From e7dec540f0636dd77b322d41757ac0a9dd5f4741 Mon Sep 17 00:00:00 2001 From: robertik10 Date: Wed, 13 Dec 2023 19:28:55 +0100 Subject: [PATCH 01/22] feat(#106): changed docker-compose.yml and kalman_filter.py [addded correct transition matrix and measurement matrix to kalman_filter.py] --- build/docker-compose.yml | 2 +- code/perception/src/kalman_filter.py | 129 +++++++++++++++++---------- 2 files changed, 81 insertions(+), 50 deletions(-) diff --git a/build/docker-compose.yml b/build/docker-compose.yml index 1545f945..238d49f8 100644 --- a/build/docker-compose.yml +++ b/build/docker-compose.yml @@ -57,7 +57,7 @@ services: tty: true shm_size: 2gb #command: bash -c "sleep 10 && python3 /opt/leaderboard/leaderboard/leaderboard_evaluator.py --debug=0 --routes=/opt/leaderboard/data/routes_devtest.xml --agent=/opt/leaderboard/leaderboard/autoagents/npc_agent.py --host=carla-simulator --track=SENSORS" - command: bash -c "sleep 10 && roslaunch agent/launch/dev.launch" + command: bash -c "sleep 10 && sudo chown -R carla:carla ../code/ && sudo chmod -R a+w ../code/ && roslaunch agent/launch/dev.launch" #command: bash -c "sleep 10 && sudo chown -R carla:carla ../code/ && sudo chmod -R a+w ../code/ && python3 /opt/leaderboard/leaderboard/leaderboard_evaluator.py --debug=0 --routes=/opt/leaderboard/data/routes_devtest.xml --agent=/workspace/code/agent/src/agent/agent.py --host=carla-simulator --track=MAP" logging: driver: "local" diff --git a/code/perception/src/kalman_filter.py b/code/perception/src/kalman_filter.py index cc8c175a..4694d9ce 100755 --- a/code/perception/src/kalman_filter.py +++ b/code/perception/src/kalman_filter.py @@ -67,27 +67,42 @@ def __init__(self): self.dt = self.control_loop_rate - # Initialize the state vector X + # state vector X ''' [ [initial_x], [initial_y], + [v_x], + [v_y], + ([a_hy] in direction of v_hy (heading hy), TODO not used) [yaw], - [v_hy] in direction of heading hy, - [a_hy] in direction of v_hy (heading hy), [omega_z], ] ''' - self.x0 = np.zeros((6, 1)) + self.x_est = np.zeros((6, 1)) # estimated state vector - # Define initial state covariance matrix - self.P0 = np.eye(6) + self.P_est = np.zeros((6, 6)) # estiamted state covariance matrix + + self.x_pred = np.zeros((6, 1)) # Predicted state vector + self.P_pred = np.zeros((6, 6)) # Predicted state covariance matrix # Define state transition matrix - # [x, y, yaw, v_hy, a_hy, omega_z] - # [ ... ] - self.A = np.array([[1, 0, 0, self.dt, 0, 0], - [0, 1, 0, 0, self.dt, 0], + ''' + # [x ... ] + # [y ... ] + # [v_x ... ] + # [x_y ... ] + # [yaw ... ] + # [omega_z ... ] + x = x + v_x * dt + y = y + v_y * dt + v_x = v_x + v_y = v_y + yaw = yaw + omega_z * dt + omega_z = omega_z + ''' + self.A = np.array([[1, 0, self.dt, 0, 0, 0], + [0, 1, 0, self.dt, 0, 0], [0, 0, 1, 0, 0, self.dt], [0, 0, 0, 1, 0, 0], [0, 0, 0, 0, 1, 0], @@ -96,33 +111,32 @@ def __init__(self): # Define measurement matrix ''' 1. GPS: x, y - 2. IMU: yaw, omega_z - -> 4 measurements for a state vector of 6 - (v is not in the measurement here because its provided by Carla) + 2. Velocity: v_x, v_y + 3. IMU: yaw, omega_z + -> 6 measurements for a state vector of 6 ''' - self.H = np.array([[1, 0, 0, 0, 0, 0], - [0, 1, 0, 0, 0, 0], - [0, 0, 1, 0, 0, 0], - [0, 0, 0, 0, 0, 1]]) - - # Define process noise covariance matrix - self.Q = np.diag([0.0001, 0.0001, 0.0001, 0.0001, 0.0001, 0.0001]) - - # Define measurement noise covariance matrix - self.R = np.diag([0.005, 0.005, 0.001, 0.0001]) + self.H = np.array([[1, 0, 0, 0, 0, 0], # x + [0, 1, 0, 0, 0, 0], # y + [0, 0, 1, 0, 0, 0], # v_x + [0, 0, 0, 1, 0, 0], # v_y + [0, 0, 0, 0, 1, 0], # yaw + [0, 0, 0, 0, 0, 1]]) # omega_z # Define Measurement Variables self.z_gps = np.zeros((2, 1)) # GPS measurements (x, y) + self.z_v = np.zeros((2, 1)) # Velocity measurement (v_x, v_y) self.z_imu = np.zeros((2, 1)) # IMU measurements (yaw, omega_z) - self.v = np.zeros((2, 1)) # Velocity measurements (v_x, v_y) + # Define measurement noise covariance matrix + # TODO delete comment if not useful anymore: + # self.R = np.diag([0.005, 0.005, 0.001, 0.0001]) + self.R = np.diag([0.005, 0.005, 0, 0, 0, 0]) - self.x_old_est = np.copy(self.x0) # old state vector - self.P_old_est = np.copy(self.P0) # old state covariance matrix - self.x_est = np.zeros((6, 1)) # estimated state vector - self.P_est = np.zeros((6, 6)) # estiamted state covariance matrix - self.x_pred = np.zeros((6, 1)) # Predicted state vector - self.P_pred = np.zeros((6, 6)) # Predicted state covariance matrix + # Define process noise covariance matrix + self.Q = np.diag([0.0001, 0.0001, 0.0001, 0.0001, 0.0001, 0.0001]) + + # self.x_old_est = np.copy(self.x0) # old state vector + # self.P_old_est = np.copy(self.P0) # old state covariance matrix self.K = np.zeros((6, 4)) # Kalman gain @@ -182,10 +196,25 @@ def run(self): """ Run the Kalman Filter """ + # initialize the state vector x_est and the covariance matrix P_est + # initial state vector x_0 + self.x_0 = np.array([[self.z_gps[0]], + [self.z_gps[1]], + [self.z_v[0]], + [self.z_v[1]], + [self.yaw], + [self.omega_z]]) + self.x_est = np.copy(self.x_0) # estimated initial state vector + self.P_est = np.eyes(6) # estiamted initial state covariance matrix + def loop(): """ Loop for the Kalman Filter """ + # Update the old state and covariance matrix + # self.x_old_est[:, :] = np.copy(self.x_est[:, :]) + # self.P_old_est[:, :] = np.copy(self.P_est[:, :]) + self.predict() self.update() @@ -193,32 +222,34 @@ def loop(): self.publish_kalman_heading() self.publish_kalman_location() - # roscomp.spin(loop, self.control_loop_rate) - self.new_timer(self.control_loop_rate, loop) - self.spin() + roscomp.spin(loop, 1.0/self.control_loop_rate) + # self.new_timer(self.control_loop_rate, loop) + # self.spin() def predict(self): """ Predict the next state """ - # Update the old state and covariance matrix - self.x_old_est[:, :] = np.copy(self.x_est[:, :]) - self.P_old_est[:, :] = np.copy(self.P_est[:, :]) - - # Predict the next state and covariance matrix - self.x_pred = self.A @ self.x_est[:] # + B @ v[:, k-1] + u + # Predict the next state and covariance matrix, pretending the last + # velocity state estimate stayed constant + self.x_pred = self.A @ self.x_est[:] # + B @ v[:] + u self.P_pred = self.A @ self.P_est[:, :] @ self.A.T + self.Q def update(self): """ Update the state """ - z = np.concatenate((self.z_gps[:], self.z_imu[:])) # Measurementvector - y = z - self.H @ self.x_pred # Measurement residual - S = self.H @ self.P_pred @ self.H.T + self.R # Residual covariance - self.K[:, :] = self.P_pred @ self.H.T @ np.linalg.inv(S) # Kalman gain - self.x_est[:] = self.x_pred + self.K[:, :] @ y # State estimate - # State covariance estimate + # Measurementvector z + z = np.concatenate((self.z_gps[:], self.z_v[:], self.z_imu[:])) + # Measurement residual y + y = z - self.H @ self.x_pred + # Residual covariance S + S = self.H @ self.P_pred @ self.H.T + self.R + # Kalman gain K + self.K[:, :] = self.P_pred @ self.H.T @ np.linalg.inv(S) + # State estimate x_est + self.x_est[:] = self.x_pred + self.K[:, :] @ y + # State covariance estimate P_est self.P_est[:, :] = (np.eye(6) - self.K[:, :] @ self.H) @ self.P_pred def publish_kalman_heading(self): @@ -322,11 +353,11 @@ def update_current_pos(self, current_pos): def