO:includeothercarparamsinargument +#args=['../build/sim_server',str(self.timestep),str(self.num_agents),str(self.port)] +#self.sim_p=subprocess.Popen(args) +self.sim_p=None + +#print('Gymenv-envcreated,waitingforparams...') + +def__del__(self): +""" +Finalizer,doescleanup +""" +ifself.sim_pisNone: +pass +else: +os.kill(self.sim_p.pid,signal.SIGTERM) +#print('Gymenv-Simchildprocesskilled.') + +def_start_executable(self,path): +mu=self.params[0] +h_cg=self.params[1] +l_r=self.params[2] +cs_f=self.params[3] +cs_r=self.params[4] +I_z=self.params[5] +mass=self.params[6] +args=[path+'sim_server',str(self.timestep),str(self.num_agents),str(self.port),str(mu),str(h_cg),str(l_r),str(cs_f),str(cs_r),str(I_z),str(mass)] +self.sim_p=subprocess.Popen(args) + +def_set_map(self): +""" +Setsthemapforthesimulatorinstance +""" +ifnotself.map_inited: +print('Gymenv-Simmapnotinitialized,callenv.init_map()toinitmap.') +#createandfillinprotobuf +map_request_proto=sim_requests_pb2.SimRequest() +map_request_proto.type=1 +map_request_proto.map_request.map.extend((1.-self.map_img/255.).flatten().tolist()) +map_request_proto.map_request.origin_x=self.origin[0] +map_request_proto.map_request.origin_y=self.origin[1] +map_request_proto.map_request.map_resolution=self.map_resolution +#TODO:doublecheckifthisvalueisvalid +map_request_proto.map_request.free_threshold=self.free_thresh +map_request_proto.map_request.map_height=self.map_height +map_request_proto.map_request.map_width=self.map_width +#serialization +map_request_string=map_request_proto.SerializeToString() +#sendsetmaprequest +#print('Gymenv-Sendingsetmaprequest...') +self.socket.send(map_request_string) +#print('Gymenv-Maprequestsent.') +#receiveresponsefromsiminstance +sim_response_string=self.socket.recv() +#parsemapresponseproto +sim_response_proto=sim_requests_pb2.SimResponse() +sim_response_proto.ParseFromString(sim_response_string) +#getresults +set_map_result=sim_response_proto.map_result.result +ifset_map_result==1: +print('Gymenv-Setmapfailed,exiting...') +sys.exit() + +def_check_done(self): +""" +Checkiftheepisodeisdone +Thisisintermsoftheegocar +Forourcase,whetherthecarendsupcloseenoughtothestartingpoint +Andifaccumulatedtimeisoverthetimeout +returntrueifdone,falseifnot +Thisassumesstartisalways(0,0) + +""" +#TODO:startnotalways0,0 +#dist_to_start=math.sqrt((self.x-self.start_x)**2+(self.y-self.start_y)**2) +left_t=2 +right_t=2 +timeout=self.current_time>=self.timeout +ifself.double_finish: +poses_x=np.array(self.all_x)-self.start_xs +poses_y=np.array(self.all_y)-self.start_ys +delta_pt=np.dot(self.start_rot,np.stack((poses_x,poses_y),axis=0)) +temp_y=delta_pt[1,:] +idx1=temp_y>left_t +idx2=temp_y<-right_t +temp_y[idx1]-=left_t +temp_y[idx2]=-right_t-temp_y[idx2] +temp_y[np.invert(np.logical_or(idx1,idx2))]=0 + +dist2=delta_pt[0,:]**2+temp_y**2 +closes=dist2<=0.1 +foriinrange(self.num_agents): +ifcloses[i]andnotself.near_starts[i]: +self.near_starts[i]=True +self.toggle_list[i]+=1 +elifnotcloses[i]andself.near_starts[i]: +self.near_starts[i]=False +self.toggle_list[i]+=1 +done=(self.in_collision|(timeout)|np.all(self.toggle_list>=4)) +#onlyfortwocarsatm +self.lap_counts[0]=np.floor(self.toggle_list[0]/2) +self.lap_counts[1]=np.floor(self.toggle_list[1]/2) +ifself.toggle_list[0]<4: +self.lap_times[0]=self.current_time +ifself.toggle_list[1]<4: +self.lap_times[1]=self.current_time +returndone,self.toggle_list>=4 + +delta_pt=np.dot(self.start_rot,np.array([self.x-self.start_x,self.y-self.start_y])) +ifdelta_pt[1]>left_t:#left +temp_y=delta_pt[1]-left_t +elifdelta_pt[1]<-right_t:#right +temp_y=-right_t-delta_pt[1] +else: +temp_y=0 +dist2=delta_pt[0]**2+temp_y**2 +close=dist2<=0.1 +#close=dist_to_start<=self.start_thresh +ifcloseandnotself.near_start: +self.near_start=True +self.num_toggles+=1 +elifnotcloseandself.near_start: +self.near_start=False +self.num_toggles+=1 +done=(self.in_collision|(timeout)|(self.num_toggles>=4)) +returndone + +def_check_passed(self): +""" +Returnsthetimesthattheegocarovertooktheothercar +""" +return0 + +def_update_state(self,obs_dict): +""" +Updatetheenv'sstatesaccordingtoobservations +obsisobservationdictionary +""" +self.x=obs_dict['poses_x'][obs_dict['ego_idx']] +self.y=obs_dict['poses_y'][obs_dict['ego_idx']] +ifself.double_finish: +self.all_x=obs_dict['poses_x'] +self.all_y=obs_dict['poses_y'] + +self.theta=obs_dict['poses_theta'][obs_dict['ego_idx']] +self.in_collision=obs_dict['collisions'][obs_dict['ego_idx']] +self.collision_angle=obs_dict['collision_angles'][obs_dict['ego_idx']] + +#TODO:dowedotheraycastinghereorinC++? +#ifspeedisaconcerndoitinC++? +#numbashouldn'tbeadependencyofgymenv +def_raycast_opponents(self,obs_dict): +#findtheangleofbeamofeachcarineachother'sfov + +#setrangeofbeamstoraycast,egoandop + +#raycastbeams,twoset +new_obs={} +returnnew_obs + +defstep(self,action): +#can'tstepifparamsnotset +ifnotself.params_set: +print('ERROR-GymEnv-Paramsnotset,callupdateparamsbeforestepping.') +sys.exit() +#actionisalistofsteeringangles+commandvelocities +#alsoaegocarindex +#actionshouldaDICTwith{'ego_idx':int,'speed':[],'steer':[]} +step_request_proto=sim_requests_pb2.SimRequest() +step_request_proto.type=0 +step_request_proto.step_request.ego_idx=action['ego_idx'] +step_request_proto.step_request.requested_vel.extend(action['speed']) +step_request_proto.step_request.requested_ang.extend(action['steer']) +#serialization +step_request_string=step_request_proto.SerializeToString() +#sendsteprequest +self.socket.send(step_request_string) +#receiveresponsefromsiminstance +sim_response_string=self.socket.recv() +#print('Gymenv-Receivedresponseforsteprequest.') +#parsemapresponseproto +sim_response_proto=sim_requests_pb2.SimResponse() +sim_response_proto.ParseFromString(sim_response_string) +#getresults +#makesurewehavetherighttypeofresponse +response_type=sim_response_proto.type +#TODO:alsocheckforsteppingfail +ifnotresponse_type==0: +print('Gymenv-Wrongresponsetypeforstepping,exiting...') +sys.exit() +observations_proto=sim_response_proto.sim_obs +#makesuretheegoidxmatches +ifnotobservations_proto.ego_idx==action['ego_idx']: +print('Gymenv-Egoindexmismatch,exiting...') +sys.exit() +#getobservations +carobs_list=observations_proto.observations +#constructobservationdict +#ObservationDICT,assumeindicesconsistent:{'ego_idx':int,'scans':[[]],'poses_x':[],'poses_y':[],'poses_theta':[],'linear_vels_x':[],'linear_vels_y':[],'ang_vels_z':[],'collisions':[],'collision_angles':[]} +obs={'ego_idx':observations_proto.ego_idx,'scans':[],'poses_x':[],'poses_y':[],'poses_theta':[],'linear_vels_x':[],'linear_vels_y':[],'ang_vels_z':[],'collisions':[],'collision_angles':[],'lap_times':[],'lap_counts':[]} +forcar_obsincarobs_list: +obs['scans'].append(car_obs.scan) +obs['poses_x'].append(car_obs.pose_x) +obs['poses_y'].append(car_obs.pose_y) +ifabs(car_obs.theta)<np.pi: +obs['poses_theta'].append(car_obs.theta) +else: +obs['poses_theta'].append(-((2*np.pi)-car_obs.theta)) +obs['linear_vels_x'].append(car_obs.linear_vel_x) +obs['linear_vels_y'].append(car_obs.linear_vel_y) +obs['ang_vels_z'].append(car_obs.ang_vel_z) +obs['collisions'].append(car_obs.collision) +obs['collision_angles'].append(car_obs.collision_angle) + +obs['lap_times']=self.lap_times +obs['lap_counts']=self.lap_counts + +#TODO:doweneedstepreward? +reward=self.timestep +#updateaccumulatedtimeinenv +self.current_time=self.current_time+self.timestep +#TODO:donezoshouldbedoneinsimulator?couldbedonehereaswell +self._update_state(obs) +ifself.double_finish: +done,temp=self._check_done() +info={'checkpoint_done':temp} +else: +done=self._check_done() +info={} + +#TODO:returnobs,reward,done,info +returnobs,reward,done,info + +defreset(self,poses=None): + +self.current_time=0.0 +self.in_collision=False +self.collision_angles=None +self.num_toggles=0 +self.near_start=True +self.near_starts=np.array([True]*self.num_agents) +self.toggle_list=np.zeros((self.num_agents,)) +ifposes: +pose_x=poses['x'] +pose_y=poses['y'] +pose_theta=poses['theta'] +self.start_x=pose_x[0] +self.start_y=pose_y[0] +self.start_theta=pose_theta[0] +self.start_xs=np.array(pose_x) +self.start_ys=np.array(pose_y) +self.start_thetas=np.array(pose_theta) +self.start_rot=np.array([[np.cos(-self.start_theta),-np.sin(-self.start_theta)], +[np.sin(-self.start_theta),np.cos(-self.start_theta)]]) +#createresetbyposeproto +reset_request_proto=sim_requests_pb2.SimRequest() +reset_request_proto.type=4 +reset_request_proto.reset_bypose_request.num_cars=self.num_agents +reset_request_proto.reset_bypose_request.ego_idx=0 +reset_request_proto.reset_bypose_request.car_x.extend(pose_x) +reset_request_proto.reset_bypose_request.car_y.extend(pose_y) +reset_request_proto.reset_bypose_request.car_theta.extend(pose_theta) +reset_request_string=reset_request_proto.SerializeToString() +self.socket.send(reset_request_string) +else: +#createresetproto +self.start_x=0.0 +self.start_y=0.0 +self.start_theta=0.0 +self.start_rot=np.array([[np.cos(-self.start_theta),-np.sin(-self.start_theta)], +[np.sin(-self.start_theta),np.cos(-self.start_theta)]]) +reset_request_proto=sim_requests_pb2.SimRequest() +reset_request_proto.type=2 +reset_request_proto.reset_request.num_cars=self.num_agents +reset_request_proto.reset_request.ego_idx=0 +#serializeresetproto +reset_request_string=reset_request_proto.SerializeToString() +#sendresetprotostring +self.socket.send(reset_request_string) +#receiveresponsefromsim +reset_response_string=self.socket.recv() +reset_response_proto=sim_requests_pb2.SimResponse() +reset_response_proto.ParseFromString(reset_response_string) +ifreset_response_proto.reset_resp.result: +print('Gymenv-Resetfailed') +#TODO:failurehandling +returnNone +#TODO:returnwithgymconvention,onestep? +vels=[0.0]*self.num_agents +angs=[0.0]*self.num_agents +action={'ego_idx':self.ego_idx,'speed':vels,'steer':angs} +#print('Gymenv-Resetdone') +obs,reward,done,info=self.step(action) +#print('Gymenv-stepdoneforreset') +returnobs,reward,done,info + +definit_map(self,map_path,img_ext,rgb,flip): +""" +initamapforthegymenv +map_path:fullpathfortheyaml,sameasROS,imgandyamlinsamedir +rgb:mapgrayscaleorrgb +flip:ifmapneedsflipping +""" + +self.map_path=map_path +ifnotmap_path.endswith('.yaml'): +print('Gymenv-Pleaseuseayamlfileformapinitialization.') +print('Exiting...') +sys.exit() + +#splityamlextname +map_img_path=os.path.splitext(self.map_path)[0]+img_ext +self.map_img=np.array(Image.open(map_img_path).transpose(Image.FLIP_TOP_BOTTOM)) +self.map_img=self.map_img.astype(np.float64) +ifflip: +self.map_img=self.map_img[::-1] + +ifrgb: +self.map_img=np.dot(self.map_img[...,:3],[0.29,0.57,0.14]) + +#updatemapmetadata +self.map_height=self.map_img.shape[0] +self.map_width=self.map_img.shape[1] +self.free_thresh=0.6#TODO:doublecheck +withopen(self.map_path,'r')asyaml_stream: +try: +map_metadata=yaml.safe_load(yaml_stream) +self.map_resolution=map_metadata['resolution'] +self.origin=map_metadata['origin'] +exceptyaml.YAMLErrorasex: +print(ex) +self.map_inited=True + +#loadwaypoints +#self.csv_path=os.path.splitext(self.map_path)[0]+'.csv' +#withopen(self.csv_path)asf: +#self.waypoints=[tuple(line)forlineincsv.reader(f)] +##waypointsare[x,y,speed,theta] +#self.waypoints=np.array([(float(pt[0]),float(pt[1]),float(pt[2]),float(pt[3]))forptinself.waypoints]) + + +defrender(self,mode='human',close=False): +return + +#defget_min_dist(self,position): +#wpts=self.waypoints[:,0:2] +##=position[0:2] +#nearest_point,nearest_dist,t,i=self.nearest_point_on_trajectory(position,wpts) +##speed=self.waypoints[i,2] +#returnnearest_dist + +#defnearest_point_on_trajectory(self,point,trajectory): +#''' +#Returnthenearestpointalongthegivenpiecewiselineartrajectory. + +#Sameasnearest_point_on_line_segment,butvectorized.Thismethodisquitefast,timeconstraintsshould +#notbeanissuesolongastrajectoriesarenotinsanelylong. + +#Orderofmagnitude:trajectorylength:1000-->0.0002secondcomputation(5000fps) + +#point:size2numpyarray +#trajectory:Nx2matrixof(x,y)trajectorywaypoints +#-thesemustbeunique.Iftheyarenotunique,adivideby0errorwilldestroytheworld +#''' +#diffs=trajectory[1:,:]-trajectory[:-1,:] +#l2s=diffs[:,0]**2+diffs[:,1]**2 +##thisisequivalenttotheelementwisedotproduct +#dots=np.sum((point-trajectory[:-1,:])*diffs[:,:],axis=1) +#t=np.clip(dots/l2s,0.0,1.0) +#projections=trajectory[:-1,:]+(t*diffs.T).T +#dists=np.linalg.norm(point-projections,axis=1) +#min_dist_segment=np.argmin(dists) +#returnprojections[min_dist_segment],dists[min_dist_segment],t[min_dist_segment],min_dist_segment + +defupdate_params(self,mu,h_cg,l_r,cs_f,cs_r,I_z,mass,exe_path,double_finish=False): +#ifnotself.sim_pisNone: +#print('Gymenv-Simserverexists,killing...') +#self.socket.send(b'dead') +#self.sim_p.kill() +#os.kill(self.sim_p.pid,signal.SIGINT) +#self.sim_p=None +#print('inupdateparams') + +self.params=[mu,h_cg,l_r,cs_f,cs_r,I_z,mass] +self.params_set=True +ifself.sim_pisNone: +#print('startingexandsettingmap') +self._start_executable(exe_path) +self._set_map() +self.double_finish=double_finish +#print('beforecreatingproto') + +#createupdateproto +update_param_proto=sim_requests_pb2.SimRequest() +update_param_proto.type=3 +update_param_proto.update_request.mu=mu +update_param_proto.update_request.h_cg=h_cg +update_param_proto.update_request.l_r=l_r +update_param_proto.update_request.cs_f=cs_f +update_param_proto.update_request.cs_r=cs_r +update_param_proto.update_request.I_z=I_z +update_param_proto.update_request.mass=mass +#serializeresetproto +update_param_string=update_param_proto.SerializeToString() +#print('protoserialized') +#sendupdateparamrequest +self.socket.send(update_param_string) +#print('Gymenv-Updateparamrequestsent.') +#receiveresponse +update_response_string=self.socket.recv() +update_response_proto=sim_requests_pb2.SimResponse() +update_response_proto.ParseFromString(update_response_string) +ifupdate_response_proto.update_resp.result: +print('Gymenv-Updateparamfailed') +returnNone + +#print('Gymenv-paramsupdated.') +#startexecutable +#self._start_executable() +#callsetmap +#self._set_map() + + + + diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/f110__gym_2____init_____8py.xml b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/f110__gym_2____init_____8py.xml new file mode 100644 index 0000000..60c6cb3 --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/f110__gym_2____init_____8py.xml @@ -0,0 +1,19 @@ + + + + __init__.py + f110_gym + + + + + +fromgym.envs.registrationimportregister +register( +id='f110-v0', +entry_point='f110_gym.envs:F110Env', +) + + + + diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/f110__gym_2envs_2____init_____8py.xml b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/f110__gym_2envs_2____init_____8py.xml new file mode 100644 index 0000000..b4c4540 --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/f110__gym_2envs_2____init_____8py.xml @@ -0,0 +1,19 @@ + + + + __init__.py + f110_gym::envs + + + + + +fromf110_gym.envs.f110_envimportF110Env +fromf110_gym.envs.dynamic_modelsimport* +fromf110_gym.envs.laser_modelsimport* +fromf110_gym.envs.base_classesimport* +fromf110_gym.envs.collision_modelsimport* + + + + diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/f110__gym_2unittest_2____init_____8py.xml b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/f110__gym_2unittest_2____init_____8py.xml new file mode 100644 index 0000000..43b2b59 --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/f110__gym_2unittest_2____init_____8py.xml @@ -0,0 +1,16 @@ + + + + __init__.py + f110_gym::unittest + gym::envs::unittest::scan_sim + + + + + +fromgym.envs.unittest.scan_simimport* + + + + diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/index.xml b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/index.xml new file mode 100644 index 0000000..ac873c3 --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/index.xml @@ -0,0 +1,572 @@ + + + f110_gym::unittest::pyglet_test_camera::App + left + right + bottom + top + zoom_level + zoomed_width + zoomed_height + __init__ + init_gl + on_resize + on_mouse_drag + on_mouse_scroll + on_draw + run + + f110_gym::unittest::pyglet_test::Camera + _window + _zoom + scroll_speed + max_zoom + min_zoom + offset_x + offset_y + __init__ + zoom + zoom + position + position + move + begin + end + __enter__ + __exit__ + + f110_gym::unittest::pyglet_test::CenteredCamera + begin + end + + f110_gym::unittest::collision_checks::CollisionTests + vertices1 + length + width + setUp + test_get_vert + test_get_vert_fps + test_random_collision + test_fps + + f110_gym::envs::collision_models::CollisionTests + vertices1 + length + width + setUp + test_get_vert + test_get_vert_fps + test_random_collision + test_multiple_collisions + test_fps + + f110_gym::envs::dynamic_models::DynamicsTest + mu + C_Sf + C_Sr + lf + lr + h + m + I + s_min + s_max + sv_min + sv_max + v_min + v_max + v_switch + a_max + setUp + test_derivatives + test_zeroinit_roll + test_zeroinit_dec + test_zeroinit_acc + test_zeroinit_rollleft + + f110_gym::unittest::dynamics_test::DynamicsTest + mu + C_Sf + C_Sr + lf + lr + h + m + I + s_min + s_max + sv_min + sv_max + v_min + v_max + v_switch + a_max + setUp + test_derivatives + test_zeroinit_roll + test_zeroinit_dec + test_zeroinit_acc + test_zeroinit_rollleft + + f110_gym::envs::rendering::EnvRenderer + left + right + bottom + top + zoom_level + zoomed_width + zoomed_height + batch + map_points + poses + vertices + score_label + fps_display + ego_idx + cars + __init__ + update_map + on_resize + on_mouse_drag + on_mouse_scroll + on_close + on_draw + update_obs + + f110_gym::envs::f110_env_backup::F110Env + metadata + params_set + map_inited + params + num_agents + timestep + map_path + map_img + ego_idx + timeout + start_thresh + x + y + theta + in_collision + collision_angle + near_start + num_toggles + lap_times + lap_counts + map_height + map_width + map_resolution + free_thresh + origin + port + context + socket + sim_p + all_x + all_y + current_time + collision_angles + near_starts + toggle_list + start_x + start_y + start_theta + start_xs + start_ys + start_thetas + start_rot + double_finish + __init__ + __del__ + step + reset + init_map + render + update_params + _start_executable + _set_map + _check_done + _check_passed + _update_state + _raycast_opponents + + f110_gym::envs::f110_env::F110Env + metadata + map_name + map_path + map_ext + params + num_agents + timestep + ego_idx + start_thresh + poses_x + poses_y + poses_theta + collisions + near_start + num_toggles + lap_times + lap_counts + current_time + near_starts + toggle_list + start_xs + start_ys + start_thetas + start_rot + sim + renderer + current_obs + __init__ + __del__ + step + reset + update_map + update_params + render + _check_done + _update_state + + f110_gym::envs::base_classes::RaceCar + params + is_ego + time_step + num_beams + fov + state + opp_poses + accel + steer_angle_vel + steer_buffer + steer_buffer_size + in_collision + ttc_thresh + scan_simulator + current_scan + cosines + scan_angles + side_distances + __init__ + update_params + set_map + reset + ray_cast_agents + check_ttc + update_pose + update_opp_poses + update_scan + + f110_gym::unittest::scan_sim::ScanSimulator2D + num_beams + fov + std_dev + eps + theta_dis + max_range + angle_increment + theta_index_increment + orig_c + orig_s + orig_x + orig_y + map_height + map_width + map_resolution + dt + rng + sines + cosines + map_img + origin + __init__ + set_map + scan + get_increment + + f110_gym::envs::laser_models::ScanSimulator2D + num_beams + fov + std_dev + eps + theta_dis + max_range + angle_increment + theta_index_increment + orig_c + orig_s + orig_x + orig_y + map_height + map_width + map_resolution + dt + rng + sines + cosines + map_img + origin + __init__ + set_map + scan + get_increment + + f110_gym::unittest::scan_sim::ScanTests + num_beams + fov + num_test + test_poses + berlin_scan + skirk_scan + setUp + test_map_berlin + test_map_skirk + test_fps + + f110_gym::envs::laser_models::ScanTests + num_beams + fov + num_test + test_poses + berlin_scan + skirk_scan + setUp + test_map_berlin + test_map_skirk + test_fps + + f110_gym::envs::base_classes::Simulator + num_agents + time_step + ego_idx + params + agent_poses + agents + collisions + collision_idx + __init__ + set_map + update_params + check_collision + step + reset + + f110_gym + id + entry_point + + f110_gym::envs + + f110_gym::envs::base_classes + + f110_gym::envs::collision_models + cache + perpendicular + tripleProduct + avgPoint + indexOfFurthestPoint + support + collision + collision_multiple + get_trmtx + get_vertices + + f110_gym::envs::dynamic_models + cache + accl_constraints + steering_constraint + vehicle_dynamics_ks + vehicle_dynamics_st + pid + func_KS + func_ST + + f110_gym::envs::f110_env + VIDEO_W + VIDEO_H + WINDOW_W + WINDOW_H + + f110_gym::envs::f110_env_backup + + f110_gym::envs::laser_models + get_dt + xy_2_rc + distance_transform + trace_ray + get_scan + check_ttc_jit + cross + are_collinear + get_range + ray_cast + main + + f110_gym::envs::rendering + ZOOM_IN_FACTOR + ZOOM_OUT_FACTOR + CAR_LENGTH + CAR_WIDTH + + f110_gym::unittest + + f110_gym::unittest::collision_checks + cache + perpendicular + tripleProduct + avgPoint + indexOfFurthestPoint + support + collision + get_trmtx + get_vertices + + f110_gym::unittest::dynamics_test + cache + accl_constraints + steering_constraint + vehicle_dynamics_ks + vehicle_dynamics_st + pid + func_KS + func_ST + + f110_gym::unittest::legacy_scan_gen + thetas + executable_dir + mass + l_r + I_z + mu + h_cg + cs_f + cs_r + num_test + test_poses + num + map_path + map_ext + racecar_env + double_finish + vegas_scan + x + y + theta + obs + _ + berlin_scan + skirk_scan + vegas + berlin + skirk + + f110_gym::unittest::pyglet_test + parser + type + str + required + True + help + args + map_metada + map_resolution + origin + origin_x + origin_y + map_img + map_height + map_width + range_x + range_y + map_x + map_y + map_z + map_coords + map_mask + map_mask_flat + map_points + config + window + cam + batch + points + particle + on_resize + loop + on_draw + + f110_gym::unittest::pyglet_test_camera + ZOOM_IN_FACTOR + ZOOM_OUT_FACTOR + + f110_gym::unittest::random_trackgen + parser + type + int + default + help + args + NUM_MAPS + WIDTH + track + track_int + track_ext + create_track + convert_track + + f110_gym::unittest::scan_sim + get_dt + xy_2_rc + distance_transform + trace_ray + get_scan + main + + gym::envs::unittest::scan_sim + + pyglet::gl + + __init__.py + + __init__.py + + __init__.py + + base_classes.py + + collision_models.py + + dynamic_models.py + + f110_env.py + + f110_env_backup.py + + laser_models.py + + rendering.py + + collision_checks.py + + dynamics_test.py + + legacy_scan_gen.py + + pyglet_test.py + + pyglet_test_camera.py + + random_trackgen.py + + scan_sim.py + + /home/billyzheng/f1tenth_gym/gym/f110_gym/envs + + /home/billyzheng/f1tenth_gym/gym/f110_gym + + /home/billyzheng/f1tenth_gym/gym + + /home/billyzheng/f1tenth_gym/gym/f110_gym/unittest + + diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/index.xsd b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/index.xsd new file mode 100644 index 0000000..04cb2f1 --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/index.xsd @@ -0,0 +1,67 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/laser__models_8py.xml b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/laser__models_8py.xml new file mode 100644 index 0000000..a339a27 --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/laser__models_8py.xml @@ -0,0 +1,596 @@ + + + + laser_models.py + f110_gym::envs::laser_models::ScanSimulator2D + f110_gym::envs::laser_models::ScanTests + f110_gym::envs::laser_models + + + + + +#MITLicense + +#Copyright(c)2020JosephAuckley,MatthewO'Kelly,AmanSinha,HongruiZheng + +#Permissionisherebygranted,freeofcharge,toanypersonobtainingacopy +#ofthissoftwareandassociateddocumentationfiles(the"Software"),todeal +#intheSoftwarewithoutrestriction,includingwithoutlimitationtherights +#touse,copy,modify,merge,publish,distribute,sublicense,and/orsell +#copiesoftheSoftware,andtopermitpersonstowhomtheSoftwareis +#furnishedtodoso,subjecttothefollowingconditions: + +#Theabovecopyrightnoticeandthispermissionnoticeshallbeincludedinall +#copiesorsubstantialportionsoftheSoftware. + +#THESOFTWAREISPROVIDED"ASIS",WITHOUTWARRANTYOFANYKIND,EXPRESSOR +#IMPLIED,INCLUDINGBUTNOTLIMITEDTOTHEWARRANTIESOFMERCHANTABILITY, +#FITNESSFORAPARTICULARPURPOSEANDNONINFRINGEMENT.INNOEVENTSHALLTHE +#AUTHORSORCOPYRIGHTHOLDERSBELIABLEFORANYCLAIM,DAMAGESOROTHER +#LIABILITY,WHETHERINANACTIONOFCONTRACT,TORTOROTHERWISE,ARISINGFROM, +#OUTOFORINCONNECTIONWITHTHESOFTWAREORTHEUSEOROTHERDEALINGSINTHE +#SOFTWARE. + + + +""" +PrototypeofUtilityfunctionsandclassesforsimulating2DLIDARscans +Author:HongruiZheng +""" + +importnumpyasnp +fromnumbaimportnjit +fromscipy.ndimageimportdistance_transform_edtasedt +fromPILimportImage +importos +importyaml + +importunittest +importtimeit + +defget_dt(bitmap,resolution): +""" +Distancetransformation,returnsthedistancematrixfromtheinputbitmap. +Usesscipy.ndimage,cannotbeJITted. + +Args: +bitmap(numpy.ndarray,(n,m)):inputbinarybitmapoftheenvironment,where0isobstacles,and255(oranything>0)isfreespace +resolution(float):resolutionoftheinputbitmap(m/cell) + +Returns: +dt(numpy.ndarray,(n,m)):outputdistancematrix,whereeachcellhasthecorrespondingdistance(inmeters)totheclosestobstacle +""" +dt=resolution*edt(bitmap) +returndt + +@njit(cache=True) +defxy_2_rc(x,y,orig_x,orig_y,orig_c,orig_s,height,width,resolution): +""" +Translate(x,y)coordinateinto(r,c)inthematrix + +Args: +x(float):coordinateinx(m) +y(float):coordinateiny(m) +orig_x(float):xcoordinateofthemaporigin(m) +orig_y(float):ycoordinateofthemaporigin(m) + +Returns: +r(int):rownumberinthetransformmatrixofthegivenpoint +c(int):columnnumberinthetransformmatrixofthegivenpoint +""" +#translation +x_trans=x-orig_x +y_trans=y-orig_y + +#rotation +x_rot=x_trans*orig_c+y_trans*orig_s +y_rot=-x_trans*orig_s+y_trans*orig_c + +#clipthestatetobeacell +ifx_rot<0orx_rot>=width*resolutionory_rot<0ory_rot>=height*resolution: +c=-1 +r=-1 +else: +c=int(x_rot/resolution) +r=int(y_rot/resolution) + +returnr,c + +@njit(cache=True) +defdistance_transform(x,y,orig_x,orig_y,orig_c,orig_s,height,width,resolution,dt): +""" +Lookupcorrespondingdistanceinthedistancematrix + +Args: +x(float):xcoordinateofthelookuppoint +y(float):ycoordinateofthelookuppoint +orig_x(float):xcoordinateofthemaporigin(m) +orig_y(float):ycoordinateofthemaporigin(m) + +Returns: +distance(float):correspondingshortestdistancetoobstacleinmeters +""" +r,c=xy_2_rc(x,y,orig_x,orig_y,orig_c,orig_s,height,width,resolution) +distance=dt[r,c] +returndistance + +@njit(cache=True) +deftrace_ray(x,y,theta_index,sines,cosines,eps,orig_x,orig_y,orig_c,orig_s,height,width,resolution,dt,max_range): +""" +Findthelengthofaspecificrayataspecificscanangletheta +Purelymathcalculationandloops,shouldbeJITted. + +Args: +x(float):currentxcoordinateoftheego(scan)frame +y(float):currentycoordinateoftheego(scan)frame +theta_index(int):currentindexofthescanbeaminthescanrange +sines(numpy.ndarray(n,)):pre-calculatedsinesoftheanglearray +cosines(numpy.ndarray(n,)):pre-calculatedcosines... + +Returns: +total_distance(float):thedistancetofirstobstacleonthecurrentscanbeam +""" + +#intcasting,andindexprecaltrigs +theta_index_=int(theta_index) +s=sines[theta_index_] +c=cosines[theta_index_] + +#distancetonearestinitialization +dist_to_nearest=distance_transform(x,y,orig_x,orig_y,orig_c,orig_s,height,width,resolution,dt) +total_dist=dist_to_nearest + +#raytracingiterations +whiledist_to_nearest>epsandtotal_dist<=max_range: +#moveinthedirectionoftheraybydist_to_nearest +x+=dist_to_nearest*c +y+=dist_to_nearest*s + +#updatedist_to_nearestforcurrentpointonray +#alsokeepstrackoftotalraylength +dist_to_nearest=distance_transform(x,y,orig_x,orig_y,orig_c,orig_s,height,width,resolution,dt) +total_dist+=dist_to_nearest + +iftotal_dist>max_range: +total_dist=max_range + +returntotal_dist + +@njit(cache=True) +defget_scan(pose,theta_dis,fov,num_beams,theta_index_increment,sines,cosines,eps,orig_x,orig_y,orig_c,orig_s,height,width,resolution,dt,max_range): +""" +Performthescanforeachdiscretizedangleofeachbeamofthelaser,loopheavy,shouldbeJITted + +Args: +pose(numpy.ndarray(3,)):currentposeofthescanframeinthemap +theta_dis(int):numberofstepstodiscretizetheanglesbetween0and2piforlookup +fov(float):fieldofviewofthelaserscan +num_beams(int):numberofbeamsinthescan +theta_index_increment(float):incrementbetweenangleindicesafterdiscretization + +Returns: +scan(numpy.ndarray(n,)):resultinglaserscanatthepose,n=num_beams +""" +#emptyscanarrayinit +scan=np.empty((num_beams,)) + +#makethetadiscretebymappingtherange[-pi,pi]onto[0,theta_dis] +theta_index=theta_dis*(pose[2]-fov/2.)/(2.*np.pi) + +#makesureit'swrappedproperly +theta_index=np.fmod(theta_index,theta_dis) +while(theta_index<0): +theta_index+=theta_dis + +#sweepthrougheachbeam +foriinrange(0,num_beams): +#tracethecurrentbeam +scan[i]=trace_ray(pose[0],pose[1],theta_index,sines,cosines,eps,orig_x,orig_y,orig_c,orig_s,height,width,resolution,dt,max_range) + +#incrementthebeamindex +theta_index+=theta_index_increment + +#makesureitstaysintherange[0,theta_dis) +whiletheta_index>=theta_dis: +theta_index-=theta_dis + +returnscan + +@njit(cache=True) +defcheck_ttc_jit(scan,vel,scan_angles,cosines,side_distances,ttc_thresh): +""" +CheckstheiTTCofeachbeaminascanforcollisionwithenvironment + +Args: +scan(np.ndarray(num_beams,)):currentscantocheck +vel(float):currentvelocity +scan_angles(np.ndarray(num_beams,)):precompedanglesofeachbeam +cosines(np.ndarray(num_beams,)):precompedcosinesofthescanangles +side_distances(np.ndarray(num_beams,)):precompeddistancesateachbeamfromthelasertothesidesofthecar +ttc_thresh(float):thresholdforiTTCforcollision + +Returns: +in_collision(bool):whethervehicleisincollisionwithenvironment +collision_angle(float):atwhichanglethecollisionhappened +""" +ifvel!=0.0: +num_beams=scan.shape[0] +foriinrange(num_beams): +proj_vel=vel*cosines[i] +ttc=(scan[i]-side_distances[i])/proj_vel +if(ttc<ttc_thresh)and(ttc>=0.0): +in_collision=True +break +else: +in_collision=False + +returnin_collision + +@njit(cache=True) +defcross(v1,v2): +""" +Crossproductoftwo2-vectors + +Args: +v1,v2(np.ndarray(2,)):inputvectors + +Returns: +crossproduct(float):crossproduct +""" +returnv1[0]*v2[1]-v1[1]*v2[0] + +@njit(cache=True) +defare_collinear(pt_a,pt_b,pt_c): +""" +Checksifthreepointsarecollinearin2D + +Args: +pt_a,pt_b,pt_c(np.ndarray(2,)):pointstocheckin2D + +Returns: +col(bool):whetherthreepointsarecollinear +""" +tol=1e-8 +ba=pt_b-pt_a +ca=pt_a-pt_c +col=np.fabs(cross(ba,ca))<tol +returncol + +@njit(cache=True) +defget_range(pose,beam_theta,va,vb): +""" +Getthedistanceatabeamangletothevectorformedbytwoofthefourverticesofavehicle + +Args: +pose(np.ndarray(3,)):poseofthescanningvehicle +beam_theta(float):angleofthecurrentbeam(worldframe) +va,vb(np.ndarray(2,)):thetwoverticesforminganedge + +Returns: +distance(float):smallestdistanceatbeamthetafromscanningposetoedge +""" +o=pose[0:2] +v1=o-va +v2=vb-va +v3=np.array([np.cos(beam_theta+np.pi/2.),np.sin(beam_theta+np.pi/2.)]) + +denom=v2.dot(v3) +distance=np.inf + +ifnp.fabs(denom)>0.0: +d1=cross(v2,v1)/denom +d2=v1.dot(v3)/denom +ifd1>=0.0andd2>=0.0andd2<=1.0: +distance=d1 +elifare_collinear(o,va,vb): +da=np.linalg.norm(va-o) +db=np.linalg.norm(vb-o) +distance=min(da,db) + +returndistance + +@njit(cache=True) +defray_cast(pose,scan,scan_angles,vertices): +""" +Modifyascanbyraycastingontoanotheragent'sfourvertices + +Args: +pose(np.ndarray(3,)):poseofthevehicleperformingscan +scan(np.ndarray(num_beams,)):originalscantomodify +scan_angles(np.ndarray(num_beams,)):correspondingbeamangles +vertices(np.ndarray(4,2)):fourverticesofavehiclepose + +Returns: +new_scan(np.ndarray(num_beams,)):modifiedscan +""" +num_beams=scan.shape[0] + +#padverticessoloopsaround +looped_vertices=np.empty((5,2)) +looped_vertices[0:4,:]=vertices +looped_vertices[4,:]=vertices[0,:] + +#loopingoverbeams +foriinrange(num_beams): +#loopingoververtices +forjinrange(4): +#checkiforiginalscanislongerthanraycasteddistance +scan_range=get_range(pose,pose[2]+scan_angles[i],looped_vertices[j,:],looped_vertices[j+1,:]) +ifscan_range<scan[i]: +scan[i]=scan_range + +returnscan + +classScanSimulator2D(object): +""" +2DLIDARscansimulatorclass + +Initparams: +num_beams(int):numberofbeamsinthescan +fov(float):fieldofviewofthelaserscan +std_dev(float,default=0.01):standarddeviationofthegeneratedwhitenoiseinthescan +eps(float,default=0.0001):raytracingiterationterminationcondition +theta_dis(int,default=2000):numberofstepstodiscretizetheanglesbetween0and2piforlookup +max_range(float,default=30.0):maximumrangeofthelaser +seed(int,default=123):seedforrandomnumbergeneratorforthewhitenoiseinscan +""" + +def__init__(self,num_beams,fov,std_dev=0.01,eps=0.0001,theta_dis=2000,max_range=30.0,seed=123): +#initialization +self.num_beams=num_beams +self.fov=fov +self.std_dev=std_dev +self.eps=eps +self.theta_dis=theta_dis +self.max_range=max_range +self.angle_increment=self.fov/(self.num_beams-1) +self.theta_index_increment=theta_dis*self.angle_increment/(2.*np.pi) +self.orig_c=None +self.orig_s=None +self.orig_x=None +self.orig_y=None +self.map_height=None +self.map_width=None +self.map_resolution=None +self.dt=None + +#whitenoisegenerator +self.rng=np.random.default_rng(seed=seed) + +#precomputingcorrespondingcosinesandsinesoftheanglearray +theta_arr=np.linspace(0.0,2*np.pi,num=theta_dis) +self.sines=np.sin(theta_arr) +self.cosines=np.cos(theta_arr) + +defset_map(self,map_path,map_ext): +""" +Setthebitmapofthescansimulatorbypath + +Args: +map_path(str):pathtothemapyamlfile +map_ext(str):extension(imagetype)ofthemapimage + +Returns: +flag(bool):ifimagereadingandloadingissuccessful +""" +#TODO:doweopentheoptiontofliptheimages,andturnrgbintograyscale?orspecifytheexactrequirementsindocumentation. +#TODO:throwerrorifimagespecificationisn'tmet + +#loadmapimage +map_img_path=os.path.splitext(map_path)[0]+map_ext +self.map_img=np.array(Image.open(map_img_path).transpose(Image.FLIP_TOP_BOTTOM)) +self.map_img=self.map_img.astype(np.float64) + +#grayscale->binary +self.map_img[self.map_img<=128.]=0. +self.map_img[self.map_img>128.]=255. + +self.map_height=self.map_img.shape[0] +self.map_width=self.map_img.shape[1] + +#loadmapyaml +withopen(map_path,'r')asyaml_stream: +try: +map_metadata=yaml.safe_load(yaml_stream) +self.map_resolution=map_metadata['resolution'] +self.origin=map_metadata['origin'] +exceptyaml.YAMLErrorasex: +print(ex) + +#calculatemapparameters +self.orig_x=self.origin[0] +self.orig_y=self.origin[1] +self.orig_s=np.sin(self.origin[2]) +self.orig_c=np.cos(self.origin[2]) + +#getthedistancetransform +self.dt=get_dt(self.map_img,self.map_resolution) + +returnTrue + +defscan(self,pose): +""" +Performsimulated2Dscanbyposeonthegivenmap + +Args: +pose(numpy.ndarray(3,)):poseofthescanframe(x,y,theta) + +Returns: +scan(numpy.ndarray(n,)):dataarrayofthelaserscan,n=num_beams + +Raises: +ValueError:whenscaniscalledbeforeamapisset +""" +ifself.map_heightisNone: +raiseValueError('Mapisnotsetforscansimulator.') +scan=get_scan(pose,self.theta_dis,self.fov,self.num_beams,self.theta_index_increment,self.sines,self.cosines,self.eps,self.orig_x,self.orig_y,self.orig_c,self.orig_s,self.map_height,self.map_width,self.map_resolution,self.dt,self.max_range) +noise=self.rng.normal(0.,self.std_dev,size=self.num_beams) +final_scan=scan+noise +returnfinal_scan + +defget_increment(self): +returnself.angle_increment + + +""" +Unittestsforthe2Dscansimulatorclass +Author:HongruiZheng + +Testcases: +1,2:ComparisonbetweengeneratedscanarrayofthenewsimulatorandthelegacyC++simulator,generateddataused,MSEisusedasthemetric +2.FPStest,shouldbegreaterthan500 +""" + + +classScanTests(unittest.TestCase): +defsetUp(self): +#testparams +self.num_beams=1080 +self.fov=4.7 + +self.num_test=10 +self.test_poses=np.zeros((self.num_test,3)) +self.test_poses[:,2]=np.linspace(-1.,1.,num=self.num_test) + +#legacygymdata +sample_scan=np.load('legacy_scan.npz') +self.berlin_scan=sample_scan['berlin'] +self.skirk_scan=sample_scan['skirk'] + +deftest_map_berlin(self): +scan_sim=ScanSimulator2D(self.num_beams,self.fov) +new_berlin=np.empty((self.num_test,self.num_beams)) +map_path='../../../maps/berlin.yaml' +map_ext='.png' +scan_sim.set_map(map_path,map_ext) +#scangenloop +foriinrange(self.num_test): +test_pose=self.test_poses[i] +new_berlin[i,:]=scan_sim.scan(test_pose) +diff=self.berlin_scan-new_berlin +mse=np.mean(diff**2) +#print('Levinedistancetest,norm:'+str(norm)) + +#plotting +importmatplotlib.pyplotasplt +theta=np.linspace(-self.fov/2.,self.fov/2.,num=self.num_beams) +plt.polar(theta,new_berlin[1,:],'.',lw=0) +plt.polar(theta,self.berlin_scan[1,:],'.',lw=0) +plt.show() + +self.assertLess(mse,2.) + +deftest_map_skirk(self): +scan_sim=ScanSimulator2D(self.num_beams,self.fov) +new_skirk=np.empty((self.num_test,self.num_beams)) +map_path='../../../maps/skirk.yaml' +map_ext='.png' +scan_sim.set_map(map_path,map_ext) +print('mapset') +#scangenloop +foriinrange(self.num_test): +test_pose=self.test_poses[i] +new_skirk[i,:]=scan_sim.scan(test_pose) +diff=self.skirk_scan-new_skirk +mse=np.mean(diff**2) +print('skirkdistancetest,mse:'+str(mse)) + +#plotting +importmatplotlib.pyplotasplt +theta=np.linspace(-self.fov/2.,self.fov/2.,num=self.num_beams) +plt.polar(theta,new_skirk[1,:],'.',lw=0) +plt.polar(theta,self.skirk_scan[1,:],'.',lw=0) +plt.show() + +self.assertLess(mse,2.) + +deftest_fps(self): +#scanfpsshouldbegreaterthan500 +scan_sim=ScanSimulator2D(self.num_beams,self.fov) +map_path='../../../maps/skirk.yaml' +map_ext='.png' +scan_sim.set_map(map_path,map_ext) + +importtime +start=time.time() +foriinrange(10000): +x_test=i/10000 +scan=scan_sim.scan(np.array([x_test,0.,0.])) +end=time.time() +fps=10000/(end-start) +#print('FPStest') +#print('Elapsedtime:'+str(end-start)+',FPS:'+str(1/fps)) +self.assertGreater(fps,500.) + + +defmain(): +num_beams=1080 +fov=4.7 +#map_path='../envs/maps/berlin.yaml' +map_path='/home/f1tenth-eval/tunercar/es/maps/map0.yaml' +map_ext='.png' +scan_sim=ScanSimulator2D(num_beams,fov) +scan_sim.set_map(map_path,map_ext) +scan=scan_sim.scan(np.array([0.,0.,0.])) + +#fpstest +importtime +start=time.time() +foriinrange(10000): +x_test=i/10000 +scan=scan_sim.scan(np.array([x_test,0.,0.])) +end=time.time() +fps=(end-start)/10000 +print('FPStest') +print('Elapsedtime:'+str(end-start)+',FPS:'+str(1/fps)) + +#visualization +importmatplotlib.pyplotasplt +frommatplotlib.animationimportFuncAnimation +num_iter=100 +theta=np.linspace(-fov/2.,fov/2.,num=num_beams) +fig=plt.figure() +ax=fig.add_subplot(111,projection='polar') +ax.set_ylim(0,31) +line,=ax.plot([],[],'.',lw=0) +defupdate(i): +#x_ani=i*3./num_iter +theta_ani=-i*2*np.pi/num_iter +x_ani=0. +current_scan=scan_sim.scan(np.array([x_ani,0.,theta_ani])) +print(np.max(current_scan)) +line.set_data(theta,current_scan) +returnline, +ani=FuncAnimation(fig,update,frames=num_iter,blit=True) +plt.show() + +if__name__=='__main__': +#unittest.main() +main() + +#importtime +#pt_a=np.array([1.,1.]) +#pt_b=np.array([1.,2.]) +#pt_c=np.array([1.,3.]) +#col=are_collinear(pt_a,pt_b,pt_c) +#print(col) + +#pose=np.array([0.,0.,-1.]) +#beam_theta=0. +#start=time.time() +#dist=get_range(pose,beam_theta,pt_a,pt_b) +#print(dist,time.time()-start) + +#num_beams=1080 +#scan=100.