update_velocity(self, velocity): """ - Update the velocity using the yaw angle in the predicted state x1 - x1[2] = yaw + Update the velocity + using the yaw angle in the estimated state x_est x_est[2] = yaw """ - self.v[0] = velocity.speed * math.cos(self.x_est[2]) - self.v[1] = velocity.speed * math.sin(self.x_est[2]) + self.z_v[0] = velocity.speed * math.cos(self.x_est[2]) + self.z_v[1] = velocity.speed * math.sin(self.x_est[2]) def main(args=None): From 167d9cb1e709724837a0327d389754efe9c21bff Mon Sep 17 00:00:00 2001 From: robertik10 Date: Wed, 13 Dec 2023 21:42:16 +0100 Subject: [PATCH 02/22] feat(#106): kalanfilter works [needs tuning and raw gps data for better results] --- code/perception/launch/perception.launch | 25 +++-- code/perception/src/kalman_filter.py | 122 +++++++++++++-------- code/perception/src/sensor_filter_debug.py | 16 +-- 3 files changed, 97 insertions(+), 66 deletions(-) diff --git a/code/perception/launch/perception.launch b/code/perception/launch/perception.launch index 3adc596e..f0e41bbb 100644 --- a/code/perception/launch/perception.launch +++ b/code/perception/launch/perception.launch @@ -3,37 +3,37 @@ - - + - + + - - + - - + + - --> + - + - + diff --git a/code/perception/src/kalman_filter.py b/code/perception/src/kalman_filter.py index 4694d9ce..c0093a74 100755 --- a/code/perception/src/kalman_filter.py +++ b/code/perception/src/kalman_filter.py @@ -1,5 +1,6 @@ #!/usr/bin/env python +import time import numpy as np import ros_compatibility as roscomp from ros_compatibility.node import CompatibleNode @@ -8,8 +9,12 @@ from sensor_msgs.msg import NavSatFix, Imu from tf.transformations import euler_from_quaternion from carla_msgs.msg import CarlaSpeedometer +import rospy import math +import threading +# TODO remove rolling average from current position +# TODO Or use raw gps data for current position ''' This class implements a Kalman filter for a 3D object tracked in 3D space. It implements the data of the IMU and the GPS Sensors. @@ -29,18 +34,26 @@ The state vector X is defined as: [initial_x], [initial_y], + [v_x], + [v_y], + ([a_hy] in direction of v_hy (heading hy), TODO not used) [yaw], - [v_hy] in direction of heading hy, - [a_hy] in direction of v_hy (heading hy), [omega_z], The state transition matrix F is defined as: - A = I + A = np.array([[1, 0, self.dt, 0, 0, 0], + [0, 1, 0, self.dt, 0, 0], + [0, 0, 1, 0, 0, self.dt], + [0, 0, 0, 1, 0, 0], + [0, 0, 0, 0, 1, 0], + [0, 0, 0, 0, 0, 1]]) I: Identity Matrix The measurement matrix H is defined as: - H = [1, 0, 0, 0, 0, 0], - [0, 1, 0, 0, 0, 0], - [0, 0, 1, 0, 0, 0], - [0, 0, 0, 0, 0, 1] + self.H = np.array([[1, 0, 0, 0, 0, 0], # x + [0, 1, 0, 0, 0, 0], # y + [0, 0, 1, 0, 0, 0], # v_x + [0, 0, 0, 1, 0, 0], # v_y + [0, 0, 0, 0, 1, 0], # yaw + [0, 0, 0, 0, 0, 1]]) # omega_z The process covariance matrix Q is defined as: Q = np.diag([0.005, 0.005, 0.001, 0.0001] ''' @@ -55,7 +68,6 @@ def __init__(self): Constructor / Setup :return: """ - super(KalmanFilter, self).__init__('kalman_filter_node') self.loginfo('KalmanFilter node started') @@ -67,6 +79,8 @@ def __init__(self): self.dt = self.control_loop_rate + self.initialized = False + # state vector X ''' [ @@ -103,9 +117,9 @@ def __init__(self): ''' self.A = np.array([[1, 0, self.dt, 0, 0, 0], [0, 1, 0, self.dt, 0, 0], - [0, 0, 1, 0, 0, self.dt], + [0, 0, 1, 0, 0, 0], [0, 0, 0, 1, 0, 0], - [0, 0, 0, 0, 1, 0], + [0, 0, 0, 0, 1, self.dt], [0, 0, 0, 0, 0, 1]]) # Define measurement matrix @@ -133,12 +147,12 @@ def __init__(self): self.R = np.diag([0.005, 0.005, 0, 0, 0, 0]) # Define process noise covariance matrix - self.Q = np.diag([0.0001, 0.0001, 0.0001, 0.0001, 0.0001, 0.0001]) + self.Q = np.diag([0.0001, 0.0001, 0.00001, 0.00001, 0.000001, 0.00001]) # self.x_old_est = np.copy(self.x0) # old state vector # self.P_old_est = np.copy(self.P0) # old state covariance matrix - self.K = np.zeros((6, 4)) # Kalman gain + self.K = np.zeros((6, 6)) # Kalman gain self.latitude = 0 # latitude of the current position @@ -155,7 +169,7 @@ def __init__(self): [dt, 0, 0]]) ''' - # Subscriber + # Subscriber # Initialize the subscriber for the IMU Data self.imu_subscriber = self.new_subscription( Imu, @@ -181,12 +195,13 @@ def __init__(self): self.update_velocity, qos_profile=1) - # Publisher + # Publisher # Initialize the publisher for the kalman-position self.kalman_position_publisher = self.new_publisher( PoseStamped, "/paf/" + self.role_name + "/kalman_pos", qos_profile=1) + # Initialize the publisher for the kalman-heading self.kalman_heading_publisher = self.new_publisher( Float32, "/paf/" + self.role_name + "/kalman_heading", @@ -196,16 +211,22 @@ def run(self): """ Run the Kalman Filter """ + while not self.initialized: + time.sleep(1) + time.sleep(2) + + self.loginfo('KalmanFilter started its loop!') + # initialize the state vector x_est and the covariance matrix P_est # initial state vector x_0 - self.x_0 = np.array([[self.z_gps[0]], - [self.z_gps[1]], - [self.z_v[0]], - [self.z_v[1]], - [self.yaw], - [self.omega_z]]) + self.x_0 = np.array([[self.z_gps[0, 0]], + [self.z_gps[1, 0]], + [self.z_v[0, 0]], + [self.z_v[1, 0]], + [self.z_imu[0, 0]], + [self.z_imu[1, 0]]]) self.x_est = np.copy(self.x_0) # estimated initial state vector - self.P_est = np.eyes(6) # estiamted initial state covariance matrix + self.P_est = np.eye(6) * 1000 # estiamted initialstatecovariancematrix def loop(): """ @@ -214,17 +235,20 @@ def loop(): # Update the old state and covariance matrix # self.x_old_est[:, :] = np.copy(self.x_est[:, :]) # self.P_old_est[:, :] = np.copy(self.P_est[:, :]) + while True: + self.predict() + self.update() - self.predict() - self.update() - - # Publish the kalman-data: - self.publish_kalman_heading() - self.publish_kalman_location() + # Publish the kalman-data: + self.publish_kalman_heading() + self.publish_kalman_location() + time.sleep(self.control_loop_rate) - roscomp.spin(loop, 1.0/self.control_loop_rate) + # roscomp.spin(loop, 1.0/self.control_loop_rate) # self.new_timer(self.control_loop_rate, loop) - # self.spin() + # threading.Timer(1.0/self.control_loop_rate, loop).start() + threading.Thread(target=loop).start() + self.spin() def predict(self): """ @@ -232,25 +256,26 @@ def predict(self): """ # Predict the next state and covariance matrix, pretending the last # velocity state estimate stayed constant - self.x_pred = self.A @ self.x_est[:] # + B @ v[:] + u - self.P_pred = self.A @ self.P_est[:, :] @ self.A.T + self.Q + self.x_pred = self.A @ self.x_est # + B @ v[:] + u + self.P_pred = self.A @ self.P_est @ self.A.T + self.Q def update(self): """ Update the state """ # Measurementvector z - z = np.concatenate((self.z_gps[:], self.z_v[:], self.z_imu[:])) + z = np.concatenate((self.z_gps, self.z_v, self.z_imu)) # Measurement residual y y = z - self.H @ self.x_pred # Residual covariance S S = self.H @ self.P_pred @ self.H.T + self.R # Kalman gain K - self.K[:, :] = self.P_pred @ self.H.T @ np.linalg.inv(S) + self.K = self.P_pred @ self.H.T @ np.linalg.inv(S) # State estimate x_est - self.x_est[:] = self.x_pred + self.K[:, :] @ y + self.x_est = self.x_pred + self.K @ y # State covariance estimate P_est - self.P_est[:, :] = (np.eye(6) - self.K[:, :] @ self.H) @ self.P_pred + # (Joseph form of the covariance update equation) + self.P_est = (np.eye(6) - self.K @ self.H) @ self.P_pred def publish_kalman_heading(self): """ @@ -260,7 +285,7 @@ def publish_kalman_heading(self): kalman_heading = Float32() # Fill the kalman-heading - kalman_heading.data = self.x_est[2] + kalman_heading.data = self.x_est[2, 0] # Publish the kalman-heading self.kalman_heading_publisher.publish(kalman_heading) @@ -274,18 +299,19 @@ def publish_kalman_location(self): # Fill the kalman-position kalman_position.header.frame_id = self.frame_id - kalman_position.header.stamp = roscomp.Time.now() + kalman_position.header.stamp = rospy.Time.now() kalman_position.header.seq = self.publish_seq + self.publish_seq.data += 1 - kalman_position.pose.position.x = self.x_est[0] - kalman_position.pose.position.y = self.x_est[1] + kalman_position.pose.position.x = self.x_est[0, 0] + kalman_position.pose.position.y = self.x_est[1, 0] + # TODO add some kind of filter for z kalman_position.pose.position.z = self.latitude kalman_position.pose.orientation.x = 0 kalman_position.pose.orientation.y = 0 kalman_position.pose.orientation.z = 1 kalman_position.pose.orientation.w = 0 - # Publish the kalman-position self.kalman_position_publisher.publish(kalman_position) @@ -317,8 +343,8 @@ def update_imu_data(self, imu_data): heading = (raw_heading - (math.pi / 2)) % (2 * math.pi) - math.pi # update IMU Measurements: - self.z_imu[0] = heading - self.z_imu[1] = imu_data.angular_velocity.z + self.z_imu[0, 0] = heading + self.z_imu[1, 0] = imu_data.angular_velocity.z if imu_data.orientation_covariance[8] != 0: # [8] because we want the diag z element of the covariance matrix self.R[2, 2] = imu_data.orientation_covariance[8] @@ -346,18 +372,22 @@ def update_current_pos(self, current_pos): Update the current position """ # update GPS Measurements: - self.z_gps[0] = current_pos.pose.position.x - self.z_gps[1] = current_pos.pose.position.y + self.z_gps[0, 0] = current_pos.pose.position.x + self.z_gps[1, 0] = current_pos.pose.position.y self.latitude = current_pos.pose.position.z + # set self.initialized to True so that the kalman filter can start + if not self.initialized: + self.initialized = True + def update_velocity(self, velocity): """ Update the velocity using the yaw angle in the estimated state x_est x_est[2] = yaw """ - self.z_v[0] = velocity.speed * math.cos(self.x_est[2]) - self.z_v[1] = velocity.speed * math.sin(self.x_est[2]) + self.z_v[0, 0] = velocity.speed * math.cos(self.x_est[2, 0]) + self.z_v[1, 0] = velocity.speed * math.sin(self.x_est[2, 0]) def main(args=None): diff --git a/code/perception/src/sensor_filter_debug.py b/code/perception/src/sensor_filter_debug.py index 6ea53e7a..6beb5fee 100755 --- a/code/perception/src/sensor_filter_debug.py +++ b/code/perception/src/sensor_filter_debug.py @@ -15,8 +15,8 @@ from tf.transformations import euler_from_quaternion from std_msgs.msg import Float32MultiArray from xml.etree import ElementTree as eTree -# import carl____a remove ___ to use -# import rospy +import carla # remove ___ to use +import rospy GPS_RUNNING_AVG_ARGS: int = 10 @@ -50,16 +50,16 @@ def __init__(self): # remove comments to use carla # Carla API hero car position # Get parameters from the launch file - # host = rospy.get_param('~host', 'carla-simulator') - # port = rospy.get_param('~port', 2000) - # timeout = rospy.get_param('~timeout', 100.0) + host = rospy.get_param('~host', 'carla-simulator') + port = rospy.get_param('~port', 2000) + timeout = rospy.get_param('~timeout', 100.0) # Connect to the CARLA server - # client = carl___a.Client(host, port) - # client.set_timeout(timeout) + client = carla.Client(host, port) + client.set_timeout(timeout) # Get the world - # self.world = client.get_world() + self.world = client.get_world() # Get the ego vehicle self.vehicle = None From 25a7fe098ad355c1c4f5883fdd52999d8e60992b Mon Sep 17 00:00:00 2001 From: robertik10 Date: Thu, 14 Dec 2023 19:24:24 +0100 Subject: [PATCH 03/22] feat(#106): addded debug + unfiltered gps data --- code/perception/launch/perception.launch | 7 +- .../perception/src/Position_Publisher_Node.py | 55 ++++++++++- code/perception/src/kalman_filter.py | 64 +++++++++++-- code/perception/src/sensor_filter_debug.py | 91 +++++++++++++++++-- 4 files changed, 196 insertions(+), 21 deletions(-) diff --git a/code/perception/launch/perception.launch b/code/perception/launch/perception.launch index f0e41bbb..8c2aed3e 100644 --- a/code/perception/launch/perception.launch +++ b/code/perception/launch/perception.launch @@ -19,9 +19,12 @@ - - + + + + diff --git a/code/perception/src/Position_Publisher_Node.py b/code/perception/src/Position_Publisher_Node.py index 8c0431c2..1e7559a5 100755 --- a/code/perception/src/Position_Publisher_Node.py +++ b/code/perception/src/Position_Publisher_Node.py @@ -55,7 +55,7 @@ def __init__(self): self.gps_subscriber = self.new_subscription( NavSatFix, "/carla/" + self.role_name + "/GPS", - self.update_gps_data, + self.publish_unfiltered_and_filtered_gps, qos_profile=1) # Publisher @@ -70,10 +70,14 @@ def __init__(self): Imu, "/imu_data", qos_profile=1) - + # 3D Odometry (GPS) for EKF + self.unfiltered_gps_publisher = self.new_publisher( + PoseStamped, + f"/paf/{self.role_name}/unfiltered_pos", + qos_profile=1) + # 3D Odometry (GPS) self.avg_xyz = np.zeros((GPS_RUNNING_AVG_ARGS, 3)) self.avg_gps_counter: int = 0 - # 3D Odometry (GPS) self.cur_pos_publisher = self.new_publisher( PoseStamped, f"/paf/{self.role_name}/current_pos", @@ -206,6 +210,51 @@ def update_gps_data(self, data: NavSatFix): self.cur_pos_publisher.publish(cur_pos) + def publish_unfiltered_gps(self, data: NavSatFix): + """ + This method is called when new GNSS data is received. + It publishes the raw data. + :param data: GNSS measurement + :return: + """ + # Make sure position is only published when reference values have been + # read from the Map + if CoordinateTransformer.ref_set is False: + self.transformer = CoordinateTransformer() + CoordinateTransformer.ref_set = True + if CoordinateTransformer.ref_set is True: + lat = data.latitude + lon = data.longitude + alt = data.altitude + + x, y, z = self.transformer.gnss_to_xyz(lat, lon, alt) + + unfiltered_pos = PoseStamped() + + unfiltered_pos.header.stamp = data.header.stamp + unfiltered_pos.header.frame_id = "global" + + unfiltered_pos.pose.position.x = x + unfiltered_pos.pose.position.y = y + unfiltered_pos.pose.position.z = z + + unfiltered_pos.pose.orientation.x = 0 + unfiltered_pos.pose.orientation.y = 0 + unfiltered_pos.pose.orientation.z = 1 + unfiltered_pos.pose.orientation.w = 0 + + self.unfiltered_gps_publisher.publish(unfiltered_pos) + + def publish_unfiltered_and_filtered_gps(self, data: NavSatFix): + """ + This method is called when new GNSS data is received. + It publishes the raw data and the filtered data. + :param data: GNSS measurement + :return: + """ + self.publish_unfiltered_gps(data) + self.update_gps_data(data) + def run(self): """ Control loop diff --git a/code/perception/src/kalman_filter.py b/code/perception/src/kalman_filter.py index c0093a74..264a7bd7 100755 --- a/code/perception/src/kalman_filter.py +++ b/code/perception/src/kalman_filter.py @@ -5,13 +5,15 @@ import ros_compatibility as roscomp from ros_compatibility.node import CompatibleNode from