*np.ones((num_beams,)) +#scan_angles=np.linspace(-2.35,2.35,num=num_beams) +#assertscan.shape[0]==scan_angles.shape[0] +#vertices=np.asarray([[4,11.],[5,5],[9,9],[10,10]]) +#start=time.time() +#new_scan=ray_cast(pose,scan,scan_angles,vertices) +#print(time.time()-start) + + + + diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/legacy__scan__gen_8py.xml b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/legacy__scan__gen_8py.xml new file mode 100644 index 0000000..35fcece --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/legacy__scan__gen_8py.xml @@ -0,0 +1,116 @@ + + + + legacy_scan_gen.py + f110_gym::unittest::legacy_scan_gen + + + + + +#MITLicense + +#Copyright(c)2020JosephAuckley,MatthewO'Kelly,AmanSinha,HongruiZheng + +#Permissionisherebygranted,freeofcharge,toanypersonobtainingacopy +#ofthissoftwareandassociateddocumentationfiles(the"Software"),todeal +#intheSoftwarewithoutrestriction,includingwithoutlimitationtherights +#touse,copy,modify,merge,publish,distribute,sublicense,and/orsell +#copiesoftheSoftware,andtopermitpersonstowhomtheSoftwareis +#furnishedtodoso,subjecttothefollowingconditions: + +#Theabovecopyrightnoticeandthispermissionnoticeshallbeincludedinall +#copiesorsubstantialportionsoftheSoftware. + +#THESOFTWAREISPROVIDED"ASIS",WITHOUTWARRANTYOFANYKIND,EXPRESSOR +#IMPLIED,INCLUDINGBUTNOTLIMITEDTOTHEWARRANTIESOFMERCHANTABILITY, +#FITNESSFORAPARTICULARPURPOSEANDNONINFRINGEMENT.INNOEVENTSHALLTHE +#AUTHORSORCOPYRIGHTHOLDERSBELIABLEFORANYCLAIM,DAMAGESOROTHER +#LIABILITY,WHETHERINANACTIONOFCONTRACT,TORTOROTHERWISE,ARISINGFROM, +#OUTOFORINCONNECTIONWITHTHESOFTWAREORTHEUSEOROTHERDEALINGSINTHE +#SOFTWARE. + + + +""" +UtilityfunctionstogeneratesamplescandatafromlegacyC++backend +Author:HongruiZheng + +Thescriptgeneratessamplescandatafor3differentmapsusedintheunittests. + +Map1:Levine + +Map2:Berlin + +Map3:Skirkanich +""" + +importnumpyasnp +importgym +importmatplotlib.pyplotasplt + +thetas=np.linspace(-2.35,2.35,num=1080) + +#init +executable_dir='../../../build/' +mass=3.74 +l_r=0.17145 +I_z=0.04712 +mu=0.523 +h_cg=0.074 +cs_f=4.718 +cs_r=5.4562 + +#testposes +num_test=10 +test_poses=np.zeros((num_test,3)) +test_poses[:,2]=np.linspace(-1.,1.,num=num_test) + +#map1:vegas +map_path='../../../maps/vegas.yaml' +map_ext='.png' +racecar_env=gym.make('f110_gym:f110-v0') +racecar_env.init_map(map_path,map_ext,False,False) +racecar_env.update_params(mu,h_cg,l_r,cs_f,cs_r,I_z,mass,executable_dir,double_finish=True) +vegas_scan=np.empty((num_test,1080)) +foriinrange(test_poses.shape[0]): +x=[test_poses[i,0],200.] +y=[test_poses[i,1],200.] +theta=[test_poses[i,2],0.] +obs,_,_,_=racecar_env.reset({'x':x,'y':y,'theta':theta}) +vegas_scan[i,:]=obs['scans'][0] + +#map2:berlin +map_path='../../../maps/berlin.yaml' +map_ext='.png' +racecar_env=gym.make('f110_gym:f110-v0') +racecar_env.init_map(map_path,map_ext,False,False) +racecar_env.update_params(mu,h_cg,l_r,cs_f,cs_r,I_z,mass,executable_dir,double_finish=True) +berlin_scan=np.empty((num_test,1080)) +foriinrange(test_poses.shape[0]): +x=[test_poses[i,0],200.] +y=[test_poses[i,1],200.] +theta=[test_poses[i,2],0.] +obs,_,_,_=racecar_env.reset({'x':x,'y':y,'theta':theta}) +berlin_scan[i,:]=obs['scans'][0] + +#map3:skirk +map_path='../../../maps/skirk.yaml' +map_ext='.png' +racecar_env=gym.make('f110_gym:f110-v0') +racecar_env.init_map(map_path,map_ext,False,False) +racecar_env.update_params(mu,h_cg,l_r,cs_f,cs_r,I_z,mass,executable_dir,double_finish=True) +skirk_scan=np.empty((num_test,1080)) +foriinrange(test_poses.shape[0]): +x=[test_poses[i,0],200.] +y=[test_poses[i,1],200.] +theta=[test_poses[i,2],0.] +obs,_,_,_=racecar_env.reset({'x':x,'y':y,'theta':theta}) +skirk_scan[i,:]=obs['scans'][0] + +#packagedata +np.savez_compressed('legacy_scan.npz',vegas=vegas_scan,berlin=berlin_scan,skirk=skirk_scan) + + + + diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/namespacef110__gym.xml b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/namespacef110__gym.xml new file mode 100644 index 0000000..24c2de9 --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/namespacef110__gym.xml @@ -0,0 +1,41 @@ + + + + f110_gym + f110_gym::envs + f110_gym::unittest + + + + f110_gym.id + + id + + + + + + + + + + + f110_gym.entry_point + + entry_point + + + + + + + + + + + + + + + + diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/namespacef110__gym_1_1envs.xml b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/namespacef110__gym_1_1envs.xml new file mode 100644 index 0000000..38c8b89 --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/namespacef110__gym_1_1envs.xml @@ -0,0 +1,18 @@ + + + + f110_gym::envs + f110_gym::envs::base_classes + f110_gym::envs::collision_models + f110_gym::envs::dynamic_models + f110_gym::envs::f110_env + f110_gym::envs::f110_env_backup + f110_gym::envs::laser_models + f110_gym::envs::rendering + + + + + + + diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/namespacef110__gym_1_1envs_1_1base__classes.xml b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/namespacef110__gym_1_1envs_1_1base__classes.xml new file mode 100644 index 0000000..42a5c63 --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/namespacef110__gym_1_1envs_1_1base__classes.xml @@ -0,0 +1,13 @@ + + + + f110_gym::envs::base_classes + f110_gym::envs::base_classes::RaceCar + f110_gym::envs::base_classes::Simulator + + + + + + + diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/namespacef110__gym_1_1envs_1_1collision__models.xml b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/namespacef110__gym_1_1envs_1_1collision__models.xml new file mode 100644 index 0000000..dd84798 --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/namespacef110__gym_1_1envs_1_1collision__models.xml @@ -0,0 +1,292 @@ + + + + f110_gym::envs::collision_models + f110_gym::envs::collision_models::CollisionTests + + + + f110_gym::envs::collision_models.cache + + cache + + + + + + + + + + + + def + def f110_gym.envs.collision_models.perpendicular + (pt) + perpendicular + + pt + pt + + + + +Return a 2-vector's perpendicular vector + +Args: + pt (np.ndarray, (2,)): input vector + +Returns: + pt (np.ndarray, (2,)): perpendicular vector + + + + + + + + def + def f110_gym.envs.collision_models.tripleProduct + (a, b, c) + tripleProduct + + a + a + + + b + b + + + c + c + + + + +Return triple product of three vectors + +Args: + a, b, c (np.ndarray, (2,)): input vectors + +Returns: + (np.ndarray, (2,)): triple product + + + + + + + + def + def f110_gym.envs.collision_models.avgPoint + (vertices) + avgPoint + + vertices + vertices + + + + +Return the average point of multiple vertices + +Args: + vertices (np.ndarray, (n, 2)): the vertices we want to find avg on + +Returns: + avg (np.ndarray, (2,)): average point of the vertices + + + + + + + + def + def f110_gym.envs.collision_models.indexOfFurthestPoint + (vertices, d) + indexOfFurthestPoint + + vertices + vertices + + + d + d + + + + +Return the index of the vertex furthest away along a direction in the list of vertices + +Args: + vertices (np.ndarray, (n, 2)): the vertices we want to find avg on + +Returns: + idx (int): index of the furthest point + + + + + + + + def + def f110_gym.envs.collision_models.support + (vertices1, vertices2, d) + support + + vertices1 + vertices1 + + + vertices2 + vertices2 + + + d + d + + + + +Minkowski sum support function for GJK + +Args: + vertices1 (np.ndarray, (n, 2)): vertices of the first body + vertices2 (np.ndarray, (n, 2)): vertices of the second body + d (np.ndarray, (2, )): direction to find the support along + +Returns: + support (np.ndarray, (n, 2)): Minkowski sum + + + + + + + + def + def f110_gym.envs.collision_models.collision + (vertices1, vertices2) + collision + + vertices1 + vertices1 + + + vertices2 + vertices2 + + + + +GJK test to see whether two bodies overlap + +Args: + vertices1 (np.ndarray, (n, 2)): vertices of the first body + vertices2 (np.ndarray, (n, 2)): vertices of the second body + +Returns: + overlap (boolean): True if two bodies collide + + + + + + + + def + def f110_gym.envs.collision_models.collision_multiple + (vertices) + collision_multiple + + vertices + vertices + + + + +Check pair-wise collisions for all provided vertices + +Args: + vertices (np.ndarray (num_bodies, 4, 2)): all vertices for checking pair-wise collision + +Returns: + collisions (np.ndarray (num_vertices, )): whether each body is in collision + collision_idx (np.ndarray (num_vertices, )): which index of other body is each index's body is in collision, -1 if not in collision + + + + + + + + def + def f110_gym.envs.collision_models.get_trmtx + (pose) + get_trmtx + + pose + pose + + + + +Get transformation matrix of vehicle frame -> global frame + +Args: + pose (np.ndarray (3, )): current pose of the vehicle + +return: + H (np.ndarray (4, 4)): transformation matrix + + + + + + + + def + def f110_gym.envs.collision_models.get_vertices + (pose, length, width) + get_vertices + + pose + pose + + + length + length + + + width + width + + + + +Utility function to return vertices of the car body given pose and size + +Args: + pose (np.ndarray, (3, )): current world coordinate pose of the vehicle + length (float): car length + width (float): car width + +Returns: + vertices (np.ndarray, (4, 2)): corner vertices of the vehicle body + + + + + + + + + + + + + + diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/namespacef110__gym_1_1envs_1_1dynamic__models.xml b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/namespacef110__gym_1_1envs_1_1dynamic__models.xml new file mode 100644 index 0000000..ef796cc --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/namespacef110__gym_1_1envs_1_1dynamic__models.xml @@ -0,0 +1,566 @@ + + + + f110_gym::envs::dynamic_models + f110_gym::envs::dynamic_models::DynamicsTest + + + + f110_gym::envs::dynamic_models.cache + + cache + + + + + + + + + + + + def + def f110_gym.envs.dynamic_models.accl_constraints + (vel, accl, v_switch, a_max, v_min, v_max) + accl_constraints + + vel + vel + + + accl + accl + + + v_switch + v_switch + + + a_max + a_max + + + v_min + v_min + + + v_max + v_max + + + + +Acceleration constraints, adjusts the acceleration based on constraints + + Args: + vel (float): current velocity of the vehicle + accl (float): unconstraint desired acceleration + v_switch (float): switching velocity (velocity at which the acceleration is no longer able to create wheel spin) + a_max (float): maximum allowed acceleration + v_min (float): minimum allowed velocity + v_max (float): maximum allowed velocity + + Returns: + accl (float): adjusted acceleration + + + + + + + + def + def f110_gym.envs.dynamic_models.steering_constraint + (steering_angle, steering_velocity, s_min, s_max, sv_min, sv_max) + steering_constraint + + steering_angle + steering_angle + + + steering_velocity + steering_velocity + + + s_min + s_min + + + s_max + s_max + + + sv_min + sv_min + + + sv_max + sv_max + + + + +Steering constraints, adjusts the steering velocity based on constraints + + Args: + steering_angle (float): current steering_angle of the vehicle + steering_velocity (float): unconstraint desired steering_velocity + s_min (float): minimum steering angle + s_max (float): maximum steering angle + sv_min (float): minimum steering velocity + sv_max (float): maximum steering velocity + + Returns: + steering_velocity (float): adjusted steering velocity + + + + + + + + def + def f110_gym.envs.dynamic_models.vehicle_dynamics_ks + (x, u_init, mu, C_Sf, C_Sr, lf, lr, h, m, I, s_min, s_max, sv_min, sv_max, v_switch, a_max, v_min, v_max) + vehicle_dynamics_ks + + x + x + + + u_init + u_init + + + mu + mu + + + C_Sf + C_Sf + + + C_Sr + C_Sr + + + lf + lf + + + lr + lr + + + h + h + + + m + m + + + I + I + + + s_min + s_min + + + s_max + s_max + + + sv_min + sv_min + + + sv_max + sv_max + + + v_switch + v_switch + + + a_max + a_max + + + v_min + v_min + + + v_max + v_max + + + + +Single Track Kinematic Vehicle Dynamics. + + Args: + x (numpy.ndarray (3, )): vehicle state vector (x1, x2, x3, x4, x5) + x1: x position in global coordinates + x2: y position in global coordinates + x3: steering angle of front wheels + x4: velocity in x direction + x5: yaw angle + u (numpy.ndarray (2, )): control input vector (u1, u2) + u1: steering angle velocity of front wheels + u2: longitudinal acceleration + + Returns: + f (numpy.ndarray): right hand side of differential equations + + + + + + + + def + def f110_gym.envs.dynamic_models.vehicle_dynamics_st + (x, u_init, mu, C_Sf, C_Sr, lf, lr, h, m, I, s_min, s_max, sv_min, sv_max, v_switch, a_max, v_min, v_max) + vehicle_dynamics_st + + x + x + + + u_init + u_init + + + mu + mu + + + C_Sf + C_Sf + + + C_Sr + C_Sr + + + lf + lf + + + lr + lr + + + h + h + + + m + m + + + I + I + + + s_min + s_min + + + s_max + s_max + + + sv_min + sv_min + + + sv_max + sv_max + + + v_switch + v_switch + + + a_max + a_max + + + v_min + v_min + + + v_max + v_max + + + + +Single Track Dynamic Vehicle Dynamics. + + Args: + x (numpy.ndarray (3, )): vehicle state vector (x1, x2, x3, x4, x5, x6, x7) + x1: x position in global coordinates + x2: y position in global coordinates + x3: steering angle of front wheels + x4: velocity in x direction + x5: yaw angle + x6: yaw rate + x7: slip angle at vehicle center + u (numpy.ndarray (2, )): control input vector (u1, u2) + u1: steering angle velocity of front wheels + u2: longitudinal acceleration + + Returns: + f (numpy.ndarray): right hand side of differential equations + + + + + + + + def + def f110_gym.envs.dynamic_models.pid + (speed, steer, current_speed, current_steer, max_sv, max_a, max_v, min_v) + pid + + speed + speed + + + steer + steer + + + current_speed + current_speed + + + current_steer + current_steer + + + max_sv + max_sv + + + max_a + max_a + + + max_v + max_v + + + min_v + min_v + + + + +Basic controller for speed/steer -> accl./steer vel. + + Args: + speed (float): desired input speed + steer (float): desired input steering angle + + Returns: + accl (float): desired input acceleration + sv (float): desired input steering velocity + + + + + + + + def + def f110_gym.envs.dynamic_models.func_KS + (x, t, u, mu, C_Sf, C_Sr, lf, lr, h, m, I, s_min, s_max, sv_min, sv_max, v_switch, a_max, v_min, v_max) + func_KS + + x + x + + + t + t + + + u + u + + + mu + mu + + + C_Sf + C_Sf + + + C_Sr + C_Sr + + + lf + lf + + + lr + lr + + + h + h + + + m + m + + + I + I + + + s_min + s_min + + + s_max + s_max + + + sv_min + sv_min + + + sv_max + sv_max + + + v_switch + v_switch + + + a_max + a_max + + + v_min + v_min + + + v_max + v_max + + + + + + + + + + + def + def f110_gym.envs.dynamic_models.func_ST + (x, t, u, mu, C_Sf, C_Sr, lf, lr, h, m, I, s_min, s_max, sv_min, sv_max, v_switch, a_max, v_min, v_max) + func_ST + + x + x + + + t + t + + + u + u + + + mu + mu + + + C_Sf + C_Sf + + + C_Sr + C_Sr + + + lf + lf + + + lr + lr + + + h + h + + + m + m + + + I + I + + + s_min + s_min + + + s_max + s_max + + + sv_min + sv_min + + + sv_max + sv_max + + + v_switch + v_switch + + + a_max + a_max + + + v_min + v_min + + + v_max + v_max + + + + + + + + + + + + + + + + + diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/namespacef110__gym_1_1envs_1_1f110__env.xml b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/namespacef110__gym_1_1envs_1_1f110__env.xml new file mode 100644 index 0000000..8988d29 --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/namespacef110__gym_1_1envs_1_1f110__env.xml @@ -0,0 +1,70 @@ + + + + f110_gym::envs::f110_env + f110_gym::envs::f110_env::F110Env + + + int + int f110_gym::envs::f110_env.VIDEO_W + + VIDEO_W + = 600 + + + + + + + + + + int + int f110_gym::envs::f110_env.VIDEO_H + + VIDEO_H + = 400 + + + + + + + + + + int + int f110_gym::envs::f110_env.WINDOW_W + + WINDOW_W + = 1000 + + + + + + + + + + int + int f110_gym::envs::f110_env.WINDOW_H + + WINDOW_H + = 800 + + + + + + + + + + + + + + + + diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/namespacef110__gym_1_1envs_1_1f110__env__backup.xml b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/namespacef110__gym_1_1envs_1_1f110__env__backup.xml new file mode 100644 index 0000000..d8f723c --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/namespacef110__gym_1_1envs_1_1f110__env__backup.xml @@ -0,0 +1,12 @@ + + + + f110_gym::envs::f110_env_backup + f110_gym::envs::f110_env_backup::F110Env + + + + + + + diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/namespacef110__gym_1_1envs_1_1laser__models.xml b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/namespacef110__gym_1_1envs_1_1laser__models.xml new file mode 100644 index 0000000..f957991 --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/namespacef110__gym_1_1envs_1_1laser__models.xml @@ -0,0 +1,555 @@ + + + + f110_gym::envs::laser_models + f110_gym::envs::laser_models::ScanSimulator2D + f110_gym::envs::laser_models::ScanTests + + + def + def f110_gym.envs.laser_models.get_dt + (bitmap, resolution) + get_dt + + bitmap + bitmap + + + resolution + resolution + + + + +Distance transformation, returns the distance matrix from the input bitmap. +Uses scipy.ndimage, cannot be JITted. + + Args: + bitmap (numpy.ndarray, (n, m)): input binary bitmap of the environment, where 0 is obstacles, and 255 (or anything > 0) is freespace + resolution (float): resolution of the input bitmap (m/cell) + + Returns: + dt (numpy.ndarray, (n, m)): output distance matrix, where each cell has the corresponding distance (in meters) to the closest obstacle + + + + + + + + def + def f110_gym.envs.laser_models.xy_2_rc + (x, y, orig_x, orig_y, orig_c, orig_s, height, width, resolution) + xy_2_rc + + x + x + + + y + y + + + orig_x + orig_x + + + orig_y + orig_y + + + orig_c + orig_c + + + orig_s + orig_s + + + height + height + + + width + width + + + resolution + resolution + + + + +Translate (x, y) coordinate into (r, c) in the matrix + + Args: + x (float): coordinate in x (m) + y (float): coordinate in y (m) + orig_x (float): x coordinate of the map origin (m) + orig_y (float): y coordinate of the map origin (m) + + Returns: + r (int): row number in the transform matrix of the given point + c (int): column number in the transform matrix of the given point + + + + + + + + def + def f110_gym.envs.laser_models.distance_transform + (x, y, orig_x, orig_y, orig_c, orig_s, height, width, resolution, dt) + distance_transform + + x + x + + + y + y + + + orig_x + orig_x + + + orig_y + orig_y + + + orig_c + orig_c + + + orig_s + orig_s + + + height + height + + + width + width + + + resolution + resolution + + + dt + dt + + + + +Look up corresponding distance in the distance matrix + + Args: + x (float): x coordinate of the lookup point + y (float): y coordinate of the lookup point + orig_x (float): x coordinate of the map origin (m) + orig_y (float): y coordinate of the map origin (m) + + Returns: + distance (float): corresponding shortest distance to obstacle in meters + + + + + + + + def + def f110_gym.envs.laser_models.trace_ray + (x, y, theta_index, sines, cosines, eps, orig_x, orig_y, orig_c, orig_s, height, width, resolution, dt, max_range) + trace_ray + + x + x + + + y + y + + + theta_index + theta_index + + + sines + sines + + + cosines + cosines + + + eps + eps + + + orig_x + orig_x + + + orig_y + orig_y + + + orig_c + orig_c + + + orig_s + orig_s + + + height + height + + + width + width + + + resolution + resolution + + + dt + dt + + + max_range + max_range + + + + +Find the length of a specific ray at a specific scan angle theta +Purely math calculation and loops, should be JITted. + + Args: + x (float): current x coordinate of the ego (scan) frame + y (float): current y coordinate of the ego (scan) frame + theta_index(int): current index of the scan beam in the scan range + sines (numpy.ndarray (n, )): pre-calculated sines of the angle array + cosines (numpy.ndarray (n, )): pre-calculated cosines ... + + Returns: + total_distance (float): the distance to first obstacle on the current scan beam + + + + + + + + def + def f110_gym.envs.laser_models.get_scan + (pose, theta_dis, fov, num_beams, theta_index_increment, sines, cosines, eps, orig_x, orig_y, orig_c, orig_s, height, width, resolution, dt, max_range) + get_scan + + pose + pose + + + theta_dis + theta_dis + + + fov + fov + + + num_beams + num_beams + + + theta_index_increment + theta_index_increment + + + sines + sines + + + cosines + cosines + + + eps + eps + + + orig_x + orig_x + + + orig_y + orig_y + + + orig_c + orig_c + + + orig_s + orig_s + + + height + height + + + width + width + + + resolution + resolution + + + dt + dt + + + max_range + max_range + + + + +Perform the scan for each discretized angle of each beam of the laser, loop heavy, should be JITted + + Args: + pose (numpy.ndarray(3, )): current pose of the scan frame in the map + theta_dis (int): number of steps to discretize the angles between 0 and 2pi for look up + fov (float): field of view of the laser scan + num_beams (int): number of beams in the scan + theta_index_increment (float): increment between angle indices after discretization + + Returns: + scan (numpy.ndarray(n, )): resulting laser scan at the pose, n=num_beams + + + + + + + + def + def f110_gym.envs.laser_models.check_ttc_jit + (scan, vel, scan_angles, cosines, side_distances, ttc_thresh) + check_ttc_jit + + scan + scan + + + vel + vel + + + scan_angles + scan_angles + + + cosines + cosines + + + side_distances + side_distances + + + ttc_thresh + ttc_thresh + + + + +Checks the iTTC of each beam in a scan for collision with environment + +Args: + scan (np.ndarray(num_beams, )): current scan to check + vel (float): current velocity + scan_angles (np.ndarray(num_beams, )): precomped angles of each beam + cosines (np.ndarray(num_beams, )): precomped cosines of the scan angles + side_distances (np.ndarray(num_beams, )): precomped distances at each beam from the laser to the sides of the car + ttc_thresh (float): threshold for iTTC for collision + +Returns: + in_collision (bool): whether vehicle is in collision with environment + collision_angle (float): at which angle the collision happened + + + + + + + + def + def f110_gym.envs.laser_models.cross + (v1, v2) + cross + + v1 + v1 + + + v2 + v2 + + + + +Cross product of two 2-vectors + +Args: + v1, v2 (np.ndarray(2, )): input vectors + +Returns: + crossproduct (float): cross product + + + + + + + + def + def f110_gym.envs.laser_models.are_collinear + (pt_a, pt_b, pt_c) + are_collinear + + pt_a + pt_a + + + pt_b + pt_b + + + pt_c + pt_c + + + + +Checks if three points are collinear in 2D + +Args: + pt_a, pt_b, pt_c (np.ndarray(2, )): points to check in 2D + +Returns: + col (bool): whether three points are collinear + + + + + + + + def + def f110_gym.envs.laser_models.get_range + (pose, beam_theta, va, vb) + get_range + + pose + pose + + + beam_theta + beam_theta + + + va + va + + + vb + vb + + + + +Get the distance at a beam angle to the vector formed by two of the four vertices of a vehicle + +Args: + pose (np.ndarray(3, )): pose of the scanning vehicle + beam_theta (float): angle of the current beam (world frame) + va, vb (np.ndarray(2, )): the two vertices forming an edge + +Returns: + distance (float): smallest distance at beam theta from scanning pose to edge + + + + + + + + def + def f110_gym.envs.laser_models.ray_cast + (pose, scan, scan_angles, vertices) + ray_cast + + pose + pose + + + scan + scan + + + scan_angles + scan_angles + + + vertices + vertices + + + + +Modify a scan by ray casting onto another agent's four vertices + +Args: + pose (np.ndarray(3, )): pose of the vehicle performing scan + scan (np.ndarray(num_beams, )): original scan to modify + scan_angles (np.ndarray(num_beams, )): corresponding beam angles + vertices (np.ndarray(4, 2)): four vertices of a vehicle pose + +Returns: + new_scan (np.ndarray(num_beams, )): modified scan + + + + + + + + def + def f110_gym.envs.laser_models.main + () + main + + + + + + + + + + + + + + + + diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/namespacef110__gym_1_1envs_1_1rendering.xml b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/namespacef110__gym_1_1envs_1_1rendering.xml new file mode 100644 index 0000000..f29085f --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/namespacef110__gym_1_1envs_1_1rendering.xml @@ -0,0 +1,70 @@ + + + + f110_gym::envs::rendering + f110_gym::envs::rendering::EnvRenderer + + + float + float f110_gym::envs::rendering.ZOOM_IN_FACTOR + + ZOOM_IN_FACTOR + = 1.2 + + + + + + + + + + int + int f110_gym::envs::rendering.ZOOM_OUT_FACTOR + + ZOOM_OUT_FACTOR + = 1/ZOOM_IN_FACTOR + + + + + + + + + + float + float f110_gym::envs::rendering.CAR_LENGTH + + CAR_LENGTH + = 0.58 + + + + + + + + + + float + float f110_gym::envs::rendering.CAR_WIDTH + + CAR_WIDTH + = 0.31 + + + + + + + + + + + + + + + + diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/namespacef110__gym_1_1unittest.xml b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/namespacef110__gym_1_1unittest.xml new file mode 100644 index 0000000..0c08ffd --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/namespacef110__gym_1_1unittest.xml @@ -0,0 +1,18 @@ + + + + f110_gym::unittest + f110_gym::unittest::collision_checks + f110_gym::unittest::dynamics_test + f110_gym::unittest::legacy_scan_gen + f110_gym::unittest::pyglet_test + f110_gym::unittest::pyglet_test_camera + f110_gym::unittest::random_trackgen + f110_gym::unittest::scan_sim + + + + + + + diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/namespacef110__gym_1_1unittest_1_1collision__checks.xml b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/namespacef110__gym_1_1unittest_1_1collision__checks.xml new file mode 100644 index 0000000..e8ac132 --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/namespacef110__gym_1_1unittest_1_1collision__checks.xml @@ -0,0 +1,266 @@ + + + + f110_gym::unittest::collision_checks + f110_gym::unittest::collision_checks::CollisionTests + + + + f110_gym::unittest::collision_checks.cache + + cache + + + + + + + + + + + + def + def f110_gym.unittest.collision_checks.perpendicular + (pt) + perpendicular + + pt + pt + + + + +Return a 2-vector's perpendicular vector + +Args: + pt (np.ndarray, (2,)): input vector + +Returns: + pt (np.ndarray, (2,)): perpendicular vector + + + + + + + + def + def f110_gym.unittest.collision_checks.tripleProduct + (a, b, c) + tripleProduct + + a + a + + + b + b + + + c + c + + + + +Return triple product of three vectors + +Args: + a, b, c (np.ndarray, (2,)): input vectors + +Returns: + (np.ndarray, (2,)): triple product + + + + + + + + def + def f110_gym.unittest.collision_checks.avgPoint + (vertices) + avgPoint + + vertices + vertices + + + + +Return the average point of multiple vertices + +Args: + vertices (np.ndarray, (n, 2)): the vertices we want to find avg on + +Returns: + avg (np.ndarray, (2,)): average point of the vertices + + + + + + + + def + def f110_gym.unittest.collision_checks.indexOfFurthestPoint + (vertices, d) + indexOfFurthestPoint + + vertices + vertices + + + d + d + + + + +Return the index of the vertex furthest away along a direction in the list of vertices + +Args: + vertices (np.ndarray, (n, 2)): the vertices we want to find avg on + +Returns: + idx (int): index of the furthest point + + + + + + + + def + def f110_gym.unittest.collision_checks.support + (vertices1, vertices2, d) + support + + vertices1 + vertices1 + + + vertices2 + vertices2 + + + d + d + + + + +Minkowski sum support function for GJK + +Args: + vertices1 (np.ndarray, (n, 2)): vertices of the first body + vertices2 (np.ndarray, (n, 2)): vertices of the second body + d (np.ndarray, (2, )): direction to find the support along + +Returns: + support (np.ndarray, (n, 2)): Minkowski sum + + + + + + + + def + def f110_gym.unittest.collision_checks.collision + (vertices1, vertices2) + collision + + vertices1 + vertices1 + + + vertices2 + vertices2 + + + + +GJK test to see whether two bodies overlap + +Args: + vertices1 (np.ndarray, (n, 2)): vertices of the first body + vertices2 (np.ndarray, (n, 2)): vertices of the second body + +Returns: + overlap (boolean): True if two bodies collide + + + + + + + + def + def f110_gym.unittest.collision_checks.get_trmtx + (pose) + get_trmtx + + pose + pose + + + + +Get transformation matrix of vehicle frame -> global frame + +Args: + pose (np.ndarray (3, )): current pose of the vehicle + +return: + H (np.ndarray (4, 4)): transformation matrix + + + + + + + + def + def f110_gym.unittest.collision_checks.get_vertices + (pose, length, width) + get_vertices + + pose + pose + + + length + length + + + width + width + + + + +Utility function to return vertices of the car body given pose and size + +Args: + pose (np.ndarray, (3, )): current world coordinate pose of the vehicle + length (float): car length + width (float): car width + +Returns: + vertices (np.ndarray, (4, 2)): corner vertices of the vehicle body + + + + + + + + + + + + + + diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/namespacef110__gym_1_1unittest_1_1dynamics__test.xml b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/namespacef110__gym_1_1unittest_1_1dynamics__test.xml new file mode 100644 index 0000000..b45d2ef --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/namespacef110__gym_1_1unittest_1_1dynamics__test.xml @@ -0,0 +1,542 @@ + + + + f110_gym::unittest::dynamics_test + f110_gym::unittest::dynamics_test::DynamicsTest + + + + f110_gym::unittest::dynamics_test.cache + + cache + + + + + + + + + + + + def + def f110_gym.unittest.dynamics_test.accl_constraints + (vel, accl, v_switch, a_max, v_min, v_max) + accl_constraints + + vel + vel + + + accl + accl + + + v_switch + v_switch + + + a_max + a_max + + + v_min + v_min + + + v_max + v_max + + + + +Acceleration constraints, adjusts the acceleration based on constraints + + Args: + vel (float): current velocity of the vehicle + accl (float): unconstraint desired acceleration + v_switch (float): switching velocity (velocity at which the acceleration is no longer able to create wheel spin) + a_max (float): maximum allowed acceleration + v_min (float): minimum allowed velocity + v_max (float): maximum allowed velocity + + Returns: + accl (float): adjusted acceleration + + + + + + + + def + def f110_gym.unittest.dynamics_test.steering_constraint + (steering_angle, steering_velocity, s_min, s_max, sv_min, sv_max) + steering_constraint + + steering_angle + steering_angle + + + steering_velocity + steering_velocity + + + s_min + s_min + + + s_max + s_max + + + sv_min + sv_min + + + sv_max + sv_max + + + + +Steering constraints, adjusts the steering velocity based on constraints + + Args: + steering_angle (float): current steering_angle of the vehicle + steering_velocity (float): unconstraint desired steering_velocity + s_min (float): minimum steering angle + s_max (float): maximum steering angle + sv_min (float): minimum steering velocity + sv_max (float): maximum steering velocity + + Returns: + steering_velocity (float): adjusted steering velocity + + + + + + + + def + def f110_gym.unittest.dynamics_test.vehicle_dynamics_ks + (x, u_init, mu, C_Sf, C_Sr, lf, lr, h, m, I, s_min, s_max, sv_min, sv_max, v_switch, a_max, v_min, v_max) + vehicle_dynamics_ks + + x + x + + + u_init + u_init + + + mu + mu + + + C_Sf + C_Sf + + + C_Sr + C_Sr + + + lf + lf + + + lr + lr + + + h + h + + + m + m + + + I + I + + + s_min + s_min + + + s_max + s_max + + + sv_min + sv_min + + + sv_max + sv_max + + + v_switch + v_switch + + + a_max + a_max + + + v_min + v_min + + + v_max + v_max + + + + +Single Track Kinematic Vehicle Dynamics. + + Args: + x (numpy.ndarray (3, )): vehicle state vector (x1, x2, x3, x4, x5) + x1: x position in global coordinates + x2: y position in global coordinates + x3: steering angle of front wheels + x4: velocity in x direction + x5: yaw angle + u (numpy.ndarray (2, )): control input vector (u1, u2) + u1: steering angle velocity of front wheels + u2: longitudinal acceleration + + Returns: + f (numpy.ndarray): right hand side of differential equations + + + + + + + + def + def f110_gym.unittest.dynamics_test.vehicle_dynamics_st + (x, u_init, mu, C_Sf, C_Sr, lf, lr, h, m, I, s_min, s_max, sv_min, sv_max, v_switch, a_max, v_min, v_max) + vehicle_dynamics_st + + x + x + + + u_init + u_init + + + mu + mu + + + C_Sf + C_Sf + + + C_Sr + C_Sr + + + lf + lf + + + lr + lr + + + h + h + + + m + m + + + I + I + + + s_min + s_min + + + s_max + s_max + + + sv_min + sv_min + + + sv_max + sv_max + + + v_switch + v_switch + + + a_max + a_max + + + v_min + v_min + + + v_max + v_max + + + + +Single Track Dynamic Vehicle Dynamics. + + Args: + x (numpy.ndarray (3, )): vehicle state vector (x1, x2, x3, x4, x5, x6, x7) + x1: x position in global coordinates + x2: y position in global coordinates + x3: steering angle of front wheels + x4: velocity in x direction + x5: yaw angle + x6: yaw rate + x7: slip angle at vehicle center + u (numpy.ndarray (2, )): control input vector (u1, u2) + u1: steering angle velocity of front wheels + u2: longitudinal acceleration + + Returns: + f (numpy.ndarray): right hand side of differential equations + + + + + + + + def + def f110_gym.unittest.dynamics_test.pid + (speed, steer) + pid + + speed + speed + + + steer + steer + + + + +Basic controller for speed/steer -> accl./steer vel. + + Args: + speed (float): desired input speed + steer (float): desired input steering angle + + Returns: + accl (float): desired input acceleration + sv (float): desired input steering velocity + + + + + + + + def + def f110_gym.unittest.dynamics_test.func_KS + (x, t, u, mu, C_Sf, C_Sr, lf, lr, h, m, I, s_min, s_max, sv_min, sv_max, v_switch, a_max, v_min, v_max) + func_KS + + x + x + + + t + t + + + u + u + + + mu + mu + + + C_Sf + C_Sf + + + C_Sr + C_Sr + + + lf + lf + + + lr + lr + + + h + h + + + m + m + + + I + I + + + s_min + s_min + + + s_max + s_max + + + sv_min + sv_min + + + sv_max + sv_max + + + v_switch + v_switch + + + a_max + a_max + + + v_min + v_min + + + v_max + v_max + + + + + + + + + + + def + def f110_gym.unittest.dynamics_test.func_ST + (x, t, u, mu, C_Sf, C_Sr, lf, lr, h, m, I, s_min, s_max, sv_min, sv_max, v_switch, a_max, v_min, v_max) + func_ST + + x + x + + + t + t + + + u + u + + + mu + mu + + + C_Sf + C_Sf + + + C_Sr + C_Sr + + + lf + lf + + + lr + lr + + + h + h + + + m + m + + + I + I + + + s_min + s_min + + + s_max + s_max + + + sv_min + sv_min + + + sv_max + sv_max + + + v_switch + v_switch + + + a_max + a_max + + + v_min + v_min + + + v_max + v_max + + + + + + + + + + + + + + + + + diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/namespacef110__gym_1_1unittest_1_1legacy__scan__gen.xml b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/namespacef110__gym_1_1unittest_1_1legacy__scan__gen.xml new file mode 100644 index 0000000..daf5a58 --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/namespacef110__gym_1_1unittest_1_1legacy__scan__gen.xml @@ -0,0 +1,384 @@ + + + + f110_gym::unittest::legacy_scan_gen + + + + f110_gym::unittest::legacy_scan_gen.thetas + + thetas + = np.linspace(-2.35, 2.35, num=1080) + + + + + + + + + + string + f110_gym::unittest::legacy_scan_gen.executable_dir + + executable_dir + = '../../../build/' + + + + + + + + + + float + f110_gym::unittest::legacy_scan_gen.mass + + mass + = 3.74 + + + + + + + + + + float + f110_gym::unittest::legacy_scan_gen.l_r + + l_r + = 0.17145 + + + + + + + + + + float + f110_gym::unittest::legacy_scan_gen.I_z + + I_z + = 0.04712 + + + + + + + + + + float + f110_gym::unittest::legacy_scan_gen.mu + + mu + = 0.523 + + + + + + + + + + float + f110_gym::unittest::legacy_scan_gen.h_cg + + h_cg + = 0.074 + + + + + + + + + + float + f110_gym::unittest::legacy_scan_gen.cs_f + + cs_f + = 4.718 + + + + + + + + + + float + f110_gym::unittest::legacy_scan_gen.cs_r + + cs_r + = 5.4562 + + + + + + + + + + int + int f110_gym::unittest::legacy_scan_gen.num_test + + num_test + = 10 + + + + + + + + + + + f110_gym::unittest::legacy_scan_gen.test_poses + + test_poses + = np.zeros((num_test, 3)) + + + + + + + + + + + f110_gym::unittest::legacy_scan_gen.num + + num + + + + + + + + + + string + string f110_gym::unittest::legacy_scan_gen::map_path + + map_path + = '../../../maps/vegas.yaml' + + + + + + + + + + string + string f110_gym::unittest::legacy_scan_gen::map_ext + + map_ext + = '.png' + + + + + + + + + + + f110_gym::unittest::legacy_scan_gen.racecar_env + + racecar_env + = gym.make('f110_gym:f110-v0') + + + + + + + + + + + f110_gym::unittest::legacy_scan_gen.double_finish + + double_finish + + + + + + + + + + + f110_gym::unittest::legacy_scan_gen.vegas_scan + + vegas_scan + = np.empty((num_test, 1080)) + + + + + + + + + + list + list f110_gym::unittest::legacy_scan_gen::x + + x + = [test_poses[i, 0], 200.] + + + + + + + + + + list + list f110_gym::unittest::legacy_scan_gen::y + + y + = [test_poses[i, 1], 200.] + + + + + + + + + + list + list f110_gym::unittest::legacy_scan_gen::theta + + theta + = [test_poses[i, 2], 0.] + + + + + + + + + + + f110_gym::unittest::legacy_scan_gen.obs + + obs + + + + + + + + + + + f110_gym::unittest::legacy_scan_gen._ + + _ + + + + + + + + + + + f110_gym::unittest::legacy_scan_gen.berlin_scan + + berlin_scan + = np.empty((num_test, 1080)) + + + + + + + + + + + f110_gym::unittest::legacy_scan_gen.skirk_scan + + skirk_scan + = np.empty((num_test, 1080)) + + + + + + + + + + + f110_gym::unittest::legacy_scan_gen.vegas + + vegas + + + + + + + + + + + f110_gym::unittest::legacy_scan_gen.berlin + + berlin + + + + + + + + + + + f110_gym::unittest::legacy_scan_gen.skirk + + skirk + + + + + + + + + + + + + + + + diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/namespacef110__gym_1_1unittest_1_1pyglet__test.xml b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/namespacef110__gym_1_1unittest_1_1pyglet__test.xml new file mode 100644 index 0000000..0acbf61 --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/namespacef110__gym_1_1unittest_1_1pyglet__test.xml @@ -0,0 +1,484 @@ + + + + f110_gym::unittest::pyglet_test + f110_gym::unittest::pyglet_test::Camera + f110_gym::unittest::pyglet_test::CenteredCamera + + + + f110_gym::unittest::pyglet_test.parser + + parser + = argparse.ArgumentParser() + + + + + + + + + + + f110_gym::unittest::pyglet_test.type + + type + + + + + + + + + + + f110_gym::unittest::pyglet_test.str + + str + + + + + + + + + + + f110_gym::unittest::pyglet_test.required + + required + + + + + + + + + + + f110_gym::unittest::pyglet_test.True + + True + + + + + + + + + + + f110_gym::unittest::pyglet_test.help + + help + + + + + + + + + + + f110_gym::unittest::pyglet_test.args + + args + = parser.parse_args() + + + + + + + + + + + f110_gym::unittest::pyglet_test.map_metada + + map_metada + = yaml.safe_load(yaml_stream) + + + + + + + + + + + f110_gym::unittest::pyglet_test.map_resolution + + map_resolution + = map_metada['resolution'] + + + + + + + + + + + f110_gym::unittest::pyglet_test.origin + + origin + = map_metada['origin'] + + + + + + + + + + + f110_gym::unittest::pyglet_test.origin_x + + origin_x + = origin[0] + + + + + + + + + + + f110_gym::unittest::pyglet_test.origin_y + + origin_y + = origin[1] + + + + + + + + + + + f110_gym::unittest::pyglet_test.map_img + + map_img + = np.array(Image.open(args.map_path + args.map_ext).transpose(Image.FLIP_TOP_BOTTOM)).astype(np.float64) + + + + + + + + + + + f110_gym::unittest::pyglet_test.map_height + + map_height + = map_img.shape[0] + + + + + + + + + + + f110_gym::unittest::pyglet_test.map_width + + map_width + = map_img.shape[1] + + + + + + + + + + + f110_gym::unittest::pyglet_test.range_x + + range_x + = np.arange(map_width) + + + + + + + + + + + f110_gym::unittest::pyglet_test.range_y + + range_y + = np.arange(map_height) + + + + + + + + + + + tuple f110_gym::unittest::pyglet_test::map_x + + map_x + = (map_x * map_resolution + origin_x).flatten() + + + + + + + + + + + tuple f110_gym::unittest::pyglet_test::map_y + + map_y + = (map_y * map_resolution + origin_y).flatten() + + + + + + + + + + + f110_gym::unittest::pyglet_test.map_z + + map_z + = np.zeros(map_y.shape) + + + + + + + + + + + f110_gym::unittest::pyglet_test.map_coords + + map_coords + = np.vstack((map_x, map_y, map_z)) + + + + + + + + + + float + float f110_gym::unittest::pyglet_test.map_mask + + map_mask + = 0.0 + + + + + + + + + + float + float f110_gym::unittest::pyglet_test.map_mask_flat + + map_mask_flat + = map_mask.flatten() + + + + + + + + + + + f110_gym::unittest::pyglet_test.map_points + + map_points + = map_coords[:, map_mask_flat].T + + + + + + + + + + + f110_gym::unittest::pyglet_test.config + + config + = Config(sample_buffers=1, samples=4, + depth_size=16, double_buffer=True, ) + + + + + + + + + + + f110_gym::unittest::pyglet_test.window + + window + = window.Window(resizable=True, config=config) + + + + + + + + + + + f110_gym::unittest::pyglet_test.cam + + cam + = Camera(window) + + + + + + + + + + + f110_gym::unittest::pyglet_test.batch + + batch + = graphics.Batch() + + + + + + + + + + list + list f110_gym::unittest::pyglet_test.points + + points + = [] + + + + + + + + + + + f110_gym::unittest::pyglet_test.particle + + particle + = batch.add(1, GL_POINTS, None, ('v3f/stream', [map_points[i, 0], map_points[i, 1], map_points[i, 2]])) + + + + + + + + + + + + def + def f110_gym.unittest.pyglet_test.on_resize + (width, height) + on_resize + + width + width + + + height + height + + + + + + + + + + + def + def f110_gym.unittest.pyglet_test.loop + (dt) + loop + + dt + dt + + + + + + + + + + + def + def f110_gym.unittest.pyglet_test.on_draw + () + on_draw + + + + + + + + + + + + + + + + diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/namespacef110__gym_1_1unittest_1_1pyglet__test__camera.xml b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/namespacef110__gym_1_1unittest_1_1pyglet__test__camera.xml new file mode 100644 index 0000000..29039c2 --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/namespacef110__gym_1_1unittest_1_1pyglet__test__camera.xml @@ -0,0 +1,42 @@ + + + + f110_gym::unittest::pyglet_test_camera + f110_gym::unittest::pyglet_test_camera::App + + + float + float f110_gym::unittest::pyglet_test_camera.ZOOM_IN_FACTOR + + ZOOM_IN_FACTOR + = 1.2 + + + + + + + + + + int + int f110_gym::unittest::pyglet_test_camera.ZOOM_OUT_FACTOR + + ZOOM_OUT_FACTOR + = 1/ZOOM_IN_FACTOR + + + + + + + + + + + + + + + + diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/namespacef110__gym_1_1unittest_1_1random__trackgen.xml b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/namespacef110__gym_1_1unittest_1_1random__trackgen.xml new file mode 100644 index 0000000..e65e763 --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/namespacef110__gym_1_1unittest_1_1random__trackgen.xml @@ -0,0 +1,204 @@ + + + + f110_gym::unittest::random_trackgen + + + + f110_gym::unittest::random_trackgen.parser + + parser + = argparse.ArgumentParser() + + + + + + + + + + + f110_gym::unittest::random_trackgen.type + + type + + + + + + + + + + + f110_gym::unittest::random_trackgen.int + + int + + + + + + + + + + + f110_gym::unittest::random_trackgen.default + + default + + + + + + + + + + + f110_gym::unittest::random_trackgen.help + + help + + + + + + + + + + + f110_gym::unittest::random_trackgen.args + + args + = parser.parse_args() + + + + + + + + + + + f110_gym::unittest::random_trackgen.NUM_MAPS + + NUM_MAPS + = args.num_maps + + + + + + + + + + float + float f110_gym::unittest::random_trackgen.WIDTH + + WIDTH + = 10.0 + + + + + + + + + + + f110_gym::unittest::random_trackgen.track + + track + + + + + + + + + + + f110_gym::unittest::random_trackgen.track_int + + track_int + + + + + + + + + + + f110_gym::unittest::random_trackgen.track_ext + + track_ext + + + + + + + + + + + + def + def f110_gym.unittest.random_trackgen.create_track + () + create_track + + + + + + + + + + def + def f110_gym.unittest.random_trackgen.convert_track + (track, track_int, track_ext, iter) + convert_track + + track + track + + + track_int + track_int + + + track_ext + track_ext + + + iter + iter + + + + + + + + + + + + + + + + + diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/namespacef110__gym_1_1unittest_1_1scan__sim.xml b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/namespacef110__gym_1_1unittest_1_1scan__sim.xml new file mode 100644 index 0000000..0802d05 --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/namespacef110__gym_1_1unittest_1_1scan__sim.xml @@ -0,0 +1,363 @@ + + + + f110_gym::unittest::scan_sim + f110_gym::unittest::scan_sim::ScanSimulator2D + f110_gym::unittest::scan_sim::ScanTests + + + def + def f110_gym.unittest.scan_sim.get_dt + (bitmap, resolution) + get_dt + + bitmap + bitmap + + + resolution + resolution + + + + +Distance transformation, returns the distance matrix from the input bitmap. +Uses scipy.ndimage, cannot be JITted. + + Args: + bitmap (numpy.ndarray, (n, m)): input binary bitmap of the environment, where 0 is obstacles, and 255 (or anything > 0) is freespace + resolution (float): resolution of the input bitmap (m/cell) + + Returns: + dt (numpy.ndarray, (n, m)): output distance matrix, where each cell has the corresponding distance (in meters) to the closest obstacle + + + + + + + + def + def f110_gym.unittest.scan_sim.xy_2_rc + (x, y, orig_x, orig_y, orig_c, orig_s, height, width, resolution) + xy_2_rc + + x + x + + + y + y + + + orig_x + orig_x + + + orig_y + orig_y + + + orig_c + orig_c + + + orig_s + orig_s + + + height + height + + + width + width + + + resolution + resolution + + + + +Translate (x, y) coordinate into (r, c) in the matrix + + Args: + x (float): coordinate in x (m) + y (float): coordinate in y (m) + orig_x (float): x coordinate of the map origin (m) + orig_y (float): y coordinate of the map origin (m) + + Returns: + r (int): row number in the transform matrix of the given point + c (int): column number in the transform matrix of the given point + + + + + + + + def + def f110_gym.unittest.scan_sim.distance_transform + (x, y, orig_x, orig_y, orig_c, orig_s, height, width, resolution, dt) + distance_transform + + x + x + + + y + y + + + orig_x + orig_x + + + orig_y + orig_y + + + orig_c + orig_c + + + orig_s + orig_s + + + height + height + + + width + width + + + resolution + resolution + + + dt + dt + + + + +Look up corresponding distance in the distance matrix + + Args: + x (float): x coordinate of the lookup point + y (float): y coordinate of the lookup point + orig_x (float): x coordinate of the map origin (m) + orig_y (float): y coordinate of the map origin (m) + + Returns: + distance (float): corresponding shortest distance to obstacle in meters + + + + + + + + def + def f110_gym.unittest.scan_sim.trace_ray + (x, y, theta_index, sines, cosines, eps, orig_x, orig_y, orig_c, orig_s, height, width, resolution, dt, max_range) + trace_ray + + x + x + + + y + y + + + theta_index + theta_index + + + sines + sines + + + cosines + cosines + + + eps + eps + + + orig_x + orig_x + + + orig_y + orig_y + + + orig_c + orig_c + + + orig_s + orig_s + + + height + height + + + width + width + + + resolution + resolution + + + dt + dt + + + max_range + max_range + + + + +Find the length of a specific ray at a specific scan angle theta +Purely math calculation and loops, should be JITted. + + Args: + x (float): current x coordinate of the ego (scan) frame + y (float): current y coordinate of the ego (scan) frame + theta_index(int): current index of the scan beam in the scan range + sines (numpy.ndarray (n, )): pre-calculated sines of the angle array + cosines (numpy.ndarray (n, )): pre-calculated cosines ... + + Returns: + total_distance (float): the distance to first obstacle on the current scan beam + + + + + + + + def + def f110_gym.unittest.scan_sim.get_scan + (pose, theta_dis, fov, num_beams, theta_index_increment, sines, cosines, eps, orig_x, orig_y, orig_c, orig_s, height, width, resolution, dt, max_range) + get_scan + + pose + pose + + + theta_dis + theta_dis + + + fov + fov + + + num_beams + num_beams + + + theta_index_increment + theta_index_increment + + + sines + sines + + + cosines + cosines + + + eps + eps + + + orig_x + orig_x + + + orig_y + orig_y + + + orig_c + orig_c + + + orig_s + orig_s + + + height + height + + + width + width + + + resolution + resolution + + + dt + dt + + + max_range + max_range + + + + +Perform the scan for each discretized angle of each beam of the laser, loop heavy, should be JITted + + Args: + pose (numpy.ndarray(3, )): current pose of the scan frame in the map + theta_dis (int): number of steps to discretize the angles between 0 and 2pi for look up + fov (float): field of view of the laser scan + num_beams (int): number of beams in the scan + theta_index_increment (float): increment between angle indices after discretization + + Returns: + scan (numpy.ndarray(n, )): resulting laser scan at the pose, n=num_beams + + + + + + + + def + def f110_gym.unittest.scan_sim.main + () + main + + + + + + + + + + + + + + + + diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/namespacegym.xml b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/namespacegym.xml new file mode 100644 index 0000000..5720241 --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/namespacegym.xml @@ -0,0 +1,11 @@ + + + + gym + + + + + + + diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/namespacegym_1_1envs_1_1unittest_1_1scan__sim.xml b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/namespacegym_1_1envs_1_1unittest_1_1scan__sim.xml new file mode 100644 index 0000000..5004a69 --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/namespacegym_1_1envs_1_1unittest_1_1scan__sim.xml @@ -0,0 +1,11 @@ + + + + gym::envs::unittest::scan_sim + + + + + + + diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/namespacepyglet_1_1gl.xml b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/namespacepyglet_1_1gl.xml new file mode 100644 index 0000000..5ffbead --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/namespacepyglet_1_1gl.xml @@ -0,0 +1,11 @@ + + + + pyglet::gl + + + + + + + diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/namespaceunittest.xml b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/namespaceunittest.xml new file mode 100644 index 0000000..2dbf26e --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/namespaceunittest.xml @@ -0,0 +1,11 @@ + + + + unittest + + + + + + + diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/namespaceutils.xml b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/namespaceutils.xml new file mode 100644 index 0000000..5e257bc --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/namespaceutils.xml @@ -0,0 +1,11 @@ + + + + utils + + + + + + + diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/pyglet__test_8py.xml b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/pyglet__test_8py.xml new file mode 100644 index 0000000..a43b193 --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/pyglet__test_8py.xml @@ -0,0 +1,196 @@ + + + + pyglet_test.py + f110_gym::unittest::pyglet_test::Camera + f110_gym::unittest::pyglet_test::CenteredCamera + f110_gym::unittest::pyglet_test + + + + + +importnumpyasnp +fromPILimportImage +importyaml + +frompyglet.glimport* +importpyglet +frompygletimportfont,graphics,window + +importargparse + +classCamera: +"""Asimple2Dcamerathatcontainsthespeedandoffset.""" + +def__init__(self,window:pyglet.window.Window,scroll_speed=1,min_zoom=1,max_zoom=4): +assertmin_zoom<=max_zoom,"Minimumzoommustnotbegreaterthanmaximumzoom" +self._window=window +self.scroll_speed=scroll_speed +self.max_zoom=max_zoom +self.min_zoom=min_zoom +self.offset_x=0 +self.offset_y=0 +self._zoom=max(min(1,self.max_zoom),self.min_zoom) + +@property +defzoom(self): +returnself._zoom + +@zoom.setter +defzoom(self,value): +"""Herewesetzoom,clampvaluetominimumofmin_zoomandmaxofmax_zoom.""" +self._zoom=max(min(value,self.max_zoom),self.min_zoom) + +@property +defposition(self): +"""Querythecurrentoffset.""" +returnself.offset_x,self.offset_y + +@position.setter +defposition(self,value): +"""Setthescrolloffsetdirectly.""" +self.offset_x,self.offset_y=value + +defmove(self,axis_x,axis_y): +"""Moveaxisdirectionwithscroll_speed. +Example:Moveleft->move(-1,0) +""" +self.offset_x+=self.scroll_speed*axis_x +self.offset_y+=self.scroll_speed*axis_y + +defbegin(self): +#Setthecurrentcameraoffsetsoyoucandrawyourscene. + +#Translateusingtheoffset. +view_matrix=self._window.view.translate(-self.offset_x*self._zoom,-self.offset_y*self._zoom,0) +#Scalebyzoomlevel. +view_matrix=view_matrix.scale(self._zoom,self._zoom,1) + +self._window.view=view_matrix + +defend(self): +#Sincethisisamatrix,youwillneedtoreversethetranslateafterrenderingotherwise +#itwillmultiplythecurrentoffseteverydrawupdatepushingitfurtherandfurtheraway. + +#Reversescale,sincethatwasthelasttransform. +view_matrix=self._window.view.scale(1/self._zoom,1/self._zoom,1) +#Reversetranslate. +view_matrix=view_matrix.translate(self.offset_x*self._zoom,self.offset_y*self._zoom,0) + +self._window.view=view_matrix + +def__enter__(self): +self.begin() + +def__exit__(self,exception_type,exception_value,traceback): +self.end() + + +classCenteredCamera(Camera): +"""Asimple2Dcameraclass.0,0willbethecenterofthescreen,asopposedtothebottomleft.""" + +defbegin(self): +x=-self._window.width//2/self._zoom+self.offset_x +y=-self._window.height//2/self._zoom+self.offset_y + +view_matrix=self._window.view.translate(-x*self._zoom,-y*self._zoom,0) +view_matrix=view_matrix.scale(self._zoom,self._zoom,1) +self._window.view=view_matrix + +defend(self): +x=-self._window.width//2/self._zoom+self.offset_x +y=-self._window.height//2/self._zoom+self.offset_y + +view_matrix=self._window.view.scale(1/self._zoom,1/self._zoom,1) +view_matrix=view_matrix.translate(x*self._zoom,y*self._zoom,0) +self._window.view=view_matrix + + + +parser=argparse.ArgumentParser() +parser.add_argument('--map_path',type=str,required=True,help='Pathtothemapwithoutextensions') +parser.add_argument('--map_ext',type=str,required=True,help='Extensionofthemapimagefile') +args=parser.parse_args() + +#loadmapyaml +withopen(args.map_path+'.yaml','r')asyaml_stream: +try: +map_metada=yaml.safe_load(yaml_stream) +map_resolution=map_metada['resolution'] +origin=map_metada['origin'] +origin_x=origin[0] +origin_y=origin[1] +exceptyaml.YAMLErrorasex: +print(ex) + +#loadmapimage +map_img=np.array(Image.open(args.map_path+args.map_ext).transpose(Image.FLIP_TOP_BOTTOM)).astype(np.float64) +map_height=map_img.shape[0] +map_width=map_img.shape[1] + +#convertmappixelstocoordinates +range_x=np.arange(map_width) +range_y=np.arange(map_height) +map_x,map_y=np.meshgrid(range_x,range_y) +map_x=(map_x*map_resolution+origin_x).flatten() +map_y=(map_y*map_resolution+origin_y).flatten() +map_z=np.zeros(map_y.shape) +map_coords=np.vstack((map_x,map_y,map_z)) + +#maskandonlyleavetheobstaclepoints +map_mask=map_img==0.0 +map_mask_flat=map_mask.flatten() +map_points=map_coords[:,map_mask_flat].T + +#prepopengl +try: +#Tryandcreateawindowwithmultisampling(antialiasing) +config=Config(sample_buffers=1,samples=4, +depth_size=16,double_buffer=True,) +window=window.Window(resizable=True,config=config) +exceptwindow.NoSuchConfigException: +#Fallbacktonomultisamplingforoldhardware +window=window.Window(resizable=True) + +glClearColor(18/255,4/255,88/255,1.) +glEnable(GL_DEPTH_TEST) +glTranslatef(25,-5,-60) + +cam=Camera(window) + +@window.event +defon_resize(width,height): +#Overridethedefaulton_resizehandlertocreatea3Dprojection +glViewport(0,0,width,height) +glMatrixMode(GL_PROJECTION) +glLoadIdentity() +gluPerspective(60.,width/float(height),.1,1000.) +glMatrixMode(GL_MODELVIEW) +returnpyglet.event.EVENT_HANDLED + +batch=graphics.Batch() + +points=[] +foriinrange(map_points.shape[0]): +particle=batch.add(1,GL_POINTS,None,('v3f/stream',[map_points[i,0],map_points[i,1],map_points[i,2]])) +points.append(particle) + +defloop(dt): +print(pyglet.clock.get_fps()) +pass + +@window.event +defon_draw(): +glClear(GL_COLOR_BUFFER_BIT|GL_DEPTH_BUFFER_BIT) +glColor3f(254/255,117/255,254/255) +cam.begin() +batch.draw() +cam.end() + +pyglet.clock.schedule(loop) +pyglet.app.run() + + + + diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/pyglet__test__camera_8py.xml b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/pyglet__test__camera_8py.xml new file mode 100644 index 0000000..89cad37 --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/pyglet__test__camera_8py.xml @@ -0,0 +1,146 @@ + + + + pyglet_test_camera.py + f110_gym::unittest::pyglet_test_camera::App + f110_gym::unittest::pyglet_test_camera + + + + + +importpyglet +frompyglet.glimport* + +#Zoomingconstants +ZOOM_IN_FACTOR=1.2 +ZOOM_OUT_FACTOR=1/ZOOM_IN_FACTOR + +classApp(pyglet.window.Window): + +def__init__(self,width,height,*args,**kwargs): +conf=Config(sample_buffers=1, +samples=4, +depth_size=16, +double_buffer=True) +super().__init__(width,height,config=conf,*args,**kwargs) + +#Initializecameravalues +self.left=0 +self.right=width +self.bottom=0 +self.top=height +self.zoom_level=1 +self.zoomed_width=width +self.zoomed_height=height + +definit_gl(self,width,height): +#Setclearcolor +glClearColor(0/255,0/255,0/255,0/255) + +#Setantialiasing +glEnable(GL_LINE_SMOOTH) +glEnable(GL_POLYGON_SMOOTH) +glHint(GL_LINE_SMOOTH_HINT,GL_NICEST) + +#Setalphablending +glEnable(GL_BLEND) +glBlendFunc(GL_SRC_ALPHA,GL_ONE_MINUS_SRC_ALPHA) + +#Setviewport +glViewport(0,0,width,height) + +defon_resize(self,width,height): +super().on_resize(width,height) +size=self.get_size() +self.left=0 +self.right=size[0] +self.bottom=0 +self.top=size[1] +self.zoomed_width=size[0] +self.zoomed_height=size[1] + +##Setwindowvalues +#self.width=width +#self.height=height +##InitializeOpenGLcontext +#self.init_gl(width,height) +#self.width=width +#self.height=height +#pass + +defon_mouse_drag(self,x,y,dx,dy,buttons,modifiers): +#Movecamera +self.left-=dx*self.zoom_level +self.right-=dx*self.zoom_level +self.bottom-=dy*self.zoom_level +self.top-=dy*self.zoom_level + +defon_mouse_scroll(self,x,y,dx,dy): +#Getscalefactor +f=ZOOM_IN_FACTORifdy>0elseZOOM_OUT_FACTORifdy<0else1 +#Ifzoom_levelisintheproperrange +if.2<self.zoom_level*f<5: + +self.zoom_level*=f + +size=self.get_size() + +mouse_x=x/size[0] +mouse_y=y/size[1] + +mouse_x_in_world=self.left+mouse_x*self.zoomed_width +mouse_y_in_world=self.bottom+mouse_y*self.zoomed_height + +self.zoomed_width*=f +self.zoomed_height*=f + +self.left=mouse_x_in_world-mouse_x*self.zoomed_width +self.right=mouse_x_in_world+(1-mouse_x)*self.zoomed_width +self.bottom=mouse_y_in_world-mouse_y*self.zoomed_height +self.top=mouse_y_in_world+(1-mouse_y)*self.zoomed_height + +defon_draw(self): +#InitializeProjectionmatrix +glMatrixMode(GL_PROJECTION) +glLoadIdentity() + +#InitializeModelviewmatrix +glMatrixMode(GL_MODELVIEW) +glLoadIdentity() +#Savethedefaultmodelviewmatrix +glPushMatrix() + +#ClearwindowwithClearColor +glClear(GL_COLOR_BUFFER_BIT) + +#Setorthographicprojectionmatrix +glOrtho(self.left,self.right,self.bottom,self.top,1,-1) + +#Drawquad +glBegin(GL_QUADS) +glColor3ub(0xFF,0,0) +glVertex2i(10,10) + +glColor3ub(0xFF,0xFF,0) +glVertex2i(110,10) + +glColor3ub(0,0xFF,0) +glVertex2i(110,110) + +glColor3ub(0,0,0xFF) +glVertex2i(10,110) +glEnd() + +#Removedefaultmodelviewmatrix +glPopMatrix() + +defrun(self): +pyglet.app.run() + + +App(800,800,resizable=True).run() + + + + diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/random__trackgen_8py.xml b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/random__trackgen_8py.xml new file mode 100644 index 0000000..72b46a4 --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/random__trackgen_8py.xml @@ -0,0 +1,248 @@ + + + + random_trackgen.py + f110_gym::unittest::random_trackgen + + + + + +#MITLicense + +#Copyright(c)2020JosephAuckley,MatthewO'Kelly,AmanSinha,HongruiZheng + +#Permissionisherebygranted,freeofcharge,toanypersonobtainingacopy +#ofthissoftwareandassociateddocumentationfiles(the"Software"),todeal +#intheSoftwarewithoutrestriction,includingwithoutlimitationtherights +#touse,copy,modify,merge,publish,distribute,sublicense,and/orsell +#copiesoftheSoftware,andtopermitpersonstowhomtheSoftwareis +#furnishedtodoso,subjecttothefollowingconditions: + +#Theabovecopyrightnoticeandthispermissionnoticeshallbeincludedinall +#copiesorsubstantialportionsoftheSoftware. + +#THESOFTWAREISPROVIDED"ASIS",WITHOUTWARRANTYOFANYKIND,EXPRESSOR +#IMPLIED,INCLUDINGBUTNOTLIMITEDTOTHEWARRANTIESOFMERCHANTABILITY, +#FITNESSFORAPARTICULARPURPOSEANDNONINFRINGEMENT.INNOEVENTSHALLTHE +#AUTHORSORCOPYRIGHTHOLDERSBELIABLEFORANYCLAIM,DAMAGESOROTHER +#LIABILITY,WHETHERINANACTIONOFCONTRACT,TORTOROTHERWISE,ARISINGFROM, +#OUTOFORINCONNECTIONWITHTHESOFTWAREORTHEUSEOROTHERDEALINGSINTHE +#SOFTWARE. + + +""" +Generatesrandomtracks. +Adaptedfromhttps://gym.openai.com/envs/CarRacing-v0 +Author:HongruiZheng +""" + +importcv2 +importos +importmath +importnumpyasnp +importshapely.geometryasshp +importmatplotlib.pyplotasplt +frommatplotlib.patchesimportPolygon +frommatplotlib.collectionsimportPatchCollection +importargparse + +parser=argparse.ArgumentParser() +parser.add_argument('--seed',type=int,default=123,help='Seedforthenumpyrng.') +parser.add_argument('--num_maps',type=int,default=1,help='Numberofmapstogenerate.') +args=parser.parse_args() + +np.random.seed(args.seed) + +ifnotos.path.exists('maps'): +print('Creatingmaps/directory.') +os.makedirs('maps') +ifnotos.path.exists('centerline'): +print('Creatingcenterline/directory.') +os.makedirs('centerline') + +NUM_MAPS=args.num_maps +WIDTH=10.0 +defcreate_track(): +CHECKPOINTS=16 +SCALE=6.0 +TRACK_RAD=900/SCALE +TRACK_DETAIL_STEP=21/SCALE +TRACK_TURN_RATE=0.31 + +start_alpha=0. + +#Createcheckpoints +checkpoints=[] +forcinrange(CHECKPOINTS): +alpha=2*math.pi*c/CHECKPOINTS+np.random.uniform(0,2*math.pi*1/CHECKPOINTS) +rad=np.random.uniform(TRACK_RAD/3,TRACK_RAD) +ifc==0: +alpha=0 +rad=1.5*TRACK_RAD +ifc==CHECKPOINTS-1: +alpha=2*math.pi*c/CHECKPOINTS +start_alpha=2*math.pi*(-0.5)/CHECKPOINTS +rad=1.5*TRACK_RAD +checkpoints.append((alpha,rad*math.cos(alpha),rad*math.sin(alpha))) +road=[] + +#Gofromonecheckpointtoanothertocreatetrack +x,y,beta=1.5*TRACK_RAD,0,0 +dest_i=0 +laps=0 +track=[] +no_freeze=2500 +visited_other_side=False +whileTrue: +alpha=math.atan2(y,x) +ifvisited_other_sideandalpha>0: +laps+=1 +visited_other_side=False +ifalpha<0: +visited_other_side=True +alpha+=2*math.pi +whileTrue: +failed=True +whileTrue: +dest_alpha,dest_x,dest_y=checkpoints[dest_i%len(checkpoints)] +ifalpha<=dest_alpha: +failed=False +break +dest_i+=1 +ifdest_i%len(checkpoints)==0: +break +ifnotfailed: +break +alpha-=2*math.pi +continue +r1x=math.cos(beta) +r1y=math.sin(beta) +p1x=-r1y +p1y=r1x +dest_dx=dest_x-x +dest_dy=dest_y-y +proj=r1x*dest_dx+r1y*dest_dy +whilebeta-alpha>1.5*math.pi: +beta-=2*math.pi +whilebeta-alpha<-1.5*math.pi: +beta+=2*math.pi +prev_beta=beta +proj*=SCALE +ifproj>0.3: +beta-=min(TRACK_TURN_RATE,abs(0.001*proj)) +ifproj<-0.3: +beta+=min(TRACK_TURN_RATE,abs(0.001*proj)) +x+=p1x*TRACK_DETAIL_STEP +y+=p1y*TRACK_DETAIL_STEP +track.append((alpha,prev_beta*0.5+beta*0.5,x,y)) +iflaps>4: +break +no_freeze-=1 +ifno_freeze==0: +break + +#Findclosedloop +i1,i2=-1,-1 +i=len(track) +whileTrue: +i-=1 +ifi==0: +returnFalse +pass_through_start=track[i][0]>start_alphaandtrack[i-1][0]<=start_alpha +ifpass_through_startandi2==-1: +i2=i +elifpass_through_startandi1==-1: +i1=i +break +print("Trackgeneration:%i..%i->%i-tilestrack"%(i1,i2,i2-i1)) +asserti1!=-1 +asserti2!=-1 + +track=track[i1:i2-1] +first_beta=track[0][1] +first_perp_x=math.cos(first_beta) +first_perp_y=math.sin(first_beta) + +#Lengthofperpendicularjumptoputtogetherheadandtail +well_glued_together=np.sqrt( +np.square(first_perp_x*(track[0][2]-track[-1][2]))+ +np.square(first_perp_y*(track[0][3]-track[-1][3]))) +ifwell_glued_together>TRACK_DETAIL_STEP: +returnFalse + +#postprocessing,convertingtonumpy,findingexteriorandinteriorwalls +track_xy=[(x,y)for(a1,b1,x,y)intrack] +track_xy=np.asarray(track_xy) +track_poly=shp.Polygon(track_xy) +track_xy_offset_in=track_poly.buffer(WIDTH) +track_xy_offset_out=track_poly.buffer(-WIDTH) +track_xy_offset_in_np=np.array(track_xy_offset_in.exterior) +track_xy_offset_out_np=np.array(track_xy_offset_out.exterior) +returntrack_xy,track_xy_offset_in_np,track_xy_offset_out_np + + +defconvert_track(track,track_int,track_ext,iter): + +#convertstracktoimageandsavesthecenterlineaswaypoints +fig,ax=plt.subplots() +fig.set_size_inches(20,20) +ax.plot(*track_int.T,color='black',linewidth=3) +ax.plot(*track_ext.T,color='black',linewidth=3) +plt.tight_layout() +ax.set_aspect('equal') +ax.set_xlim(-180,300) +ax.set_ylim(-300,300) +plt.axis('off') +plt.savefig('maps/map'+str(iter)+'.png',dpi=80) + +map_width,map_height=fig.canvas.get_width_height() +print('mapsize:',map_width,map_height) + +#transformthetrackcenterlineintopixelcoordinates +xy_pixels=ax.transData.transform(track) +origin_x_pix=xy_pixels[0,0] +origin_y_pix=xy_pixels[0,1] + +xy_pixels=xy_pixels-np.array([[origin_x_pix,origin_y_pix]]) + +map_origin_x=-origin_x_pix*0.05 +map_origin_y=-origin_y_pix*0.05 + +#convertimageusingcv2 +cv_img=cv2.imread('maps/map'+str(iter)+'.png',-1) +#converttobw +cv_img_bw=cv2.cvtColor(cv_img,cv2.COLOR_BGR2GRAY) +#savingtoimg +cv2.imwrite('maps/map'+str(iter)+'.png',cv_img_bw) +cv2.imwrite('maps/map'+str(iter)+'.pgm',cv_img_bw) + +#createyamlfile +yaml=open('maps/map'+str(iter)+'.yaml','w') +yaml.write('image:map'+str(iter)+'.pgm\n') +yaml.write('resolution:0.062500\n') +yaml.write('origin:['+str(map_origin_x)+','+str(map_origin_y)+',0.000000]\n') +yaml.write('negate:0\noccupied_thresh:0.45\nfree_thresh:0.196') +yaml.close() +plt.close() + +#savingtrackcenterlineasacsvinroscoords +waypoints_csv=open('centerline/map'+str(iter)+'.csv','w') +forrowinxy_pixels: +waypoints_csv.write(str(0.05*row[0])+','+str(0.05*row[1])+'\n') +waypoints_csv.close() + + + +if__name__=='__main__': +foriinrange(NUM_MAPS): +try: +track,track_int,track_ext=create_track() +except: +print('Randomgeneratorfailed,retrying') +continue +convert_track(track,track_int,track_ext,i) + + + + diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/rendering_8py.xml b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/rendering_8py.xml new file mode 100644 index 0000000..fca16f6 --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/rendering_8py.xml @@ -0,0 +1,352 @@ + + + + rendering.py + f110_gym::envs::rendering::EnvRenderer + f110_gym::envs::rendering + pyglet::gl + + + + + +#MITLicense + +#Copyright(c)2020JosephAuckley,MatthewO'Kelly,AmanSinha,HongruiZheng + +#Permissionisherebygranted,freeofcharge,toanypersonobtainingacopy +#ofthissoftwareandassociateddocumentationfiles(the"Software"),todeal +#intheSoftwarewithoutrestriction,includingwithoutlimitationtherights +#touse,copy,modify,merge,publish,distribute,sublicense,and/orsell +#copiesoftheSoftware,andtopermitpersonstowhomtheSoftwareis +#furnishedtodoso,subjecttothefollowingconditions: + +#Theabovecopyrightnoticeandthispermissionnoticeshallbeincludedinall +#copiesorsubstantialportionsoftheSoftware. + +#THESOFTWAREISPROVIDED"ASIS",WITHOUTWARRANTYOFANYKIND,EXPRESSOR +#IMPLIED,INCLUDINGBUTNOTLIMITEDTOTHEWARRANTIESOFMERCHANTABILITY, +#FITNESSFORAPARTICULARPURPOSEANDNONINFRINGEMENT.INNOEVENTSHALLTHE +#AUTHORSORCOPYRIGHTHOLDERSBELIABLEFORANYCLAIM,DAMAGESOROTHER +#LIABILITY,WHETHERINANACTIONOFCONTRACT,TORTOROTHERWISE,ARISINGFROM, +#OUTOFORINCONNECTIONWITHTHESOFTWAREORTHEUSEOROTHERDEALINGSINTHE +#SOFTWARE. + + + +""" +Renderingengineforf1tenthgymenvbasedonpygletandOpenGL +Author:HongruiZheng +""" + +#openglstuff +importpyglet +frompyglet.glimport* + +#other +importnumpyasnp +fromPILimportImage +importyaml + +#helpers +fromf110_gym.envs.collision_modelsimportget_vertices + +#zoomingconstants +ZOOM_IN_FACTOR=1.2 +ZOOM_OUT_FACTOR=1/ZOOM_IN_FACTOR + +#vehicleshapeconstants +CAR_LENGTH=0.58 +CAR_WIDTH=0.31 + +classEnvRenderer(pyglet.window.Window): +""" +Awindowclassinheritedfrompyglet.window.Window,handlesthecamera/projectioninteraction,resizingwindow,andrenderingtheenvironment +""" +def__init__(self,width,height,*args,**kwargs): +""" +Classconstructor + +Args: +width(int):widthofthewindow +height(int):heightofthewindow + +Returns: +None +""" +conf=Config(sample_buffers=1, +samples=4, +depth_size=16, +double_buffer=True) +super().__init__(width,height,config=conf,resizable=True,vsync=False,*args,**kwargs) + +#glinit +glClearColor(9/255,32/255,87/255,1.) + +#initializecameravalues +self.left=-width/2 +self.right=width/2 +self.bottom=-height/2 +self.top=height/2 +self.zoom_level=1.2 +self.zoomed_width=width +self.zoomed_height=height + +#currentbatchthatkeepstrackofallgraphics +self.batch=pyglet.graphics.Batch() + +#currentenvmap +self.map_points=None + +#currentenvagentposes,(num_agents,3),columnsare(x,y,theta) +self.poses=None + +#currentenvagentvertices,(num_agents,4,2),2ndand3rddimensionsarethe4cornersin2D +self.vertices=None + +#currentscorelabel +self.score_label=pyglet.text.Label( +'LapTime:{laptime:.2f},EgoLapCount:{count:.0f}'.format( +laptime=0.0,count=0.0), +font_size=36, +x=0, +y=-800, +anchor_x='center', +anchor_y='center', +#width=0.01, +#height=0.01, +color=(255,255,255,255), +batch=self.batch) + +self.fps_display=pyglet.window.FPSDisplay(self) + +defupdate_map(self,map_path,map_ext): +""" +Updatethemapbeingdrawnbytherenderer.Convertsimagetoalistof3Dpointsrepresentingeachobstaclepixelinthemap. + +Args: +map_path(str):absolutepathtothemapwithoutextensions +map_ext(str):extensionforthemapimagefile + +Returns: +None +""" + +#loadmapmetadata +withopen(map_path+'.yaml','r')asyaml_stream: +try: +map_metadata=yaml.safe_load(yaml_stream) +map_resolution=map_metadata['resolution'] +origin=map_metadata['origin'] +origin_x=origin[0] +origin_y=origin[1] +exceptyaml.YAMLErrorasex: +print(ex) + +#loadmapimage +map_img=np.array(Image.open(map_path+map_ext).transpose(Image.FLIP_TOP_BOTTOM)).astype(np.float64) +map_height=map_img.shape[0] +map_width=map_img.shape[1] + +#convertmappixelstocoordinates +range_x=np.arange(map_width) +range_y=np.arange(map_height) +map_x,map_y=np.meshgrid(range_x,range_y) +map_x=(map_x*map_resolution+origin_x).flatten() +map_y=(map_y*map_resolution+origin_y).flatten() +map_z=np.zeros(map_y.shape) +map_coords=np.vstack((map_x,map_y,map_z)) + +#maskandonlyleavetheobstaclepoints +map_mask=map_img==0.0 +map_mask_flat=map_mask.flatten() +map_points=50.*map_coords[:,map_mask_flat].T +foriinrange(map_points.shape[0]): +self.batch.add(1,GL_POINTS,None,('v3f/stream',[map_points[i,0],map_points[i,1],map_points[i,2]]),('c3B/stream',[183,193,222])) +self.map_points=map_points + +defon_resize(self,width,height): +""" +Callbackfunctiononwindowresize,overridesinheritedmethod,andupdatescameravaluesontopoftheinheritedon_resize()method. + +Potentialimprovementsoncurrentbehavior:zoom/panresetsonwindowresize. + +Args: +width(int):newwidthofwindow +height(int):newheightofwindow + +Returns: +None +""" + +#calloverridedfunction +super().on_resize(width,height) + +#updatecameravalue +(width,height)=self.get_size() +self.left=-self.zoom_level*width/2 +self.right=self.zoom_level*width/2 +self.bottom=-self.zoom_level*height/2 +self.top=self.zoom_level*height/2 +self.zoomed_width=self.zoom_level*width +self.zoomed_height=self.zoom_level*height + +defon_mouse_drag(self,x,y,dx,dy,buttons,modifiers): +""" +Callbackfunctiononmousedrag,overridesinheritedmethod. + +Args: +x(int):Distanceinpixelsfromtheleftedgeofthewindow. +y(int):Distanceinpixelsfromthebottomedgeofthewindow. +dx(int):RelativeXpositionfromthepreviousmouseposition. +dy(int):RelativeYpositionfromthepreviousmouseposition. +buttons(int):Bitwisecombinationofthemousebuttonscurrentlypressed. +modifiers(int):Bitwisecombinationofanykeyboardmodifierscurrentlyactive. + +Returns: +None +""" + +#pancamera +self.left-=dx*self.zoom_level +self.right-=dx*self.zoom_level +self.bottom-=dy*self.zoom_level +self.top-=dy*self.zoom_level + +defon_mouse_scroll(self,x,y,dx,dy): +""" +Callbackfunctiononmousescroll,overridesinheritedmethod. + +Args: +x(int):Distanceinpixelsfromtheleftedgeofthewindow. +y(int):Distanceinpixelsfromthebottomedgeofthewindow. +scroll_x(float):Amountofmovementonthehorizontalaxis. +scroll_y(float):Amountofmovementontheverticalaxis. + +Returns: +None +""" + +#Getscalefactor +f=ZOOM_IN_FACTORifdy>0elseZOOM_OUT_FACTORifdy<0else1 + +#Ifzoom_levelisintheproperrange +if.01<self.zoom_level*f<10: + +self.zoom_level*=f + +(width,height)=self.get_size() + +mouse_x=x/width +mouse_y=y/height + +mouse_x_in_world=self.left+mouse_x*self.zoomed_width +mouse_y_in_world=self.bottom+mouse_y*self.zoomed_height + +self.zoomed_width*=f +self.zoomed_height*=f + +self.left=mouse_x_in_world-mouse_x*self.zoomed_width +self.right=mouse_x_in_world+(1-mouse_x)*self.zoomed_width +self.bottom=mouse_y_in_world-mouse_y*self.zoomed_height +self.top=mouse_y_in_world+(1-mouse_y)*self.zoomed_height + +defon_close(self): +""" +Callbackfunctionwhenthe'x'isclickedonthewindow,overridesinheritedmethod.Alsothrowsexceptiontoendthepythonprogramwheninaloop. + +Args: +None + +Returns: +None + +Raises: +Exception:withamessagethatindicatestherenderingwindowwasclosed +""" + +super().on_close() +raiseException('Renderingwindowwasclosed.') + +defon_draw(self): +""" +Functionwhenthepygletisdrawing.Thefunctiondrawsthebatchcreatedthatincludesthemappoints,theagentpolygons,andtheinformationtext,andthefpsdisplay. + +Args: +None + +Returns: +None +""" + +#ifmapandposesdoesn'texist,raiseexception +ifself.map_pointsisNone: +raiseException('Mapnotsetforrenderer.') +ifself.posesisNone: +raiseException('Agentposesnotupdatedforrenderer.') + +#InitializeProjectionmatrix +glMatrixMode(GL_PROJECTION) +glLoadIdentity() + +#InitializeModelviewmatrix +glMatrixMode(GL_MODELVIEW) +glLoadIdentity() +#Savethedefaultmodelviewmatrix +glPushMatrix() + +#ClearwindowwithClearColor +glClear(GL_COLOR_BUFFER_BIT|GL_DEPTH_BUFFER_BIT) + +#Setorthographicprojectionmatrix +glOrtho(self.left,self.right,self.bottom,self.top,1,-1) + +#Drawallbatches +self.batch.draw() +self.fps_display.draw() +#Removedefaultmodelviewmatrix +glPopMatrix() + +defupdate_obs(self,obs): +""" +Updatestherendererwiththelatestobservationfromthegymenvironment,includingtheagentposes,andtheinformationtext. + +Args: +obs(dict):observationdictfromthegymenv + +Returns: +None +""" + +self.ego_idx=obs['ego_idx'] +poses_x=obs['poses_x'] +poses_y=obs['poses_y'] +poses_theta=obs['poses_theta'] + +num_agents=len(poses_x) +ifself.posesisNone: +self.cars=[] +foriinrange(num_agents): +ifi==self.ego_idx: +vertices_np=get_vertices(np.array([0.,0.,0.]),CAR_LENGTH,CAR_WIDTH) +vertices=list(vertices_np.flatten()) +car=self.batch.add(4,GL_QUADS,None,('v2f',vertices),('c3B',[172,97,185,172,97,185,172,97,185,172,97,185])) +self.cars.append(car) +else: +vertices_np=get_vertices(np.array([0.,0.,0.]),CAR_LENGTH,CAR_WIDTH) +vertices=list(vertices_np.flatten()) +car=self.batch.add(4,GL_QUADS,None,('v2f',vertices),('c3B',[99,52,94,99,52,94,99,52,94,99,52,94])) +self.cars.append(car) + +poses=np.stack((poses_x,poses_y,poses_theta)).T +forjinrange(poses.shape[0]): +vertices_np=50.*get_vertices(poses[j,:],CAR_LENGTH,CAR_WIDTH) +vertices=list(vertices_np.flatten()) +self.cars[j].vertices=vertices +self.poses=poses + +self.score_label.text='LapTime:{laptime:.2f},EgoLapCount:{count:.0f}'.format(laptime=obs['lap_times'][0],count=obs['lap_counts'][obs['ego_idx']]) + + + + diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/scan__sim_8py.xml b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/scan__sim_8py.xml new file mode 100644 index 0000000..0ad301d --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/scan__sim_8py.xml @@ -0,0 +1,446 @@ + + + + scan_sim.py + f110_gym::unittest::scan_sim::ScanSimulator2D + f110_gym::unittest::scan_sim::ScanTests + f110_gym::unittest::scan_sim + + + + + +#MITLicense + +#Copyright(c)2020JosephAuckley,MatthewO'Kelly,AmanSinha,HongruiZheng + +#Permissionisherebygranted,freeofcharge,toanypersonobtainingacopy +#ofthissoftwareandassociateddocumentationfiles(the"Software"),todeal +#intheSoftwarewithoutrestriction,includingwithoutlimitationtherights +#touse,copy,modify,merge,publish,distribute,sublicense,and/orsell +#copiesoftheSoftware,andtopermitpersonstowhomtheSoftwareis +#furnishedtodoso,subjecttothefollowingconditions: + +#Theabovecopyrightnoticeandthispermissionnoticeshallbeincludedinall +#copiesorsubstantialportionsoftheSoftware. + +#THESOFTWAREISPROVIDED"ASIS",WITHOUTWARRANTYOFANYKIND,EXPRESSOR +#IMPLIED,INCLUDINGBUTNOTLIMITEDTOTHEWARRANTIESOFMERCHANTABILITY, +#FITNESSFORAPARTICULARPURPOSEANDNONINFRINGEMENT.INNOEVENTSHALLTHE +#AUTHORSORCOPYRIGHTHOLDERSBELIABLEFORANYCLAIM,DAMAGESOROTHER +#LIABILITY,WHETHERINANACTIONOFCONTRACT,TORTOROTHERWISE,ARISINGFROM, +#OUTOFORINCONNECTIONWITHTHESOFTWAREORTHEUSEOROTHERDEALINGSINTHE +#SOFTWARE. + + + +""" +PrototypeofUtilityfunctionsandclassesforsimulating2DLIDARscans +Author:HongruiZheng +""" + +importnumpyasnp +fromnumbaimportnjit +fromscipy.ndimageimportdistance_transform_edtasedt +fromPILimportImage +importos +importyaml + +importunittest +importtimeit + +defget_dt(bitmap,resolution): +""" +Distancetransformation,returnsthedistancematrixfromtheinputbitmap. +Usesscipy.ndimage,cannotbeJITted. + +Args: +bitmap(numpy.ndarray,(n,m)):inputbinarybitmapoftheenvironment,where0isobstacles,and255(oranything>0)isfreespace +resolution(float):resolutionoftheinputbitmap(m/cell) + +Returns: +dt(numpy.ndarray,(n,m)):outputdistancematrix,whereeachcellhasthecorrespondingdistance(inmeters)totheclosestobstacle +""" +dt=resolution*edt(bitmap) +returndt + +@njit(cache=True) +defxy_2_rc(x,y,orig_x,orig_y,orig_c,orig_s,height,width,resolution): +""" +Translate(x,y)coordinateinto(r,c)inthematrix + +Args: +x(float):coordinateinx(m) +y(float):coordinateiny(m) +orig_x(float):xcoordinateofthemaporigin(m) +orig_y(float):ycoordinateofthemaporigin(m) + +Returns: +r(int):rownumberinthetransformmatrixofthegivenpoint +c(int):columnnumberinthetransformmatrixofthegivenpoint +""" +#translation +x_trans=x-orig_x +y_trans=y-orig_y + +#rotation +x_rot=x_trans*orig_c+y_trans*orig_s +y_rot=-x_trans*orig_s+y_trans*orig_c + +#clipthestatetobeacell +ifx_rot<0orx_rot>=width*resolutionory_rot<0ory_rot>=height*resolution: +c=-1 +r=-1 +else: +c=int(x_rot/resolution) +r=int(y_rot/resolution) + +returnr,c + +@njit(cache=True) +defdistance_transform(x,y,orig_x,orig_y,orig_c,orig_s,height,width,resolution,dt): +""" +Lookupcorrespondingdistanceinthedistancematrix + +Args: +x(float):xcoordinateofthelookuppoint +y(float):ycoordinateofthelookuppoint +orig_x(float):xcoordinateofthemaporigin(m) +orig_y(float):ycoordinateofthemaporigin(m) + +Returns: +distance(float):correspondingshortestdistancetoobstacleinmeters +""" +r,c=xy_2_rc(x,y,orig_x,orig_y,orig_c,orig_s,height,width,resolution) +distance=dt[r,c] +returndistance + +@njit(cache=True) +deftrace_ray(x,y,theta_index,sines,cosines,eps,orig_x,orig_y,orig_c,orig_s,height,width,resolution,dt,max_range): +""" +Findthelengthofaspecificrayataspecificscanangletheta +Purelymathcalculationandloops,shouldbeJITted. + +Args: +x(float):currentxcoordinateoftheego(scan)frame +y(float):currentycoordinateoftheego(scan)frame +theta_index(int):currentindexofthescanbeaminthescanrange +sines(numpy.ndarray(n,)):pre-calculatedsinesoftheanglearray +cosines(numpy.ndarray(n,)):pre-calculatedcosines... + +Returns: +total_distance(float):thedistancetofirstobstacleonthecurrentscanbeam +""" + +#intcasting,andindexprecaltrigs +theta_index_=int(theta_index) +s=sines[theta_index_] +c=cosines[theta_index_] + +#distancetonearestinitialization +dist_to_nearest=distance_transform(x,y,orig_x,orig_y,orig_c,orig_s,height,width,resolution,dt) +total_dist=dist_to_nearest + +#raytracingiterations +whiledist_to_nearest>epsandtotal_dist<=max_range: +#moveinthedirectionoftheraybydist_to_nearest +x+=dist_to_nearest*c +y+=dist_to_nearest*s + +#updatedist_to_nearestforcurrentpointonray +#alsokeepstrackoftotalraylength +dist_to_nearest=distance_transform(x,y,orig_x,orig_y,orig_c,orig_s,height,width,resolution,dt) +total_dist+=dist_to_nearest + +returntotal_dist + +@njit(cache=True) +defget_scan(pose,theta_dis,fov,num_beams,theta_index_increment,sines,cosines,eps,orig_x,orig_y,orig_c,orig_s,height,width,resolution,dt,max_range): +""" +Performthescanforeachdiscretizedangleofeachbeamofthelaser,loopheavy,shouldbeJITted + +Args: +pose(numpy.ndarray(3,)):currentposeofthescanframeinthemap +theta_dis(int):numberofstepstodiscretizetheanglesbetween0and2piforlookup +fov(float):fieldofviewofthelaserscan +num_beams(int):numberofbeamsinthescan +theta_index_increment(float):incrementbetweenangleindicesafterdiscretization + +Returns: +scan(numpy.ndarray(n,)):resultinglaserscanatthepose,n=num_beams +""" +#emptyscanarrayinit +scan=np.empty((num_beams,)) + +#makethetadiscretebymappingtherange[-pi,pi]onto[0,theta_dis] +theta_index=theta_dis*(pose[2]-fov/2.)/(2.*np.pi) + +#makesureit'swrappedproperly +theta_index=np.fmod(theta_index,theta_dis) +while(theta_index<0): +theta_index+=theta_dis + +#sweepthrougheachbeam +foriinrange(0,num_beams): +#tracethecurrentbeam +scan[i]=trace_ray(pose[0],pose[1],theta_index,sines,cosines,eps,orig_x,orig_y,orig_c,orig_s,height,width,resolution,dt,max_range) + +#incrementthebeamindex +theta_index+=theta_index_increment + +#makesureitstaysintherange[0,theta_dis) +whiletheta_index>=theta_dis: +theta_index-=theta_dis + +returnscan + +classScanSimulator2D(object): +""" +2DLIDARscansimulatorclass + +Initparams: +num_beams(int):numberofbeamsinthescan +fov(float):fieldofviewofthelaserscan +std_dev(float,default=0.01):standarddeviationofthegeneratedwhitenoiseinthescan +eps(float,default=0.0001):raytracingiterationterminationcondition +theta_dis(int,default=2000):numberofstepstodiscretizetheanglesbetween0and2piforlookup +max_range(float,default=30.0):maximumrangeofthelaser +seed(int,default=123):seedforrandomnumbergeneratorforthewhitenoiseinscan +""" + +def__init__(self,num_beams,fov,std_dev=0.01,eps=0.0001,theta_dis=2000,max_range=30.0,seed=123): +#initialization +self.num_beams=num_beams +self.fov=fov +self.std_dev=std_dev +self.eps=eps +self.theta_dis=theta_dis +self.max_range=max_range +self.angle_increment=self.fov/(self.num_beams-1) +self.theta_index_increment=theta_dis*self.angle_increment/(2.*np.pi) +self.orig_c=None +self.orig_s=None +self.orig_x=None +self.orig_y=None +self.map_height=None +self.map_width=None +self.map_resolution=None +self.dt=None + +#whitenoisegenerator +self.rng=np.random.default_rng(seed=seed) + +#precomputingcorrespondingcosinesandsinesoftheanglearray +theta_arr=np.linspace(0.0,2*np.pi,num=theta_dis) +self.sines=np.sin(theta_arr) +self.cosines=np.cos(theta_arr) + +defset_map(self,map_path,map_ext): +""" +Setthebitmapofthescansimulatorbypath + +Args: +map_path(str):pathtothemapyamlfile +map_ext(str):extension(imagetype)ofthemapimage + +Returns: +flag(bool):ifimagereadingandloadingissuccessful +""" +#TODO:doweopentheoptiontofliptheimages,andturnrgbintograyscale?orspecifytheexactrequirementsindocumentation. +#TODO:throwerrorifimagespecificationisn'tmet + +#loadmapimage +map_img_path=os.path.splitext(map_path)[0]+map_ext +self.map_img=np.array(Image.open(map_img_path).transpose(Image.FLIP_TOP_BOTTOM)) +self.map_img=self.map_img.astype(np.float64) + +#grayscale->binary +self.map_img[self.map_img<=128.]=0. +self.map_img[self.map_img>128.]=255. + +self.map_height=self.map_img.shape[0] +self.map_width=self.map_img.shape[1] + +#loadmapyaml +withopen(map_path,'r')asyaml_stream: +try: +map_metadata=yaml.safe_load(yaml_stream) +self.map_resolution=map_metadata['resolution'] +self.origin=map_metadata['origin'] +exceptyaml.YAMLErrorasex: +print(ex) + +#calculatemapparameters +self.orig_x=self.origin[0] +self.orig_y=self.origin[1] +self.orig_s=np.sin(self.origin[2]) +self.orig_c=np.cos(self.origin[2]) + +#getthedistancetransform +self.dt=get_dt(self.map_img,self.map_resolution) + +returnTrue + +defscan(self,pose): +""" +Performsimulated2Dscanbyposeonthegivenmap + +Args: +pose(numpy.ndarray(3,)):poseofthescanframe(x,y,theta) + +Returns: +scan(numpy.ndarray(n,)):dataarrayofthelaserscan,n=num_beams + +Raises: +ValueError:whenscaniscalledbeforeamapisset +""" +ifself.map_heightisNone: +raiseValueError('Mapisnotsetforscansimulator.') +scan=get_scan(pose,self.theta_dis,self.fov,self.num_beams,self.theta_index_increment,self.sines,self.cosines,self.eps,self.orig_x,self.orig_y,self.orig_c,self.orig_s,self.map_height,self.map_width,self.map_resolution,self.dt,self.max_range) +noise=self.rng.normal(0.,self.std_dev,size=self.num_beams) +final_scan=scan+noise +returnfinal_scan + +defget_increment(self): +returnself.angle_increment + + +""" +Unittestsforthe2Dscansimulatorclass +Author:HongruiZheng + +Testcases: +1,2:ComparisonbetweengeneratedscanarrayofthenewsimulatorandthelegacyC++simulator,generateddataused,MSEisusedasthemetric +2.FPStest,shouldbegreaterthan500 +""" + + +classScanTests(unittest.TestCase): +defsetUp(self): +#testparams +self.num_beams=1080 +self.fov=4.7 + +self.num_test=10 +self.test_poses=np.zeros((self.num_test,3)) +self.test_poses[:,2]=np.linspace(-1.,1.,num=self.num_test) + +#legacygymdata +sample_scan=np.load('legacy_scan.npz') +self.berlin_scan=sample_scan['berlin'] +self.skirk_scan=sample_scan['skirk'] + +deftest_map_berlin(self): +scan_sim=ScanSimulator2D(self.num_beams,self.fov) +new_berlin=np.empty((self.num_test,self.num_beams)) +map_path='../../../maps/berlin.yaml' +map_ext='.png' +scan_sim.set_map(map_path,map_ext) +#scangenloop +foriinrange(self.num_test): +test_pose=self.test_poses[i] +new_berlin[i,:]=scan_sim.scan(test_pose) +diff=self.berlin_scan-new_berlin +mse=np.mean(diff**2) +#print('Levinedistancetest,norm:'+str(norm)) + +#plotting +importmatplotlib.pyplotasplt +theta=np.linspace(-self.fov/2.,self.fov/2.,num=self.num_beams) +plt.polar(theta,new_berlin[1,:],'.',lw=0) +plt.polar(theta,self.berlin_scan[1,:],'.',lw=0) +plt.show() + +self.assertLess(mse,2.) + +deftest_map_skirk(self): +scan_sim=ScanSimulator2D(self.num_beams,self.fov) +new_skirk=np.empty((self.num_test,self.num_beams)) +map_path='../../../maps/skirk.yaml' +map_ext='.png' +scan_sim.set_map(map_path,map_ext) +print('mapset') +#scangenloop +foriinrange(self.num_test): +test_pose=self.test_poses[i] +new_skirk[i,:]=scan_sim.scan(test_pose) +diff=self.skirk_scan-new_skirk +mse=np.mean(diff**2) +print('skirkdistancetest,mse:'+str(mse)) + +#plotting +importmatplotlib.pyplotasplt +theta=np.linspace(-self.fov/2.,self.fov/2.,num=self.num_beams) +plt.polar(theta,new_skirk[1,:],'.',lw=0) +plt.polar(theta,self.skirk_scan[1,:],'.',lw=0) +plt.show() + +self.assertLess(mse,2.) + +deftest_fps(self): +#scanfpsshouldbegreaterthan500 +scan_sim=ScanSimulator2D(self.num_beams,self.fov) +map_path='../../../maps/skirk.yaml' +map_ext='.png' +scan_sim.set_map(map_path,map_ext) + +importtime +start=time.time() +foriinrange(10000): +x_test=i/10000 +scan=scan_sim.scan(np.array([x_test,0.,0.])) +end=time.time() +fps=10000/(end-start) +#print('FPStest') +#print('Elapsedtime:'+str(end-start)+',FPS:'+str(1/fps)) +self.assertGreater(fps,500.) + + +defmain(): +num_beams=1080 +fov=4.7 +#map_path='../envs/maps/berlin.yaml' +map_path='/home/f1tenth-eval/tunercar/es/maps/map0.yaml' +map_ext='.png' +scan_sim=ScanSimulator2D(num_beams,fov) +scan_sim.set_map(map_path,map_ext) +scan=scan_sim.scan(np.array([0.,0.,0.])) + +#fpstest +importtime +start=time.time() +foriinrange(10000): +x_test=i/10000 +scan=scan_sim.scan(np.array([x_test,0.,0.])) +end=time.time() +fps=(end-start)/10000 +print('FPStest') +print('Elapsedtime:'+str(end-start)+',FPS:'+str(1/fps)) + +#visualization +importmatplotlib.pyplotasplt +frommatplotlib.animationimportFuncAnimation +num_iter=100 +theta=np.linspace(-fov/2.,fov/2.,num=num_beams) +fig=plt.figure() +ax=fig.add_subplot(111,projection='polar') +ax.set_ylim(0,70) +line,=ax.plot([],[],'.',lw=0) +defupdate(i): +#x_ani=i*3./num_iter +theta_ani=-i*2*np.pi/num_iter +x_ani=0. +current_scan=scan_sim.scan(np.array([x_ani,0.,theta_ani])) +print(np.max(current_scan)) +line.set_data(theta,current_scan) +returnline, +ani=FuncAnimation(fig,update,frames=num_iter,blit=True) +plt.show() + +if__name__=='__main__': +#unittest.main() +main() + + + + diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/unittest_2____init_____8py.xml b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/unittest_2____init_____8py.xml new file mode 100644 index 0000000..4c76280 --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/unittest_2____init_____8py.xml @@ -0,0 +1,16 @@ + + + + __init__.py + f110_gym::unittest + gym::envs::unittest::scan_sim + + + + + +fromgym.envs.unittest.scan_simimport* + + + + diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/xml.xsd b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/xml.xsd new file mode 100644 index 0000000..9f80fe1 --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/docs/xml/xml.xsd @@ -0,0 +1,23 @@ + + + + + + + + + + + + + + + + + + + + + diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/examples/config_example_map.yaml b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/examples/config_example_map.yaml new file mode 100644 index 0000000..14b8702 --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/examples/config_example_map.yaml @@ -0,0 +1,44 @@ +# metadata +run_name: 'map_wide' +# characteristic number for map +perf_num: 6 + +# map paths +map_path: './example_map' +map_ext: '.png' + +# starting pose for map +sx: 0.7 +sy: 0.0 +stheta: 1.37079632679 + +# raceline path and indices +wpt_path: './example_waypoints.csv' +wpt_delim: ';' +wpt_rowskip: 3 +wpt_xind: 1 +wpt_yind: 2 +wpt_thind: 3 +wpt_vind: 5 + +# varied params bound +# physical params +mass_min: 3.0 +mass_max: 4.0 +lf_min: 0.147 +lf_max: 0.170 +# controller params +tlad_min: 0.2 +tlad_max: 5. +vgain_min: 0.5 +vgain_max: 1.5 + +# computation budget (can think of it as gen_num times pop_size) +popsize: 100 +budget: 1000 + +# optimization method +optim_method: 'CMA' + +# seed +seed: 12345 diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/examples/example_map.png b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/examples/example_map.png new file mode 100644 index 0000000..9dd1bbe Binary files /dev/null and b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/examples/example_map.png differ diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/examples/example_map.yaml b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/examples/example_map.yaml new file mode 100644 index 0000000..9e0d29a --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/examples/example_map.yaml @@ -0,0 +1,6 @@ +image: example_map.png +resolution: 0.062500 +origin: [-78.21853769831466,-44.37590462453829, 0.000000] +negate: 0 +occupied_thresh: 0.45 +free_thresh: 0.196 diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/examples/example_waypoints.csv b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/examples/example_waypoints.csv new file mode 100644 index 0000000..4ec4172 --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/examples/example_waypoints.csv @@ -0,0 +1,786 @@ +# 7daf4d34-e3c1-4827-9777-a6793ffc3440 +# 603fd3987364b09f9aacb70d1ed12c268e24dd56 +# s_m; x_m; y_m; psi_rad; kappa_radpm; vx_mps; ax_mps2 +0.0000000; 1.0748956; -0.1528569; 0.0349893; 0.0799358; 6.4310783; 0.4791257 +0.1999470; 1.0663060; 0.0469166; 0.0509402; 0.0796079; 6.4459574; 0.4653654 +0.3998941; 1.0545386; 0.2465104; 0.0668258; 0.0792965; 6.4603765; 0.4518410 +0.5998411; 1.0396077; 0.4458964; 0.0826618; 0.0792161; 6.4743457; 0.4295347 +0.7997882; 1.0215198; 0.6450256; 0.0985164; 0.0793720; 6.4875975; 0.3985914 +0.9997352; 1.0002757; 0.8438271; 0.1144029; 0.0795482; 6.4998704; 0.3685076 +1.1996823; 0.9758694; 1.0422891; 0.1303289; 0.0797473; 6.5111965; 0.3391177 +1.3996293; 0.9483040; 1.2403209; 0.1462955; 0.0799673; 6.5216018; 0.3104672 +1.5995764; 0.9175751; 1.4378904; 0.1623084; 0.0802078; 6.5311136; 0.2825252 +1.7995234; 0.8836811; 1.6349460; 0.1783719; 0.0804695; 6.5397572; 0.2552192 +1.9994704; 0.8466241; 1.8314144; 0.1944885; 0.0807521; 6.5475557; 0.2285251 +2.1994175; 0.8063948; 2.0272831; 0.2106657; 0.0810564; 6.5545306; 0.2023805 +2.3993645; 0.7629999; 2.2224580; 0.2269045; 0.0813823; 6.5607013; 0.1767501 +2.5993116; 0.7164341; 2.4169046; 0.2432110; 0.0817296; 6.5660859; 0.1516261 +2.7992586; 0.6666958; 2.6105688; 0.2595896; 0.0820993; 6.5707015; 0.1269352 +2.9992057; 0.6137897; 2.8033741; 0.2760429; 0.0824910; 6.5745630; 0.1026807 +3.1991527; 0.5577038; 2.9953044; 0.2925787; 0.0829052; 6.5776850; 0.0788193 +3.3990997; 0.4984490; 3.1862630; 0.3091984; 0.0833425; 6.5800805; 0.0553120 +3.5990468; 0.4360192; 3.3762111; 0.3259080; 0.0838019; 6.5817610; 0.0321928 +3.7989938; 0.3704139; 3.5650908; 0.3427122; 0.0842849; 6.5827389; 0.0093819 +3.9989409; 0.3016407; 3.7528228; 