geometry_msgs.msg import PoseStamped -from std_msgs.msg import Float32, UInt32 +from std_msgs.msg import Float32, UInt32, String from sensor_msgs.msg import NavSatFix, Imu from tf.transformations import euler_from_quaternion from carla_msgs.msg import CarlaSpeedometer import rospy import math import threading +from coordinate_transformation import CoordinateTransformer +from xml.etree import ElementTree as eTree # TODO remove rolling average from current position # TODO Or use raw gps data for current position @@ -72,6 +74,7 @@ def __init__(self): self.loginfo('KalmanFilter node started') # basic info + self.transformer = None # for coordinate transformation self.role_name = self.get_param("role_name", "hero") self.control_loop_rate = self.get_param("control_loop_rate", "0.001") self.publish_seq = UInt32(0) @@ -170,6 +173,12 @@ def __init__(self): ''' # Subscriber + # Initialize the subscriber for the OpenDrive Map + self.map_sub = self.new_subscription( + String, + "/carla/" + self.role_name + "/OpenDRIVE", + self.get_geoRef, + qos_profile=1) # Initialize the subscriber for the IMU Data self.imu_subscriber = self.new_subscription( Imu, @@ -183,9 +192,9 @@ def __init__(self): self.update_gps_data, qos_profile=1) # Initialize the subscriber for the current_pos in XYZ - self.current_pos_subscriber = self.new_subscription( + self.unfiltered_pos_subscriber = self.new_subscription( PoseStamped, - "/paf/" + self.role_name + "/current_pos", + "/paf/" + self.role_name + "/unfiltered_pos", self.update_current_pos, qos_profile=1) # Initialize the subscriber for the velocity @@ -232,9 +241,6 @@ def loop(): """ Loop for the Kalman Filter """ - # Update the old state and covariance matrix - # self.x_old_est[:, :] = np.copy(self.x_est[:, :]) - # self.P_old_est[:, :] = np.copy(self.P_est[:, :]) while True: self.predict() self.update() @@ -355,8 +361,25 @@ def update_imu_data(self, imu_data): def update_gps_data(self, gps_data): """ Update the GPS Data - Currently only used for covariance matrix + used for covariance matrix """ + # #Make sure position is only published when reference values have been + # # read from the Map + # if CoordinateTransformer.ref_set is False: + # self.transformer = CoordinateTransformer() + # CoordinateTransformer.ref_set = True + # if CoordinateTransformer.ref_set is True: + # lat = gps_data.latitude + # lon = gps_data.longitude + # alt = gps_data.altitude + + # x, y, z = self.transformer.gnss_to_xyz(lat, lon, alt) + + # self.avg_xyz = np.roll(self.avg_xyz, -1, axis=0) + # self.avg_xyz[-1] = np.matrix([x, y, z]) + + # avg_x, avg_y, avg_z = np.mean(self.avg_xyz, axis=0) + # look up if covariance type is not 0 (0 = COVARANCE_TYPE_UNKNOWN) # (1 = approximated, 2 = diagonal known or 3 = known) # if it is not 0 -> update the covariance matrix @@ -389,6 +412,33 @@ def update_velocity(self, velocity): self.z_v[0, 0] = velocity.speed * math.cos(self.x_est[2, 0]) self.z_v[1, 0] = velocity.speed * math.sin(self.x_est[2, 0]) + def get_geoRef(self, opendrive: String): + """_summary_ + Reads the reference values for lat and lon from the carla OpenDriveMap + Args: + opendrive (String): OpenDrive Map from carla + """ + root = eTree.fromstring(opendrive.data) + header = root.find("header") + geoRefText = header.find("geoReference").text + + latString = "+lat_0=" + lonString = "+lon_0=" + + indexLat = geoRefText.find(latString) + indexLon = geoRefText.find(lonString) + + indexLatEnd = geoRefText.find(" ", indexLat) + indexLonEnd = geoRefText.find(" ", indexLon) + + latValue = float(geoRefText[indexLat + len(latString):indexLatEnd]) + lonValue = float(geoRefText[indexLon + len(lonString):indexLonEnd]) + + CoordinateTransformer.la_ref = latValue + CoordinateTransformer.ln_ref = lonValue + CoordinateTransformer.ref_set = True + self.transformer = CoordinateTransformer() + def main(args=None): """ diff --git a/code/perception/src/sensor_filter_debug.py b/code/perception/src/sensor_filter_debug.py index 6beb5fee..115bb2f2 100755 --- a/code/perception/src/sensor_filter_debug.py +++ b/code/perception/src/sensor_filter_debug.py @@ -33,7 +33,8 @@ def __init__(self): """ super(SensorFilterDebugNode, self).