0.3596140; 0.0847914; 6.5830239; -0.0131153 +4.1988879; 0.2296861; 3.9393840; 0.3766215; 0.0853234; 6.5826255; -0.0353978 +4.3988350; 0.1545650; 4.1246760; 0.3937366; 0.0858804; 6.5815502; -0.0574387 +4.5987820; 0.0762721; 4.3086539; 0.4109658; 0.0864608; 6.5798050; -0.0791653 +4.7987291; -0.0051913; 4.4912548; 0.4283138; 0.0870667; 6.5773989; -0.1006697 +4.9986761; -0.0898149; 4.6723964; 0.4457843; 0.0876978; 6.5743379; -0.1219400 +5.1986231; -0.1776109; 4.8520452; 0.4633858; 0.0883602; 6.5706283; -0.1432282 +5.3985702; -0.2685609; 5.0301029; 0.4811214; 0.0890500; 6.5662683; -0.1643442 +5.5985172; -0.3626680; 5.2065153; 0.4989979; 0.0897699; 6.5612621; -0.1853946 +5.7984643; -0.4599281; 5.3812134; 0.5170223; 0.0905230; 6.5556099; -0.2064869 +5.9984113; -0.5603282; 5.5541122; 0.5351989; 0.0913039; 6.5493090; -0.2273598 +6.1983584; -0.6638764; 5.7251633; 0.5535371; 0.0921256; 6.5423642; -0.2485615 +6.3983054; -0.7705523; 5.8942695; 0.5720418; 0.0929779; 6.5347632; -0.2695987 +6.5982524; -0.8803544; 6.0613646; 0.5907202; 0.0938634; 6.5265090; -0.2905603 +6.7981995; -0.9932745; 6.2263718; 0.6095798; 0.0947860; 6.5176013; -0.3115834 +6.9981465; -1.1092973; 6.3892036; 0.6286263; 0.0957396; 6.5080355; -0.3323694 +7.1980936; -1.2284183; 6.5497925; 0.6478262; 0.0963139; 6.4978160; -0.3355711 +7.3980406; -1.3506074; 6.7080549; 0.6671440; 0.0969209; 6.4874818; -0.3397870 +7.5979877; -1.4758380; 6.8639194; 0.6865352; 0.0965460; 6.4770010; -0.3023631 +7.7979347; -1.6040538; 7.0173400; 0.7057039; 0.0951981; 6.4676602; -0.2267136 +7.9978818; -1.7351692; 7.1682953; 0.7246067; 0.0938809; 6.4606476; -0.1574059 +8.1978288; -1.8690872; 7.3167597; 0.7431931; 0.0920415; 6.4557743; -0.0708798 +8.3977758; -2.0057193; 7.4627394; 0.7614151; 0.0902302; 6.4535786; 0.0089481 +8.5977229; -2.1449611; 7.6062286; 0.7792788; 0.0884668; 6.4538558; 0.0818497 +8.7976699; -2.2867181; 7.7472315; 0.7967945; 0.0867431; 6.4563911; 0.1487508 +8.9976170; -2.4309059; 7.8857609; 0.8139689; 0.0850460; 6.4609961; 0.2106959 +9.1975640; -2.5774179; 8.0218084; 0.8308078; 0.0833971; 6.4675132; 0.2672079 +9.3975111; -2.7261862; 8.1554013; 0.8473199; 0.0817692; 6.4757688; 0.3198525 +9.5974581; -2.8771160; 8.2865417; 0.8635092; 0.0801757; 6.4856371; 0.3683984 +9.7974051; -3.0301270; 8.4152445; 0.8793830; 0.0786106; 6.4969846; 0.4134176 +9.9973522; -3.1851516; 8.5415340; 0.8949469; 0.0770659; 6.5096953; 0.4555270 +10.1972992; -3.3420890; 8.6654081; 0.9102040; 0.0755562; 6.5236719; 0.4943527 +10.3972463; -3.5008905; 8.7869054; 0.9251619; 0.0740626; 6.5388060; 0.5309287 +10.5971933; -3.6614706; 8.9060354; 0.9398230; 0.0725916; 6.5550209; 0.5651740 +10.7971404; -3.8237606; 9.0228206; 0.9541917; 0.0711388; 6.5722377; 0.5974513 +10.9970874; -3.9877064; 9.1372933; 0.9682725; 0.0697017; 6.5903889; 0.6280263 +11.1970345; -4.1532150; 9.2494587; 0.9820658; 0.0682772; 6.6094153; 0.6571688 +11.3969815; -4.3202509; 9.3593619; 0.9955765; 0.0668653; 6.6292660; 0.6849985 +11.5969285; -4.4887381; 9.4670201; 1.0088060; 0.0654652; 6.6498944; 0.7116624 +11.7968756; -4.6586176; 9.5724621; 1.0217561; 0.0640740; 6.6712581; 0.7373933 +11.9968226; -4.8298448; 9.6757256; 1.0344300; 0.0626946; 6.6933223; 0.7621364 +12.1967697; -5.0023371; 9.7768253; 1.0468276; 0.0613211; 6.7160507; 0.7862572 +12.3967167; -5.1760667; 9.8758087; 1.0589522; 0.0599570; 6.7394182; 0.8096500 +12.5966638; -5.3509678; 9.9727007; 1.0708048; 0.0586006; 6.7633964; 0.8324723 +12.7966108; -5.5269898; 10.0675355; 1.0823865; 0.0572495; 6.7879623; 0.8548913 +12.9965578; -5.7040951; 10.1603541; 1.0936995; 0.0559073; 6.8130975; 0.8767941 +13.1965049; -5.8822136; 10.2511804; 1.1047436; 0.0545675; 6.8387808; 0.8985394 +13.3964519; -6.0613212; 10.3400623; 1.1155210; 0.0532347; 6.8650014; 0.9199530 +13.5963990; -6.2413627; 10.4270317; 1.1260324; 0.0519069; 6.8917434; 0.9411759 +13.7963460; -6.4222952; 10.5121269; 1.1362784; 0.0505822; 6.9189954; 0.9623346 +13.9962931; -6.6040860; 10.5953911; 1.1462606; 0.0492640; 6.9467496; 0.9833090 +14.1962401; -6.7866785; 10.6768563; 1.1559787; 0.0479465; 6.9749946; 1.0044098 +14.3961872; -6.9700498; 10.7565700; 1.1654343; 0.0466339; 7.0037281; 1.0254652 +14.5961342; -7.1541551; 10.8345699; 1.1746277; 0.0453245; 7.0329428; 1.0465925 +14.7960812; -7.3389583; 10.9108975; 1.1835594; 0.0440169; 7.0626348; 1.0678907 +14.9960283; -7.5244304; 10.9855975; 1.1922303; 0.0427137; 7.0928030; 1.0892548 +15.1959753; -7.7105283; 11.0587086; 1.2006403; 0.0414103; 7.1234430; 1.1109398 +15.3959224; -7.8972283; 11.1302776; 1.2087902; 0.0401102; 7.1545579; 1.1328005 +15.5958694; -8.0844959; 11.2003468; 1.2166804; 0.0388120; 7.1861463; 1.1549331 +15.7958165; -8.2723009; 11.2689603; 1.2243109; 0.0375146; 7.2182096; 1.1774167 +15.9957635; -8.4606165; 11.3361637; 1.2316824; 0.0362200; 7.2507511; 1.2001680 +16.1957105; -8.6494130; 11.4020012; 1.2387950; 0.0349249; 7.2837718; 1.2233869 +16.3956576; -8.8386646; 11.4665188; 1.2456488; 0.0336317; 7.3172780; 1.2469657 +16.5956046; -9.0283464; 11.5297624; 1.2522443; 0.0323395; 7.3512727; 1.2709856 +16.7955517; -9.2184331; 11.5917782; 1.2585812; 0.0310473; 7.3857613; 1.2955111 +16.9954987; -9.4088994; 11.6526122; 1.2646600; 0.0297568; 7.4207505; 1.3204804 +17.1954458; -9.5997277; 11.7123130; 1.2704807; 0.0284651; 7.4562450; 1.3460723 +17.3953928; -9.7908899; 11.7709259; 1.2760431; 0.0271745; 7.4922544; 1.3721877 +17.5953399; -9.9823688; 11.8284995; 1.2813477; 0.0258848; 7.5287852; 1.3988530 +17.7952869; -10.1741438; 11.8850816; 1.2863944; 0.0245955; 7.5658443; 1.4261307 +17.9952339; -10.3661907; 11.9407187; 1.2911833; 0.0233071; 7.6034401; 1.4540113 +18.1951810; -10.5585014; 11.9954615; 1.2957236; 0.0221075; 7.6415804; 1.4773912 +18.3951280; -10.7510477; 12.0493524; 1.3000240; 0.0209082; 7.6801400; 1.5015162 +18.5950751; -10.9438191; 12.1024383; 1.3040859; 0.0197328; 7.7191320; 1.5249935 +18.7950221; -11.1367995; 12.1547634; 1.3079163; 0.0185810; 7.7585330; 1.5478583 +18.9949692; -11.3299674; 12.2063697; 1.3115163; 0.0174295; 7.7983212; 1.5715347 +19.1949162; -11.5233231; 12.2573050; 1.3148862; 0.0162777; 7.8385114; 1.5960741 +19.3948633; -11.7168371; 12.3076089; 1.3180257; 0.0151259; 7.8791194; 1.6214632 +19.5948103; -11.9105042; 12.3573279; 1.3209349; 0.0139742; 7.9201601; 1.6477114 +19.7947573; -12.1043112; 12.4065059; 1.3236139; 0.0128225; 7.9616484; 1.5307917 +19.9947044; -12.2982359; 12.4551850; 1.3260625; 0.0116708; 8.0000000; 0.0000000 +20.1946514; -12.4922857; 12.5034144; 1.3282810; 0.0105193; 8.0000000; 0.0000000 +20.3945985; -12.6864282; 12.5512335; 1.3302691; 0.0093677; 8.0000000; 0.0000000 +20.5945455; -12.8806622; 12.5986895; 1.3320270; 0.0082156; 8.0000000; 0.0000000 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1.0811326; -0.7525924; -0.0148187; 0.0863175; 6.3983145; 0.2780061 +155.9586942; 1.0823861; -0.5526523; 0.0022040; 0.0840510; 6.4069963; 0.3544221 +156.1586412; 1.0802791; -0.3527140; 0.0188032; 0.0819841; 6.4180474; 0.4186997 +156.3585883; 1.0748956; -0.1528569; 0.0349893; 0.0799358; 6.4310783; 0.4791257 diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/examples/waypoint_follow.py b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/examples/waypoint_follow.py new file mode 100644 index 0000000..b61542b --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/examples/waypoint_follow.py @@ -0,0 +1,290 @@ +import time +from f110_gym.envs.base_classes import Integrator +import yaml +import gym +import numpy as np +from argparse import Namespace + +from numba import njit + +from pyglet.gl import GL_POINTS + +""" +Planner Helpers +""" +@njit(fastmath=False, cache=True) +def nearest_point_on_trajectory(point, trajectory): + """ + Return the nearest point along the given piecewise linear trajectory. + + Same as nearest_point_on_line_segment, but vectorized. This method is quite fast, time constraints should + not be an issue so long as trajectories are not insanely long. + + Order of magnitude: trajectory length: 1000 --> 0.0002 second computation (5000fps) + + point: size 2 numpy array + trajectory: Nx2 matrix of (x,y) trajectory waypoints + - these must be unique. If they are not unique, a divide by 0 error will destroy the world + """ + diffs = trajectory[1:,:] - trajectory[:-1,:] + l2s = diffs[:,0]**2 + diffs[:,1]**2 + # this is equivalent to the elementwise dot product + # dots = np.sum((point - trajectory[:-1,:]) * diffs[:,:], axis=1) + dots = np.empty((trajectory.shape[0]-1, )) + for i in range(dots.shape[0]): + dots[i] = np.dot((point - trajectory[i, :]), diffs[i, :]) + t = dots / l2s + t[t<0.0] = 0.0 + t[t>1.0] = 1.0 + # t = np.clip(dots / l2s, 0.0, 1.0) + projections = trajectory[:-1,:] + (t*diffs.T).T + # dists = np.linalg.norm(point - projections, axis=1) + dists = np.empty((projections.shape[0],)) + for i in range(dists.shape[0]): + temp = point - projections[i] + dists[i] = np.sqrt(np.sum(temp*temp)) + min_dist_segment = np.argmin(dists) + return projections[min_dist_segment], dists[min_dist_segment], t[min_dist_segment], min_dist_segment + +@njit(fastmath=False, cache=True) +def first_point_on_trajectory_intersecting_circle(point, radius, trajectory, t=0.0, wrap=False): + """ + starts at beginning of trajectory, and find the first point one radius away from the given point along the trajectory. + + Assumes that the first segment passes within a single radius of the point + + http://codereview.stackexchange.com/questions/86421/line-segment-to-circle-collision-algorithm + """ + start_i = int(t) + start_t = t % 1.0 + first_t = None + first_i = None + first_p = None + trajectory = np.ascontiguousarray(trajectory) + for i in range(start_i, trajectory.shape[0]-1): + start = trajectory[i,:] + end = trajectory[i+1,:]+1e-6 + V = np.ascontiguousarray(end - start) + + a = np.dot(V,V) + b = 2.0*np.dot(V, start - point) + c = np.dot(start, start) + np.dot(point,point) - 2.0*np.dot(start, point) - radius*radius + discriminant = b*b-4*a*c + + if discriminant < 0: + continue + # print "NO INTERSECTION" + # else: + # if discriminant >= 0.0: + discriminant = np.sqrt(discriminant) + t1 = (-b - discriminant) / (2.0*a) + t2 = (-b + discriminant) / (2.0*a) + if i == start_i: + if t1 >= 0.0 and t1 <= 1.0 and t1 >= start_t: + first_t = t1 + first_i = i + first_p = start + t1 * V + break + if t2 >= 0.0 and t2 <= 1.0 and t2 >= start_t: + first_t = t2 + first_i = i + first_p = start + t2 * V + break + elif t1 >= 0.0 and t1 <= 1.0: + first_t = t1 + first_i = i + first_p = start + t1 * V + break + elif t2 >= 0.0 and t2 <= 1.0: + first_t = t2 + first_i = i + first_p = start + t2 * V + break + # wrap around to the beginning of the trajectory if no intersection is found1 + if wrap and first_p is None: + for i in range(-1, start_i): + start = trajectory[i % trajectory.shape[0],:] + end = trajectory[(i+1) % trajectory.shape[0],:]+1e-6 + V = end - start + + a = np.dot(V,V) + b = 2.0*np.dot(V, start - point) + c = np.dot(start, start) + np.dot(point,point) - 2.0*np.dot(start, point) - radius*radius + discriminant = b*b-4*a*c + + if discriminant < 0: + continue + discriminant = np.sqrt(discriminant) + t1 = (-b - discriminant) / (2.0*a) + t2 = (-b + discriminant) / (2.0*a) + if t1 >= 0.0 and t1 <= 1.0: + first_t = t1 + first_i = i + first_p = start + t1 * V + break + elif t2 >= 0.0 and t2 <= 1.0: + first_t = t2 + first_i = i + first_p = start + t2 * V + break + + return first_p, first_i, first_t + +@njit(fastmath=False, cache=True) +def get_actuation(pose_theta, lookahead_point, position, lookahead_distance, wheelbase): + """ + Returns actuation + """ + waypoint_y = np.dot(np.array([np.sin(-pose_theta), np.cos(-pose_theta)]), lookahead_point[0:2]-position) + speed = lookahead_point[2] + if np.abs(waypoint_y) < 1e-6: + return speed, 0. + radius = 1/(2.0*waypoint_y/lookahead_distance**2) + steering_angle = np.arctan(wheelbase/radius) + return speed, steering_angle + +class PurePursuitPlanner: + """ + Example Planner + """ + def __init__(self, conf, wb): + self.wheelbase = wb + self.conf = conf + self.load_waypoints(conf) + self.max_reacquire = 20. + + self.drawn_waypoints = [] + + def load_waypoints(self, conf): + """ + loads waypoints + """ + self.waypoints = np.loadtxt(conf.wpt_path, delimiter=conf.wpt_delim, skiprows=conf.wpt_rowskip) + + def render_waypoints(self, e): + """ + update waypoints being drawn by EnvRenderer + """ + + #points = self.waypoints + + points = np.vstack((self.waypoints[:, self.conf.wpt_xind], self.waypoints[:, self.conf.wpt_yind])).T + + scaled_points = 50.*points + + for i in range(points.shape[0]): + if len(self.drawn_waypoints) < points.shape[0]: + b = e.batch.add(1, GL_POINTS, None, ('v3f/stream', [scaled_points[i, 0], scaled_points[i, 1], 0.]), + ('c3B/stream', [183, 193, 222])) + self.drawn_waypoints.append(b) + else: + self.drawn_waypoints[i].vertices = [scaled_points[i, 0], scaled_points[i, 1], 0.] + + def _get_current_waypoint(self, waypoints, lookahead_distance, position, theta): + """ + gets the current waypoint to follow + """ + wpts = np.vstack((self.waypoints[:, self.conf.wpt_xind], self.waypoints[:, self.conf.wpt_yind])).T + nearest_point, nearest_dist, t, i = nearest_point_on_trajectory(position, wpts) + if nearest_dist < lookahead_distance: + lookahead_point, i2, t2 = first_point_on_trajectory_intersecting_circle(position, lookahead_distance, wpts, i+t, wrap=True) + if i2 == None: + return None + current_waypoint = np.empty((3, )) + # x, y + current_waypoint[0:2] = wpts[i2, :] + # speed + current_waypoint[2] = waypoints[i, self.conf.wpt_vind] + return current_waypoint + elif nearest_dist < self.max_reacquire: + return np.append(wpts[i, :], waypoints[i, self.conf.wpt_vind]) + else: + return None + + def plan(self, pose_x, pose_y, pose_theta, lookahead_distance, vgain): + """ + gives actuation given observation + """ + position = np.array([pose_x, pose_y]) + lookahead_point = self._get_current_waypoint(self.waypoints, lookahead_distance, position, pose_theta) + + if lookahead_point is None: + return 4.0, 0.0 + + speed, steering_angle = get_actuation(pose_theta, lookahead_point, position, lookahead_distance, self.wheelbase) + speed = vgain * speed + + return speed, steering_angle + + +class FlippyPlanner: + """ + Planner designed to exploit integration methods and dynamics. + For testing only. To observe this error, use single track dynamics for all velocities >0.1 + """ + def __init__(self, speed=1, flip_every=1, steer=2): + self.speed = speed + self.flip_every = flip_every + self.counter = 0 + self.steer = steer + + def render_waypoints(self, *args, **kwargs): + pass + + def plan(self, *args, **kwargs): + if self.counter%self.flip_every == 0: + self.counter = 0 + self.steer *= -1 + return self.speed, self.steer + + +def main(): + """ + main entry point + """ + + work = {'mass': 3.463388126201571, 'lf': 0.15597534362552312, 'tlad': 0.82461887897713965, 'vgain': 1.375}#0.90338203837889} + + with open('config_example_map.yaml') as file: + conf_dict = yaml.load(file, Loader=yaml.FullLoader) + conf = Namespace(**conf_dict) + + planner = PurePursuitPlanner(conf, (0.17145+0.15875)) #FlippyPlanner(speed=0.2, flip_every=1, steer=10) + + def render_callback(env_renderer): + # custom extra drawing function + + e = env_renderer + + # update camera to follow car + x = e.cars[0].vertices[::2] + y = e.cars[0].vertices[1::2] + top, bottom, left, right = max(y), min(y), min(x), max(x) + e.score_label.x = left + e.score_label.y = top - 700 + e.left = left - 800 + e.right = right + 800 + e.top = top + 800 + e.bottom = bottom - 800 + + planner.render_waypoints(env_renderer) + + env = gym.make('f110_gym:f110-v0', map=conf.map_path, map_ext=conf.map_ext, num_agents=1, timestep=0.01, integrator=Integrator.RK4) + env.add_render_callback(render_callback) + + obs, step_reward, done, info = env.reset(np.array([[conf.sx, conf.sy, conf.stheta]])) + env.render() + + laptime = 0.0 + start = time.time() + + while not done: + speed, steer = planner.plan(obs['poses_x'][0], obs['poses_y'][0], obs['poses_theta'][0], work['tlad'], work['vgain']) + obs, step_reward, done, info = env.step(np.array([[steer, speed]])) + laptime += step_reward + env.render(mode='human') + + print('Sim elapsed time:', laptime, 'Real elapsed time:', time.time()-start) + +if __name__ == '__main__': + main() diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/gym/f110_gym/__init__.py b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/gym/f110_gym/__init__.py new file mode 100644 index 0000000..e2657e8 --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/gym/f110_gym/__init__.py @@ -0,0 +1,5 @@ +from gym.envs.registration import register +register( + id='f110-v0', + entry_point='f110_gym.envs:F110Env', + ) \ No newline at end of file diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/gym/f110_gym/envs/__init__.py b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/gym/f110_gym/envs/__init__.py new file mode 100644 index 0000000..7aa297a --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/gym/f110_gym/envs/__init__.py @@ -0,0 +1,5 @@ +from f110_gym.envs.f110_env import F110Env +from f110_gym.envs.dynamic_models import * +from f110_gym.envs.laser_models import * +from f110_gym.envs.base_classes import * +from f110_gym.envs.collision_models import * \ No newline at end of file diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/gym/f110_gym/envs/base_classes.py b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/gym/f110_gym/envs/base_classes.py new file mode 100644 index 0000000..192e32e --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/gym/f110_gym/envs/base_classes.py @@ -0,0 +1,623 @@ +# MIT License + +# Copyright (c) 2020 Joseph Auckley, Matthew O'Kelly, Aman Sinha, Hongrui Zheng + +# Permission is hereby granted, free of charge, to any person obtaining a copy +# of this software and associated documentation files (the "Software"), to deal +# in the Software without restriction, including without limitation the rights +# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +# copies of the Software, and to permit persons to whom the Software is +# furnished to do so, subject to the following conditions: + +# The above copyright notice and this permission notice shall be included in all +# copies or substantial portions of the Software. + +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +# SOFTWARE. + + + +""" +Prototype of base classes +Replacement of the old RaceCar, Simulator classes in C++ +Author: Hongrui Zheng +""" +from enum import Enum +import warnings + +import numpy as np +from numba import njit + +from f110_gym.envs.dynamic_models import vehicle_dynamics_st, pid +from f110_gym.envs.laser_models import ScanSimulator2D, check_ttc_jit, ray_cast +from f110_gym.envs.collision_models import get_vertices, collision_multiple + +class Integrator(Enum): + RK4 = 1 + Euler = 2 + + +class RaceCar(object): + """ + Base level race car class, handles the physics and laser scan of a single vehicle + + Data Members: + params (dict): vehicle parameters dictionary + is_ego (bool): ego identifier + time_step (float): physics timestep + num_beams (int): number of beams in laser + fov (float): field of view of laser + state (np.ndarray (7, )): state vector [x, y, theta, vel, steer_angle, ang_vel, slip_angle] + odom (np.ndarray(13, )): odometry vector [x, y, z, qx, qy, qz, qw, linear_x, linear_y, linear_z, angular_x, angular_y, angular_z] + accel (float): current acceleration input + steer_angle_vel (float): current steering velocity input + in_collision (bool): collision indicator + + """ + + # static objects that don't need to be stored in class instances + scan_simulator = None + cosines = None + scan_angles = None + side_distances = None + + def __init__(self, params, seed, is_ego=False, time_step=0.01, num_beams=1080, fov=4.7, integrator=Integrator.Euler): + """ + Init function + + Args: + params (dict): vehicle parameter dictionary, includes {'mu', 'C_Sf', 'C_Sr', 'lf', 'lr', 'h', 'm', 'I', 's_min', 's_max', 'sv_min', 'sv_max', 'v_switch', 'a_max': 9.51, 'v_min', 'v_max', 'length', 'width'} + is_ego (bool, default=False): ego identifier + time_step (float, default=0.01): physics sim time step + num_beams (int, default=1080): number of beams in the laser scan + fov (float, default=4.7): field of view of the laser + + Returns: + None + """ + + # initialization + self.params = params + self.seed = seed + self.is_ego = is_ego + self.time_step = time_step + self.num_beams = num_beams + self.fov = fov + self.integrator = integrator + if self.integrator is Integrator.RK4: + warnings.warn(f"Chosen integrator is RK4. This is different from previous versions of the gym.") + + # state is [x, y, steer_angle, vel, yaw_angle, yaw_rate, slip_angle] + self.state = np.zeros((7, )) + + # pose of opponents in the world + self.opp_poses = None + + # control inputs + self.accel = 0.0 + self.steer_angle_vel = 0.0 + + # steering delay buffer + self.steer_buffer = np.empty((0, )) + self.steer_buffer_size = 2 + + # collision identifier + self.in_collision = False + + # collision threshold for iTTC to environment + self.ttc_thresh = 0.005 + + # initialize scan sim + if RaceCar.scan_simulator is None: + self.scan_rng = np.random.default_rng(seed=self.seed) + RaceCar.scan_simulator = ScanSimulator2D(num_beams, fov) + + scan_ang_incr = RaceCar.scan_simulator.get_increment() + + # angles of each scan beam, distance from lidar to edge of car at each beam, and precomputed cosines of each angle + RaceCar.cosines = np.zeros((num_beams, )) + RaceCar.scan_angles = np.zeros((num_beams, )) + RaceCar.side_distances = np.zeros((num_beams, )) + + dist_sides = params['width']/2. + dist_fr = (params['lf']+params['lr'])/2. + + for i in range(num_beams): + angle = -fov/2. + i*scan_ang_incr + RaceCar.scan_angles[i] = angle + RaceCar.cosines[i] = np.cos(angle) + + if angle > 0: + if angle < np.pi/2: + # between 0 and pi/2 + to_side = dist_sides / np.sin(angle) + to_fr = dist_fr / np.cos(angle) + RaceCar.side_distances[i] = min(to_side, to_fr) + else: + # between pi/2 and pi + to_side = dist_sides / np.cos(angle - np.pi/2.) + to_fr = dist_fr / np.sin(angle - np.pi/2.) + RaceCar.side_distances[i] = min(to_side, to_fr) + else: + if angle > -np.pi/2: + # between 0 and -pi/2 + to_side = dist_sides / np.sin(-angle) + to_fr = dist_fr / np.cos(-angle) + RaceCar.side_distances[i] = min(to_side, to_fr) + else: + # between -pi/2 and -pi + to_side = dist_sides / np.cos(-angle - np.pi/2) + to_fr = dist_fr / np.sin(-angle - np.pi/2) + RaceCar.side_distances[i] = min(to_side, to_fr) + + def update_params(self, params): + """ + Updates the physical parameters of the vehicle + Note that does not need to be called at initialization of class anymore + + Args: + params (dict): new parameters for the vehicle + + Returns: + None + """ + self.params = params + + def set_map(self, map_path, map_ext): + """ + Sets the map for scan simulator + + Args: + map_path (str): absolute path to the map yaml file + map_ext (str): extension of the map image file + """ + RaceCar.scan_simulator.set_map(map_path, map_ext) + + def reset(self, pose): + """ + Resets the vehicle to a pose + + Args: + pose (np.ndarray (3, )): pose to reset the vehicle to + + Returns: + None + """ + # clear control inputs + self.accel = 0.0 + self.steer_angle_vel = 0.0 + # clear collision indicator + self.in_collision = False + # clear state + self.state = np.zeros((7, )) + self.state[0:2] = pose[0:2] + self.state[4] = pose[2] + self.steer_buffer = np.empty((0, )) + # reset scan random generator + self.scan_rng = np.random.default_rng(seed=self.seed) + + def ray_cast_agents(self, scan): + """ + Ray cast onto other agents in the env, modify original scan + + Args: + scan (np.ndarray, (n, )): original scan range array + + Returns: + new_scan (np.ndarray, (n, )): modified scan + """ + + # starting from original scan + new_scan = scan + + # loop over all opponent vehicle poses + for opp_pose in self.opp_poses: + # get vertices of current oppoenent + opp_vertices = get_vertices(opp_pose, self.params['length'], self.params['width']) + + new_scan = ray_cast(np.append(self.state[0:2], self.state[4]), new_scan, self.scan_angles, opp_vertices) + + return new_scan + + def check_ttc(self, current_scan): + """ + Check iTTC against the environment, sets vehicle states accordingly if collision occurs. + Note that this does NOT check collision with other agents. + + state is [x, y, steer_angle, vel, yaw_angle, yaw_rate, slip_angle] + + Args: + current_scan + + Returns: + None + """ + + in_collision = check_ttc_jit(current_scan, self.state[3], self.scan_angles, self.cosines, self.side_distances, self.ttc_thresh) + + # if in collision stop vehicle + if in_collision: + self.state[3:] = 0. + self.accel = 0.0 + self.steer_angle_vel = 0.0 + + # update state + self.in_collision = in_collision + + return in_collision + + def update_pose(self, raw_steer, vel): + """ + Steps the vehicle's physical simulation + + Args: + steer (float): desired steering angle + vel (float): desired longitudinal velocity + + Returns: + current_scan + """ + + # state is [x, y, steer_angle, vel, yaw_angle, yaw_rate, slip_angle] + + # steering delay + steer = 0. + if self.steer_buffer.shape[0] < self.steer_buffer_size: + steer = 0. + self.steer_buffer = np.append(raw_steer, self.steer_buffer) + else: + steer = self.steer_buffer[-1] + self.steer_buffer = self.steer_buffer[:-1] + self.steer_buffer = np.append(raw_steer, self.steer_buffer) + + + # steering angle velocity input to steering velocity acceleration input + accl, sv = pid(vel, steer, self.state[3], self.state[2], self.params['sv_max'], self.params['a_max'], self.params['v_max'], self.params['v_min']) + + if self.integrator is Integrator.RK4: + # RK4 integration + k1 = vehicle_dynamics_st( + self.state, + np.array([sv, accl]), + self.params['mu'], + self.params['C_Sf'], + self.params['C_Sr'], + self.params['lf'], + self.params['lr'], + self.params['h'], + self.params['m'], + self.params['I'], + self.params['s_min'], + self.params['s_max'], + self.params['sv_min'], + self.params['sv_max'], + self.params['v_switch'], + self.params['a_max'], + self.params['v_min'], + self.params['v_max']) + + k2_state = self.state + self.time_step*(k1/2) + + k2 = vehicle_dynamics_st( + k2_state, + np.array([sv, accl]), + self.params['mu'], + self.params['C_Sf'], + self.params['C_Sr'], + self.params['lf'], + self.params['lr'], + self.params['h'], + self.params['m'], + self.params['I'], + self.params['s_min'], + self.params['s_max'], + self.params['sv_min'], + self.params['sv_max'], + self.params['v_switch'], + self.params['a_max'], + self.params['v_min'], + self.params['v_max']) + + k3_state = self.state + self.time_step*(k2/2) + + k3 = vehicle_dynamics_st( + k3_state, + np.array([sv, accl]), + self.params['mu'], + self.params['C_Sf'], + self.params['C_Sr'], + self.params['lf'], + self.params['lr'], + self.params['h'], + self.params['m'], + self.params['I'], + self.params['s_min'], + self.params['s_max'], + self.params['sv_min'], + self.params['sv_max'], + self.params['v_switch'], + self.params['a_max'], + self.params['v_min'], + self.params['v_max']) + + k4_state = self.state + self.time_step*k3 + + k4 = vehicle_dynamics_st( + k4_state, + np.array([sv, accl]), + self.params['mu'], + self.params['C_Sf'], + self.params['C_Sr'], + self.params['lf'], + self.params['lr'], + self.params['h'], + self.params['m'], + self.params['I'], + self.params['s_min'], + self.params['s_max'], + self.params['sv_min'], + self.params['sv_max'], + self.params['v_switch'], + self.params['a_max'], + self.params['v_min'], + self.params['v_max']) + + # dynamics integration + self.state = self.state + self.time_step*(1/6)*(k1 + 2*k2 + 2*k3 + k4) + + elif self.integrator is Integrator.Euler: + f = vehicle_dynamics_st( + self.state, + np.array([sv, accl]), + self.params['mu'], + self.params['C_Sf'], + self.params['C_Sr'], + self.params['lf'], + self.params['lr'], + self.params['h'], + self.params['m'], + self.params['I'], + self.params['s_min'], + self.params['s_max'], + self.params['sv_min'], + self.params['sv_max'], + self.params['v_switch'], + self.params['a_max'], + self.params['v_min'], + self.params['v_max']) + self.state = self.state + self.time_step * f + + else: + raise SyntaxError(f"Invalid Integrator Specified. Provided {self.integrator.name}. Please choose RK4 or Euler") + + # bound yaw angle + if self.state[4] > 2*np.pi: + self.state[4] = self.state[4] - 2*np.pi + elif self.state[4] < 0: + self.state[4] = self.state[4] + 2*np.pi + + # update scan + current_scan = RaceCar.scan_simulator.scan(np.append(self.state[0:2], self.state[4]), self.scan_rng) + + return current_scan + + def update_opp_poses(self, opp_poses): + """ + Updates the vehicle's information on other vehicles + + Args: + opp_poses (np.ndarray(num_other_agents, 3)): updated poses of other agents + + Returns: + None + """ + self.opp_poses = opp_poses + + + def update_scan(self, agent_scans, agent_index): + """ + Steps the vehicle's laser scan simulation + Separated from update_pose because needs to update scan based on NEW poses of agents in the environment + + Args: + agent scans list (modified in-place), + agent index (int) + + Returns: + None + """ + + current_scan = agent_scans[agent_index] + + # check ttc + self.check_ttc(current_scan) + + # ray cast other agents to modify scan + new_scan = self.ray_cast_agents(current_scan) + + agent_scans[agent_index] = new_scan + +class Simulator(object): + """ + Simulator class, handles the interaction and update of all vehicles in the environment + + Data Members: + num_agents (int): number of agents in the environment + time_step (float): physics time step + agent_poses (np.ndarray(num_agents, 3)): all poses of all agents + agents (list[RaceCar]): container for RaceCar objects + collisions (np.ndarray(num_agents, )): array of collision indicator for each agent + collision_idx (np.ndarray(num_agents, )): which agent is each agent in collision with + + """ + + def __init__(self, params, num_agents, seed, time_step=0.01, ego_idx=0, integrator=Integrator.RK4): + """ + Init function + + Args: + params (dict): vehicle parameter dictionary, includes {'mu', 'C_Sf', 'C_Sr', 'lf', 'lr', 'h', 'm', 'I', 's_min', 's_max', 'sv_min', 'sv_max', 'v_switch', 'a_max', 'v_min', 'v_max', 'length', 'width'} + num_agents (int): number of agents in the environment + seed (int): seed of the rng in scan simulation + time_step (float, default=0.01): physics time step + ego_idx (int, default=0): ego vehicle's index in list of agents + + Returns: + None + """ + self.num_agents = num_agents + self.seed = seed + self.time_step = time_step + self.ego_idx = ego_idx + self.params = params + self.agent_poses = np.empty((self.num_agents, 3)) + self.agents = [] + self.collisions = np.zeros((self.num_agents, )) + self.collision_idx = -1 * np.ones((self.num_agents, )) + + # initializing agents + for i in range(self.num_agents): + if i == ego_idx: + ego_car = RaceCar(params, self.seed, is_ego=True, time_step=self.time_step, integrator=integrator) + self.agents.append(ego_car) + else: + agent = RaceCar(params, self.seed, is_ego=False, time_step=self.time_step, integrator=integrator) + self.agents.append(agent) + + def set_map(self, map_path, map_ext): + """ + Sets the map of the environment and sets the map for scan simulator of each agent + + Args: + map_path (str): path to the map yaml file + map_ext (str): extension for the map image file + + Returns: + None + """ + for agent in self.agents: + agent.set_map(map_path, map_ext) + + + def update_params(self, params, agent_idx=-1): + """ + Updates the params of agents, if an index of an agent is given, update only that agent's params + + Args: + params (dict): dictionary of params, see details in docstring of __init__ + agent_idx (int, default=-1): index for agent that needs param update, if negative, update all agents + + Returns: + None + """ + if agent_idx < 0: + # update params for all + for agent in self.agents: + agent.update_params(params) + elif agent_idx >= 0 and agent_idx < self.num_agents: + # only update one agent's params + self.agents[agent_idx].update_params(params) + else: + # index out of bounds, throw error + raise IndexError('Index given is out of bounds for list of agents.') + + def check_collision(self): + """ + Checks for collision between agents using GJK and agents' body vertices + + Args: + None + + Returns: + None + """ + # get vertices of all agents + all_vertices = np.empty((self.num_agents, 4, 2)) + for i in range(self.num_agents): + all_vertices[i, :, :] = get_vertices(np.append(self.agents[i].state[0:2],self.agents[i].state[4]), self.params['length'], self.params['width']) + self.collisions, self.collision_idx = collision_multiple(all_vertices) + + + def step(self, control_inputs): + """ + Steps the simulation environment + + Args: + control_inputs (np.ndarray (num_agents, 2)): control inputs of all agents, first column is desired steering angle, second column is desired velocity + + Returns: + observations (dict): dictionary for observations: poses of agents, current laser scan of each agent, collision indicators, etc. + """ + + + agent_scans = [] + + # looping over agents + for i, agent in enumerate(self.agents): + # update each agent's pose + current_scan = agent.update_pose(control_inputs[i, 0], control_inputs[i, 1]) + agent_scans.append(current_scan) + + # update sim's information of agent poses + self.agent_poses[i, :] = np.append(agent.state[0:2], agent.state[4]) + + # check collisions between all agents + self.check_collision() + + for i, agent in enumerate(self.agents): + # update agent's information on other agents + opp_poses = np.concatenate((self.agent_poses[0:i, :], self.agent_poses[i+1:, :]), axis=0) + agent.update_opp_poses(opp_poses) + + # update each agent's current scan based on other agents + agent.update_scan(agent_scans, i) + + # update agent collision with environment + if agent.in_collision: + self.collisions[i] = 1. + + # fill in observations + # state is [x, y, steer_angle, vel, yaw_angle, yaw_rate, slip_angle] + # collision_angles is removed from observations + observations = {'ego_idx': self.ego_idx, + 'scans': [], + 'poses_x': [], + 'poses_y': [], + 'poses_theta': [], + 'linear_vels_x': [], + 'linear_vels_y': [], + 'ang_vels_z': [], + 'collisions': self.collisions} + for i, agent in enumerate(self.agents): + observations['scans'].append(agent_scans[i]) + observations['poses_x'].append(agent.state[0]) + observations['poses_y'].append(agent.state[1]) + observations['poses_theta'].append(agent.state[4]) + observations['linear_vels_x'].append(agent.state[3]) + observations['linear_vels_y'].append(0.) + observations['ang_vels_z'].append(agent.state[5]) + + return observations + + def reset(self, poses): + """ + Resets the simulation environment by given poses + + Arges: + poses (np.ndarray (num_agents, 3)): poses to reset agents to + + Returns: + None + """ + + if poses.shape[0] != self.num_agents: + raise ValueError('Number of poses for reset does not match number of agents.') + + # loop over poses to reset + for i in range(self.num_agents): + self.agents[i].reset(poses[i, :]) diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/gym/f110_gym/envs/collision_models.py b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/gym/f110_gym/envs/collision_models.py new file mode 100644 index 0000000..45885e7 --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/gym/f110_gym/envs/collision_models.py @@ -0,0 +1,339 @@ +# MIT License + +# Copyright (c) 2020 Joseph Auckley, Matthew O'Kelly, Aman Sinha, Hongrui Zheng + +# Permission is hereby granted, free of charge, to any person obtaining a copy +# of this software and associated documentation files (the "Software"), to deal +# in the Software without restriction, including without limitation the rights +# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +# copies of the Software, and to permit persons to whom the Software is +# furnished to do so, subject to the following conditions: + +# The above copyright notice and this permission notice shall be included in all +# copies or substantial portions of the Software. + +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +# SOFTWARE. + + + +""" +Prototype of Utility functions and GJK algorithm for Collision checks between vehicles +Originally from https://github.com/kroitor/gjk.c +Author: Hongrui Zheng +""" + +import numpy as np +from numba import njit + +@njit(cache=True) +def perpendicular(pt): + """ + Return a 2-vector's perpendicular vector + + Args: + pt (np.ndarray, (2,)): input vector + + Returns: + pt (np.ndarray, (2,)): perpendicular vector + """ + temp = pt[0] + pt[0] = pt[1] + pt[1] = -1*temp + return pt + + +@njit(cache=True) +def tripleProduct(a, b, c): + """ + Return triple product of three vectors + + Args: + a, b, c (np.ndarray, (2,)): input vectors + + Returns: + (np.ndarray, (2,)): triple product + """ + ac = a.dot(c) + bc = b.dot(c) + return b*ac - a*bc + + +@njit(cache=True) +def avgPoint(vertices): + """ + Return the average point of multiple vertices + + Args: + vertices (np.ndarray, (n, 2)): the vertices we want to find avg on + + Returns: + avg (np.ndarray, (2,)): average point of the vertices + """ + return np.sum(vertices, axis=0)/vertices.shape[0] + + +@njit(cache=True) +def indexOfFurthestPoint(vertices, d): + """ + Return the index of the vertex furthest away along a direction in the list of vertices + + Args: + vertices (np.ndarray, (n, 2)): the vertices we want to find avg on + + Returns: + idx (int): index of the furthest point + """ + return np.argmax(vertices.dot(d)) + + +@njit(cache=True) +def support(vertices1, vertices2, d): + """ + Minkowski sum support function for GJK + + Args: + vertices1 (np.ndarray, (n, 2)): vertices of the first body + vertices2 (np.ndarray, (n, 2)): vertices of the second body + d (np.ndarray, (2, )): direction to find the support along + + Returns: + support (np.ndarray, (n, 2)): Minkowski sum + """ + i = indexOfFurthestPoint(vertices1, d) + j = indexOfFurthestPoint(vertices2, -d) + return vertices1[i] - vertices2[j] + + +@njit(cache=True) +def collision(vertices1, vertices2): + """ + GJK test to see whether two bodies overlap + + Args: + vertices1 (np.ndarray, (n, 2)): vertices of the first body + vertices2 (np.ndarray, (n, 2)): vertices of the second body + + Returns: + overlap (boolean): True if two bodies collide + """ + index = 0 + simplex = np.empty((3, 2)) + + position1 = avgPoint(vertices1) + position2 = avgPoint(vertices2) + + d = position1 - position2 + + if d[0] == 0 and d[1] == 0: + d[0] = 1.0 + + a = support(vertices1, vertices2, d) + simplex[index, :] = a + + if d.dot(a) <= 0: + return False + + d = -a + + iter_count = 0 + while iter_count < 1e3: + a = support(vertices1, vertices2, d) + index += 1 + simplex[index, :] = a + if d.dot(a) <= 0: + return False + + ao = -a + + if index < 2: + b = simplex[0, :] + ab = b-a + d = tripleProduct(ab, ao, ab) + if np.linalg.norm(d) < 1e-10: + d = perpendicular(ab) + continue + + b = simplex[1, :] + c = simplex[0, :] + ab = b-a + ac = c-a + + acperp = tripleProduct(ab, ac, ac) + + if acperp.dot(ao) >= 0: + d = acperp + else: + abperp = tripleProduct(ac, ab, ab) + if abperp.dot(ao) < 0: + return True + simplex[0, :] = simplex[1, :] + d = abperp + + simplex[1, :] = simplex[2, :] + index -= 1 + + iter_count += 1 + return False + +@njit(cache=True) +def collision_multiple(vertices): + """ + Check pair-wise collisions for all provided vertices + + Args: + vertices (np.ndarray (num_bodies, 4, 2)): all vertices for checking pair-wise collision + + Returns: + collisions (np.ndarray (num_vertices, )): whether each body is in collision + collision_idx (np.ndarray (num_vertices, )): which index of other body is each index's body is in collision, -1 if not in collision + """ + collisions = np.zeros((vertices.shape[0], )) + collision_idx = -1 * np.ones((vertices.shape[0], )) + # looping over all pairs + for i in range(vertices.shape[0]-1): + for j in range(i+1, vertices.shape[0]): + # check collision + vi = np.ascontiguousarray(vertices[i, :, :]) + vj = np.ascontiguousarray(vertices[j, :, :]) + ij_collision = collision(vi, vj) + # fill in results + if ij_collision: + collisions[i] = 1. + collisions[j] = 1. + collision_idx[i] = j + collision_idx[j] = i + + return collisions, collision_idx + +""" +Utility functions for getting vertices by pose and shape +""" + +@njit(cache=True) +def get_trmtx(pose): + """ + Get transformation matrix of vehicle frame -> global frame + + Args: + pose (np.ndarray (3, )): current pose of the vehicle + + return: + H (np.ndarray (4, 4)): transformation matrix + """ + x = pose[0] + y = pose[1] + th = pose[2] + cos = np.cos(th) + sin = np.sin(th) + H = np.array([[cos, -sin, 0., x], [sin, cos, 0., y], [0., 0., 1., 0.], [0., 0., 0., 1.]]) + return H + +@njit(cache=True) +def get_vertices(pose, length, width): + """ + Utility function to return vertices of the car body given pose and size + + Args: + pose (np.ndarray, (3, )): current world coordinate pose of the vehicle + length (float): car length + width (float): car width + + Returns: + vertices (np.ndarray, (4, 2)): corner vertices of the vehicle body + """ + H = get_trmtx(pose) + rl = H.dot(np.asarray([[-length/2],[width/2],[0.], [1.]])).flatten() + rr = H.dot(np.asarray([[-length/2],[-width/2],[0.], [1.]])).flatten() + fl = H.dot(np.asarray([[length/2],[width/2],[0.], [1.]])).flatten() + fr = H.dot(np.asarray([[length/2],[-width/2],[0.], [1.]])).flatten() + rl = rl/rl[3] + rr = rr/rr[3] + fl = fl/fl[3] + fr = fr/fr[3] + vertices = np.asarray([[rl[0], rl[1]], [rr[0], rr[1]], [fr[0], fr[1]], [fl[0], fl[1]]]) + return vertices + + +""" +Unit tests for GJK collision checks +Author: Hongrui Zheng +""" + +import time +import unittest + +class CollisionTests(unittest.TestCase): + def setUp(self): + # test params + np.random.seed(1234) + + # Collision check body + self.vertices1 = np.asarray([[4,11.],[5,5],[9,9],[10,10]]) + + # car size + self.length = 0.32 + self.width = 0.22 + + def test_get_vert(self): + test_pose = np.array([2.3, 6.7, 0.8]) + vertices = get_vertices(test_pose, self.length, self.width) + rect = np.vstack((vertices, vertices[0,:])) + import matplotlib.pyplot as plt + plt.scatter(test_pose[0], test_pose[1], c='red') + plt.plot(rect[:, 0], rect[:, 1]) + plt.xlim([1, 4]) + plt.ylim([5, 8]) + plt.axes().set_aspect('equal') + plt.show() + self.assertTrue(vertices.shape == (4, 2)) + + def test_get_vert_fps(self): + test_pose = np.array([2.3, 6.7, 0.8]) + start = time.time() + for _ in range(1000): + vertices = get_vertices(test_pose, self.length, self.width) + elapsed = time.time() - start + fps = 1000/elapsed + print('get vertices fps:', fps) + self.assertTrue(fps>500) + + def test_random_collision(self): + # perturb the body by a small amount and make sure it all collides with the original body + for _ in range(1000): + a = self.vertices1 + np.random.normal(size=(self.vertices1.shape))/100. + b = self.vertices1 + np.random.normal(size=(self.vertices1.shape))/100. + self.assertTrue(collision(a,b)) + + def test_multiple_collisions(self): + a = self.vertices1 + np.random.normal(size=(self.vertices1.shape))/100. + b = self.vertices1 + np.random.normal(size=(self.vertices1.shape))/100. + c = self.vertices1 + np.random.normal(size=(self.vertices1.shape))/100. + d = self.vertices1 + np.random.normal(size=(self.vertices1.shape))/100. + e = self.vertices1 + np.random.normal(size=(self.vertices1.shape))/100. + f = self.vertices1 + np.random.normal(size=(self.vertices1.shape))/100. + g = self.vertices1 + 10. + allv = np.stack((a,b,c,d,e,f,g)) + collisions, collision_idx = collision_multiple(allv) + self.assertTrue(np.all(collisions == np.array([1., 1., 1., 1., 1., 1., 0.]))) + self.assertTrue(np.all(collision_idx == np.array([5., 5., 5., 5., 5., 4., -1.]))) + + def test_fps(self): + # also perturb the body but mainly want to test GJK speed + start = time.time() + for _ in range(1000): + a = self.vertices1 + np.random.normal(size=(self.vertices1.shape))/100. + b = self.vertices1 + np.random.normal(size=(self.vertices1.shape))/100. + collision(a, b) + elapsed = time.time() - start + fps = 1000/elapsed + print('gjk fps:', fps) + self.assertTrue(fps>500) + +if __name__ == '__main__': + unittest.main() \ No newline at end of file diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/gym/f110_gym/envs/dynamic_models.py b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/gym/f110_gym/envs/dynamic_models.py new file mode 100644 index 0000000..ec18e90 --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/gym/f110_gym/envs/dynamic_models.py @@ -0,0 +1,426 @@ +# Copyright 2020 Technical University of Munich, Professorship of Cyber-Physical Systems, Matthew O'Kelly, Aman Sinha, Hongrui Zheng + +# Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: + +# 1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. + +# 2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. + +# 3. Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission. + +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + + + +""" +Prototype of vehicle dynamics functions and classes for simulating 2D Single +Track dynamic model +Following the implementation of commanroad's Single Track Dynamics model +Original implementation: https://gitlab.lrz.de/tum-cps/commonroad-vehicle-models/ +Author: Hongrui Zheng +""" + +import numpy as np +from numba import njit + +import unittest +import time + +@njit(cache=True) +def accl_constraints(vel, accl, v_switch, a_max, v_min, v_max): + """ + Acceleration constraints, adjusts the acceleration based on constraints + + Args: + vel (float): current velocity of the vehicle + accl (float): unconstraint desired acceleration + v_switch (float): switching velocity (velocity at which the acceleration is no longer able to create wheel spin) + a_max (float): maximum allowed acceleration + v_min (float): minimum allowed velocity + v_max (float): maximum allowed velocity + + Returns: + accl (float): adjusted acceleration + """ + + # positive accl limit + if vel > v_switch: + pos_limit = a_max*v_switch/vel + else: + pos_limit = a_max + + # accl limit reached? + if (vel <= v_min and accl <= 0) or (vel >= v_max and accl >= 0): + accl = 0. + elif accl <= -a_max: + accl = -a_max + elif accl >= pos_limit: + accl = pos_limit + + return accl + +@njit(cache=True) +def steering_constraint(steering_angle, steering_velocity, s_min, s_max, sv_min, sv_max): + """ + Steering constraints, adjusts the steering velocity based on constraints + + Args: + steering_angle (float): current steering_angle of the vehicle + steering_velocity (float): unconstraint desired steering_velocity + s_min (float): minimum steering angle + s_max (float): maximum steering angle + sv_min (float): minimum steering velocity + sv_max (float): maximum steering velocity + + Returns: + steering_velocity (float): adjusted steering velocity + """ + + # constraint steering velocity + if (steering_angle <= s_min and steering_velocity <= 0) or (steering_angle >= s_max and steering_velocity >= 0): + steering_velocity = 0. + elif steering_velocity <= sv_min: + steering_velocity = sv_min + elif steering_velocity >= sv_max: + steering_velocity = sv_max + + return steering_velocity + + +@njit(cache=True) +def vehicle_dynamics_ks(x, u_init, mu, C_Sf, C_Sr, lf, lr, h, m, I, s_min, s_max, sv_min, sv_max, v_switch, a_max, v_min, v_max): + """ + Single Track Kinematic Vehicle Dynamics. + + Args: + x (numpy.ndarray (3, )): vehicle state vector (x1, x2, x3, x4, x5) + x1: x position in global coordinates + x2: y position in global coordinates + x3: steering angle of front wheels + x4: velocity in x direction + x5: yaw angle + u (numpy.ndarray (2, )): control input vector (u1, u2) + u1: steering angle velocity of front wheels + u2: longitudinal acceleration + + Returns: + f (numpy.ndarray): right hand side of differential equations + """ + # wheelbase + lwb = lf + lr + + # constraints + u = np.array([steering_constraint(x[2], u_init[0], s_min, s_max, sv_min, sv_max), accl_constraints(x[3], u_init[1], v_switch, a_max, v_min, v_max)]) + + # system dynamics + f = np.array([x[3]*np.cos(x[4]), + x[3]*np.sin(x[4]), + u[0], + u[1], + x[3]/lwb*np.tan(x[2])]) + return f + +@njit(cache=True) +def vehicle_dynamics_st(x, u_init, mu, C_Sf, C_Sr, lf, lr, h, m, I, s_min, s_max, sv_min, sv_max, v_switch, a_max, v_min, v_max): + """ + Single Track Dynamic Vehicle Dynamics. + + Args: + x (numpy.ndarray (3, )): vehicle state vector (x1, x2, x3, x4, x5, x6, x7) + x1: x position in global coordinates + x2: y position in global coordinates + x3: steering angle of front wheels + x4: velocity in x direction + x5: yaw angle + x6: yaw rate + x7: slip angle at vehicle center + u (numpy.ndarray (2, )): control input vector (u1, u2) + u1: steering angle velocity of front wheels + u2: longitudinal acceleration + + Returns: + f (numpy.ndarray): right hand side of differential equations + """ + + # gravity constant m/s^2 + g = 9.81 + + # constraints + u = np.array([steering_constraint(x[2], u_init[0], s_min, s_max, sv_min, sv_max), accl_constraints(x[3], u_init[1], v_switch, a_max, v_min, v_max)]) + + # switch to kinematic model for small velocities + if abs(x[3]) < 0.5: + # wheelbase + lwb = lf + lr + + # system dynamics + x_ks = x[0:5] + f_ks = vehicle_dynamics_ks(x_ks, u, mu, C_Sf, C_Sr, lf, lr, h, m, I, s_min, s_max, sv_min, sv_max, v_switch, a_max, v_min, v_max) + f = np.hstack((f_ks, np.array([u[1]/lwb*np.tan(x[2])+x[3]/(lwb*np.cos(x[2])**2)*u[0], + 0]))) + + else: + # system dynamics + f = np.array([x[3]*np.cos(x[6] + x[4]), + x[3]*np.sin(x[6] + x[4]), + u[0], + u[1], + x[5], + -mu*m/(x[3]*I*(lr+lf))*(lf**2*C_Sf*(g*lr-u[1]*h) + lr**2*C_Sr*(g*lf + u[1]*h))*x[5] \ + +mu*m/(I*(lr+lf))*(lr*C_Sr*(g*lf + u[1]*h) - lf*C_Sf*(g*lr - u[1]*h))*x[6] \ + +mu*m/(I*(lr+lf))*lf*C_Sf*(g*lr - u[1]*h)*x[2], + (mu/(x[3]**2*(lr+lf))*(C_Sr*(g*lf + u[1]*h)*lr - C_Sf*(g*lr - u[1]*h)*lf)-1)*x[5] \ + -mu/(x[3]*(lr+lf))*(C_Sr*(g*lf + u[1]*h) + C_Sf*(g*lr-u[1]*h))*x[6] \ + +mu/(x[3]*(lr+lf))*(C_Sf*(g*lr-u[1]*h))*x[2]]) + + return f + +@njit(cache=True) +def pid(speed, steer, current_speed, current_steer, max_sv, max_a, max_v, min_v): + """ + Basic controller for speed/steer -> accl./steer vel. + + Args: + speed (float): desired input speed + steer (float): desired input steering angle + + Returns: + accl (float): desired input acceleration + sv (float): desired input steering velocity + """ + # steering + steer_diff = steer - current_steer + if np.fabs(steer_diff) > 1e-4: + sv = (steer_diff / np.fabs(steer_diff)) * max_sv + else: + sv = 0.0 + + # accl + vel_diff = speed - current_speed + # currently forward + if current_speed > 0.: + if (vel_diff > 0): + # accelerate + kp = 10.0 * max_a / max_v + accl = kp * vel_diff + else: + # braking + kp = 10.0 * max_a / (-min_v) + accl = kp * vel_diff + # currently backwards + else: + if (vel_diff > 0): + # braking + kp = 2.0 * max_a / max_v + accl = kp * vel_diff + else: + # accelerating + kp = 2.0 * max_a / (-min_v) + accl = kp * vel_diff + + return accl, sv + +def func_KS(x, t, u, mu, C_Sf, C_Sr, lf, lr, h, m, I, s_min, s_max, sv_min, sv_max, v_switch, a_max, v_min, v_max): + f = vehicle_dynamics_ks(x, u, mu, C_Sf, C_Sr, lf, lr, h, m, I, s_min, s_max, sv_min, sv_max, v_switch, a_max, v_min, v_max) + return f + +def func_ST(x, t, u, mu, C_Sf, C_Sr, lf, lr, h, m, I, s_min, s_max, sv_min, sv_max, v_switch, a_max, v_min, v_max): + f = vehicle_dynamics_st(x, u, mu, C_Sf, C_Sr, lf, lr, h, m, I, s_min, s_max, sv_min, sv_max, v_switch, a_max, v_min, v_max) + return f + +class DynamicsTest(unittest.TestCase): + def setUp(self): + # test params + self.mu = 1.0489 + self.C_Sf = 21.92/1.0489 + self.C_Sr = 21.92/1.0489 + self.lf = 0.3048*3.793293 + self.lr = 0.3048*4.667707 + self.h = 0.3048*2.01355 + self.m = 4.4482216152605/0.3048*74.91452 + self.I = 4.4482216152605*0.3048*1321.416 + + #steering constraints + self.s_min = -1.066 #minimum steering angle [rad] + self.s_max = 1.066 #maximum steering angle [rad] + self.sv_min = -0.4 #minimum steering velocity [rad/s] + self.sv_max = 0.4 #maximum steering velocity [rad/s] + + #longitudinal constraints + self.v_min = -13.6 #minimum velocity [m/s] + self.v_max = 50.8 #minimum velocity [m/s] + self.v_switch = 7.319 #switching velocity [m/s] + self.a_max = 11.5 #maximum absolute acceleration [m/s^2] + + def test_derivatives(self): + # ground truth derivatives + f_ks_gt = [16.3475935934250209, 0.4819314886013121, 0.1500000000000000, 5.1464424102339752, 0.2401426578627629] + f_st_gt = [15.7213512030862397, 0.0925527979719355, 0.1500000000000000, 5.3536773276413925, 0.0529001056654038, 0.6435589397748606, 0.0313297971641291] + + # system dynamics + g = 9.81 + x_ks = np.array([3.9579422297936526, 0.0391650102771405, 0.0378491427211811, 16.3546957860883566, 0.0294717351052816]) + x_st = np.array([2.0233348142065677, 0.0041907137716636, 0.0197545248559617, 15.7216236334290116, 0.0025857914776859, 0.0529001056654038, 0.0033012170610298]) + v_delta = 0.15 + acc = 0.63*g + u = np.array([v_delta, acc]) + + f_ks = vehicle_dynamics_ks(x_ks, u, self.mu, self.C_Sf, self.C_Sr, self.lf, self.lr, self.h, self.m, self.I, self.s_min, self.s_max, self.sv_min, self.sv_max, self.v_switch, self.a_max, self.v_min, self.v_max) + f_st = vehicle_dynamics_st(x_st, u, self.mu, self.C_Sf, self.C_Sr, self.lf, self.lr, self.h, self.m, self.I, self.s_min, self.s_max, self.sv_min, self.sv_max, self.v_switch, self.a_max, self.v_min, self.v_max) + + start = time.time() + for i in range(10000): + f_st = vehicle_dynamics_st(x_st, u, self.mu, self.C_Sf, self.C_Sr, self.lf, self.lr, self.h, self.m, self.I, self.s_min, self.s_max, self.sv_min, self.sv_max, self.v_switch, self.a_max, self.v_min, self.v_max) + duration = time.time() - start + avg_fps = 10000/duration + + self.assertAlmostEqual(np.max(np.abs(f_ks_gt-f_ks)), 0.) + self.assertAlmostEqual(np.max(np.abs(f_st_gt-f_st)), 0.) + self.assertGreater(avg_fps, 5000) + + def test_zeroinit_roll(self): + from scipy.integrate import odeint + + # testing for zero initial state, zero input singularities + g = 9.81 + t_start = 0. + t_final = 1. + delta0 = 0. + vel0 = 0. + Psi0 = 0. + dotPsi0 = 0. + beta0 = 0. + sy0 = 0. + initial_state = [0,sy0,delta0,vel0,Psi0,dotPsi0,beta0] + + x0_KS = np.array(initial_state[0:5]) + x0_ST = np.array(initial_state) + + # time vector + t = np.arange(t_start, t_final, 1e-4) + + # set input: rolling car (velocity should stay constant) + u = np.array([0., 0.]) + + # simulate single-track model + x_roll_st = odeint(func_ST, x0_ST, t, args=(u, self.mu, self.C_Sf, self.C_Sr, self.lf, self.lr, self.h, self.m, self.I, self.s_min, self.s_max, self.sv_min, self.sv_max, self.v_switch, self.a_max, self.v_min, self.v_max)) + # simulate kinematic single-track model + x_roll_ks = odeint(func_KS, x0_KS, t, args=(u, self.mu, self.C_Sf, self.C_Sr, self.lf, self.lr, self.h, self.m, self.I, self.s_min, self.s_max, self.sv_min, self.sv_max, self.v_switch, self.a_max, self.v_min, self.v_max)) + + self.assertTrue(all(x_roll_st[-1]==x0_ST)) + self.assertTrue(all(x_roll_ks[-1]==x0_KS)) + + def test_zeroinit_dec(self): + from scipy.integrate import odeint + + # testing for zero initial state, decelerating input singularities + g = 9.81 + t_start = 0. + t_final = 1. + delta0 = 0. + vel0 = 0. + Psi0 = 0. + dotPsi0 = 0. + beta0 = 0. + sy0 = 0. + initial_state = [0,sy0,delta0,vel0,Psi0,dotPsi0,beta0] + + x0_KS = np.array(initial_state[0:5]) + x0_ST = np.array(initial_state) + + # time vector + t = np.arange(t_start, t_final, 1e-4) + + # set decel input + u = np.array([0., -0.7*g]) + + # simulate single-track model + x_dec_st = odeint(func_ST, x0_ST, t, args=(u, self.mu, self.C_Sf, self.C_Sr, self.lf, self.lr, self.h, self.m, self.I, self.s_min, self.s_max, self.sv_min, self.sv_max, self.v_switch, self.a_max, self.v_min, self.v_max)) + # simulate kinematic single-track model + x_dec_ks = odeint(func_KS, x0_KS, t, args=(u, self.mu, self.C_Sf, self.C_Sr, self.lf, self.lr, self.h, self.m, self.I, self.s_min, self.s_max, self.sv_min, self.sv_max, self.v_switch, self.a_max, self.v_min, self.v_max)) + + # ground truth for single-track model + x_dec_st_gt = [-3.4335000000000013, 0.0000000000000000, 0.0000000000000000, -6.8670000000000018, 0.0000000000000000, 0.0000000000000000, 0.0000000000000000] + # ground truth for kinematic single-track model + x_dec_ks_gt = [-3.4335000000000013, 0.0000000000000000, 0.0000000000000000, -6.8670000000000018, 0.0000000000000000] + + self.assertTrue(all(abs(x_dec_st[-1] - x_dec_st_gt) < 1e-2)) + self.assertTrue(all(abs(x_dec_ks[-1] - x_dec_ks_gt) < 1e-2)) + + def test_zeroinit_acc(self): + from scipy.integrate import odeint + + # testing for zero initial state, accelerating with left steer input singularities + # wheel spin and velocity should increase more wheel spin at rear + g = 9.81 + t_start = 0. + t_final = 1. + delta0 = 0. + vel0 = 0. + Psi0 = 0. + dotPsi0 = 0. + beta0 = 0. + sy0 = 0. + initial_state = [0,sy0,delta0,vel0,Psi0,dotPsi0,beta0] + + x0_KS = np.array(initial_state[0:5]) + x0_ST = np.array(initial_state) + + # time vector + t = np.arange(t_start, t_final, 1e-4) + + # set decel input + u = np.array([0.15, 0.63*g]) + + # simulate single-track model + x_acc_st = odeint(func_ST, x0_ST, t, args=(u, self.mu, self.C_Sf, self.C_Sr, self.lf, self.lr, self.h, self.m, self.I, self.s_min, self.s_max, self.sv_min, self.sv_max, self.v_switch, self.a_max, self.v_min, self.v_max)) + # simulate kinematic single-track model + x_acc_ks = odeint(func_KS, x0_KS, t, args=(u, self.mu, self.C_Sf, self.C_Sr, self.lf, self.lr, self.h, self.m, self.I, self.s_min, self.s_max, self.sv_min, self.sv_max, self.v_switch, self.a_max, self.v_min, self.v_max)) + + # ground truth for single-track model + x_acc_st_gt = [3.0731976046859715, 0.2869835398304389, 0.1500000000000000, 6.1802999999999999, 0.1097747074946325, 0.3248268063223301, 0.0697547542798040] + # ground truth for kinematic single-track model + x_acc_ks_gt = [3.0845676868494927, 0.1484249221523042, 0.1500000000000000, 6.1803000000000017, 0.1203664469224163] + + self.assertTrue(all(abs(x_acc_st[-1] - x_acc_st_gt) < 1e-2)) + self.assertTrue(all(abs(x_acc_ks[-1] - x_acc_ks_gt) < 1e-2)) + + def test_zeroinit_rollleft(self): + from scipy.integrate import odeint + + # testing for zero initial state, rolling and steering left input singularities + g = 9.81 + t_start = 0. + t_final = 1. + delta0 = 0. + vel0 = 0. + Psi0 = 0. + dotPsi0 = 0. + beta0 = 0. + sy0 = 0. + initial_state = [0,sy0,delta0,vel0,Psi0,dotPsi0,beta0] + + x0_KS = np.array(initial_state[0:5]) + x0_ST = np.array(initial_state) + + # time vector + t = np.arange(t_start, t_final, 1e-4) + + # set decel input + u = np.array([0.15, 0.]) + + # simulate single-track model + x_left_st = odeint(func_ST, x0_ST, t, args=(u, self.mu, self.C_Sf, self.C_Sr, self.lf, self.lr, self.h, self.m, self.I, self.s_min, self.s_max, self.sv_min, self.sv_max, self.v_switch, self.a_max, self.v_min, self.v_max)) + # simulate kinematic single-track model + x_left_ks = odeint(func_KS, x0_KS, t, args=(u, self.mu, self.C_Sf, self.C_Sr, self.lf, self.lr, self.h, self.m, self.I, self.s_min, self.s_max, self.sv_min, self.sv_max, self.v_switch, self.a_max, self.v_min, self.v_max)) + + # ground truth for single-track model + x_left_st_gt = [0.0000000000000000, 0.0000000000000000, 0.1500000000000000, 0.0000000000000000, 0.0000000000000000, 0.0000000000000000, 0.0000000000000000] + # ground truth for kinematic single-track model + x_left_ks_gt = [0.0000000000000000, 0.0000000000000000, 0.1500000000000000, 0.0000000000000000, 0.0000000000000000] + + self.assertTrue(all(abs(x_left_st[-1] - x_left_st_gt) < 1e-2)) + self.assertTrue(all(abs(x_left_ks[-1] - x_left_ks_gt) < 1e-2)) + +if __name__ == '__main__': + unittest.main() \ No newline at end of file diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/gym/f110_gym/envs/f110_env.py b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/gym/f110_gym/envs/f110_env.py new file mode 100644 index 0000000..8491baa --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/gym/f110_gym/envs/f110_env.py @@ -0,0 +1,410 @@ +# MIT License + +# Copyright (c) 2020 Joseph Auckley, Matthew O'Kelly, Aman Sinha, Hongrui Zheng + +# Permission is hereby granted, free of charge, to any person obtaining a copy +# of this software and associated documentation files (the "Software"), to deal +# in the Software without restriction, including without limitation the rights +# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +# copies of the Software, and to permit persons to whom the Software is +# furnished to do so, subject to the following conditions: + +# The above copyright notice and this permission notice shall be included in all +# copies or substantial portions of the Software. + +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +# SOFTWARE. + +''' +Author: Hongrui Zheng +''' + +# gym imports +import gym +from gym import error, spaces, utils +from gym.utils import seeding + +# base classes +from f110_gym.envs.base_classes import Simulator, Integrator + +# others +import numpy as np +import os +import time + +# gl +import pyglet +pyglet.options['debug_gl'] = False +from pyglet import gl + +# constants + +# rendering +VIDEO_W = 600 +VIDEO_H = 400 +WINDOW_W = 1000 +WINDOW_H = 800 + +class F110Env(gym.Env): + """ + OpenAI gym environment for F1TENTH + + Env should be initialized by calling gym.make('f110_gym:f110-v0', **kwargs) + + Args: + kwargs: + seed (int, default=12345): seed for random state and reproducibility + + map (str, default='vegas'): name of the map used for the environment. Currently, available environments include: 'berlin', 'vegas', 'skirk'. You could use a string of the absolute path to the yaml file of your custom map. + + map_ext (str, default='png'): image extension of the map image file. For example 'png', 'pgm' + + params (dict, default={'mu': 1.0489, 'C_Sf':, 'C_Sr':, 'lf': 0.15875, 'lr': 0.17145, 'h': 0.074, 'm': 3.74, 'I': 0.04712, 's_min': -0.4189, 's_max': 0.4189, 'sv_min': -3.2, 'sv_max': 3.2, 'v_switch':7.319, 'a_max': 9.51, 'v_min':-5.0, 'v_max': 20.0, 'width': 0.31, 'length': 0.58}): dictionary of vehicle parameters. + mu: surface friction coefficient + C_Sf: Cornering stiffness coefficient, front + C_Sr: Cornering stiffness coefficient, rear + lf: Distance from center of gravity to front axle + lr: Distance from center of gravity to rear axle + h: Height of center of gravity + m: Total mass of the vehicle + I: Moment of inertial of the entire vehicle about the z axis + s_min: Minimum steering angle constraint + s_max: Maximum steering angle constraint + sv_min: Minimum steering velocity constraint + sv_max: Maximum steering velocity constraint + v_switch: Switching velocity (velocity at which the acceleration is no longer able to create wheel spin) + a_max: Maximum longitudinal acceleration + v_min: Minimum longitudinal velocity + v_max: Maximum longitudinal velocity + width: width of the vehicle in meters + length: length of the vehicle in meters + + num_agents (int, default=2): number of agents in the environment + + timestep (float, default=0.01): physics timestep + + ego_idx (int, default=0): ego's index in list of agents + """ + metadata = {'render.modes': ['human', 'human_fast']} + + # rendering + renderer = None + current_obs = None + render_callbacks = [] + + def __init__(self, **kwargs): + # kwargs extraction + try: + self.seed = kwargs['seed'] + except: + self.seed = 12345 + try: + self.map_name = kwargs['map'] + # different default maps + if self.map_name == 'berlin': + self.map_path = os.path.dirname(os.path.abspath(__file__)) + '/maps/berlin.yaml' + elif self.map_name == 'skirk': + self.map_path = os.path.dirname(os.path.abspath(__file__)) + '/maps/skirk.yaml' + elif self.map_name == 'levine': + self.map_path = os.path.dirname(os.path.abspath(__file__)) + '/maps/levine.yaml' + else: + self.map_path = self.map_name + '.yaml' + except: + self.map_path = os.path.dirname(os.path.abspath(__file__)) + '/maps/vegas.yaml' + + try: + self.map_ext = kwargs['map_ext'] + except: + self.map_ext = '.png' + + try: + self.params = kwargs['params'] + except: + self.params = {'mu': 1.0489, 'C_Sf': 4.718, 'C_Sr': 5.4562, 'lf': 0.15875, 'lr': 0.17145, 'h': 0.074, 'm': 3.74, 'I': 0.04712, 's_min': -0.4189, 's_max': 0.4189, 'sv_min': -3.2, 'sv_max': 3.2, 'v_switch': 7.319, 'a_max': 9.51, 'v_min':-5.0, 'v_max': 20.0, 'width': 0.31, 'length': 0.58} + + # simulation parameters + try: + self.num_agents = kwargs['num_agents'] + except: + self.num_agents = 2 + + try: + self.timestep = kwargs['timestep'] + except: + self.timestep = 0.01 + + # default ego index + try: + self.ego_idx = kwargs['ego_idx'] + except: + self.ego_idx = 0 + + # default integrator + try: + self.integrator = kwargs['integrator'] + except: + self.integrator = Integrator.RK4 + + # radius to consider done + self.start_thresh = 0.5 # 10cm + + # env states + self.poses_x = [] + self.poses_y = [] + self.poses_theta = [] + self.collisions = np.zeros((self.num_agents, )) + # TODO: collision_idx not used yet + # self.collision_idx = -1 * np.ones((self.num_agents, )) + + # loop completion + self.near_start = True + self.num_toggles = 0 + + # race info + self.lap_times = np.zeros((self.num_agents, )) + self.lap_counts = np.zeros((self.num_agents, )) + self.current_time = 0.0 + + # finish line info + self.num_toggles = 0 + self.near_start = True + self.near_starts = np.array([True]*self.num_agents) + self.toggle_list = np.zeros((self.num_agents,)) + self.start_xs = np.zeros((self.num_agents, )) + self.start_ys = np.zeros((self.num_agents, )) + self.start_thetas = np.zeros((self.num_agents, )) + self.start_rot = np.eye(2) + + # initiate stuff + self.sim = Simulator(self.params, self.num_agents, self.seed, time_step=self.timestep, integrator=self.integrator) + self.sim.set_map(self.map_path, self.map_ext) + + # stateful observations for rendering + self.render_obs = None + + def __del__(self): + """ + Finalizer, does cleanup + """ + pass + + def _check_done(self): + """ + Check if the current rollout is done + + Args: + None + + Returns: + done (bool): whether the rollout is done + toggle_list (list[int]): each agent's toggle list for crossing the finish zone + """ + + # this is assuming 2 agents + # TODO: switch to maybe s-based + left_t = 2 + right_t = 2 + + poses_x = np.array(self.poses_x)-self.start_xs + poses_y = np.array(self.poses_y)-self.start_ys + delta_pt = np.dot(self.start_rot, np.stack((poses_x, poses_y), axis=0)) + temp_y = delta_pt[1,:] + idx1 = temp_y > left_t + idx2 = temp_y < -right_t + temp_y[idx1] -= left_t + temp_y[idx2] = -right_t - temp_y[idx2] + temp_y[np.invert(np.logical_or(idx1, idx2))] = 0 + + dist2 = delta_pt[0, :]**2 + temp_y**2 + closes = dist2 <= 0.1 + for i in range(self.num_agents): + if closes[i] and not self.near_starts[i]: + self.near_starts[i] = True + self.toggle_list[i] += 1 + elif not closes[i] and self.near_starts[i]: + self.near_starts[i] = False + self.toggle_list[i] += 1 + self.lap_counts[i] = self.toggle_list[i] // 2 + if self.toggle_list[i] < 4: + self.lap_times[i] = self.current_time + + done = (self.collisions[self.ego_idx]) or np.all(self.toggle_list >= 4) + + return bool(done), self.toggle_list >= 4 + + def _update_state(self, obs_dict): + """ + Update the env's states according to observations + + Args: + obs_dict (dict): dictionary of observation + + Returns: + None + """ + self.poses_x = obs_dict['poses_x'] + self.poses_y = obs_dict['poses_y'] + self.poses_theta = obs_dict['poses_theta'] + self.collisions = obs_dict['collisions'] + + def step(self, action): + """ + Step function for the gym env + + Args: + action (np.ndarray(num_agents, 2)) + + Returns: + obs (dict): observation of the current step + reward (float, default=self.timestep): step reward, currently is physics timestep + done (bool): if the simulation is done + info (dict): auxillary information dictionary + """ + + # call simulation step + obs = self.sim.step(action) + obs['lap_times'] = self.lap_times + obs['lap_counts'] = self.lap_counts + + F110Env.current_obs = obs + + self.render_obs = { + 'ego_idx': obs['ego_idx'], + 'poses_x': obs['poses_x'], + 'poses_y': obs['poses_y'], + 'poses_theta': obs['poses_theta'], + 'lap_times': obs['lap_times'], + 'lap_counts': obs['lap_counts'] + } + + # times + reward = self.timestep + self.current_time = self.current_time + self.timestep + + # update data member + self._update_state(obs) + + # check done + done, toggle_list = self._check_done() + info = {'checkpoint_done': toggle_list} + + return obs, reward, done, info + + def reset(self, poses): + """ + Reset the gym environment by given poses + + Args: + poses (np.ndarray (num_agents, 3)): poses to reset agents to + + Returns: + obs (dict): observation of the current step + reward (float, default=self.timestep): step reward, currently is physics timestep + done (bool): if the simulation is done + info (dict): auxillary information dictionary + """ + # reset counters and data members + self.current_time = 0.0 + self.collisions = np.zeros((self.num_agents, )) + self.num_toggles = 0 + self.near_start = True + self.near_starts = np.array([True]*self.num_agents) + self.toggle_list = np.zeros((self.num_agents,)) + + # states after reset + self.start_xs = poses[:, 0] + self.start_ys = poses[:, 1] + self.start_thetas = poses[:, 2] + self.start_rot = np.array([[np.cos(-self.start_thetas[self.ego_idx]), -np.sin(-self.start_thetas[self.ego_idx])], [np.sin(-self.start_thetas[self.ego_idx]), np.cos(-self.start_thetas[self.ego_idx])]]) + + # call reset to simulator + self.sim.reset(poses) + + # get no input observations + action = np.zeros((self.num_agents, 2)) + obs, reward, done, info = self.step(action) + + self.render_obs = { + 'ego_idx': obs['ego_idx'], + 'poses_x': obs['poses_x'], + 'poses_y': obs['poses_y'], + 'poses_theta': obs['poses_theta'], + 'lap_times': obs['lap_times'], + 'lap_counts': obs['lap_counts'] + } + + return obs, reward, done, info + + def update_map(self, map_path, map_ext): + """ + Updates the map used by simulation + + Args: + map_path (str): absolute path to the map yaml file + map_ext (str): extension of the map image file + + Returns: + None + """ + self.sim.set_map(map_path, map_ext) + + def update_params(self, params, index=-1): + """ + Updates the parameters used by simulation for vehicles + + Args: + params (dict): dictionary of parameters + index (int, default=-1): if >= 0 then only update a specific agent's params + + Returns: + None + """ + self.sim.update_params(params, agent_idx=index) + + def add_render_callback(self, callback_func): + """ + Add extra drawing function to call during rendering. + + Args: + callback_func (function (EnvRenderer) -> None): custom function to called during render() + """ + + F110Env.render_callbacks.append(callback_func) + + def render(self, mode='human'): + """ + Renders the environment with pyglet. Use mouse scroll in the window to zoom in/out, use mouse click drag to pan. Shows the agents, the map, current fps (bottom left corner), and the race information near as text. + + Args: + mode (str, default='human'): rendering mode, currently supports: + 'human': slowed down rendering such that the env is rendered in a way that sim time elapsed is close to real time elapsed + 'human_fast': render as fast as possible + + Returns: + None + """ + assert mode in ['human', 'human_fast'] + + if F110Env.renderer is None: + # first call, initialize everything + from f110_gym.envs.rendering import EnvRenderer + F110Env.renderer = EnvRenderer(WINDOW_W, WINDOW_H) + F110Env.renderer.update_map(self.map_name, self.map_ext) + + F110Env.renderer.update_obs(self.render_obs) + + for render_callback in F110Env.render_callbacks: + render_callback(F110Env.renderer) + + F110Env.renderer.dispatch_events() + F110Env.renderer.on_draw() + F110Env.renderer.flip() + if mode == 'human': + time.sleep(0.005) + elif mode == 'human_fast': + pass diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/gym/f110_gym/envs/f110_env_backup.py b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/gym/f110_gym/envs/f110_env_backup.py new file mode 100644 index 0000000..fa818b6 --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/gym/f110_gym/envs/f110_env_backup.py @@ -0,0 +1,587 @@ +# MIT License + +# Copyright (c) 2020 Joseph Auckley, Matthew O'Kelly, Aman Sinha, Hongrui Zheng + +# Permission is hereby granted, free of charge, to any person obtaining a copy +# of this software and associated documentation files (the "Software"), to deal +# in the Software without restriction, including without limitation the rights +# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +# copies of the Software, and to permit persons to whom the Software is +# furnished to do so, subject to the following conditions: + +# The above copyright notice and this permission notice shall be included in all +# copies or substantial portions of the Software. + +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +# SOFTWARE. + +''' +Author: Hongrui Zheng +''' + +# gym imports +import gym +from gym import error, spaces, utils +from gym.utils import seeding + +# zmq imports +import zmq + +# protobuf import +import sim_requests_pb2 + +# others +import numpy as np + +from numba import njit +from scipy.ndimage import distance_transform_edt as edt + +from PIL import Image +import sys +import os +import signal +import subprocess +import math +import yaml +import csv + +# from matplotlib.pyplot import imshow +# import matplotlib.pyplot as plt + +class F110Env(gym.Env, utils.EzPickle): + """ + OpenAI gym environment for F1/10 simulator + Use 0mq's REQ-REP pattern to communicate to the C++ simulator + ONE env has ONE corresponding C++ instance + Need to create env with map input, full path to map yaml file, map pgm image and yaml should be in same directory + + should be initialized with a map, a timestep, and number of agents + """ + metadata = {'render.modes': []} + + def __init__(self): + # simualtor params + self.params_set = False + self.map_inited = False + # params list is [mu, h_cg, l_r, cs_f, cs_r, I_z, mass] + self.params = [] + # TODO: add multi agent stuff, need a _add_agent function of sth + self.num_agents = 2 + self.timestep = 0.01 + + # TODO: clean up the map path stuff, right now it's a init_map function + self.map_path = None + self.map_img = None + + # current_dir = os.path.dirname(os.path.abspath(__file__)) + # map_path = current_dir + '/../../../maps/levine.yaml' + + # default + self.ego_idx = 0 + + # TODO: also set these things in init function? + self.timeout = 120.0 + # radius to consider done + self.start_thresh = 0.5 # 10cm + + # env states + # more accurate description should be ego car state + # might not need to keep scan + self.x = None + self.y = None + self.theta = None + + self.in_collision = False + self.collision_angle = None + + # loop completion + self.near_start = True + self.num_toggles = 0 + + # race info + self.lap_times = [0.0, 0.0] + self.lap_counts = [0, 0] + + # TODO: load the map (same as ROS .yaml format) + # if not map_path.endswith('.yaml'): + # print('Gym env - Please use a yaml file for map input.') + # sys.exit() + # load map img + # map_img_path = 'levine.png' + # self.map_img = cv2.imread(map_img_path, 0) + # self.map_img = cv2.flip(self.map_img, 0) + # self.map_img = np.array(Image.open(map_img_path).transpose(Image.FLIP_TOP_BOTTOM)) + # self.map_img = self.map_img.astype(np.float64) + # self.map_img = self.map_img[::-1] + # self.map_img = np.dot(self.map_img[..., :3], [0.29, 0.57, 0.14]) + # plt.imshow(self.map_img) + # plt.show() + + # map metadata + # self.map_height = self.map_img.shape[0] + # self.map_width = self.map_img.shape[1] + self.map_height = 0.0 + self.map_width = 0.0 + self.map_resolution = 0.0 + self.free_thresh = 0.0 + self.origin = [] + # load map metadata + # with open(map_path, 'r') as yaml_stream: + # try: + # map_metadata = yaml.safe_load(yaml_stream) + # self.map_resolution = map_metadata['resolution'] + # self.origin = map_metadata['origin'] + # # print(self.origin) + # # self.free_thresh????? + # except yaml.YAMLError as ex: + # print(ex) + + # create zmq stuff + # port number range from 6666 - 6766 + # max 100 tries to connect/bind + tries = 0 + max_tries = 100 + min_port = 6666 + self.port = min_port + self.context = zmq.Context() + self.socket = self.context.socket(zmq.PAIR) + while tries < max_tries: + try: + self.socket.bind('tcp://*:%s' % str(min_port + tries)) + # self.socket.connect('tcp://localhost:6666') + self.port = min_port + tries + break + except: + tries = tries + 1 + # print('Gym env - retrying for ' + str(tries) + ' times') + + print('Gym env - Connected env to port: ' + str(self.port)) + + # create cpp instance if create then need to pass port number + # subprocess call assumes directory structure + # init sim with arguments: [ex timestep num_agents port_num] + # TODO: include other car params in argument + # args = ['../build/sim_server', str(self.timestep), str(self.num_agents), str(self.port)] + # self.sim_p = subprocess.Popen(args) + self.sim_p = None + + # print('Gym env - env created, waiting for params...') + + def __del__(self): + """ + Finalizer, does cleanup + """ + if self.sim_p is None: + pass + else: + os.kill(self.sim_p.pid, signal.SIGTERM) + # print('Gym env - Sim child process killed.') + + def _start_executable(self, path): + mu = self.params[0] + h_cg = self.params[1] + l_r = self.params[2] + cs_f = self.params[3] + cs_r = self.params[4] + I_z = self.params[5] + mass = self.params[6] + args = [path+'sim_server', str(self.timestep), str(self.num_agents), str(self.port), str(mu), str(h_cg), str(l_r), str(cs_f), str(cs_r), str(I_z), str(mass)] + self.sim_p = subprocess.Popen(args) + + def _set_map(self): + """ + Sets the map for the simulator instance + """ + if not self.map_inited: + print('Gym env - Sim map not initialized, call env.init_map() to init map.') + # create and fill in protobuf + map_request_proto = sim_requests_pb2.SimRequest() + map_request_proto.type = 1 + map_request_proto.map_request.map.extend((1. - self.map_img/255.).flatten().tolist()) + map_request_proto.map_request.origin_x = self.origin[0] + map_request_proto.map_request.origin_y = self.origin[1] + map_request_proto.map_request.map_resolution = self.map_resolution + # TODO: double check if this value is valid + map_request_proto.map_request.free_threshold = self.free_thresh + map_request_proto.map_request.map_height = self.map_height + map_request_proto.map_request.map_width = self.map_width + # serialization + map_request_string = map_request_proto.SerializeToString() + # send set map request + # print('Gym env - Sending set map request...') + self.socket.send(map_request_string) + # print('Gym env - Map request sent.') + # receive response from sim instance + sim_response_string = self.socket.recv() + # parse map response proto + sim_response_proto = sim_requests_pb2.SimResponse() + sim_response_proto.ParseFromString(sim_response_string) + # get results + set_map_result = sim_response_proto.map_result.result + if set_map_result == 1: + print('Gym env - Set map failed, exiting...') + sys.exit() + + def _check_done(self): + """ + Check if the episode is done + This is in terms of the ego car + For our case, whether the car ends up close enough to the starting point + And if accumulated time is over the timeout + return true if done, false if not + This assumes start is always (0, 0) + + """ + # TODO: start not always 0, 0 + # dist_to_start = math.sqrt((self.x-self.start_x) ** 2 + (self.y-self.start_y) ** 2) + left_t = 2 + right_t = 2 + timeout = self.current_time >= self.timeout + if self.double_finish: + poses_x = np.array(self.all_x)-self.start_xs + poses_y = np.array(self.all_y)-self.start_ys + delta_pt = np.dot(self.start_rot, np.stack((poses_x, poses_y), axis=0)) + temp_y = delta_pt[1,:] + idx1 = temp_y > left_t + idx2 = temp_y < -right_t + temp_y[idx1] -= left_t + temp_y[idx2] = -right_t - temp_y[idx2] + temp_y[np.invert(np.logical_or(idx1, idx2))] = 0 + + dist2 = delta_pt[0,:]**2 + temp_y**2 + closes = dist2 <= 0.1 + for i in range(self.num_agents): + if closes[i] and not self.near_starts[i]: + self.near_starts[i] = True + self.toggle_list[i] += 1 + elif not closes[i] and self.near_starts[i]: + self.near_starts[i] = False + self.toggle_list[i] += 1 + done = (self.in_collision | (timeout) | np.all(self.toggle_list >= 4)) + # only for two cars atm + self.lap_counts[0] = np.floor(self.toggle_list[0] / 2) + self.lap_counts[1] = np.floor(self.toggle_list[1] / 2) + if self.toggle_list[0] < 4: + self.lap_times[0] = self.current_time + if self.toggle_list[1] < 4: + self.lap_times[1] = self.current_time + return done, self.toggle_list >= 4 + + delta_pt = np.dot(self.start_rot, np.array([self.x-self.start_x, self.y-self.start_y])) + if delta_pt[1] > left_t: # left + temp_y = delta_pt[1]-left_t + elif delta_pt[1] < -right_t: # right + temp_y = -right_t - delta_pt[1] + else: + temp_y = 0 + dist2 = delta_pt[0]**2 + temp_y**2 + close = dist2 <= 0.1 + # close = dist_to_start <= self.start_thresh + if close and not self.near_start: + self.near_start = True + self.num_toggles += 1 + elif not close and self.near_start: + self.near_start = False + self.num_toggles += 1 + done = (self.in_collision | (timeout) | (self.num_toggles >= 4)) + return done + + def _check_passed(self): + """ + Returns the times that the ego car overtook the other car + """ + return 0 + + def _update_state(self, obs_dict): + """ + Update the env's states according to observations + obs is observation dictionary + """ + self.x = obs_dict['poses_x'][obs_dict['ego_idx']] + self.y = obs_dict['poses_y'][obs_dict['ego_idx']] + if self.double_finish: + self.all_x = obs_dict['poses_x'] + self.all_y = obs_dict['poses_y'] + + self.theta = obs_dict['poses_theta'][obs_dict['ego_idx']] + self.in_collision = obs_dict['collisions'][obs_dict['ego_idx']] + self.collision_angle = obs_dict['collision_angles'][obs_dict['ego_idx']] + + # TODO: do we do the ray casting here or in C++? + # if speed is a concern do it in C++? + # numba shouldn't be a dependency of gym env + def _raycast_opponents(self, obs_dict): + # find the angle of beam of each car in each other's fov + + # set range of beams to raycast, ego and op + + # raycast beams, two set + new_obs = {} + return new_obs + + def step(self, action): + # can't step if params not set + if not self.params_set: + print('ERROR - Gym Env - Params not set, call update params before stepping.') + sys.exit() + # action is a list of steering angles + command velocities + # also a ego car index + # action should a DICT with {'ego_idx': int, 'speed':[], 'steer':[]} + step_request_proto = sim_requests_pb2.SimRequest() + step_request_proto.type = 0 + step_request_proto.step_request.ego_idx = action['ego_idx'] + step_request_proto.step_request.requested_vel.extend(action['speed']) + step_request_proto.step_request.requested_ang.extend(action['steer']) + # serialization + step_request_string = step_request_proto.SerializeToString() + # send step request + self.socket.send(step_request_string) + # receive response from sim instance + sim_response_string = self.socket.recv() + # print('Gym env - Received response for step request.') + # parse map response proto + sim_response_proto = sim_requests_pb2.SimResponse() + sim_response_proto.ParseFromString(sim_response_string) + # get results + # make sure we have the right type of response + response_type = sim_response_proto.type + # TODO: also check for stepping fail + if not response_type == 0: + print('Gym env - Wrong response type for stepping, exiting...') + sys.exit() + observations_proto = sim_response_proto.sim_obs + # make sure the ego idx matches + if not observations_proto.ego_idx == action['ego_idx']: + print('Gym env - Ego index mismatch, exiting...') + sys.exit() + # get observations + carobs_list = observations_proto.observations + # construct observation dict + # Observation DICT, assume indices consistent: {'ego_idx':int, 'scans':[[]], 'poses_x':[], 'poses_y':[], 'poses_theta':[], 'linear_vels_x':[], 'linear_vels_y':[], 'ang_vels_z':[], 'collisions':[], 'collision_angles':[]} + obs = {'ego_idx': observations_proto.ego_idx, 'scans': [], 'poses_x': [], 'poses_y': [], 'poses_theta': [], 'linear_vels_x': [], 'linear_vels_y': [], 'ang_vels_z': [], 'collisions': [], 'collision_angles': [], 'lap_times': [], 'lap_counts': []} + for car_obs in carobs_list: + obs['scans'].append(car_obs.scan) + obs['poses_x'].append(car_obs.pose_x) + obs['poses_y'].append(car_obs.pose_y) + if abs(car_obs.theta) < np.pi: + obs['poses_theta'].append(car_obs.theta) + else: + obs['poses_theta'].append(-((2 * np.pi) - car_obs.theta)) + obs['linear_vels_x'].append(car_obs.linear_vel_x) + obs['linear_vels_y'].append(car_obs.linear_vel_y) + obs['ang_vels_z'].append(car_obs.ang_vel_z) + obs['collisions'].append(car_obs.collision) + obs['collision_angles'].append(car_obs.collision_angle) + + obs['lap_times'] = self.lap_times + obs['lap_counts'] = self.lap_counts + + # TODO: do we need step reward? + reward = self.timestep + # update accumulated time in env + self.current_time = self.current_time + self.timestep + # TODO: donezo should be done in simulator? could be done here as well + self._update_state(obs) + if self.double_finish: + done, temp = self._check_done() + info = {'checkpoint_done': temp} + else: + done = self._check_done() + info = {} + + # TODO: return obs, reward, done, info + return obs, reward, done, info + + def reset(self, poses=None): + + self.current_time = 0.0 + self.in_collision = False + self.collision_angles = None + self.num_toggles = 0 + self.near_start = True + self.near_starts = np.array([True]*self.num_agents) + self.toggle_list = np.zeros((self.num_agents,)) + if poses: + pose_x = poses['x'] + pose_y = poses['y'] + pose_theta = poses['theta'] + self.start_x = pose_x[0] + self.start_y = pose_y[0] + self.start_theta = pose_theta[0] + self.start_xs = np.array(pose_x) + self.start_ys = np.array(pose_y) + self.start_thetas = np.array(pose_theta) + self.start_rot = np.array([[np.cos(-self.start_theta), -np.sin(-self.start_theta)], + [np.sin(-self.start_theta), np.cos(-self.start_theta)]]) + # create reset by pose proto + reset_request_proto = sim_requests_pb2.SimRequest() + reset_request_proto.type = 4 + reset_request_proto.reset_bypose_request.num_cars = self.num_agents + reset_request_proto.reset_bypose_request.ego_idx = 0 + reset_request_proto.reset_bypose_request.car_x.extend(pose_x) + reset_request_proto.reset_bypose_request.car_y.extend(pose_y) + reset_request_proto.reset_bypose_request.car_theta.extend(pose_theta) + reset_request_string = reset_request_proto.SerializeToString() + self.socket.send(reset_request_string) + else: + # create reset proto + self.start_x = 0.0 + self.start_y = 0.0 + self.start_theta = 0.0 + self.start_rot = np.array([[np.cos(-self.start_theta), -np.sin(-self.start_theta)], + [np.sin(-self.start_theta), np.cos(-self.start_theta)]]) + reset_request_proto = sim_requests_pb2.SimRequest() + reset_request_proto.type = 2 + reset_request_proto.reset_request.num_cars = self.num_agents + reset_request_proto.reset_request.ego_idx = 0 + # serialize reset proto + reset_request_string = reset_request_proto.SerializeToString() + # send reset proto string + self.socket.send(reset_request_string) + # receive response from sim + reset_response_string = self.socket.recv() + reset_response_proto = sim_requests_pb2.SimResponse() + reset_response_proto.ParseFromString(reset_response_string) + if reset_response_proto.reset_resp.result: + print('Gym env - Reset failed') + # TODO: failure handling + return None + # TODO: return with gym convention, one step? + vels = [0.0] * self.num_agents + angs = [0.0] * self.num_agents + action = {'ego_idx': self.ego_idx, 'speed': vels, 'steer': angs} + # print('Gym env - Reset done') + obs, reward, done, info = self.step(action) + # print('Gym env - step done for reset') + return obs, reward, done, info + + def init_map(self, map_path, img_ext, rgb, flip): + """ + init a map for the gym env + map_path: full path for the yaml, same as ROS, img and yaml in same dir + rgb: map grayscale or rgb + flip: if map needs flipping + """ + + self.map_path = map_path + if not map_path.endswith('.yaml'): + print('Gym env - Please use a yaml file for map initialization.') + print('Exiting...') + sys.exit() + + # split yaml ext name + map_img_path = os.path.splitext(self.map_path)[0] + img_ext + self.map_img = np.array(Image.open(map_img_path).transpose(Image.FLIP_TOP_BOTTOM)) + self.map_img = self.map_img.astype(np.float64) + if flip: + self.map_img = self.map_img[::-1] + + if rgb: + self.map_img = np.dot(self.map_img[..., :3], [0.29, 0.57, 0.14]) + + # update map metadata + self.map_height = self.map_img.shape[0] + self.map_width = self.map_img.shape[1] + self.free_thresh = 0.6 # TODO: double check + with open(self.map_path, 'r') as yaml_stream: + try: + map_metadata = yaml.safe_load(yaml_stream) + self.map_resolution = map_metadata['resolution'] + self.origin = map_metadata['origin'] + except yaml.YAMLError as ex: + print(ex) + self.map_inited = True + + # load waypoints + # self.csv_path = os.path.splitext(self.map_path)[0] + '.csv' + # with open(self.csv_path) as f: + # self.waypoints = [tuple(line) for line in csv.reader(f)] + # # waypoints are [x, y, speed, theta] + # self.waypoints = np.array([(float(pt[0]), float(pt[1]), float(pt[2]), float(pt[3])) for pt in self.waypoints]) + + + def render(self, mode='human', close=False): + return + + # def get_min_dist(self, position): + # wpts = self.waypoints[:, 0:2] + # # = position[0:2] + # nearest_point, nearest_dist, t, i = self.nearest_point_on_trajectory(position, wpts) + # # speed = self.waypoints[i, 2] + # return nearest_dist + + # def nearest_point_on_trajectory(self, point, trajectory): + # ''' + # Return the nearest point along the given piecewise linear trajectory. + + # Same as nearest_point_on_line_segment, but vectorized. This method is quite fast, time constraints should + # not be an issue so long as trajectories are not insanely long. + + # Order of magnitude: trajectory length: 1000 --> 0.0002 second computation (5000fps) + + # point: size 2 numpy array + # trajectory: Nx2 matrix of (x,y) trajectory waypoints + # - these must be unique. If they are not unique, a divide by 0 error will destroy the world + # ''' + # diffs = trajectory[1:,:] - trajectory[:-1,:] + # l2s = diffs[:,0]**2 + diffs[:,1]**2 + # # this is equivalent to the elementwise dot product + # dots = np.sum((point - trajectory[:-1,:]) * diffs[:,:], axis=1) + # t = np.clip(dots / l2s, 0.0, 1.0) + # projections = trajectory[:-1,:] + (t*diffs.T).T + # dists = np.linalg.norm(point - projections,axis=1) + # min_dist_segment = np.argmin(dists) + # return projections[min_dist_segment], dists[min_dist_segment], t[min_dist_segment], min_dist_segment + + def update_params(self, mu, h_cg, l_r, cs_f, cs_r, I_z, mass, exe_path, double_finish=False): + # if not self.sim_p is None: + # print('Gym env - Sim server exists, killing...') + # self.socket.send(b'dead') + # self.sim_p.kill() + # os.kill(self.sim_p.pid, signal.SIGINT) + # self.sim_p = None + # print('in update params') + + self.params = [mu, h_cg, l_r, cs_f, cs_r, I_z, mass] + self.params_set = True + if self.sim_p is None: + # print('starting ex and setting map') + self._start_executable(exe_path) + self._set_map() + self.double_finish = double_finish + # print('before creating proto') + + # create update proto + update_param_proto = sim_requests_pb2.SimRequest() + update_param_proto.type = 3 + update_param_proto.update_request.mu = mu + update_param_proto.update_request.h_cg = h_cg + update_param_proto.update_request.l_r = l_r + update_param_proto.update_request.cs_f = cs_f + update_param_proto.update_request.cs_r = cs_r + update_param_proto.update_request.I_z = I_z + update_param_proto.update_request.mass = mass + # serialize reset proto + update_param_string = update_param_proto.SerializeToString() + # print('proto serialized') + # send update param request + self.socket.send(update_param_string) + # print('Gym env - Update param request sent.') + # receive response + update_response_string = self.socket.recv() + update_response_proto = sim_requests_pb2.SimResponse() + update_response_proto.ParseFromString(update_response_string) + if update_response_proto.update_resp.result: + print('Gym env - Update param failed') + return None + + # print('Gym env - params updated.') + # start executable + # self._start_executable() + # call set map + # self._set_map() diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/gym/f110_gym/envs/laser_models.py b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/gym/f110_gym/envs/laser_models.py new file mode 100644 index 0000000..158060b --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/gym/f110_gym/envs/laser_models.py @@ -0,0 +1,649 @@ +# MIT License + +# Copyright (c) 2020 Joseph Auckley, Matthew O'Kelly, Aman Sinha, Hongrui Zheng + +# Permission is hereby granted, free of charge, to any person obtaining a copy +# of this software and associated documentation files (the "Software"), to deal +# in the Software without restriction, including without limitation the rights +# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +# copies of the Software, and to permit persons to whom the Software is +# furnished to do so, subject to the following conditions: + +# The above copyright notice and this permission notice shall be included in all +# copies or substantial portions of the Software. + +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +# SOFTWARE. + + + +""" +Prototype of Utility functions and classes for simulating 2D LIDAR scans +Author: Hongrui Zheng +""" + +import numpy as np +from numba import njit +from scipy.ndimage import distance_transform_edt as edt +from PIL import Image +import os +import yaml + +import unittest +import timeit + +def get_dt(bitmap, resolution): + """ + Distance transformation, returns the distance matrix from the input bitmap. + Uses scipy.ndimage, cannot be JITted. + + Args: + bitmap (numpy.ndarray, (n, m)): input binary bitmap of the environment, where 0 is obstacles, and 255 (or anything > 0) is freespace + resolution (float): resolution of the input bitmap (m/cell) + + Returns: + dt (numpy.ndarray, (n, m)): output distance matrix, where each cell has the corresponding distance (in meters) to the closest obstacle + """ + dt = resolution * edt(bitmap) + return dt + +@njit(cache=True) +def xy_2_rc(x, y, orig_x, orig_y, orig_c, orig_s, height, width, resolution): + """ + Translate (x, y) coordinate into (r, c) in the matrix + + Args: + x (float): coordinate in x (m) + y (float): coordinate in y (m) + orig_x (float): x coordinate of the map origin (m) + orig_y (float): y coordinate of the map origin (m) + + Returns: + r (int): row number in the transform matrix of the given point + c (int): column number in the transform matrix of the given point + """ + # translation + x_trans = x - orig_x + y_trans = y - orig_y + + # rotation + x_rot = x_trans * orig_c + y_trans * orig_s + y_rot = -x_trans * orig_s + y_trans * orig_c + + # clip the state to be a cell + if x_rot < 0 or x_rot >= width * resolution or y_rot < 0 or y_rot >= height * resolution: + c = -1 + r = -1 + else: + c = int(x_rot/resolution) + r = int(y_rot/resolution) + + return r, c + +@njit(cache=True) +def distance_transform(x, y, orig_x, orig_y, orig_c, orig_s, height, width, resolution, dt): + """ + Look up corresponding distance in the distance matrix + + Args: + x (float): x coordinate of the lookup point + y (float): y coordinate of the lookup point + orig_x (float): x coordinate of the map origin (m) + orig_y (float): y coordinate of the map origin (m) + + Returns: + distance (float): corresponding shortest distance to obstacle in meters + """ + r, c = xy_2_rc(x, y, orig_x, orig_y, orig_c, orig_s, height, width, resolution) + distance = dt[r, c] + return distance + +@njit(cache=True) +def trace_ray(x, y, theta_index, sines, cosines, eps, orig_x, orig_y, orig_c, orig_s, height, width, resolution, dt, max_range): + """ + Find the length of a specific ray at a specific scan angle theta + Purely math calculation and loops, should be JITted. + + Args: + x (float): current x coordinate of the ego (scan) frame + y (float): current y coordinate of the ego (scan) frame + theta_index(int): current index of the scan beam in the scan range + sines (numpy.ndarray (n, )): pre-calculated sines of the angle array + cosines (numpy.ndarray (n, )): pre-calculated cosines ... + + Returns: + total_distance (float): the distance to first obstacle on the current scan beam + """ + + # int casting, and index precal trigs + theta_index_ = int(theta_index) + s = sines[theta_index_] + c = cosines[theta_index_] + + # distance to nearest initialization + dist_to_nearest = distance_transform(x, y, orig_x, orig_y, orig_c, orig_s, height, width, resolution, dt) + total_dist = dist_to_nearest + + # ray tracing iterations + while dist_to_nearest > eps and total_dist <= max_range: + # move in the direction of the ray by dist_to_nearest + x += dist_to_nearest * c + y += dist_to_nearest * s + + # update dist_to_nearest for current point on ray + # also keeps track of total ray length + dist_to_nearest = distance_transform(x, y, orig_x, orig_y, orig_c, orig_s, height, width, resolution, dt) + total_dist += dist_to_nearest + + if total_dist > max_range: + total_dist = max_range + + return total_dist + +@njit(cache=True) +def get_scan(pose, theta_dis, fov, num_beams, theta_index_increment, sines, cosines, eps, orig_x, orig_y, orig_c, orig_s, height, width, resolution, dt, max_range): + """ + Perform the scan for each discretized angle of each beam of the laser, loop heavy, should be JITted + + Args: + pose (numpy.ndarray(3, )): current pose of the scan frame in the map + theta_dis (int): number of steps to discretize the angles between 0 and 2pi for look up + fov (float): field of view of the laser scan + num_beams (int): number of beams in the scan + theta_index_increment (float): increment between angle indices after discretization + + Returns: + scan (numpy.ndarray(n, )): resulting laser scan at the pose, n=num_beams + """ + # empty scan array init + scan = np.empty((num_beams,)) + + # make theta discrete by mapping the range [-pi, pi] onto [0, theta_dis] + theta_index = theta_dis * (pose[2] - fov/2.)/(2. * np.pi) + + # make sure it's wrapped properly + theta_index = np.fmod(theta_index, theta_dis) + while (theta_index < 0): + theta_index += theta_dis + + # sweep through each beam + for i in range(0, num_beams): + # trace the current beam + scan[i] = trace_ray(pose[0], pose[1], theta_index, sines, cosines, eps, orig_x, orig_y, orig_c, orig_s, height, width, resolution, dt, max_range) + + # increment the beam index + theta_index += theta_index_increment + + # make sure it stays in the range [0, theta_dis) + while theta_index >= theta_dis: + theta_index -= theta_dis + + return scan + +@njit(cache=True, error_model='numpy') +def check_ttc_jit(scan, vel, scan_angles, cosines, side_distances, ttc_thresh): + """ + Checks the iTTC of each beam in a scan for collision with environment + + Args: + scan (np.ndarray(num_beams, )): current scan to check + vel (float): current velocity + scan_angles (np.ndarray(num_beams, )): precomped angles of each beam + cosines (np.ndarray(num_beams, )): precomped cosines of the scan angles + side_distances (np.ndarray(num_beams, )): precomped distances at each beam from the laser to the sides of the car + ttc_thresh (float): threshold for iTTC for collision + + Returns: + in_collision (bool): whether vehicle is in collision with environment + collision_angle (float): at which angle the collision happened + """ + in_collision = False + if vel != 0.0: + num_beams = scan.shape[0] + for i in range(num_beams): + proj_vel = vel*cosines[i] + ttc = (scan[i] - side_distances[i])/proj_vel + if (ttc < ttc_thresh) and (ttc >= 0.0): + in_collision = True + break + else: + in_collision = False + + return in_collision + +@njit(cache=True) +def cross(v1, v2): + """ + Cross product of two 2-vectors + + Args: + v1, v2 (np.ndarray(2, )): input vectors + + Returns: + crossproduct (float): cross product + """ + return v1[0]*v2[1]-v1[1]*v2[0] + +@njit(cache=True) +def are_collinear(pt_a, pt_b, pt_c): + """ + Checks if three points are collinear in 2D + + Args: + pt_a, pt_b, pt_c (np.ndarray(2, )): points to check in 2D + + Returns: + col (bool): whether three points are collinear + """ + tol = 1e-8 + ba = pt_b - pt_a + ca = pt_a - pt_c + col = np.fabs(cross(ba, ca)) < tol + return col + +@njit(cache=True) +def get_range(pose, beam_theta, va, vb): + """ + Get the distance at a beam angle to the vector formed by two of the four vertices of a vehicle + + Args: + pose (np.ndarray(3, )): pose of the scanning vehicle + beam_theta (float): angle of the current beam (world frame) + va, vb (np.ndarray(2, )): the two vertices forming an edge + + Returns: + distance (float): smallest distance at beam theta from scanning pose to edge + """ + o = pose[0:2] + v1 = o - va + v2 = vb - va + v3 = np.array([np.cos(beam_theta + np.pi/2.), np.sin(beam_theta + np.pi/2.)]) + + denom = v2.dot(v3) + distance = np.inf + + if np.fabs(denom) > 0.0: + d1 = cross(v2, v1) / denom + d2 = v1.dot(v3) / denom + if d1 >= 0.0 and d2 >= 0.0 and d2 <= 1.0: + distance = d1 + elif are_collinear(o, va, vb): + da = np.linalg.norm(va - o) + db = np.linalg.norm(vb - o) + distance = min(da, db) + + return distance + +@njit(cache=True) +def get_blocked_view_indices(pose, vertices, scan_angles): + """ + Get the indices of the start and end of blocked fov in scans by another vehicle + + Args: + pose (np.ndarray(3, )): pose of the scanning vehicle + vertices (np.ndarray(4, 2)): four vertices of a vehicle pose + scan_angles (np.ndarray(num_beams, )): corresponding beam angles + """ + # find four vectors formed by pose and 4 vertices: + vecs = vertices - pose[:2] + vec_sq = np.square(vecs) + norms = np.sqrt(vec_sq[:, 0] + vec_sq[:, 1]) + unit_vecs = vecs / norms.reshape(norms.shape[0], 1) + + # find angles between all four and pose vector + ego_x_vec = np.array([[np.cos(pose[2])], [np.sin(pose[2])]]) + + angles_with_x = np.empty((4, )) + for i in range(4): + angle = np.arctan2(ego_x_vec[1], ego_x_vec[0]) - np.arctan2(unit_vecs[i, 1], unit_vecs[i, 0]) + if angle > np.pi: + angle = angle - 2*np.pi + elif angle < -np.pi: + angle = angle + 2*np.pi + angles_with_x[i] = -angle[0] + + ind1 = int(np.argmin(np.abs(scan_angles - angles_with_x[0]))) + ind2 = int(np.argmin(np.abs(scan_angles - angles_with_x[1]))) + ind3 = int(np.argmin(np.abs(scan_angles - angles_with_x[2]))) + ind4 = int(np.argmin(np.abs(scan_angles - angles_with_x[3]))) + inds = [ind1, ind2, ind3, ind4] + return min(inds), max(inds) + + +@njit(cache=True) +def ray_cast(pose, scan, scan_angles, vertices): + """ + Modify a scan by ray casting onto another agent's four vertices + + Args: + pose (np.ndarray(3, )): pose of the vehicle performing scan + scan (np.ndarray(num_beams, )): original scan to modify + scan_angles (np.ndarray(num_beams, )): corresponding beam angles + vertices (np.ndarray(4, 2)): four vertices of a vehicle pose + + Returns: + new_scan (np.ndarray(num_beams, )): modified scan + """ + # pad vertices so loops around + looped_vertices = np.empty((5, 2)) + looped_vertices[0:4, :] = vertices + looped_vertices[4, :] = vertices[0, :] + + min_ind, max_ind = get_blocked_view_indices(pose, vertices, scan_angles) + # looping over beams + for i in range(min_ind, max_ind + 1): + # looping over vertices + for j in range(4): + # check if original scan is longer than ray casted distance + scan_range = get_range(pose, pose[2]+scan_angles[i], looped_vertices[j,:], looped_vertices[j+1,:]) + if scan_range < scan[i]: + scan[i] = scan_range + return scan + +class ScanSimulator2D(object): + """ + 2D LIDAR scan simulator class + + Init params: + num_beams (int): number of beams in the scan + fov (float): field of view of the laser scan + eps (float, default=0.0001): ray tracing iteration termination condition + theta_dis (int, default=2000): number of steps to discretize the angles between 0 and 2pi for look up + max_range (float, default=30.0): maximum range of the laser + """ + + def __init__(self, num_beams, fov, eps=0.0001, theta_dis=2000, max_range=30.0): + # initialization + self.num_beams = num_beams + self.fov = fov + self.eps = eps + self.theta_dis = theta_dis + self.max_range = max_range + self.angle_increment = self.fov / (self.num_beams - 1) + self.theta_index_increment = theta_dis * self.angle_increment / (2. * np.pi) + self.orig_c = None + self.orig_s = None + self.orig_x = None + self.orig_y = None + self.map_height = None + self.map_width = None + self.map_resolution = None + self.dt = None + + # precomputing corresponding cosines and sines of the angle array + theta_arr = np.linspace(0.0, 2*np.pi, num=theta_dis) + self.sines = np.sin(theta_arr) + self.cosines = np.cos(theta_arr) + + def set_map(self, map_path, map_ext): + """ + Set the bitmap of the scan simulator by path + + Args: + map_path (str): path to the map yaml file + map_ext (str): extension (image type) of the map image + + Returns: + flag (bool): if image reading and loading is successful + """ + # TODO: do we open the option to flip the images, and turn rgb into grayscale? or specify the exact requirements in documentation. + # TODO: throw error if image specification isn't met + + # load map image + map_img_path = os.path.splitext(map_path)[0] + map_ext + self.map_img = np.array(Image.open(map_img_path).transpose(Image.FLIP_TOP_BOTTOM)) + self.map_img = self.map_img.astype(np.float64) + + # grayscale -> binary + self.map_img[self.map_img <= 128.] = 0. + self.map_img[self.map_img > 128.] = 255. + + self.map_height = self.map_img.shape[0] + self.map_width = self.map_img.shape[1] + + # load map yaml + with open(map_path, 'r') as yaml_stream: + try: + map_metadata = yaml.safe_load(yaml_stream) + self.map_resolution = map_metadata['resolution'] + self.origin = map_metadata['origin'] + except yaml.YAMLError as ex: + print(ex) + + # calculate map parameters + self.orig_x = self.origin[0] + self.orig_y = self.origin[1] + self.orig_s = np.sin(self.origin[2]) + self.orig_c = np.cos(self.origin[2]) + + # get the distance transform + self.dt = get_dt(self.map_img, self.map_resolution) + + return True + + def scan(self, pose, rng, std_dev=0.01): + """ + Perform simulated 2D scan by pose on the given map + + Args: + pose (numpy.ndarray (3, )): pose of the scan frame (x, y, theta) + rng (numpy.random.Generator): random number generator to use for whitenoise in scan, or None + std_dev (float, default=0.01): standard deviation of the generated whitenoise in the scan + + Returns: + scan (numpy.ndarray (n, )): data array of the laserscan, n=num_beams + + Raises: + ValueError: when scan is called before a map is set + """ + + if self.map_height is None: + raise ValueError('Map is not set for scan simulator.') + + scan = get_scan(pose, self.theta_dis, self.fov, self.num_beams, self.theta_index_increment, self.sines, self.cosines, self.eps, self.orig_x, self.orig_y, self.orig_c, self.orig_s, self.map_height, self.map_width, self.map_resolution, self.dt, self.max_range) + + if rng is not None: + noise = rng.normal(0., std_dev, size=self.num_beams) + scan += noise + + return scan + + def get_increment(self): + return self.angle_increment + + +""" +Unit tests for the 2D scan simulator class +Author: Hongrui Zheng + +Test cases: + 1, 2: Comparison between generated scan array of the new simulator and the legacy C++ simulator, generated data used, MSE is used as the metric + 2. FPS test, should be greater than 500 +""" + + +class ScanTests(unittest.TestCase): + def setUp(self): + # test params + self.num_beams = 1080 + self.fov = 4.7 + + self.num_test = 10 + self.test_poses = np.zeros((self.num_test, 3)) + self.test_poses[:, 2] = np.linspace(-1., 1., num=self.num_test) + + # # legacy gym data + # sample_scan = np.load('legacy_scan.npz') + # self.berlin_scan = sample_scan['berlin'] + # self.skirk_scan = sample_scan['skirk'] + + # def test_map_berlin(self): + # scan_rng = np.random.default_rng(seed=12345) + # scan_sim = ScanSimulator2D(self.num_beams, self.fov) + # new_berlin = np.empty((self.num_test, self.num_beams)) + # map_path = '../../../maps/berlin.yaml' + # map_ext = '.png' + # scan_sim.set_map(map_path, map_ext) + # # scan gen loop + # for i in range(self.num_test): + # test_pose = self.test_poses[i] + # new_berlin[i,:] = scan_sim.scan(test_pose, scan_rng) + # diff = self.berlin_scan - new_berlin + # mse = np.mean(diff**2) + # # print('Levine distance test, norm: ' + str(norm)) + + # # plotting + # import matplotlib.pyplot as plt + # theta = np.linspace(-self.fov/2., self.fov/2., num=self.num_beams) + # plt.polar(theta, new_berlin[1,:], '.', lw=0) + # plt.polar(theta, self.berlin_scan[1,:], '.', lw=0) + # plt.show() + + # self.assertLess(mse, 2.) + + # def test_map_skirk(self): + # scan_rng = np.random.default_rng(seed=12345) + # scan_sim = ScanSimulator2D(self.num_beams, self.fov) + # new_skirk = np.empty((self.num_test, self.num_beams)) + # map_path = '../../../maps/skirk.yaml' + # map_ext = '.png' + # scan_sim.set_map(map_path, map_ext) + # print('map set') + # # scan gen loop + # for i in range(self.num_test): + # test_pose = self.test_poses[i] + # new_skirk[i,:] = scan_sim.scan(test_pose, scan_rng) + # diff = self.skirk_scan - new_skirk + # mse = np.mean(diff**2) + # print('skirk distance test, mse: ' + str(mse)) + + # # plotting + # import matplotlib.pyplot as plt + # theta = np.linspace(-self.fov/2., self.fov/2., num=self.num_beams) + # plt.polar(theta, new_skirk[1,:], '.', lw=0) + # plt.polar(theta, self.skirk_scan[1,:], '.', lw=0) + # plt.show() + + # self.assertLess(mse, 2.) + + def test_fps(self): + # scan fps should be greater than 500 + + scan_rng = np.random.default_rng(seed=12345) + scan_sim = ScanSimulator2D(self.num_beams, self.fov) + map_path = '../envs/maps/berlin.yaml' + map_ext = '.png' + scan_sim.set_map(map_path, map_ext) + + import time + start = time.time() + for i in range(10000): + x_test = i/10000 + scan = scan_sim.scan(np.array([x_test, 0., 0.]), scan_rng) + end = time.time() + fps = 10000/(end-start) + # print('FPS test') + # print('Elapsed time: ' + str(end-start) + ' , FPS: ' + str(1/fps)) + self.assertGreater(fps, 500.) + + def test_rng(self): + num_beams = 1080 + fov = 4.7 + map_path = '../envs/maps/berlin.yaml' + map_ext = '.png' + it = 100 + + scan_rng = np.random.default_rng(seed=12345) + scan_sim = ScanSimulator2D(num_beams, fov) + scan_sim.set_map(map_path, map_ext) + scan1 = scan_sim.scan(np.array([0., 0., 0.]), scan_rng) + scan2 = scan_sim.scan(np.array([0., 0., 0.]), scan_rng) + for i in range(it): + scan3 = scan_sim.scan(np.array([0., 0., 0.]), scan_rng) + scan4 = scan_sim.scan(np.array([0., 0., 0.]), scan_rng) + + scan_rng = np.random.default_rng(seed=12345) + scan5 = scan_sim.scan(np.array([0., 0., 0.]), scan_rng) + scan2 = scan_sim.scan(np.array([0., 0., 0.]), scan_rng) + for i in range(it): + _ = scan_sim.scan(np.array([0., 0., 0.]), scan_rng) + scan6 = scan_sim.scan(np.array([0., 0., 0.]), scan_rng) + + self.assertTrue(np.allclose(scan1, scan5)) + self.assertFalse(np.allclose(scan1, scan2)) + self.assertFalse(np.allclose(scan1, scan3)) + self.assertTrue(np.allclose(scan4, scan6)) + + +def main(): + num_beams = 1080 + fov = 4.7 + # map_path = '../envs/maps/berlin.yaml' + map_path = '../../../examples/example_map.yaml' + map_ext = '.png' + scan_rng = np.random.default_rng(seed=12345) + scan_sim = ScanSimulator2D(num_beams, fov) + scan_sim.set_map(map_path, map_ext) + scan = scan_sim.scan(np.array([0., 0., 0.]), scan_rng) + + # fps test + import time + start = time.time() + for i in range(10000): + x_test = i/10000 + scan = scan_sim.scan(np.array([x_test, 0., 0.]), scan_rng) + end = time.time() + fps = (end-start)/10000 + print('FPS test') + print('Elapsed time: ' + str(end-start) + ' , FPS: ' + str(1/fps)) + + # visualization + import matplotlib.pyplot as plt + from matplotlib.animation import FuncAnimation + num_iter = 100 + theta = np.linspace(-fov/2., fov/2., num=num_beams) + fig = plt.figure() + ax = fig.add_subplot(111, projection='polar') + ax.set_ylim(0, 31) + line, = ax.plot([], [], '.', lw=0) + def update(i): + # x_ani = i * 3. / num_iter + theta_ani = -i * 2 * np.pi / num_iter + x_ani = 0. + current_scan = scan_sim.scan(np.array([x_ani, 0., theta_ani]), scan_rng) + print(np.max(current_scan)) + line.set_data(theta, current_scan) + return line, + ani = FuncAnimation(fig, update, frames=num_iter, blit=True) + plt.show() + +if __name__ == '__main__': + unittest.main() + #main() + + # import time + # pt_a = np.array([1., 1.]) + # pt_b = np.array([1., 2.]) + # pt_c = np.array([1., 3.]) + # col = are_collinear(pt_a, pt_b, pt_c) + # print(col) + + # pose = np.array([0., 0., -1.]) + # beam_theta = 0. + # start = time.time() + # dist = get_range(pose, beam_theta, pt_a, pt_b) + # print(dist, time.time()-start) + + # num_beams = 1080 + # scan = 100.*np.ones((num_beams, )) + # scan_angles = np.linspace(-2.35, 2.35, num=num_beams) + # assert scan.shape[0] == scan_angles.shape[0] + # vertices = np.asarray([[4,11.],[5,5],[9,9],[10,10]]) + # start = time.time() + # new_scan = ray_cast(pose, scan, scan_angles, vertices) + # print(time.time()-start) diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/gym/f110_gym/envs/maps/berlin.png b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/gym/f110_gym/envs/maps/berlin.png new file mode 100644 index 0000000..071a0d1 Binary files /dev/null and b/ROS 2 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\ No newline at end of file diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/gym/f110_gym/envs/maps/levine.yaml b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/gym/f110_gym/envs/maps/levine.yaml new file mode 100644 index 0000000..b944592 --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/gym/f110_gym/envs/maps/levine.yaml @@ -0,0 +1,7 @@ +image: levine.png +resolution: 0.050000 +origin: [-51.224998, -51.224998, 0.000000] +negate: 0 +occupied_thresh: 0.65 +free_thresh: 0.196 + diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/gym/f110_gym/envs/maps/skirk.png b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/gym/f110_gym/envs/maps/skirk.png new file mode 100644 index 0000000..95f7d88 Binary files /dev/null and b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/gym/f110_gym/envs/maps/skirk.png differ diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/gym/f110_gym/envs/maps/skirk.yaml b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/gym/f110_gym/envs/maps/skirk.yaml new file mode 100644 index 0000000..c7d284b --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/gym/f110_gym/envs/maps/skirk.yaml @@ -0,0 +1,7 @@ +image: skirk.png +resolution: 0.050000 +origin: [-7.801, -16.388, 0.000000] +negate: 0 +occupied_thresh: 0.65 +free_thresh: 0.196 + diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/gym/f110_gym/envs/maps/stata_basement.png b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/gym/f110_gym/envs/maps/stata_basement.png new file mode 100644 index 0000000..a88604b Binary files /dev/null and b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/gym/f110_gym/envs/maps/stata_basement.png differ diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/gym/f110_gym/envs/maps/stata_basement.yaml b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/gym/f110_gym/envs/maps/stata_basement.yaml new file mode 100644 index 0000000..f6c62fb --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/gym/f110_gym/envs/maps/stata_basement.yaml @@ -0,0 +1,6 @@ +image: stata_basement.png +resolution: 0.0504 +origin: [-26.900000, -16.50000, 0.0] +negate: 0 +occupied_thresh: 0.65 +free_thresh: 0.196 diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/gym/f110_gym/envs/maps/vegas.png b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/gym/f110_gym/envs/maps/vegas.png new file mode 100644 index 0000000..ee2599e Binary files /dev/null and b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/gym/f110_gym/envs/maps/vegas.png differ diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/gym/f110_gym/envs/maps/vegas.yaml b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/gym/f110_gym/envs/maps/vegas.yaml new file mode 100644 index 0000000..b0acfb2 --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/gym/f110_gym/envs/maps/vegas.yaml @@ -0,0 +1,7 @@ +image: vegas.png +resolution: 0.050000 +origin: [-11.606540, -27.320793, 0.000000] +negate: 0 +occupied_thresh: 0.65 +free_thresh: 0.196 + diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/gym/f110_gym/envs/rendering.py b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/gym/f110_gym/envs/rendering.py new file mode 100644 index 0000000..8d8ba1a --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/gym/f110_gym/envs/rendering.py @@ -0,0 +1,336 @@ +# MIT License + +# Copyright (c) 2020 Joseph Auckley, Matthew O'Kelly, Aman Sinha, Hongrui Zheng + +# Permission is hereby granted, free of charge, to any person obtaining a copy +# of this software and associated documentation files (the "Software"), to deal +# in the Software without restriction, including without limitation the rights +# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +# copies of the Software, and to permit persons to whom the Software is +# furnished to do so, subject to the following conditions: + +# The above copyright notice and this permission notice shall be included in all +# copies or substantial portions of the Software. + +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +# SOFTWARE. + + + +""" +Rendering engine for f1tenth gym env based on pyglet and OpenGL +Author: Hongrui Zheng +""" + +# opengl stuff +import pyglet +from pyglet.gl import * + +# other +import numpy as np +from PIL import Image +import yaml + +# helpers +from f110_gym.envs.collision_models import get_vertices + +# zooming constants +ZOOM_IN_FACTOR = 1.2 +ZOOM_OUT_FACTOR = 1/ZOOM_IN_FACTOR + +# vehicle shape constants +CAR_LENGTH = 0.58 +CAR_WIDTH = 0.31 + +class EnvRenderer(pyglet.window.Window): + """ + A window class inherited from pyglet.window.Window, handles the camera/projection interaction, resizing window, and rendering the environment + """ + def __init__(self, width, height, *args, **kwargs): + """ + Class constructor + + Args: + width (int): width of the window + height (int): height of the window + + Returns: + None + """ + conf = Config(sample_buffers=1, + samples=4, + depth_size=16, + double_buffer=True) + super().__init__(width, height, config=conf, resizable=True, vsync=False, *args, **kwargs) + + # gl init + glClearColor(9/255, 32/255, 87/255, 1.) + + # initialize camera values + self.left = -width/2 + self.right = width/2 + self.bottom = -height/2 + self.top = height/2 + self.zoom_level = 1.2 + self.zoomed_width = width + self.zoomed_height = height + + # current batch that keeps track of all graphics + self.batch = pyglet.graphics.Batch() + + # current env map + self.map_points = None + + # current env agent poses, (num_agents, 3), columns are (x, y, theta) + self.poses = None + + # current env agent vertices, (num_agents, 4, 2), 2nd and 3rd dimensions are the 4 corners in 2D + self.vertices = None + + # current score label + self.score_label = pyglet.text.Label( + 'Lap Time: {laptime:.2f}, Ego Lap Count: {count:.0f}'.format( + laptime=0.0, count=0.0), + font_size=36, + x=0, + y=-800, + anchor_x='center', + anchor_y='center', + # width=0.01, + # height=0.01, + color=(255, 255, 255, 255), + batch=self.batch) + + self.fps_display = pyglet.window.FPSDisplay(self) + + def update_map(self, map_path, map_ext): + """ + Update the map being drawn by the renderer. Converts image to a list of 3D points representing each obstacle pixel in the map. + + Args: + map_path (str): absolute path to the map without extensions + map_ext (str): extension for the map image file + + Returns: + None + """ + + # load map metadata + with open(map_path + '.yaml', 'r') as yaml_stream: + try: + map_metadata = yaml.safe_load(yaml_stream) + map_resolution = map_metadata['resolution'] + origin = map_metadata['origin'] + origin_x = origin[0] + origin_y = origin[1] + except yaml.YAMLError as ex: + print(ex) + + # load map image + map_img = np.array(Image.open(map_path + map_ext).transpose(Image.FLIP_TOP_BOTTOM)).astype(np.float64) + map_height = map_img.shape[0] + map_width = map_img.shape[1] + + # convert map pixels to coordinates + range_x = np.arange(map_width) + range_y = np.arange(map_height) + map_x, map_y = np.meshgrid(range_x, range_y) + map_x = (map_x * map_resolution + origin_x).flatten() + map_y = (map_y * map_resolution + origin_y).flatten() + map_z = np.zeros(map_y.shape) + map_coords = np.vstack((map_x, map_y, map_z)) + + # mask and only leave the obstacle points + map_mask = map_img == 0.0 + map_mask_flat = map_mask.flatten() + map_points = 50. * map_coords[:, map_mask_flat].T + for i in range(map_points.shape[0]): + self.batch.add(1, GL_POINTS, None, ('v3f/stream', [map_points[i, 0], map_points[i, 1], map_points[i, 2]]), ('c3B/stream', [183, 193, 222])) + self.map_points = map_points + + def on_resize(self, width, height): + """ + Callback function on window resize, overrides inherited method, and updates camera values on top of the inherited on_resize() method. + + Potential improvements on current behavior: zoom/pan resets on window resize. + + Args: + width (int): new width of window + height (int): new height of window + + Returns: + None + """ + + # call overrided function + super().on_resize(width, height) + + # update camera value + (width, height) = self.get_size() + self.left = -self.zoom_level * width/2 + self.right = self.zoom_level * width/2 + self.bottom = -self.zoom_level * height/2 + self.top = self.zoom_level * height/2 + self.zoomed_width = self.zoom_level * width + self.zoomed_height = self.zoom_level * height + + def on_mouse_drag(self, x, y, dx, dy, buttons, modifiers): + """ + Callback function on mouse drag, overrides inherited method. + + Args: + x (int): Distance in pixels from the left edge of the window. + y (int): Distance in pixels from the bottom edge of the window. + dx (int): Relative X position from the previous mouse position. + dy (int): Relative Y position from the previous mouse position. + buttons (int): Bitwise combination of the mouse buttons currently pressed. + modifiers (int): Bitwise combination of any keyboard modifiers currently active. + + Returns: + None + """ + + # pan camera + self.left -= dx * self.zoom_level + self.right -= dx * self.zoom_level + self.bottom -= dy * self.zoom_level + self.top -= dy * self.zoom_level + + def on_mouse_scroll(self, x, y, dx, dy): + """ + Callback function on mouse scroll, overrides inherited method. + + Args: + x (int): Distance in pixels from the left edge of the window. + y (int): Distance in pixels from the bottom edge of the window. + scroll_x (float): Amount of movement on the horizontal axis. + scroll_y (float): Amount of movement on the vertical axis. + + Returns: + None + """ + + # Get scale factor + f = ZOOM_IN_FACTOR if dy > 0 else ZOOM_OUT_FACTOR if dy < 0 else 1 + + # If zoom_level is in the proper range + if .01 < self.zoom_level * f < 10: + + self.zoom_level *= f + + (width, height) = self.get_size() + + mouse_x = x/width + mouse_y = y/height + + mouse_x_in_world = self.left + mouse_x*self.zoomed_width + mouse_y_in_world = self.bottom + mouse_y*self.zoomed_height + + self.zoomed_width *= f + self.zoomed_height *= f + + self.left = mouse_x_in_world - mouse_x * self.zoomed_width + self.right = mouse_x_in_world + (1 - mouse_x) * self.zoomed_width + self.bottom = mouse_y_in_world - mouse_y * self.zoomed_height + self.top = mouse_y_in_world + (1 - mouse_y) * self.zoomed_height + + def on_close(self): + """ + Callback function when the 'x' is clicked on the window, overrides inherited method. Also throws exception to end the python program when in a loop. + + Args: + None + + Returns: + None + + Raises: + Exception: with a message that indicates the rendering window was closed + """ + + super().on_close() + raise Exception('Rendering window was closed.') + + def on_draw(self): + """ + Function when the pyglet is drawing. The function draws the batch created that includes the map points, the agent polygons, and the information text, and the fps display. + + Args: + None + + Returns: + None + """ + + # if map and poses doesn't exist, raise exception + if self.map_points is None: + raise Exception('Map not set for renderer.') + if self.poses is None: + raise Exception('Agent poses not updated for renderer.') + + # Initialize Projection matrix + glMatrixMode(GL_PROJECTION) + glLoadIdentity() + + # Initialize Modelview matrix + glMatrixMode(GL_MODELVIEW) + glLoadIdentity() + # Save the default modelview matrix + glPushMatrix() + + # Clear window with ClearColor + glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT) + + # Set orthographic projection matrix + glOrtho(self.left, self.right, self.bottom, self.top, 1, -1) + + # Draw all batches + self.batch.draw() + self.fps_display.draw() + # Remove default modelview matrix + glPopMatrix() + + def update_obs(self, obs): + """ + Updates the renderer with the latest observation from the gym environment, including the agent poses, and the information text. + + Args: + obs (dict): observation dict from the gym env + + Returns: + None + """ + + self.ego_idx = obs['ego_idx'] + poses_x = obs['poses_x'] + poses_y = obs['poses_y'] + poses_theta = obs['poses_theta'] + + num_agents = len(poses_x) + if self.poses is None: + self.cars = [] + for i in range(num_agents): + if i == self.ego_idx: + vertices_np = get_vertices(np.array([0., 0., 0.]), CAR_LENGTH, CAR_WIDTH) + vertices = list(vertices_np.flatten()) + car = self.batch.add(4, GL_QUADS, None, ('v2f', vertices), ('c3B', [172, 97, 185, 172, 97, 185, 172, 97, 185, 172, 97, 185])) + self.cars.append(car) + else: + vertices_np = get_vertices(np.array([0., 0., 0.]), CAR_LENGTH, CAR_WIDTH) + vertices = list(vertices_np.flatten()) + car = self.batch.add(4, GL_QUADS, None, ('v2f', vertices), ('c3B', [99, 52, 94, 99, 52, 94, 99, 52, 94, 99, 52, 94])) + self.cars.append(car) + + poses = np.stack((poses_x, poses_y, poses_theta)).T + for j in range(poses.shape[0]): + vertices_np = 50. * get_vertices(poses[j, :], CAR_LENGTH, CAR_WIDTH) + vertices = list(vertices_np.flatten()) + self.cars[j].vertices = vertices + self.poses = poses + + self.score_label.text = 'Lap Time: {laptime:.2f}, Ego Lap Count: {count:.0f}'.format(laptime=obs['lap_times'][0], count=obs['lap_counts'][obs['ego_idx']]) \ No newline at end of file diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/gym/f110_gym/unittest/__init__.py b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/gym/f110_gym/unittest/__init__.py new file mode 100644 index 0000000..53d19b7 --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/gym/f110_gym/unittest/__init__.py @@ -0,0 +1 @@ +from gym.envs.unittest.scan_sim import * \ No newline at end of file diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/gym/f110_gym/unittest/collision_checks.py b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/gym/f110_gym/unittest/collision_checks.py new file mode 100644 index 0000000..c5c86f0 --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/gym/f110_gym/unittest/collision_checks.py @@ -0,0 +1,296 @@ +# MIT License + +# Copyright (c) 2020 Joseph Auckley, Matthew O'Kelly, Aman Sinha, Hongrui Zheng + +# Permission is hereby granted, free of charge, to any person obtaining a copy +# of this software and associated documentation files (the "Software"), to deal +# in the Software without restriction, including without limitation the rights +# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +# copies of the Software, and to permit persons to whom the Software is +# furnished to do so, subject to the following conditions: + +# The above copyright notice and this permission notice shall be included in all +# copies or substantial portions of the Software. + +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +# SOFTWARE. + + + +""" +Prototype of Utility functions and GJK algorithm for Collision checks between vehicles +Originally from https://github.com/kroitor/gjk.c +Author: Hongrui Zheng +""" + +import numpy as np +from numba import njit + +@njit(cache=True) +def perpendicular(pt): + """ + Return a 2-vector's perpendicular vector + + Args: + pt (np.ndarray, (2,)): input vector + + Returns: + pt (np.ndarray, (2,)): perpendicular vector + """ + temp = pt[0] + pt[0] = pt[1] + pt[1] = -1*temp + return pt + + +@njit(cache=True) +def tripleProduct(a, b, c): + """ + Return triple product of three vectors + + Args: + a, b, c (np.ndarray, (2,)): input vectors + + Returns: + (np.ndarray, (2,)): triple product + """ + ac = a.dot(c) + bc = b.dot(c) + return b*ac - a*bc + + +@njit(cache=True) +def avgPoint(vertices): + """ + Return the average point of multiple vertices + + Args: + vertices (np.ndarray, (n, 2)): the vertices we want to find avg on + + Returns: + avg (np.ndarray, (2,)): average point of the vertices + """ + return np.sum(vertices, axis=0)/vertices.shape[0] + + +@njit(cache=True) +def indexOfFurthestPoint(vertices, d): + """ + Return the index of the vertex furthest away along a direction in the list of vertices + + Args: + vertices (np.ndarray, (n, 2)): the vertices we want to find avg on + + Returns: + idx (int): index of the furthest point + """ + return np.argmax(vertices.dot(d)) + + +@njit(cache=True) +def support(vertices1, vertices2, d): + """ + Minkowski sum support function for GJK + + Args: + vertices1 (np.ndarray, (n, 2)): vertices of the first body + vertices2 (np.ndarray, (n, 2)): vertices of the second body + d (np.ndarray, (2, )): direction to find the support along + + Returns: + support (np.ndarray, (n, 2)): Minkowski sum + """ + i = indexOfFurthestPoint(vertices1, d) + j = indexOfFurthestPoint(vertices2, -d) + return vertices1[i] - vertices2[j] + + +@njit(cache=True) +def collision(vertices1, vertices2): + """ + GJK test to see whether two bodies overlap + + Args: + vertices1 (np.ndarray, (n, 2)): vertices of the first body + vertices2 (np.ndarray, (n, 2)): vertices of the second body + + Returns: + overlap (boolean): True if two bodies collide + """ + index = 0 + simplex = np.empty((3, 2)) + + position1 = avgPoint(vertices1) + position2 = avgPoint(vertices2) + + d = position1 - position2 + + if d[0] == 0 and d[1] == 0: + d[0] = 1.0 + + a = support(vertices1, vertices2, d) + simplex[index, :] = a + + if d.dot(a) <= 0: + return False + + d = -a + + iter_count = 0 + while iter_count < 1e3: + a = support(vertices1, vertices2, d) + index += 1 + simplex[index, :] = a + if d.dot(a) <= 0: + return False + + ao = -a + + if index < 2: + b = simplex[0, :] + ab = b-a + d = tripleProduct(ab, ao, ab) + if np.linalg.norm(d) < 1e-10: + d = perpendicular(ab) + continue + + b = simplex[1, :] + c = simplex[0, :] + ab = b-a + ac = c-a + + acperp = tripleProduct(ab, ac, ac) + + if acperp.dot(ao) >= 0: + d = acperp + else: + abperp = tripleProduct(ac, ab, ab) + if abperp.dot(ao) < 0: + return True + simplex[0, :] = simplex[1, :] + d = abperp + + simplex[1, :] = simplex[2, :] + index -= 1 + + iter_count += 1 + return False + +""" +Utility functions for getting vertices by pose and shape +""" + +@njit(cache=True) +def get_trmtx(pose): + """ + Get transformation matrix of vehicle frame -> global frame + + Args: + pose (np.ndarray (3, )): current pose of the vehicle + + return: + H (np.ndarray (4, 4)): transformation matrix + """ + x = pose[0] + y = pose[1] + th = pose[2] + cos = np.cos(th) + sin = np.sin(th) + H = np.array([[cos, -sin, 0., x], [sin, cos, 0., y], [0., 0., 1., 0.], [0., 0., 0., 1.]]) + return H + +@njit(cache=True) +def get_vertices(pose, length, width): + """ + Utility function to return vertices of the car body given pose and size + + Args: + pose (np.ndarray, (3, )): current world coordinate pose of the vehicle + length (float): car length + width (float): car width + + Returns: + vertices (np.ndarray, (4, 2)): corner vertices of the vehicle body + """ + H = get_trmtx(pose) + rl = H.dot(np.asarray([[-length/2],[width/2],[0.], [1.]])).flatten() + rr = H.dot(np.asarray([[-length/2],[-width/2],[0.], [1.]])).flatten() + fl = H.dot(np.asarray([[length/2],[width/2],[0.], [1.]])).flatten() + fr = H.dot(np.asarray([[length/2],[-width/2],[0.], [1.]])).flatten() + rl = rl/rl[3] + rr = rr/rr[3] + fl = fl/fl[3] + fr = fr/fr[3] + vertices = np.asarray([[rl[0], rl[1]], [rr[0], rr[1]], [fr[0], fr[1]], [fl[0], fl[1]]]) + return vertices + + +""" +Unit tests for GJK collision checks +Author: Hongrui Zheng +""" + +import time +import unittest + +class CollisionTests(unittest.TestCase): + def setUp(self): + # test params + np.random.seed(1234) + + # Collision check body + self.vertices1 = np.asarray([[4,11.],[5,5],[9,9],[10,10]]) + + # car size + self.length = 0.32 + self.width = 0.22 + + def test_get_vert(self): + test_pose = np.array([2.3, 6.7, 0.8]) + vertices = get_vertices(test_pose, self.length, self.width) + rect = np.vstack((vertices, vertices[0,:])) + import matplotlib.pyplot as plt + plt.scatter(test_pose[0], test_pose[1], c='red') + plt.plot(rect[:, 0], rect[:, 1]) + plt.xlim([1, 4]) + plt.ylim([5, 8]) + plt.axes().set_aspect('equal') + plt.show() + self.assertTrue(vertices.shape == (4, 2)) + + def test_get_vert_fps(self): + test_pose = np.array([2.3, 6.7, 0.8]) + start = time.time() + for _ in range(1000): + vertices = get_vertices(test_pose, self.length, self.width) + elapsed = time.time() - start + fps = 1000/elapsed + print('get vertices fps:', fps) + self.assertTrue(fps>500) + + def test_random_collision(self): + # perturb the body by a small amount and make sure it all collides with the original body + for _ in range(1000): + a = self.vertices1 + np.random.normal(size=(self.vertices1.shape))/100. + b = self.vertices1 + np.random.normal(size=(self.vertices1.shape))/100. + self.assertTrue(collision(a,b)) + + def test_fps(self): + # also perturb the body but mainly want to test GJK speed + start = time.time() + for _ in range(1000): + a = self.vertices1 + np.random.normal(size=(self.vertices1.shape))/100. + b = self.vertices1 + np.random.normal(size=(self.vertices1.shape))/100. + collision(a, b) + elapsed = time.time() - start + fps = 1000/elapsed + print('gjk fps:', fps) + self.assertTrue(fps>500) + +if __name__ == '__main__': + unittest.main() \ No newline at end of file diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/gym/f110_gym/unittest/dynamics_test.py b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/gym/f110_gym/unittest/dynamics_test.py new file mode 100644 index 0000000..8eb1682 --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/gym/f110_gym/unittest/dynamics_test.py @@ -0,0 +1,396 @@ +# Copyright 2020 Technical University of Munich, Professorship of Cyber-Physical Systems, Matthew O'Kelly, Aman Sinha, Hongrui Zheng + +# Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: + +# 1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. + +# 2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. + +# 3. Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission. + +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + + + +""" +Prototype of vehicle dynamics functions and classes for simulating 2D Single +Track dynamic model +Following the implementation of commanroad's Single Track Dynamics model +Original implementation: https://gitlab.lrz.de/tum-cps/commonroad-vehicle-models/ +Author: Hongrui Zheng +""" + +import numpy as np +from numba import njit + +import unittest +import time + +@njit(cache=True) +def accl_constraints(vel, accl, v_switch, a_max, v_min, v_max): + """ + Acceleration constraints, adjusts the acceleration based on constraints + + Args: + vel (float): current velocity of the vehicle + accl (float): unconstraint desired acceleration + v_switch (float): switching velocity (velocity at which the acceleration is no longer able to create wheel spin) + a_max (float): maximum allowed acceleration + v_min (float): minimum allowed velocity + v_max (float): maximum allowed velocity + + Returns: + accl (float): adjusted acceleration + """ + + # positive accl limit + if vel > v_switch: + pos_limit = a_max*v_switch/vel + else: + pos_limit = a_max + + # accl limit reached? + if (vel <= v_min and accl <= 0) or (vel >= v_max and accl >= 0): + accl = 0. + elif accl <= -a_max: + accl = -a_max + elif accl >= pos_limit: + accl = pos_limit + + return accl + +@njit(cache=True) +def steering_constraint(steering_angle, steering_velocity, s_min, s_max, sv_min, sv_max): + """ + Steering constraints, adjusts the steering velocity based on constraints + + Args: + steering_angle (float): current steering_angle of the vehicle + steering_velocity (float): unconstraint desired steering_velocity + s_min (float): minimum steering angle + s_max (float): maximum steering angle + sv_min (float): minimum steering velocity + sv_max (float): maximum steering velocity + + Returns: + steering_velocity (float): adjusted steering velocity + """ + + # constraint steering velocity + if (steering_angle <= s_min and steering_velocity <= 0) or (steering_angle >= s_max and steering_velocity >= 0): + steering_velocity = 0. + elif steering_velocity <= sv_min: + steering_velocity = sv_min + elif steering_velocity >= sv_max: + steering_velocity = sv_max + + return steering_velocity + + +@njit(cache=True) +def vehicle_dynamics_ks(x, u_init, mu, C_Sf, C_Sr, lf, lr, h, m, I, s_min, s_max, sv_min, sv_max, v_switch, a_max, v_min, v_max): + """ + Single Track Kinematic Vehicle Dynamics. + + Args: + x (numpy.ndarray (3, )): vehicle state vector (x1, x2, x3, x4, x5) + x1: x position in global coordinates + x2: y position in global coordinates + x3: steering angle of front wheels + x4: velocity in x direction + x5: yaw angle + u (numpy.ndarray (2, )): control input vector (u1, u2) + u1: steering angle velocity of front wheels + u2: longitudinal acceleration + + Returns: + f (numpy.ndarray): right hand side of differential equations + """ + # wheelbase + lwb = lf + lr + + # constraints + u = np.array([steering_constraint(x[2], u_init[0], s_min, s_max, sv_min, sv_max), accl_constraints(x[3], u_init[1], v_switch, a_max, v_min, v_max)]) + + # system dynamics + f = np.array([x[3]*np.cos(x[4]), + x[3]*np.sin(x[4]), + u[0], + u[1], + x[3]/lwb*np.tan(x[2])]) + return f + +@njit(cache=True) +def vehicle_dynamics_st(x, u_init, mu, C_Sf, C_Sr, lf, lr, h, m, I, s_min, s_max, sv_min, sv_max, v_switch, a_max, v_min, v_max): + """ + Single Track Dynamic Vehicle Dynamics. + + Args: + x (numpy.ndarray (3, )): vehicle state vector (x1, x2, x3, x4, x5, x6, x7) + x1: x position in global coordinates + x2: y position in global coordinates + x3: steering angle of front wheels + x4: velocity in x direction + x5: yaw angle + x6: yaw rate + x7: slip angle at vehicle center + u (numpy.ndarray (2, )): control input vector (u1, u2) + u1: steering angle velocity of front wheels + u2: longitudinal acceleration + + Returns: + f (numpy.ndarray): right hand side of differential equations + """ + + # gravity constant m/s^2 + g = 9.81 + + # constraints + u = np.array([steering_constraint(x[2], u_init[0], s_min, s_max, sv_min, sv_max), accl_constraints(x[3], u_init[1], v_switch, a_max, v_min, v_max)]) + + # switch to kinematic model for small velocities + if abs(x[3]) < 0.1: + # wheelbase + lwb = lf + lr + + # system dynamics + x_ks = x[0:5] + f_ks = vehicle_dynamics_ks(x_ks, u, mu, C_Sf, C_Sr, lf, lr, h, m, I, s_min, s_max, sv_min, sv_max, v_switch, a_max, v_min, v_max) + f = np.hstack((f_ks, np.array([u[1]/lwb*np.tan(x[2])+x[3]/(lwb*np.cos(x[2])**2)*u[0], + 0]))) + + else: + # system dynamics + f = np.array([x[3]*np.cos(x[6] + x[4]), + x[3]*np.sin(x[6] + x[4]), + u[0], + u[1], + x[5], + -mu*m/(x[3]*I*(lr+lf))*(lf**2*C_Sf*(g*lr-u[1]*h) + lr**2*C_Sr*(g*lf + u[1]*h))*x[5] \ + +mu*m/(I*(lr+lf))*(lr*C_Sr*(g*lf + u[1]*h) - lf*C_Sf*(g*lr - u[1]*h))*x[6] \ + +mu*m/(I*(lr+lf))*lf*C_Sf*(g*lr - u[1]*h)*x[2], + (mu/(x[3]**2*(lr+lf))*(C_Sr*(g*lf + u[1]*h)*lr - C_Sf*(g*lr - u[1]*h)*lf)-1)*x[5] \ + -mu/(x[3]*(lr+lf))*(C_Sr*(g*lf + u[1]*h) + C_Sf*(g*lr-u[1]*h))*x[6] \ + +mu/(x[3]*(lr+lf))*(C_Sf*(g*lr-u[1]*h))*x[2]]) + + return f + +@njit(cache=True) +def pid(speed, steer): + """ + Basic controller for speed/steer -> accl./steer vel. + + Args: + speed (float): desired input speed + steer (float): desired input steering angle + + Returns: + accl (float): desired input acceleration + sv (float): desired input steering velocity + """ + return + +def func_KS(x, t, u, mu, C_Sf, C_Sr, lf, lr, h, m, I, s_min, s_max, sv_min, sv_max, v_switch, a_max, v_min, v_max): + f = vehicle_dynamics_ks(x, u, mu, C_Sf, C_Sr, lf, lr, h, m, I, s_min, s_max, sv_min, sv_max, v_switch, a_max, v_min, v_max) + return f + +def func_ST(x, t, u, mu, C_Sf, C_Sr, lf, lr, h, m, I, s_min, s_max, sv_min, sv_max, v_switch, a_max, v_min, v_max): + f = vehicle_dynamics_st(x, u, mu, C_Sf, C_Sr, lf, lr, h, m, I, s_min, s_max, sv_min, sv_max, v_switch, a_max, v_min, v_max) + return f + +class DynamicsTest(unittest.TestCase): + def setUp(self): + # test params + self.mu = 1.0489 + self.C_Sf = 21.92/1.0489 + self.C_Sr = 21.92/1.0489 + self.lf = 0.3048*3.793293 + self.lr = 0.3048*4.667707 + self.h = 0.3048*2.01355 + self.m = 4.4482216152605/0.3048*74.91452 + self.I = 4.4482216152605*0.3048*1321.416 + + #steering constraints + self.s_min = -1.066 #minimum steering angle [rad] + self.s_max = 1.066 #maximum steering angle [rad] + self.sv_min = -0.4 #minimum steering velocity [rad/s] + self.sv_max = 0.4 #maximum steering velocity [rad/s] + + #longitudinal constraints + self.v_min = -13.6 #minimum velocity [m/s] + self.v_max = 50.8 #minimum velocity [m/s] + self.v_switch = 7.319 #switching velocity [m/s] + self.a_max = 11.5 #maximum absolute acceleration [m/s^2] + + def test_derivatives(self): + # ground truth derivatives + f_ks_gt = [16.3475935934250209, 0.4819314886013121, 0.1500000000000000, 5.1464424102339752, 0.2401426578627629] + f_st_gt = [15.7213512030862397, 0.0925527979719355, 0.1500000000000000, 5.3536773276413925, 0.0529001056654038, 0.6435589397748606, 0.0313297971641291] + + # system dynamics + g = 9.81 + x_ks = np.array([3.9579422297936526, 0.0391650102771405, 0.0378491427211811, 16.3546957860883566, 0.0294717351052816]) + x_st = np.array([2.0233348142065677, 0.0041907137716636, 0.0197545248559617, 15.7216236334290116, 0.0025857914776859, 0.0529001056654038, 0.0033012170610298]) + v_delta = 0.15 + acc = 0.63*g + u = np.array([v_delta, acc]) + + f_ks = vehicle_dynamics_ks(x_ks, u, self.mu, self.C_Sf, self.C_Sr, self.lf, self.lr, self.h, self.m, self.I, self.s_min, self.s_max, self.sv_min, self.sv_max, self.v_switch, self.a_max, self.v_min, self.v_max) + f_st = vehicle_dynamics_st(x_st, u, self.mu, self.C_Sf, self.C_Sr, self.lf, self.lr, self.h, self.m, self.I, self.s_min, self.s_max, self.sv_min, self.sv_max, self.v_switch, self.a_max, self.v_min, self.v_max) + + start = time.time() + for i in range(10000): + f_st = vehicle_dynamics_st(x_st, u, self.mu, self.C_Sf, self.C_Sr, self.lf, self.lr, self.h, self.m, self.I, self.s_min, self.s_max, self.sv_min, self.sv_max, self.v_switch, self.a_max, self.v_min, self.v_max) + duration = time.time() - start + avg_fps = 10000/duration + + self.assertAlmostEqual(np.max(np.abs(f_ks_gt-f_ks)), 0.) + self.assertAlmostEqual(np.max(np.abs(f_st_gt-f_st)), 0.) + self.assertGreater(avg_fps, 5000) + + def test_zeroinit_roll(self): + from scipy.integrate import odeint + + # testing for zero initial state, zero input singularities + g = 9.81 + t_start = 0. + t_final = 1. + delta0 = 0. + vel0 = 0. + Psi0 = 0. + dotPsi0 = 0. + beta0 = 0. + sy0 = 0. + initial_state = [0,sy0,delta0,vel0,Psi0,dotPsi0,beta0] + + x0_KS = np.array(initial_state[0:5]) + x0_ST = np.array(initial_state) + + # time vector + t = np.arange(t_start, t_final, 1e-4) + + # set input: rolling car (velocity should stay constant) + u = np.array([0., 0.]) + + # simulate single-track model + x_roll_st = odeint(func_ST, x0_ST, t, args=(u, self.mu, self.C_Sf, self.C_Sr, self.lf, self.lr, self.h, self.m, self.I, self.s_min, self.s_max, self.sv_min, self.sv_max, self.v_switch, self.a_max, self.v_min, self.v_max)) + # simulate kinematic single-track model + x_roll_ks = odeint(func_KS, x0_KS, t, args=(u, self.mu, self.C_Sf, self.C_Sr, self.lf, self.lr, self.h, self.m, self.I, self.s_min, self.s_max, self.sv_min, self.sv_max, self.v_switch, self.a_max, self.v_min, self.v_max)) + + self.assertTrue(all(x_roll_st[-1]==x0_ST)) + self.assertTrue(all(x_roll_ks[-1]==x0_KS)) + + def test_zeroinit_dec(self): + from scipy.integrate import odeint + + # testing for zero initial state, decelerating input singularities + g = 9.81 + t_start = 0. + t_final = 1. + delta0 = 0. + vel0 = 0. + Psi0 = 0. + dotPsi0 = 0. + beta0 = 0. + sy0 = 0. + initial_state = [0,sy0,delta0,vel0,Psi0,dotPsi0,beta0] + + x0_KS = np.array(initial_state[0:5]) + x0_ST = np.array(initial_state) + + # time vector + t = np.arange(t_start, t_final, 1e-4) + + # set decel input + u = np.array([0., -0.7*g]) + + # simulate single-track model + x_dec_st = odeint(func_ST, x0_ST, t, args=(u, self.mu, self.C_Sf, self.C_Sr, self.lf, self.lr, self.h, self.m, self.I, self.s_min, self.s_max, self.sv_min, self.sv_max, self.v_switch, self.a_max, self.v_min, self.v_max)) + # simulate kinematic single-track model + x_dec_ks = odeint(func_KS, x0_KS, t, args=(u, self.mu, self.C_Sf, self.C_Sr, self.lf, self.lr, self.h, self.m, self.I, self.s_min, self.s_max, self.sv_min, self.sv_max, self.v_switch, self.a_max, self.v_min, self.v_max)) + + # ground truth for single-track model + x_dec_st_gt = [-3.4335000000000013, 0.0000000000000000, 0.0000000000000000, -6.8670000000000018, 0.0000000000000000, 0.0000000000000000, 0.0000000000000000] + # ground truth for kinematic single-track model + x_dec_ks_gt = [-3.4335000000000013, 0.0000000000000000, 0.0000000000000000, -6.8670000000000018, 0.0000000000000000] + + self.assertTrue(all(abs(x_dec_st[-1] - x_dec_st_gt) < 1e-2)) + self.assertTrue(all(abs(x_dec_ks[-1] - x_dec_ks_gt) < 1e-2)) + + def test_zeroinit_acc(self): + from scipy.integrate import odeint + + # testing for zero initial state, accelerating with left steer input singularities + # wheel spin and velocity should increase more wheel spin at rear + g = 9.81 + t_start = 0. + t_final = 1. + delta0 = 0. + vel0 = 0. + Psi0 = 0. + dotPsi0 = 0. + beta0 = 0. + sy0 = 0. + initial_state = [0,sy0,delta0,vel0,Psi0,dotPsi0,beta0] + + x0_KS = np.array(initial_state[0:5]) + x0_ST = np.array(initial_state) + + # time vector + t = np.arange(t_start, t_final, 1e-4) + + # set decel input + u = np.array([0.15, 0.63*g]) + + # simulate single-track model + x_acc_st = odeint(func_ST, x0_ST, t, args=(u, self.mu, self.C_Sf, self.C_Sr, self.lf, self.lr, self.h, self.m, self.I, self.s_min, self.s_max, self.sv_min, self.sv_max, self.v_switch, self.a_max, self.v_min, self.v_max)) + # simulate kinematic single-track model + x_acc_ks = odeint(func_KS, x0_KS, t, args=(u, self.mu, self.C_Sf, self.C_Sr, self.lf, self.lr, self.h, self.m, self.I, self.s_min, self.s_max, self.sv_min, self.sv_max, self.v_switch, self.a_max, self.v_min, self.v_max)) + + # ground truth for single-track model + x_acc_st_gt = [3.0731976046859715, 0.2869835398304389, 0.1500000000000000, 6.1802999999999999, 0.1097747074946325, 0.3248268063223301, 0.0697547542798040] + # ground truth for kinematic single-track model + x_acc_ks_gt = [3.0845676868494927, 0.1484249221523042, 0.1500000000000000, 6.1803000000000017, 0.1203664469224163] + + self.assertTrue(all(abs(x_acc_st[-1] - x_acc_st_gt) < 1e-2)) + self.assertTrue(all(abs(x_acc_ks[-1] - x_acc_ks_gt) < 1e-2)) + + def test_zeroinit_rollleft(self): + from scipy.integrate import odeint + + # testing for zero initial state, rolling and steering left input singularities + g = 9.81 + t_start = 0. + t_final = 1. + delta0 = 0. + vel0 = 0. + Psi0 = 0. + dotPsi0 = 0. + beta0 = 0. + sy0 = 0. + initial_state = [0,sy0,delta0,vel0,Psi0,dotPsi0,beta0] + + x0_KS = np.array(initial_state[0:5]) + x0_ST = np.array(initial_state) + + # time vector + t = np.arange(t_start, t_final, 1e-4) + + # set decel input + u = np.array([0.15, 0.]) + + # simulate single-track model + x_left_st = odeint(func_ST, x0_ST, t, args=(u, self.mu, self.C_Sf, self.C_Sr, self.lf, self.lr, self.h, self.m, self.I, self.s_min, self.s_max, self.sv_min, self.sv_max, self.v_switch, self.a_max, self.v_min, self.v_max)) + # simulate kinematic single-track model + x_left_ks = odeint(func_KS, x0_KS, t, args=(u, self.mu, self.C_Sf, self.C_Sr, self.lf, self.lr, self.h, self.m, self.I, self.s_min, self.s_max, self.sv_min, self.sv_max, self.v_switch, self.a_max, self.v_min, self.v_max)) + + # ground truth for single-track model + x_left_st_gt = [0.0000000000000000, 0.0000000000000000, 0.1500000000000000, 0.0000000000000000, 0.0000000000000000, 0.0000000000000000, 0.0000000000000000] + # ground truth for kinematic single-track model + x_left_ks_gt = [0.0000000000000000, 0.0000000000000000, 0.1500000000000000, 0.0000000000000000, 0.0000000000000000] + + self.assertTrue(all(abs(x_left_st[-1] - x_left_st_gt) < 1e-2)) + self.assertTrue(all(abs(x_left_ks[-1] - x_left_ks_gt) < 1e-2)) + +if __name__ == '__main__': + unittest.main() \ No newline at end of file diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/gym/f110_gym/unittest/legacy_scan.npz b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/gym/f110_gym/unittest/legacy_scan.npz new file mode 100644 index 0000000..fd51343 Binary files /dev/null and b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/gym/f110_gym/unittest/legacy_scan.npz differ diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/gym/f110_gym/unittest/legacy_scan_gen.py b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/gym/f110_gym/unittest/legacy_scan_gen.py new file mode 100644 index 0000000..045d50d --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/gym/f110_gym/unittest/legacy_scan_gen.py @@ -0,0 +1,102 @@ +# MIT License + +# Copyright (c) 2020 Joseph Auckley, Matthew O'Kelly, Aman Sinha, Hongrui Zheng + +# Permission is hereby granted, free of charge, to any person obtaining a copy +# of this software and associated documentation files (the "Software"), to deal +# in the Software without restriction, including without limitation the rights +# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +# copies of the Software, and to permit persons to whom the Software is +# furnished to do so, subject to the following conditions: + +# The above copyright notice and this permission notice shall be included in all +# copies or substantial portions of the Software. + +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +# SOFTWARE. + + + +""" +Utility functions to generate sample scan data from legacy C++ backend +Author: Hongrui Zheng + +The script generates sample scan data for 3 different maps used in the unit tests. + +Map 1: Levine + +Map 2: Berlin + +Map 3: Skirkanich +""" + +import numpy as np +import gym +import matplotlib.pyplot as plt + +thetas = np.linspace(-2.35, 2.35, num=1080) + +# init +executable_dir = '../../../build/' +mass= 3.74 +l_r = 0.17145 +I_z = 0.04712 +mu = 0.523 +h_cg = 0.074 +cs_f = 4.718 +cs_r = 5.4562 + +# test poses +num_test = 10 +test_poses = np.zeros((num_test, 3)) +test_poses[:, 2] = np.linspace(-1., 1., num=num_test) + +# map 1: vegas +map_path = '../../../maps/vegas.yaml' +map_ext = '.png' +racecar_env = gym.make('f110_gym:f110-v0') +racecar_env.init_map(map_path, map_ext, False, False) +racecar_env.update_params(mu, h_cg, l_r, cs_f, cs_r, I_z, mass, executable_dir, double_finish=True) +vegas_scan = np.empty((num_test, 1080)) +for i in range(test_poses.shape[0]): + x = [test_poses[i, 0], 200.] + y = [test_poses[i, 1], 200.] + theta = [test_poses[i, 2], 0.] + obs,_,_,_ = racecar_env.reset({'x': x, 'y': y, 'theta': theta}) + vegas_scan[i,:] = obs['scans'][0] + +# map 2: berlin +map_path = '../../../maps/berlin.yaml' +map_ext = '.png' +racecar_env = gym.make('f110_gym:f110-v0') +racecar_env.init_map(map_path, map_ext, False, False) +racecar_env.update_params(mu, h_cg, l_r, cs_f, cs_r, I_z, mass, executable_dir, double_finish=True) +berlin_scan = np.empty((num_test, 1080)) +for i in range(test_poses.shape[0]): + x = [test_poses[i, 0], 200.] + y = [test_poses[i, 1], 200.] + theta = [test_poses[i, 2], 0.] + obs,_,_,_ = racecar_env.reset({'x': x, 'y': y, 'theta': theta}) + berlin_scan[i,:] = obs['scans'][0] + +# map 3: skirk +map_path = '../../../maps/skirk.yaml' +map_ext = '.png' +racecar_env = gym.make('f110_gym:f110-v0') +racecar_env.init_map(map_path, map_ext, False, False) +racecar_env.update_params(mu, h_cg, l_r, cs_f, cs_r, I_z, mass, executable_dir, double_finish=True) +skirk_scan = np.empty((num_test, 1080)) +for i in range(test_poses.shape[0]): + x = [test_poses[i, 0], 200.] + y = [test_poses[i, 1], 200.] + theta = [test_poses[i, 2], 0.] + obs,_,_,_ = racecar_env.reset({'x': x, 'y': y, 'theta': theta}) + skirk_scan[i,:] = obs['scans'][0] + +# package data +np.savez_compressed('legacy_scan.npz', vegas=vegas_scan, berlin=berlin_scan, skirk=skirk_scan) \ No newline at end of file diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/gym/f110_gym/unittest/pyglet_test.py b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/gym/f110_gym/unittest/pyglet_test.py new file mode 100644 index 0000000..4344901 --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/gym/f110_gym/unittest/pyglet_test.py @@ -0,0 +1,180 @@ +import numpy as np +from PIL import Image +import yaml + +from pyglet.gl import * +import pyglet +from pyglet import font, graphics, window + +import argparse + +class Camera: + """ A simple 2D camera that contains the speed and offset.""" + + def __init__(self, window: pyglet.window.Window, scroll_speed=1, min_zoom=1, max_zoom=4): + assert min_zoom <= max_zoom, "Minimum zoom must not be greater than maximum zoom" + self._window = window + self.scroll_speed = scroll_speed + self.max_zoom = max_zoom + self.min_zoom = min_zoom + self.offset_x = 0 + self.offset_y = 0 + self._zoom = max(min(1, self.max_zoom), self.min_zoom) + + @property + def zoom(self): + return self._zoom + + @zoom.setter + def zoom(self, value): + """ Here we set zoom, clamp value to minimum of min_zoom and max of max_zoom.""" + self._zoom = max(min(value, self.max_zoom), self.min_zoom) + + @property + def position(self): + """Query the current offset.""" + return self.offset_x, self.offset_y + + @position.setter + def position(self, value): + """Set the scroll offset directly.""" + self.offset_x, self.offset_y = value + + def move(self, axis_x, axis_y): + """ Move axis direction with scroll_speed. + Example: Move left -> move(-1, 0) + """ + self.offset_x += self.scroll_speed * axis_x + self.offset_y += self.scroll_speed * axis_y + + def begin(self): + # Set the current camera offset so you can draw your scene. + + # Translate using the offset. + view_matrix = self._window.view.translate(-self.offset_x * self._zoom, -self.offset_y * self._zoom, 0) + # Scale by zoom level. + view_matrix = view_matrix.scale(self._zoom, self._zoom, 1) + + self._window.view = view_matrix + + def end(self): + # Since this is a matrix, you will need to reverse the translate after rendering otherwise + # it will multiply the current offset every draw update pushing it further and further away. + + # Reverse scale, since that was the last transform. + view_matrix = self._window.view.scale(1 / self._zoom, 1 / self._zoom, 1) + # Reverse translate. + view_matrix = view_matrix.translate(self.offset_x * self._zoom, self.offset_y * self._zoom, 0) + + self._window.view = view_matrix + + def __enter__(self): + self.begin() + + def __exit__(self, exception_type, exception_value, traceback): + self.end() + + +class CenteredCamera(Camera): + """A simple 2D camera class. 0, 0 will be the center of the screen, as opposed to the bottom left.""" + + def begin(self): + x = -self._window.width // 2 / self._zoom + self.offset_x + y = -self._window.height // 2 / self._zoom + self.offset_y + + view_matrix = self._window.view.translate(-x * self._zoom, -y * self._zoom, 0) + view_matrix = view_matrix.scale(self._zoom, self._zoom, 1) + self._window.view = view_matrix + + def end(self): + x = -self._window.width // 2 / self._zoom + self.offset_x + y = -self._window.height // 2 / self._zoom + self.offset_y + + view_matrix = self._window.view.scale(1 / self._zoom, 1 / self._zoom, 1) + view_matrix = view_matrix.translate(x * self._zoom, y * self._zoom, 0) + self._window.view = view_matrix + + + +parser = argparse.ArgumentParser() +parser.add_argument('--map_path', type=str, required=True, help='Path to the map without extensions') +parser.add_argument('--map_ext', type=str, required=True, help='Extension of the map image file') +args = parser.parse_args() + +# load map yaml +with open(args.map_path + '.yaml', 'r') as yaml_stream: + try: + map_metada = yaml.safe_load(yaml_stream) + map_resolution = map_metada['resolution'] + origin = map_metada['origin'] + origin_x = origin[0] + origin_y = origin[1] + except yaml.YAMLError as ex: + print(ex) + +# load map image +map_img = np.array(Image.open(args.map_path + args.map_ext).transpose(Image.FLIP_TOP_BOTTOM)).astype(np.float64) +map_height = map_img.shape[0] +map_width = map_img.shape[1] + +# convert map pixels to coordinates +range_x = np.arange(map_width) +range_y = np.arange(map_height) +map_x, map_y = np.meshgrid(range_x, range_y) +map_x = (map_x * map_resolution + origin_x).flatten() +map_y = (map_y * map_resolution + origin_y).flatten() +map_z = np.zeros(map_y.shape) +map_coords = np.vstack((map_x, map_y, map_z)) + +# mask and only leave the obstacle points +map_mask = map_img == 0.0 +map_mask_flat = map_mask.flatten() +map_points = map_coords[:, map_mask_flat].T + +# prep opengl +try: + # Try and create a window with multisampling (antialiasing) + config = Config(sample_buffers=1, samples=4, + depth_size=16, double_buffer=True, ) + window = window.Window(resizable=True, config=config) +except window.NoSuchConfigException: + # Fall back to no multisampling for old hardware + window = window.Window(resizable=True) + +glClearColor(18/255, 4/255, 88/255, 1.) +glEnable(GL_DEPTH_TEST) +glTranslatef(25, -5, -60) + +cam = Camera(window) + +@window.event +def on_resize(width, height): + # Override the default on_resize handler to create a 3D projection + glViewport(0, 0, width, height) + glMatrixMode(GL_PROJECTION) + glLoadIdentity() + gluPerspective(60., width / float(height), .1, 1000.) + glMatrixMode(GL_MODELVIEW) + return pyglet.event.EVENT_HANDLED + +batch = graphics.Batch() + +points = [] +for i in range(map_points.shape[0]): + particle = batch.add(1, GL_POINTS, None, ('v3f/stream', [map_points[i, 0], map_points[i, 1], map_points[i, 2]])) + points.append(particle) + +def loop(dt): + print(pyglet.clock.get_fps()) + pass + +@window.event +def on_draw(): + glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT) + glColor3f(254/255, 117/255, 254/255) + cam.begin() + batch.draw() + cam.end() + +pyglet.clock.schedule(loop) +pyglet.app.run() \ No newline at end of file diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/gym/f110_gym/unittest/pyglet_test_camera.py b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/gym/f110_gym/unittest/pyglet_test_camera.py new file mode 100644 index 0000000..46ba26a --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/gym/f110_gym/unittest/pyglet_test_camera.py @@ -0,0 +1,131 @@ +import pyglet +from pyglet.gl import * + +# Zooming constants +ZOOM_IN_FACTOR = 1.2 +ZOOM_OUT_FACTOR = 1/ZOOM_IN_FACTOR + +class App(pyglet.window.Window): + + def __init__(self, width, height, *args, **kwargs): + conf = Config(sample_buffers=1, + samples=4, + depth_size=16, + double_buffer=True) + super().__init__(width, height, config=conf, *args, **kwargs) + + #Initialize camera values + self.left = 0 + self.right = width + self.bottom = 0 + self.top = height + self.zoom_level = 1 + self.zoomed_width = width + self.zoomed_height = height + + def init_gl(self, width, height): + # Set clear color + glClearColor(0/255, 0/255, 0/255, 0/255) + + # Set antialiasing + glEnable( GL_LINE_SMOOTH ) + glEnable( GL_POLYGON_SMOOTH ) + glHint( GL_LINE_SMOOTH_HINT, GL_NICEST ) + + # Set alpha blending + glEnable( GL_BLEND ) + glBlendFunc( GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA ) + + # Set viewport + glViewport( 0, 0, width, height ) + + def on_resize(self, width, height): + super().on_resize(width, height) + size = self.get_size() + self.left = 0 + self.right = size[0] + self.bottom = 0 + self.top = size[1] + self.zoomed_width = size[0] + self.zoomed_height = size[1] + + # # Set window values + # self.width = width + # self.height = height + # # Initialize OpenGL context + # self.init_gl(width, height) + # self.width = width + # self.height = height + # pass + + def on_mouse_drag(self, x, y, dx, dy, buttons, modifiers): + # Move camera + self.left -= dx*self.zoom_level + self.right -= dx*self.zoom_level + self.bottom -= dy*self.zoom_level + self.top -= dy*self.zoom_level + + def on_mouse_scroll(self, x, y, dx, dy): + # Get scale factor + f = ZOOM_IN_FACTOR if dy > 0 else ZOOM_OUT_FACTOR if dy < 0 else 1 + # If zoom_level is in the proper range + if .2 < self.zoom_level*f < 5: + + self.zoom_level *= f + + size = self.get_size() + + mouse_x = x/size[0] + mouse_y = y/size[1] + + mouse_x_in_world = self.left + mouse_x*self.zoomed_width + mouse_y_in_world = self.bottom + mouse_y*self.zoomed_height + + self.zoomed_width *= f + self.zoomed_height *= f + + self.left = mouse_x_in_world - mouse_x*self.zoomed_width + self.right = mouse_x_in_world + (1 - mouse_x)*self.zoomed_width + self.bottom = mouse_y_in_world - mouse_y*self.zoomed_height + self.top = mouse_y_in_world + (1 - mouse_y)*self.zoomed_height + + def on_draw(self): + # Initialize Projection matrix + glMatrixMode( GL_PROJECTION ) + glLoadIdentity() + + # Initialize Modelview matrix + glMatrixMode( GL_MODELVIEW ) + glLoadIdentity() + # Save the default modelview matrix + glPushMatrix() + + # Clear window with ClearColor + glClear( GL_COLOR_BUFFER_BIT ) + + # Set orthographic projection matrix + glOrtho( self.left, self.right, self.bottom, self.top, 1, -1 ) + + # Draw quad + glBegin( GL_QUADS ) + glColor3ub( 0xFF, 0, 0 ) + glVertex2i( 10, 10 ) + + glColor3ub( 0xFF, 0xFF, 0 ) + glVertex2i( 110, 10 ) + + glColor3ub( 0, 0xFF, 0 ) + glVertex2i( 110, 110 ) + + glColor3ub( 0, 0, 0xFF ) + glVertex2i( 10, 110 ) + glEnd() + + # Remove default modelview matrix + glPopMatrix() + + def run(self): + pyglet.app.run() + + +App(800, 800, resizable=True).run() \ No newline at end of file diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/gym/f110_gym/unittest/random_trackgen.py b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/gym/f110_gym/unittest/random_trackgen.py new file mode 100644 index 0000000..cb88e3f --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/gym/f110_gym/unittest/random_trackgen.py @@ -0,0 +1,234 @@ +# MIT License + +# Copyright (c) 2020 Joseph Auckley, Matthew O'Kelly, Aman Sinha, Hongrui Zheng + +# Permission is hereby granted, free of charge, to any person obtaining a copy +# of this software and associated documentation files (the "Software"), to deal +# in the Software without restriction, including without limitation the rights +# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +# copies of the Software, and to permit persons to whom the Software is +# furnished to do so, subject to the following conditions: + +# The above copyright notice and this permission notice shall be included in all +# copies or substantial portions of the Software. + +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +# SOFTWARE. + + +""" +Generates random tracks. +Adapted from https://gym.openai.com/envs/CarRacing-v0 +Author: Hongrui Zheng +""" + +import cv2 +import os +import math +import numpy as np +import shapely.geometry as shp +import matplotlib.pyplot as plt +from matplotlib.patches import Polygon +from matplotlib.collections import PatchCollection +import argparse + +parser = argparse.ArgumentParser() +parser.add_argument('--seed', type=int, default=123, help='Seed for the numpy rng.') +parser.add_argument('--num_maps', type=int, default=1, help='Number of maps to generate.') +args = parser.parse_args() + +np.random.seed(args.seed) + +if not os.path.exists('maps'): + print('Creating maps/ directory.') + os.makedirs('maps') +if not os.path.exists('centerline'): + print('Creating centerline/ directory.') + os.makedirs('centerline') + +NUM_MAPS = args.num_maps +WIDTH = 10.0 +def create_track(): + CHECKPOINTS = 16 + SCALE = 6.0 + TRACK_RAD = 900/SCALE + TRACK_DETAIL_STEP = 21/SCALE + TRACK_TURN_RATE = 0.31 + + start_alpha = 0. + + # Create checkpoints + checkpoints = [] + for c in range(CHECKPOINTS): + alpha = 2*math.pi*c/CHECKPOINTS + np.random.uniform(0, 2*math.pi*1/CHECKPOINTS) + rad = np.random.uniform(TRACK_RAD/3, TRACK_RAD) + if c==0: + alpha = 0 + rad = 1.5*TRACK_RAD + if c==CHECKPOINTS-1: + alpha = 2*math.pi*c/CHECKPOINTS + start_alpha = 2*math.pi*(-0.5)/CHECKPOINTS + rad = 1.5*TRACK_RAD + checkpoints.append( (alpha, rad*math.cos(alpha), rad*math.sin(alpha)) ) + road = [] + + # Go from one checkpoint to another to create track + x, y, beta = 1.5*TRACK_RAD, 0, 0 + dest_i = 0 + laps = 0 + track = [] + no_freeze = 2500 + visited_other_side = False + while True: + alpha = math.atan2(y, x) + if visited_other_side and alpha > 0: + laps += 1 + visited_other_side = False + if alpha < 0: + visited_other_side = True + alpha += 2*math.pi + while True: + failed = True + while True: + dest_alpha, dest_x, dest_y = checkpoints[dest_i % len(checkpoints)] + if alpha <= dest_alpha: + failed = False + break + dest_i += 1 + if dest_i % len(checkpoints) == 0: + break + if not failed: + break + alpha -= 2*math.pi + continue + r1x = math.cos(beta) + r1y = math.sin(beta) + p1x = -r1y + p1y = r1x + dest_dx = dest_x - x + dest_dy = dest_y - y + proj = r1x*dest_dx + r1y*dest_dy + while beta - alpha > 1.5*math.pi: + beta -= 2*math.pi + while beta - alpha < -1.5*math.pi: + beta += 2*math.pi + prev_beta = beta + proj *= SCALE + if proj > 0.3: + beta -= min(TRACK_TURN_RATE, abs(0.001*proj)) + if proj < -0.3: + beta += min(TRACK_TURN_RATE, abs(0.001*proj)) + x += p1x*TRACK_DETAIL_STEP + y += p1y*TRACK_DETAIL_STEP + track.append( (alpha,prev_beta*0.5 + beta*0.5,x,y) ) + if laps > 4: + break + no_freeze -= 1 + if no_freeze==0: + break + + # Find closed loop + i1, i2 = -1, -1 + i = len(track) + while True: + i -= 1 + if i==0: + return False + pass_through_start = track[i][0] > start_alpha and track[i-1][0] <= start_alpha + if pass_through_start and i2==-1: + i2 = i + elif pass_through_start and i1==-1: + i1 = i + break + print("Track generation: %i..%i -> %i-tiles track" % (i1, i2, i2-i1)) + assert i1!=-1 + assert i2!=-1 + + track = track[i1:i2-1] + first_beta = track[0][1] + first_perp_x = math.cos(first_beta) + first_perp_y = math.sin(first_beta) + + # Length of perpendicular jump to put together head and tail + well_glued_together = np.sqrt( + np.square( first_perp_x*(track[0][2] - track[-1][2]) ) + + np.square( first_perp_y*(track[0][3] - track[-1][3]) )) + if well_glued_together > TRACK_DETAIL_STEP: + return False + + # post processing, converting to numpy, finding exterior and interior walls + track_xy = [(x, y) for (a1, b1, x, y) in track] + track_xy = np.asarray(track_xy) + track_poly = shp.Polygon(track_xy) + track_xy_offset_in = track_poly.buffer(WIDTH) + track_xy_offset_out = track_poly.buffer(-WIDTH) + track_xy_offset_in_np = np.array(track_xy_offset_in.exterior) + track_xy_offset_out_np = np.array(track_xy_offset_out.exterior) + return track_xy, track_xy_offset_in_np, track_xy_offset_out_np + + +def convert_track(track, track_int, track_ext, iter): + + # converts track to image and saves the centerline as waypoints + fig, ax = plt.subplots() + fig.set_size_inches(20, 20) + ax.plot(*track_int.T, color='black', linewidth=3) + ax.plot(*track_ext.T, color='black', linewidth=3) + plt.tight_layout() + ax.set_aspect('equal') + ax.set_xlim(-180, 300) + ax.set_ylim(-300, 300) + plt.axis('off') + plt.savefig('maps/map' + str(iter) + '.png', dpi=80) + + map_width, map_height = fig.canvas.get_width_height() + print('map size: ', map_width, map_height) + + # transform the track center line into pixel coordinates + xy_pixels = ax.transData.transform(track) + origin_x_pix = xy_pixels[0, 0] + origin_y_pix = xy_pixels[0, 1] + + xy_pixels = xy_pixels - np.array([[origin_x_pix, origin_y_pix]]) + + map_origin_x = -origin_x_pix*0.05 + map_origin_y = -origin_y_pix*0.05 + + # convert image using cv2 + cv_img = cv2.imread('maps/map' + str(iter) + '.png', -1) + # convert to bw + cv_img_bw = cv2.cvtColor(cv_img, cv2.COLOR_BGR2GRAY) + # saving to img + cv2.imwrite('maps/map' + str(iter) + '.png', cv_img_bw) + cv2.imwrite('maps/map' + str(iter) + '.pgm', cv_img_bw) + + # create yaml file + yaml = open('maps/map' + str(iter) + '.yaml', 'w') + yaml.write('image: map' + str(iter) + '.pgm\n') + yaml.write('resolution: 0.062500\n') + yaml.write('origin: [' + str(map_origin_x) + ',' + str(map_origin_y) + ', 0.000000]\n') + yaml.write('negate: 0\noccupied_thresh: 0.45\nfree_thresh: 0.196') + yaml.close() + plt.close() + + # saving track centerline as a csv in ros coords + waypoints_csv = open('centerline/map' + str(iter) + '.csv', 'w') + for row in xy_pixels: + waypoints_csv.write(str(0.05*row[0]) + ', ' + str(0.05*row[1]) + '\n') + waypoints_csv.close() + + + +if __name__ == '__main__': + for i in range(NUM_MAPS): + try: + track, track_int, track_ext = create_track() + except: + print('Random generator failed, retrying') + continue + convert_track(track, track_int, track_ext, i) \ No newline at end of file diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/gym/f110_gym/unittest/scan_sim.py b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/gym/f110_gym/unittest/scan_sim.py new file mode 100644 index 0000000..7f203bf --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/gym/f110_gym/unittest/scan_sim.py @@ -0,0 +1,430 @@ +# MIT License + +# Copyright (c) 2020 Joseph Auckley, Matthew O'Kelly, Aman Sinha, Hongrui Zheng + +# Permission is hereby granted, free of charge, to any person obtaining a copy +# of this software and associated documentation files (the "Software"), to deal +# in the Software without restriction, including without limitation the rights +# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +# copies of the Software, and to permit persons to whom the Software is +# furnished to do so, subject to the following conditions: + +# The above copyright notice and this permission notice shall be included in all +# copies or substantial portions of the Software. + +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +# SOFTWARE. + + + +""" +Prototype of Utility functions and classes for simulating 2D LIDAR scans +Author: Hongrui Zheng +""" + +import numpy as np +from numba import njit +from scipy.ndimage import distance_transform_edt as edt +from PIL import Image +import os +import yaml + +import unittest +import timeit + +def get_dt(bitmap, resolution): + """ + Distance transformation, returns the distance matrix from the input bitmap. + Uses scipy.ndimage, cannot be JITted. + + Args: + bitmap (numpy.ndarray, (n, m)): input binary bitmap of the environment, where 0 is obstacles, and 255 (or anything > 0) is freespace + resolution (float): resolution of the input bitmap (m/cell) + + Returns: + dt (numpy.ndarray, (n, m)): output distance matrix, where each cell has the corresponding distance (in meters) to the closest obstacle + """ + dt = resolution * edt(bitmap) + return dt + +@njit(cache=True) +def xy_2_rc(x, y, orig_x, orig_y, orig_c, orig_s, height, width, resolution): + """ + Translate (x, y) coordinate into (r, c) in the matrix + + Args: + x (float): coordinate in x (m) + y (float): coordinate in y (m) + orig_x (float): x coordinate of the map origin (m) + orig_y (float): y coordinate of the map origin (m) + + Returns: + r (int): row number in the transform matrix of the given point + c (int): column number in the transform matrix of the given point + """ + # translation + x_trans = x - orig_x + y_trans = y - orig_y + + # rotation + x_rot = x_trans * orig_c + y_trans * orig_s + y_rot = -x_trans * orig_s + y_trans * orig_c + + # clip the state to be a cell + if x_rot < 0 or x_rot >= width * resolution or y_rot < 0 or y_rot >= height * resolution: + c = -1 + r = -1 + else: + c = int(x_rot/resolution) + r = int(y_rot/resolution) + + return r, c + +@njit(cache=True) +def distance_transform(x, y, orig_x, orig_y, orig_c, orig_s, height, width, resolution, dt): + """ + Look up corresponding distance in the distance matrix + + Args: + x (float): x coordinate of the lookup point + y (float): y coordinate of the lookup point + orig_x (float): x coordinate of the map origin (m) + orig_y (float): y coordinate of the map origin (m) + + Returns: + distance (float): corresponding shortest distance to obstacle in meters + """ + r, c = xy_2_rc(x, y, orig_x, orig_y, orig_c, orig_s, height, width, resolution) + distance = dt[r, c] + return distance + +@njit(cache=True) +def trace_ray(x, y, theta_index, sines, cosines, eps, orig_x, orig_y, orig_c, orig_s, height, width, resolution, dt, max_range): + """ + Find the length of a specific ray at a specific scan angle theta + Purely math calculation and loops, should be JITted. + + Args: + x (float): current x coordinate of the ego (scan) frame + y (float): current y coordinate of the ego (scan) frame + theta_index(int): current index of the scan beam in the scan range + sines (numpy.ndarray (n, )): pre-calculated sines of the angle array + cosines (numpy.ndarray (n, )): pre-calculated cosines ... + + Returns: + total_distance (float): the distance to first obstacle on the current scan beam + """ + + # int casting, and index precal trigs + theta_index_ = int(theta_index) + s = sines[theta_index_] + c = cosines[theta_index_] + + # distance to nearest initialization + dist_to_nearest = distance_transform(x, y, orig_x, orig_y, orig_c, orig_s, height, width, resolution, dt) + total_dist = dist_to_nearest + + # ray tracing iterations + while dist_to_nearest > eps and total_dist <= max_range: + # move in the direction of the ray by dist_to_nearest + x += dist_to_nearest * c + y += dist_to_nearest * s + + # update dist_to_nearest for current point on ray + # also keeps track of total ray length + dist_to_nearest = distance_transform(x, y, orig_x, orig_y, orig_c, orig_s, height, width, resolution, dt) + total_dist += dist_to_nearest + + return total_dist + +@njit(cache=True) +def get_scan(pose, theta_dis, fov, num_beams, theta_index_increment, sines, cosines, eps, orig_x, orig_y, orig_c, orig_s, height, width, resolution, dt, max_range): + """ + Perform the scan for each discretized angle of each beam of the laser, loop heavy, should be JITted + + Args: + pose (numpy.ndarray(3, )): current pose of the scan frame in the map + theta_dis (int): number of steps to discretize the angles between 0 and 2pi for look up + fov (float): field of view of the laser scan + num_beams (int): number of beams in the scan + theta_index_increment (float): increment between angle indices after discretization + + Returns: + scan (numpy.ndarray(n, )): resulting laser scan at the pose, n=num_beams + """ + # empty scan array init + scan = np.empty((num_beams,)) + + # make theta discrete by mapping the range [-pi, pi] onto [0, theta_dis] + theta_index = theta_dis * (pose[2] - fov/2.)/(2. * np.pi) + + # make sure it's wrapped properly + theta_index = np.fmod(theta_index, theta_dis) + while (theta_index < 0): + theta_index += theta_dis + + # sweep through each beam + for i in range(0, num_beams): + # trace the current beam + scan[i] = trace_ray(pose[0], pose[1], theta_index, sines, cosines, eps, orig_x, orig_y, orig_c, orig_s, height, width, resolution, dt, max_range) + + # increment the beam index + theta_index += theta_index_increment + + # make sure it stays in the range [0, theta_dis) + while theta_index >= theta_dis: + theta_index -= theta_dis + + return scan + +class ScanSimulator2D(object): + """ + 2D LIDAR scan simulator class + + Init params: + num_beams (int): number of beams in the scan + fov (float): field of view of the laser scan + std_dev (float, default=0.01): standard deviation of the generated whitenoise in the scan + eps (float, default=0.0001): ray tracing iteration termination condition + theta_dis (int, default=2000): number of steps to discretize the angles between 0 and 2pi for look up + max_range (float, default=30.0): maximum range of the laser + seed (int, default=123): seed for random number generator for the whitenoise in scan + """ + + def __init__(self, num_beams, fov, std_dev=0.01, eps=0.0001, theta_dis=2000, max_range=30.0, seed=123): + # initialization + self.num_beams = num_beams + self.fov = fov + self.std_dev = std_dev + self.eps = eps + self.theta_dis = theta_dis + self.max_range = max_range + self.angle_increment = self.fov / (self.num_beams - 1) + self.theta_index_increment = theta_dis * self.angle_increment / (2. * np.pi) + self.orig_c = None + self.orig_s = None + self.orig_x = None + self.orig_y = None + self.map_height = None + self.map_width = None + self.map_resolution = None + self.dt = None + + # white noise generator + self.rng = np.random.default_rng(seed=seed) + + # precomputing corresponding cosines and sines of the angle array + theta_arr = np.linspace(0.0, 2*np.pi, num=theta_dis) + self.sines = np.sin(theta_arr) + self.cosines = np.cos(theta_arr) + + def set_map(self, map_path, map_ext): + """ + Set the bitmap of the scan simulator by path + + Args: + map_path (str): path to the map yaml file + map_ext (str): extension (image type) of the map image + + Returns: + flag (bool): if image reading and loading is successful + """ + # TODO: do we open the option to flip the images, and turn rgb into grayscale? or specify the exact requirements in documentation. + # TODO: throw error if image specification isn't met + + # load map image + map_img_path = os.path.splitext(map_path)[0] + map_ext + self.map_img = np.array(Image.open(map_img_path).transpose(Image.FLIP_TOP_BOTTOM)) + self.map_img = self.map_img.astype(np.float64) + + # grayscale -> binary + self.map_img[self.map_img <= 128.] = 0. + self.map_img[self.map_img > 128.] = 255. + + self.map_height = self.map_img.shape[0] + self.map_width = self.map_img.shape[1] + + # load map yaml + with open(map_path, 'r') as yaml_stream: + try: + map_metadata = yaml.safe_load(yaml_stream) + self.map_resolution = map_metadata['resolution'] + self.origin = map_metadata['origin'] + except yaml.YAMLError as ex: + print(ex) + + # calculate map parameters + self.orig_x = self.origin[0] + self.orig_y = self.origin[1] + self.orig_s = np.sin(self.origin[2]) + self.orig_c = np.cos(self.origin[2]) + + # get the distance transform + self.dt = get_dt(self.map_img, self.map_resolution) + + return True + + def scan(self, pose): + """ + Perform simulated 2D scan by pose on the given map + + Args: + pose (numpy.ndarray (3, )): pose of the scan frame (x, y, theta) + + Returns: + scan (numpy.ndarray (n, )): data array of the laserscan, n=num_beams + + Raises: + ValueError: when scan is called before a map is set + """ + if self.map_height is None: + raise ValueError('Map is not set for scan simulator.') + scan = get_scan(pose, self.theta_dis, self.fov, self.num_beams, self.theta_index_increment, self.sines, self.cosines, self.eps, self.orig_x, self.orig_y, self.orig_c, self.orig_s, self.map_height, self.map_width, self.map_resolution, self.dt, self.max_range) + noise = self.rng.normal(0., self.std_dev, size=self.num_beams) + final_scan = scan + noise + return final_scan + + def get_increment(self): + return self.angle_increment + + +""" +Unit tests for the 2D scan simulator class +Author: Hongrui Zheng + +Test cases: + 1, 2: Comparison between generated scan array of the new simulator and the legacy C++ simulator, generated data used, MSE is used as the metric + 2. FPS test, should be greater than 500 +""" + + +class ScanTests(unittest.TestCase): + def setUp(self): + # test params + self.num_beams = 1080 + self.fov = 4.7 + + self.num_test = 10 + self.test_poses = np.zeros((self.num_test, 3)) + self.test_poses[:, 2] = np.linspace(-1., 1., num=self.num_test) + + # legacy gym data + sample_scan = np.load('legacy_scan.npz') + self.berlin_scan = sample_scan['berlin'] + self.skirk_scan = sample_scan['skirk'] + + def test_map_berlin(self): + scan_sim = ScanSimulator2D(self.num_beams, self.fov) + new_berlin = np.empty((self.num_test, self.num_beams)) + map_path = '../../../maps/berlin.yaml' + map_ext = '.png' + scan_sim.set_map(map_path, map_ext) + # scan gen loop + for i in range(self.num_test): + test_pose = self.test_poses[i] + new_berlin[i,:] = scan_sim.scan(test_pose) + diff = self.berlin_scan - new_berlin + mse = np.mean(diff**2) + # print('Levine distance test, norm: ' + str(norm)) + + # plotting + import matplotlib.pyplot as plt + theta = np.linspace(-self.fov/2., self.fov/2., num=self.num_beams) + plt.polar(theta, new_berlin[1,:], '.', lw=0) + plt.polar(theta, self.berlin_scan[1,:], '.', lw=0) + plt.show() + + self.assertLess(mse, 2.) + + def test_map_skirk(self): + scan_sim = ScanSimulator2D(self.num_beams, self.fov) + new_skirk = np.empty((self.num_test, self.num_beams)) + map_path = '../../../maps/skirk.yaml' + map_ext = '.png' + scan_sim.set_map(map_path, map_ext) + print('map set') + # scan gen loop + for i in range(self.num_test): + test_pose = self.test_poses[i] + new_skirk[i,:] = scan_sim.scan(test_pose) + diff = self.skirk_scan - new_skirk + mse = np.mean(diff**2) + print('skirk distance test, mse: ' + str(mse)) + + # plotting + import matplotlib.pyplot as plt + theta = np.linspace(-self.fov/2., self.fov/2., num=self.num_beams) + plt.polar(theta, new_skirk[1,:], '.', lw=0) + plt.polar(theta, self.skirk_scan[1,:], '.', lw=0) + plt.show() + + self.assertLess(mse, 2.) + + def test_fps(self): + # scan fps should be greater than 500 + scan_sim = ScanSimulator2D(self.num_beams, self.fov) + map_path = '../../../maps/skirk.yaml' + map_ext = '.png' + scan_sim.set_map(map_path, map_ext) + + import time + start = time.time() + for i in range(10000): + x_test = i/10000 + scan = scan_sim.scan(np.array([x_test, 0., 0.])) + end = time.time() + fps = 10000/(end-start) + # print('FPS test') + # print('Elapsed time: ' + str(end-start) + ' , FPS: ' + str(1/fps)) + self.assertGreater(fps, 500.) + + +def main(): + num_beams = 1080 + fov = 4.7 + # map_path = '../envs/maps/berlin.yaml' + map_path = '/home/f1tenth-eval/tunercar/es/maps/map0.yaml' + map_ext = '.png' + scan_sim = ScanSimulator2D(num_beams, fov) + scan_sim.set_map(map_path, map_ext) + scan = scan_sim.scan(np.array([0., 0., 0.])) + + # fps test + import time + start = time.time() + for i in range(10000): + x_test = i/10000 + scan = scan_sim.scan(np.array([x_test, 0., 0.])) + end = time.time() + fps = (end-start)/10000 + print('FPS test') + print('Elapsed time: ' + str(end-start) + ' , FPS: ' + str(1/fps)) + + # visualization + import matplotlib.pyplot as plt + from matplotlib.animation import FuncAnimation + num_iter = 100 + theta = np.linspace(-fov/2., fov/2., num=num_beams) + fig = plt.figure() + ax = fig.add_subplot(111, projection='polar') + ax.set_ylim(0, 70) + line, = ax.plot([], [], '.', lw=0) + def update(i): + # x_ani = i * 3. / num_iter + theta_ani = -i * 2 * np.pi / num_iter + x_ani = 0. + current_scan = scan_sim.scan(np.array([x_ani, 0., theta_ani])) + print(np.max(current_scan)) + line.set_data(theta, current_scan) + return line, + ani = FuncAnimation(fig, update, frames=num_iter, blit=True) + plt.show() + +if __name__ == '__main__': + # unittest.main() + main() \ No newline at end of file diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym/setup.py b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/setup.py new file mode 100644 index 0000000..6603f38 --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym/setup.py @@ -0,0 +1,16 @@ +from setuptools import setup +setup(name='f110_gym', + version='0.2.1', + author='Hongrui Zheng', + author_email='billyzheng.bz@gmail.com', + url='https://f1tenth.org', + package_dir={'': 'gym'}, + install_requires=['gym==0.19.0', + 'numpy<=1.22.0,>=1.18.0', + 'Pillow>=9.0.1', + 'scipy>=1.7.3', + 'numba>=0.55.2', + 'pyyaml>=5.3.1', + 'pyglet<1.5', + 'pyopengl'] + ) diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym_ros.egg-info/PKG-INFO b/ROS 2 Packages/f1tenth_sim/f1tenth_gym_ros.egg-info/PKG-INFO new file mode 100644 index 0000000..28014f5 --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym_ros.egg-info/PKG-INFO @@ -0,0 +1,8 @@ +Metadata-Version: 2.1 +Name: f1tenth-gym-ros +Version: 0.0.0 +Summary: Bridge for using f1tenth_gym in ROS2 +Maintainer: Billy Zheng +Maintainer-email: billyzheng.bz@gmail.com +License: MIT +License-File: LICENSE diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym_ros.egg-info/SOURCES.txt b/ROS 2 Packages/f1tenth_sim/f1tenth_gym_ros.egg-info/SOURCES.txt new file mode 100644 index 0000000..8f980b5 --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym_ros.egg-info/SOURCES.txt @@ -0,0 +1,23 @@ +LICENSE +README.md +package.xml +setup.cfg +setup.py +config/sim.yaml +f1tenth_gym_ros/__init__.py +f1tenth_gym_ros/gym_bridge.py +f1tenth_gym_ros.egg-info/PKG-INFO +f1tenth_gym_ros.egg-info/SOURCES.txt +f1tenth_gym_ros.egg-info/dependency_links.txt +f1tenth_gym_ros.egg-info/entry_points.txt +f1tenth_gym_ros.egg-info/requires.txt +f1tenth_gym_ros.egg-info/top_level.txt +f1tenth_gym_ros.egg-info/zip-safe +launch/ego_racecar.xacro +launch/gym_bridge.rviz +launch/gym_bridge_launch.py +launch/opp_racecar.xacro +resource/f1tenth_gym_ros +test/test_copyright.py +test/test_flake8.py +test/test_pep257.py \ No newline at end of file diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym_ros.egg-info/dependency_links.txt b/ROS 2 Packages/f1tenth_sim/f1tenth_gym_ros.egg-info/dependency_links.txt new file mode 100644 index 0000000..8b13789 --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym_ros.egg-info/dependency_links.txt @@ -0,0 +1 @@ + diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym_ros.egg-info/entry_points.txt b/ROS 2 Packages/f1tenth_sim/f1tenth_gym_ros.egg-info/entry_points.txt new file mode 100644 index 0000000..ded7869 --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym_ros.egg-info/entry_points.txt @@ -0,0 +1,2 @@ +[console_scripts] +gym_bridge = f1tenth_gym_ros.gym_bridge:main diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym_ros.egg-info/requires.txt b/ROS 2 Packages/f1tenth_sim/f1tenth_gym_ros.egg-info/requires.txt new file mode 100644 index 0000000..49fe098 --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym_ros.egg-info/requires.txt @@ -0,0 +1 @@ +setuptools diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym_ros.egg-info/top_level.txt b/ROS 2 Packages/f1tenth_sim/f1tenth_gym_ros.egg-info/top_level.txt new file mode 100644 index 0000000..080877a --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym_ros.egg-info/top_level.txt @@ -0,0 +1 @@ +f1tenth_gym_ros diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym_ros.egg-info/zip-safe b/ROS 2 Packages/f1tenth_sim/f1tenth_gym_ros.egg-info/zip-safe new file mode 100644 index 0000000..8b13789 --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym_ros.egg-info/zip-safe @@ -0,0 +1 @@ + diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym_ros.png b/ROS 2 Packages/f1tenth_sim/f1tenth_gym_ros.png new file mode 100644 index 0000000..4a391d2 Binary files /dev/null and b/ROS 2 Packages/f1tenth_sim/f1tenth_gym_ros.png differ diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym_ros/__init__.py b/ROS 2 Packages/f1tenth_sim/f1tenth_gym_ros/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym_ros/__pycache__/__init__.cpython-38.pyc b/ROS 2 Packages/f1tenth_sim/f1tenth_gym_ros/__pycache__/__init__.cpython-38.pyc new file mode 100644 index 0000000..793836c Binary files /dev/null and b/ROS 2 Packages/f1tenth_sim/f1tenth_gym_ros/__pycache__/__init__.cpython-38.pyc differ diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym_ros/__pycache__/gym_bridge.cpython-38.pyc b/ROS 2 Packages/f1tenth_sim/f1tenth_gym_ros/__pycache__/gym_bridge.cpython-38.pyc new file mode 100644 index 0000000..0537689 Binary files /dev/null and b/ROS 2 Packages/f1tenth_sim/f1tenth_gym_ros/__pycache__/gym_bridge.cpython-38.pyc differ diff --git a/ROS 2 Packages/f1tenth_sim/f1tenth_gym_ros/gym_bridge.py b/ROS 2 Packages/f1tenth_sim/f1tenth_gym_ros/gym_bridge.py new file mode 100644 index 0000000..0c66903 --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/f1tenth_gym_ros/gym_bridge.py @@ -0,0 +1,415 @@ +# MIT License + +# Copyright (c) 2023 Tinker Twins, Hongrui Zheng + +# Permission is hereby granted, free of charge, to any person obtaining a copy +# of this software and associated documentation files (the "Software"), to deal +# in the Software without restriction, including without limitation the rights +# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +# copies of the Software, and to permit persons to whom the Software is +# furnished to do so, subject to the following conditions: + +# The above copyright notice and this permission notice shall be included in all +# copies or substantial portions of the Software. + +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +# SOFTWARE. + +import rclpy +from rclpy.node import Node + +from sensor_msgs.msg import LaserScan +from nav_msgs.msg import Odometry +from geometry_msgs.msg import PoseStamped +from geometry_msgs.msg import PoseWithCovarianceStamped +from geometry_msgs.msg import Twist +from geometry_msgs.msg import TransformStamped +from geometry_msgs.msg import Transform +from ackermann_msgs.msg import AckermannDriveStamped +from tf2_ros import TransformBroadcaster +from ament_index_python.packages import get_package_share_directory + +import gym +import os +import numpy as np +from transforms3d import euler + +class GymBridge(Node): + def __init__(self): + super().__init__('gym_bridge') + + self.declare_parameter('ego_namespace') + self.declare_parameter('ego_odom_topic') + self.declare_parameter('ego_opp_odom_topic') + self.declare_parameter('ego_scan_topic') + self.declare_parameter('ego_drive_topic') + self.declare_parameter('opp_namespace') + self.declare_parameter('opp_odom_topic') + self.declare_parameter('opp_ego_odom_topic') + self.declare_parameter('opp_scan_topic') + self.declare_parameter('opp_drive_topic') + self.declare_parameter('scan_distance_to_base_link') + self.declare_parameter('scan_fov') + self.declare_parameter('scan_beams') + self.declare_parameter('map_package') + self.declare_parameter('map_name') + self.declare_parameter('map_img_ext') + self.declare_parameter('num_agent') + self.declare_parameter('sx') + self.declare_parameter('sy') + self.declare_parameter('stheta') + self.declare_parameter('sx1') + self.declare_parameter('sy1') + self.declare_parameter('stheta1') + self.declare_parameter('teleop') + + # check num_agents + num_agents = self.get_parameter('num_agent').value + if num_agents < 1 or num_agents > 2: + raise ValueError('num_agents should be either 1 or 2.') + elif type(num_agents) != int: + raise ValueError('num_agents should be an int.') + + # env backend + map_name = self.get_parameter('map_name').value + map_path = os.path.join(get_package_share_directory(self.get_parameter('map_package').value), 'maps', map_name) + self.env = gym.make('f110_gym:f110-v0', + map=map_path, + map_ext=self.get_parameter('map_img_ext').value, + num_agents=num_agents) + + sx = self.get_parameter('sx').value + sy = self.get_parameter('sy').value + stheta = self.get_parameter('stheta').value + self.ego_pose = [sx, sy, stheta] + self.ego_speed = [0.0, 0.0, 0.0] + self.ego_requested_speed = 0.0 + self.ego_steer = 0.0 + self.ego_collision = False + ego_scan_topic = self.get_parameter('ego_scan_topic').value + ego_drive_topic = self.get_parameter('ego_drive_topic').value + scan_fov = self.get_parameter('scan_fov').value + scan_beams = self.get_parameter('scan_beams').value + self.angle_min = -scan_fov / 2. + self.angle_max = scan_fov / 2. + self.angle_inc = scan_fov / scan_beams + self.ego_namespace = self.get_parameter('ego_namespace').value + ego_odom_topic = self.ego_namespace + '/' + self.get_parameter('ego_odom_topic').value + self.scan_distance_to_base_link = self.get_parameter('scan_distance_to_base_link').value + + if num_agents == 2: + self.has_opp = True + self.opp_namespace = self.get_parameter('opp_namespace').value + sx1 = self.get_parameter('sx1').value + sy1 = self.get_parameter('sy1').value + stheta1 = self.get_parameter('stheta1').value + self.opp_pose = [sx1, sy1, stheta1] + self.opp_speed = [0.0, 0.0, 0.0] + self.opp_requested_speed = 0.0 + self.opp_steer = 0.0 + self.opp_collision = False + self.obs, _ , self.done, _ = self.env.reset(np.array([[sx, sy, stheta], [sx1, sy1, stheta1]])) + self.ego_scan = list(self.obs['scans'][0]) + self.opp_scan = list(self.obs['scans'][1]) + + opp_scan_topic = self.get_parameter('opp_scan_topic').value + opp_odom_topic = self.opp_namespace + '/' + self.get_parameter('opp_odom_topic').value + opp_drive_topic = self.get_parameter('opp_drive_topic').value + + ego_opp_odom_topic = self.ego_namespace + '/' + self.get_parameter('ego_opp_odom_topic').value + opp_ego_odom_topic = self.opp_namespace + '/' + self.get_parameter('opp_ego_odom_topic').value + else: + self.has_opp = False + self.obs, _ , self.done, _ = self.env.reset(np.array([[sx, sy, stheta]])) + self.ego_scan = list(self.obs['scans'][0]) + + # sim physical step timer + self.drive_timer = self.create_timer(0.01, self.drive_timer_callback) + # topic publishing timer + self.timer = self.create_timer(0.004, self.timer_callback) + + # transform broadcaster + self.br = TransformBroadcaster(self) + + # publishers + self.ego_scan_pub = self.create_publisher(LaserScan, ego_scan_topic, 10) + self.ego_odom_pub = self.create_publisher(Odometry, ego_odom_topic, 10) + self.ego_drive_published = False + if num_agents == 2: + self.opp_scan_pub = self.create_publisher(LaserScan, opp_scan_topic, 10) + self.ego_opp_odom_pub = self.create_publisher(Odometry, ego_opp_odom_topic, 10) + self.opp_odom_pub = self.create_publisher(Odometry, opp_odom_topic, 10) + self.opp_ego_odom_pub = self.create_publisher(Odometry, opp_ego_odom_topic, 10) + self.opp_drive_published = False + + # subscribers + self.ego_drive_sub = self.create_subscription( + AckermannDriveStamped, + ego_drive_topic, + self.drive_callback, + 10) + self.ego_reset_sub = self.create_subscription( + PoseWithCovarianceStamped, + '/initialpose', + self.ego_reset_callback, + 10) + if num_agents == 2: + self.opp_drive_sub = self.create_subscription( + AckermannDriveStamped, + opp_drive_topic, + self.opp_drive_callback, + 10) + self.opp_reset_sub = self.create_subscription( + PoseStamped, + '/goal_pose', + self.opp_reset_callback, + 10) + + if self.get_parameter('teleop').value: + self.teleop_sub = self.create_subscription( + Twist, + '/cmd_vel', + self.teleop_callback, + 10) + + + def drive_callback(self, drive_msg): + self.ego_requested_speed = drive_msg.drive.speed + self.ego_steer = drive_msg.drive.steering_angle + self.ego_drive_published = True + + def opp_drive_callback(self, drive_msg): + self.opp_requested_speed = drive_msg.drive.speed + self.opp_steer = drive_msg.drive.steering_angle + self.opp_drive_published = True + + def ego_reset_callback(self, pose_msg): + rx = pose_msg.pose.pose.position.x + ry = pose_msg.pose.pose.position.y + rqx = pose_msg.pose.pose.orientation.x + rqy = pose_msg.pose.pose.orientation.y + rqz = pose_msg.pose.pose.orientation.z + rqw = pose_msg.pose.pose.orientation.w + _, _, rtheta = euler.quat2euler([rqw, rqx, rqy, rqz], axes='sxyz') + if self.has_opp: + opp_pose = [self.obs['poses_x'][1], self.obs['poses_y'][1], self.obs['poses_theta'][1]] + self.obs, _ , self.done, _ = self.env.reset(np.array([[rx, ry, rtheta], opp_pose])) + else: + self.obs, _ , self.done, _ = self.env.reset(np.array([[rx, ry, rtheta]])) + + def opp_reset_callback(self, pose_msg): + if self.has_opp: + rx = pose_msg.pose.position.x + ry = pose_msg.pose.position.y + rqx = pose_msg.pose.orientation.x + rqy = pose_msg.pose.orientation.y + rqz = pose_msg.pose.orientation.z + rqw = pose_msg.pose.orientation.w + _, _, rtheta = euler.quat2euler([rqw, rqx, rqy, rqz], axes='sxyz') + self.obs, _ , self.done, _ = self.env.reset(np.array([list(self.ego_pose), [rx, ry, rtheta]])) + def teleop_callback(self, twist_msg): + if not self.ego_drive_published: + self.ego_drive_published = True + + self.ego_requested_speed = twist_msg.linear.x + + if twist_msg.angular.z > 0.0: + self.ego_steer = 0.3 + elif twist_msg.angular.z < 0.0: + self.ego_steer = -0.3 + else: + self.ego_steer = 0.0 + + def drive_timer_callback(self): + if self.ego_drive_published and not self.has_opp: + self.obs, _, self.done, _ = self.env.step(np.array([[self.ego_steer, self.ego_requested_speed]])) + elif self.ego_drive_published and self.has_opp and self.opp_drive_published: + self.obs, _, self.done, _ = self.env.step(np.array([[self.ego_steer, self.ego_requested_speed], [self.opp_steer, self.opp_requested_speed]])) + self._update_sim_state() + + def timer_callback(self): + ts = self.get_clock().now().to_msg() + + # pub scans + scan = LaserScan() + scan.header.stamp = ts + scan.header.frame_id = self.ego_namespace + '/laser' + scan.angle_min = self.angle_min + scan.angle_max = self.angle_max + scan.angle_increment = self.angle_inc + scan.range_min = 0. + scan.range_max = 30. + scan.ranges = self.ego_scan + self.ego_scan_pub.publish(scan) + + if self.has_opp: + opp_scan = LaserScan() + opp_scan.header.stamp = ts + opp_scan.header.frame_id = self.opp_namespace + '/laser' + opp_scan.angle_min = self.angle_min + opp_scan.angle_max = self.angle_max + opp_scan.angle_increment = self.angle_inc + opp_scan.range_min = 0. + opp_scan.range_max = 30. + opp_scan.ranges = self.opp_scan + self.opp_scan_pub.publish(opp_scan) + + # pub tf + self._publish_odom(ts) + self._publish_transforms(ts) + self._publish_laser_transforms(ts) + self._publish_wheel_transforms(ts) + + def _update_sim_state(self): + self.ego_scan = list(self.obs['scans'][0]) + if self.has_opp: + self.opp_scan = list(self.obs['scans'][1]) + self.opp_pose[0] = self.obs['poses_x'][1] + self.opp_pose[1] = self.obs['poses_y'][1] + self.opp_pose[2] = self.obs['poses_theta'][1] + self.opp_speed[0] = self.obs['linear_vels_x'][1] + self.opp_speed[1] = self.obs['linear_vels_y'][1] + self.opp_speed[2] = self.obs['ang_vels_z'][1] + + self.ego_pose[0] = self.obs['poses_x'][0] + self.ego_pose[1] = self.obs['poses_y'][0] + self.ego_pose[2] = self.obs['poses_theta'][0] + self.ego_speed[0] = self.obs['linear_vels_x'][0] + self.ego_speed[1] = self.obs['linear_vels_y'][0] + self.ego_speed[2] = self.obs['ang_vels_z'][0] + + + + def _publish_odom(self, ts): + ego_odom = Odometry() + ego_odom.header.stamp = ts + ego_odom.header.frame_id = 'map' + ego_odom.child_frame_id = self.ego_namespace + '/base_link' + ego_odom.pose.pose.position.x = self.ego_pose[0] + ego_odom.pose.pose.position.y = self.ego_pose[1] + ego_quat = euler.euler2quat(0., 0., self.ego_pose[2], axes='sxyz') + ego_odom.pose.pose.orientation.x = ego_quat[1] + ego_odom.pose.pose.orientation.y = ego_quat[2] + ego_odom.pose.pose.orientation.z = ego_quat[3] + ego_odom.pose.pose.orientation.w = ego_quat[0] + ego_odom.twist.twist.linear.x = self.ego_speed[0] + ego_odom.twist.twist.linear.y = self.ego_speed[1] + ego_odom.twist.twist.angular.z = self.ego_speed[2] + self.ego_odom_pub.publish(ego_odom) + + if self.has_opp: + opp_odom = Odometry() + opp_odom.header.stamp = ts + opp_odom.header.frame_id = 'map' + opp_odom.child_frame_id = self.opp_namespace + '/base_link' + opp_odom.pose.pose.position.x = self.opp_pose[0] + opp_odom.pose.pose.position.y = self.opp_pose[1] + opp_quat = euler.euler2quat(0., 0., self.opp_pose[2], axes='sxyz') + opp_odom.pose.pose.orientation.x = opp_quat[1] + opp_odom.pose.pose.orientation.y = opp_quat[2] + opp_odom.pose.pose.orientation.z = opp_quat[3] + opp_odom.pose.pose.orientation.w = opp_quat[0] + opp_odom.twist.twist.linear.x = self.opp_speed[0] + opp_odom.twist.twist.linear.y = self.opp_speed[1] + opp_odom.twist.twist.angular.z = self.opp_speed[2] + self.opp_odom_pub.publish(opp_odom) + self.opp_ego_odom_pub.publish(ego_odom) + self.ego_opp_odom_pub.publish(opp_odom) + + def _publish_transforms(self, ts): + ego_t = Transform() + ego_t.translation.x = self.ego_pose[0] + ego_t.translation.y = self.ego_pose[1] + ego_t.translation.z = 0.0 + ego_quat = euler.euler2quat(0.0, 0.0, self.ego_pose[2], axes='sxyz') + ego_t.rotation.x = ego_quat[1] + ego_t.rotation.y = ego_quat[2] + ego_t.rotation.z = ego_quat[3] + ego_t.rotation.w = ego_quat[0] + + ego_ts = TransformStamped() + ego_ts.transform = ego_t + ego_ts.header.stamp = ts + ego_ts.header.frame_id = 'map' + ego_ts.child_frame_id = self.ego_namespace + '/base_link' + self.br.sendTransform(ego_ts) + + if self.has_opp: + opp_t = Transform() + opp_t.translation.x = self.opp_pose[0] + opp_t.translation.y = self.opp_pose[1] + opp_t.translation.z = 0.0 + opp_quat = euler.euler2quat(0.0, 0.0, self.opp_pose[2], axes='sxyz') + opp_t.rotation.x = opp_quat[1] + opp_t.rotation.y = opp_quat[2] + opp_t.rotation.z = opp_quat[3] + opp_t.rotation.w = opp_quat[0] + + opp_ts = TransformStamped() + opp_ts.transform = opp_t + opp_ts.header.stamp = ts + opp_ts.header.frame_id = 'map' + opp_ts.child_frame_id = self.opp_namespace + '/base_link' + self.br.sendTransform(opp_ts) + + def _publish_wheel_transforms(self, ts): + ego_wheel_ts = TransformStamped() + ego_wheel_quat = euler.euler2quat(0., 0., self.ego_steer, axes='sxyz') + ego_wheel_ts.transform.rotation.x = ego_wheel_quat[1] + ego_wheel_ts.transform.rotation.y = ego_wheel_quat[2] + ego_wheel_ts.transform.rotation.z = ego_wheel_quat[3] + ego_wheel_ts.transform.rotation.w = ego_wheel_quat[0] + ego_wheel_ts.header.stamp = ts + ego_wheel_ts.header.frame_id = self.ego_namespace + '/front_left_hinge' + ego_wheel_ts.child_frame_id = self.ego_namespace + '/front_left_wheel' + self.br.sendTransform(ego_wheel_ts) + ego_wheel_ts.header.frame_id = self.ego_namespace + '/front_right_hinge' + ego_wheel_ts.child_frame_id = self.ego_namespace + '/front_right_wheel' + self.br.sendTransform(ego_wheel_ts) + + if self.has_opp: + opp_wheel_ts = TransformStamped() + opp_wheel_quat = euler.euler2quat(0., 0., self.opp_steer, axes='sxyz') + opp_wheel_ts.transform.rotation.x = opp_wheel_quat[1] + opp_wheel_ts.transform.rotation.y = opp_wheel_quat[2] + opp_wheel_ts.transform.rotation.z = opp_wheel_quat[3] + opp_wheel_ts.transform.rotation.w = opp_wheel_quat[0] + opp_wheel_ts.header.stamp = ts + opp_wheel_ts.header.frame_id = self.opp_namespace + '/front_left_hinge' + opp_wheel_ts.child_frame_id = self.opp_namespace + '/front_left_wheel' + self.br.sendTransform(opp_wheel_ts) + opp_wheel_ts.header.frame_id = self.opp_namespace + '/front_right_hinge' + opp_wheel_ts.child_frame_id = self.opp_namespace + '/front_right_wheel' + self.br.sendTransform(opp_wheel_ts) + + def _publish_laser_transforms(self, ts): + ego_scan_ts = TransformStamped() + ego_scan_ts.transform.translation.x = self.scan_distance_to_base_link + # ego_scan_ts.transform.translation.z = 0.04+0.1+0.025 + ego_scan_ts.transform.rotation.w = 1. + ego_scan_ts.header.stamp = ts + ego_scan_ts.header.frame_id = self.ego_namespace + '/base_link' + ego_scan_ts.child_frame_id = self.ego_namespace + '/laser' + self.br.sendTransform(ego_scan_ts) + + if self.has_opp: + opp_scan_ts = TransformStamped() + opp_scan_ts.transform.translation.x = self.scan_distance_to_base_link + opp_scan_ts.transform.rotation.w = 1. + opp_scan_ts.header.stamp = ts + opp_scan_ts.header.frame_id = self.opp_namespace + '/base_link' + opp_scan_ts.child_frame_id = self.opp_namespace + '/laser' + self.br.sendTransform(opp_scan_ts) + +def main(args=None): + rclpy.init(args=args) + gym_bridge = GymBridge() + rclpy.spin(gym_bridge) + +if __name__ == '__main__': + main() diff --git a/ROS 2 Packages/f1tenth_sim/launch/gym_bridge_launch.py b/ROS 2 Packages/f1tenth_sim/launch/gym_bridge_launch.py new file mode 100644 index 0000000..9479749 --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/launch/gym_bridge_launch.py @@ -0,0 +1,95 @@ +# MIT License + +# Copyright (c) 2023 Tinker Twins, Hongrui Zheng + +# Permission is hereby granted, free of charge, to any person obtaining a copy +# of this software and associated documentation files (the "Software"), to deal +# in the Software without restriction, including without limitation the rights +# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +# copies of the Software, and to permit persons to whom the Software is +# furnished to do so, subject to the following conditions: + +# The above copyright notice and this permission notice shall be included in all +# copies or substantial portions of the Software. + +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +# SOFTWARE. + +from launch import LaunchDescription +from launch_ros.actions import Node +from launch.substitutions import Command +from ament_index_python.packages import get_package_share_directory +import os +import yaml + +def generate_launch_description(): + config = os.path.join(get_package_share_directory('f1tenth_gym_ros'), 'config', 'params.yaml') + has_opp = yaml.safe_load(open(config, 'r'))['gym_bridge']['ros__parameters']['num_agent'] > 1 + map_name = yaml.safe_load(open(config, 'r'))['gym_bridge']['ros__parameters']['map_name'] + + gym_bridge_node = Node( + package='f1tenth_gym_ros', + executable='gym_bridge', + name='gym_bridge', + parameters=[config], + ) + + map_server_node = Node( + package='nav2_map_server', + executable='map_server', + parameters=[{'yaml_filename': os.path.join(get_package_share_directory('f1tenth_gym_ros'), 'maps', map_name + '.yaml')}, + {'topic': 'map'}, + {'frame_id': 'map'}, + {'output': 'screen'}, + {'use_sim_time': True}] + ) + + nav_lifecycle_node = Node( + package='nav2_lifecycle_manager', + executable='lifecycle_manager', + name='lifecycle_manager_localization', + output='screen', + parameters=[{'use_sim_time': True}, + {'autostart': True}, + {'node_names': ['map_server']}] + ) + + ego_robot_publisher = Node( + package='robot_state_publisher', + executable='robot_state_publisher', + name='ego_robot_state_publisher', + parameters=[{'robot_description': Command(['xacro ', os.path.join(get_package_share_directory('f1tenth_gym_ros'), 'config', 'ego_racecar.xacro')])}], + remappings=[ + ('/robot_description', 'ego_robot_description'), + ] + ) + + opp_robot_publisher = Node( + package='robot_state_publisher', + executable='robot_state_publisher', + name='opp_robot_state_publisher', + parameters=[{'robot_description': Command(['xacro ', os.path.join(get_package_share_directory('f1tenth_gym_ros'), 'config', 'opp_racecar.xacro')])}], + remappings=[('/robot_description', 'opp_robot_description')] + ) + + rviz_node = Node( + package='rviz2', + executable='rviz2', + name='rviz', + arguments=['-d', os.path.join(get_package_share_directory('f1tenth_gym_ros'), 'rviz', 'gym_bridge.rviz')] + ) + + ld = LaunchDescription() + ld.add_action(rviz_node) + ld.add_action(gym_bridge_node) + ld.add_action(nav_lifecycle_node) + ld.add_action(map_server_node) + ld.add_action(ego_robot_publisher) + if has_opp: + ld.add_action(opp_robot_publisher) + return ld \ No newline at end of file diff --git a/ROS 2 Packages/f1tenth_sim/maps/levine.png b/ROS 2 Packages/f1tenth_sim/maps/levine.png new file mode 100644 index 0000000..2803b38 Binary files /dev/null and b/ROS 2 Packages/f1tenth_sim/maps/levine.png differ diff --git a/ROS 2 Packages/f1tenth_sim/maps/levine.yaml b/ROS 2 Packages/f1tenth_sim/maps/levine.yaml new file mode 100644 index 0000000..e2e65fa --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/maps/levine.yaml @@ -0,0 +1,6 @@ +image: levine.png +resolution: 0.050000 +origin: [-51.224998, -51.224998, 0.000000] +negate: 0 +occupied_thresh: 0.65 +free_thresh: 0.196 \ No newline at end of file diff --git a/ROS 2 Packages/f1tenth_sim/maps/pennovation.png b/ROS 2 Packages/f1tenth_sim/maps/pennovation.png new file mode 100644 index 0000000..4a1bb1b Binary files /dev/null and b/ROS 2 Packages/f1tenth_sim/maps/pennovation.png differ diff --git a/ROS 2 Packages/f1tenth_sim/maps/pennovation.yaml b/ROS 2 Packages/f1tenth_sim/maps/pennovation.yaml new file mode 100644 index 0000000..ffad6bd --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/maps/pennovation.yaml @@ -0,0 +1,6 @@ +image: pennovation.png +resolution: 0.05 +origin: [-11.1, -13.7, 0.0] +negate: 0 +occupied_thresh: 0.65 +free_thresh: 0.25 diff --git a/ROS 2 Packages/f1tenth_sim/maps/porto.pgm b/ROS 2 Packages/f1tenth_sim/maps/porto.pgm new file mode 100644 index 0000000..b8403f0 Binary files /dev/null and b/ROS 2 Packages/f1tenth_sim/maps/porto.pgm differ diff --git a/ROS 2 Packages/f1tenth_sim/maps/porto.yaml b/ROS 2 Packages/f1tenth_sim/maps/porto.yaml new file mode 100644 index 0000000..ff4164d --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/maps/porto.yaml @@ -0,0 +1,7 @@ +image: porto.pgm +mode: trinary +resolution: 0.05 +origin: [-3.68, -8.47, 0] +negate: 0 +occupied_thresh: 0.65 +free_thresh: 0.25 \ No newline at end of file diff --git a/ROS 2 Packages/f1tenth_sim/maps/spielberg_map.png b/ROS 2 Packages/f1tenth_sim/maps/spielberg_map.png new file mode 100644 index 0000000..e9ef68d Binary files /dev/null and b/ROS 2 Packages/f1tenth_sim/maps/spielberg_map.png differ diff --git a/ROS 2 Packages/f1tenth_sim/maps/spielberg_map.yaml b/ROS 2 Packages/f1tenth_sim/maps/spielberg_map.yaml new file mode 100644 index 0000000..ace90ac --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/maps/spielberg_map.yaml @@ -0,0 +1,6 @@ +image: spielberg_map.png +resolution: 0.05796 +origin: [-84.85359914210505,-36.30299725862132, 0.000000] +negate: 0 +occupied_thresh: 0.45 +free_thresh: 0.196 diff --git a/ROS 2 Packages/f1tenth_sim/package.xml b/ROS 2 Packages/f1tenth_sim/package.xml new file mode 100644 index 0000000..53e0255 --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/package.xml @@ -0,0 +1,34 @@ + + + + f1tenth_gym_ros + 0.0.0 + Bridge for using f1tenth_gym in ROS2 + Billy Zheng + MIT + + geometry_msgs + nav_msgs + sensor_msgs + ackermann_msgs + launch + launch_ros + tf2_ros + rclpy + joint_state_publisher + xacro + nav2_map_server + nav2_lifecycle_manager + teleop_twist_keyboard + + python-transforms3d-pip + + ament_copyright + ament_flake8 + ament_pep257 + python3-pytest + + + ament_python + + diff --git a/ROS 2 Packages/f1tenth_sim/resource/f1tenth_gym_ros b/ROS 2 Packages/f1tenth_sim/resource/f1tenth_gym_ros new file mode 100644 index 0000000..e69de29 diff --git a/ROS 2 Packages/f1tenth_sim/rviz/gym_bridge.rviz b/ROS 2 Packages/f1tenth_sim/rviz/gym_bridge.rviz new file mode 100644 index 0000000..d996faa --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/rviz/gym_bridge.rviz @@ -0,0 +1,327 @@ +Panels: + - Class: rviz_common/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Map1/Topic1 + Splitter Ratio: 0.5 + Tree Height: 787 + - Class: rviz_common/Selection + Name: Selection + - Class: rviz_common/Tool Properties + Expanded: + - /2D Goal Pose1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz_common/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz_default_plugins/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 100 + Reference Frame: + Value: true + - Alpha: 0.699999988079071 + Class: rviz_default_plugins/Map + Color Scheme: map + Draw Behind: false + Enabled: true + Name: Map + Topic: + Depth: 5 + Durability Policy: Transient Local + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /map + Update Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /map_updates + Use Timestamp: false + Value: true + - Alpha: 1 + Class: rviz_default_plugins/RobotModel + Collision Enabled: false + Description File: "" + Description Source: Topic + Description Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /ego_robot_description + Enabled: true + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + ego_racecar/back_left_wheel: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + ego_racecar/back_right_wheel: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + ego_racecar/base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + ego_racecar/front_left_hinge: + Alpha: 1 + Show Axes: false + Show Trail: false + ego_racecar/front_left_wheel: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + ego_racecar/front_right_hinge: + Alpha: 1 + Show Axes: false + Show Trail: false + ego_racecar/front_right_wheel: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + ego_racecar/laser_model: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Name: F1TENTH + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 1.6836012601852417 + Min Value: -0.77458256483078 + Value: true + Axis: X + Channel Name: intensity + Class: rviz_default_plugins/LaserScan + Color: 255; 255; 255 + Color Transformer: AxisColor + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: LIDAR + Position Transformer: XYZ + Selectable: true + Size (Pixels): 5 + Size (m): 0.10000000149011612 + Style: Points + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /scan + Use Fixed Frame: true + Use rainbow: true + Value: true + - Angle Tolerance: 0.10000000149011612 + Class: rviz_default_plugins/Odometry + Covariance: + Orientation: + Alpha: 0.5 + Color: 255; 255; 127 + Color Style: Unique + Frame: Local + Offset: 1 + Scale: 1 + Value: true + Position: + Alpha: 0.30000001192092896 + Color: 204; 51; 204 + Scale: 1 + Value: true + Value: true + Enabled: true + Keep: 100 + Name: Odometry + Position Tolerance: 0.10000000149011612 + Shape: + Alpha: 1 + Axes Length: 1 + Axes Radius: 0.10000000149011612 + Color: 255; 25; 0 + Head Length: 0.30000001192092896 + Head Radius: 0.10000000149011612 + Shaft Length: 0.5 + Shaft Radius: 0.029999999329447746 + Value: Arrow + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /ego_racecar/odom + Value: true + - Alpha: 1 + Arrow Length: 0.30000001192092896 + Axes Length: 0.30000001192092896 + Axes Radius: 0.009999999776482582 + Class: rviz_default_plugins/PoseArray + Color: 255; 0; 255 + Enabled: true + Head Length: 0.07000000029802322 + Head Radius: 0.029999999329447746 + Name: Pose Estimate + Shaft Length: 0.23000000417232513 + Shaft Radius: 0.009999999776482582 + Shape: Arrow (3D) + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /particle_filter/viz/pose_particles + Value: true + - Class: rviz_default_plugins/Marker + Enabled: true + Name: Waypoints + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /traj_marker + Value: true + - Class: rviz_default_plugins/Marker + Enabled: true + Name: Target + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /goal_marker + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Fixed Frame: map + Frame Rate: 30 + Name: root + Tools: + - Class: rviz_default_plugins/Interact + Hide Inactive Objects: true + - Class: rviz_default_plugins/MoveCamera + - Class: rviz_default_plugins/Select + - Class: rviz_default_plugins/FocusCamera + - Class: rviz_default_plugins/Measure + Line color: 128; 128; 0 + - Class: rviz_default_plugins/SetInitialPose + Covariance x: 0.25 + Covariance y: 0.25 + Covariance yaw: 0.06853891909122467 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /initialpose + - Class: rviz_default_plugins/SetGoal + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /goal_pose + - Class: rviz_default_plugins/PublishPoint + Single click: true + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /clicked_point + Transformation: + Current: + Class: rviz_default_plugins/TF + Value: true + Views: + Current: + Class: rviz_default_plugins/Orbit + Distance: 18.995563507080078 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: -1.023882269859314 + Y: -0.6751195788383484 + Z: 0.0006750974571332335 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 1.5697963237762451 + Target Frame: + Value: Orbit (rviz) + Yaw: 1.5707999467849731 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 1016 + Hide Left Dock: false + Hide Right Dock: true + QMainWindow State: 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+ Selection: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: true + Width: 1848 + X: 72 + Y: 27 diff --git a/ROS 2 Packages/f1tenth_sim/setup.cfg b/ROS 2 Packages/f1tenth_sim/setup.cfg new file mode 100644 index 0000000..13ccde1 --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/setup.cfg @@ -0,0 +1,4 @@ +[develop] +script-dir=$base/lib/f1tenth_gym_ros +[install] +install-scripts=$base/lib/f1tenth_gym_ros diff --git a/ROS 2 Packages/f1tenth_sim/setup.py b/ROS 2 Packages/f1tenth_sim/setup.py new file mode 100644 index 0000000..a088a3a --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/setup.py @@ -0,0 +1,33 @@ +from setuptools import setup +import os +from glob import glob + +package_name = 'f1tenth_gym_ros' + +setup( + name=package_name, + version='0.1.0', + packages=[package_name], + data_files=[ + ('share/ament_index/resource_index/packages', + ['resource/' + package_name]), + ('share/' + package_name, ['package.xml']), + (os.path.join('share', package_name, 'maps'), glob('maps/*')), + (os.path.join('share', package_name, 'launch'), glob('launch/*.py')), + (os.path.join('share', package_name, 'config'), glob('config/*.yaml')), + (os.path.join('share', package_name, 'config'), glob('config/*.xacro')), + (os.path.join('share', package_name, 'rviz'), glob('rviz/*.rviz')), + ], + install_requires=['setuptools'], + zip_safe=True, + maintainer='Chinmay Vilas Samak' 'Tanmay Vilas Samak' 'Billy Zheng', + maintainer_email='csamak@clemson.edu' 'tsamak@clemson.edu' 'billyzheng.bz@gmail.com', + description='Bridge for using f1tenth_gym in ROS 2', + license='MIT', + tests_require=['pytest'], + entry_points={ + 'console_scripts': [ + 'gym_bridge = f1tenth_gym_ros.gym_bridge:main' + ], + }, +) \ No newline at end of file diff --git a/ROS 2 Packages/f1tenth_sim/test/test_copyright.py b/ROS 2 Packages/f1tenth_sim/test/test_copyright.py new file mode 100644 index 0000000..cc8ff03 --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/test/test_copyright.py @@ -0,0 +1,23 @@ +# Copyright 2015 Open Source Robotics Foundation, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +from ament_copyright.main import main +import pytest + + +@pytest.mark.copyright +@pytest.mark.linter +def test_copyright(): + rc = main(argv=['.', 'test']) + assert rc == 0, 'Found errors' diff --git a/ROS 2 Packages/f1tenth_sim/test/test_flake8.py b/ROS 2 Packages/f1tenth_sim/test/test_flake8.py new file mode 100644 index 0000000..27ee107 --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/test/test_flake8.py @@ -0,0 +1,25 @@ +# Copyright 2017 Open Source Robotics Foundation, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +from ament_flake8.main import main_with_errors +import pytest + + +@pytest.mark.flake8 +@pytest.mark.linter +def test_flake8(): + rc, errors = main_with_errors(argv=[]) + assert rc == 0, \ + 'Found %d code style errors / warnings:\n' % len(errors) + \ + '\n'.join(errors) diff --git a/ROS 2 Packages/f1tenth_sim/test/test_pep257.py b/ROS 2 Packages/f1tenth_sim/test/test_pep257.py new file mode 100644 index 0000000..b234a38 --- /dev/null +++ b/ROS 2 Packages/f1tenth_sim/test/test_pep257.py @@ -0,0 +1,23 @@ +# Copyright 2015 Open Source Robotics Foundation, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +from ament_pep257.main import main +import pytest + + +@pytest.mark.linter +@pytest.mark.pep257 +def test_pep257(): + rc = main(argv=['.', 'test']) + assert rc == 0, 'Found code style errors / warnings'