__init__('ekf_translation') - # self.current_pos = PoseStamped() + self.kalman_pos = PoseStamped() + self.current_pos = PoseStamped() self.ideal_current_pos = PoseStamped() self.carla_current_pos = PoseStamped() self.ideal_heading = Float32() @@ -46,21 +47,17 @@ def __init__(self): # todo: automatically detect town self.transformer = None - # remove comments to use carla # Carla API hero car position # Get parameters from the launch file host = rospy.get_param('~host', 'carla-simulator') port = rospy.get_param('~port', 2000) timeout = rospy.get_param('~timeout', 100.0) - # Connect to the CARLA server client = carla.Client(host, port) client.set_timeout(timeout) - # Get the world self.world = client.get_world() - # Get the ego vehicle self.vehicle = None @@ -96,6 +93,14 @@ def __init__(self): f"/paf/{self.role_name}/current_heading", self.update_heading_error, qos_profile=1) + + # Kalman_pos subscriber: + self.kalman_pos_subscriber = self.new_subscription( + PoseStamped, + f"/paf/{self.role_name}/kalman_pos", + self.kalman_debug, + qos_profile=1) + # Subscriber END # Publisher START @@ -132,7 +137,8 @@ def __init__(self): qos_profile=1) # Error Publisher - """publish error distance between current_pos and ideal_corrent_pos & + """publish error distance between + current_pos and ideal_corrent_pos, current_pos and carla_current_pos: # current_pos and ideal_corrent_pos in location_error[0] # current_pos and carla_current_pos in location_error[1] @@ -141,7 +147,6 @@ def __init__(self): Float32MultiArray, f"/paf/{self.role_name}/location_error", qos_profile=1) - # publish the error between current_heading and ideal_heading self.heading_error_publisher = self.new_publisher( Float32, @@ -157,8 +162,77 @@ def __init__(self): Float32MultiArray, f"/paf/{self.role_name}/ideal_y", qos_profile=1) + + # Kalman Debug Publisher + self.kalman_debug_publisher = self.new_publisher( + Float32MultiArray, + f"/paf/{self.role_name}/kalman_debug", + qos_profile=1) + # Current_pos Debug Publisher + self.current_pos_debug_publisher = self.new_publisher( + Float32MultiArray, + f"/paf/{self.role_name}/current_pos_debug", + qos_profile=1) # Publisher END + def current_pos_debug(self): + """ + This method is called when new current_pos data is received. + It also publishes error distances between + current_pos.x and ideal_pos.x, + current_pos.y and ideal_pos.y + current_pos and ideal_pos: + # current_pos and ideal_pos.x in debug.data[0] + # current_pos and ideal_pos.y in debug.data[1] + # current_pos and ideal_pos in debug.data[2] + """ + debug = Float32MultiArray() + + debug.data = [0, 0, 0] + debug.data[0] = (self.ideal_current_pos.pose.position.x - + self.current_pos.pose.position.x) + debug.data[1] = (self.ideal_current_pos.pose.position.y - + self.current_pos.pose.position.y) + debug.data[2] = math.sqrt(( + self.current_pos.pose.position.x - + self.ideal_current_pos.pose.position.x)**2 + + (self.current_pos.pose.position.y - + self.ideal_current_pos.pose.position.y)**2) + + self.current_pos_debug_publisher.publish(debug) + self.current_pos = debug + + def kalman_debug(self, data: PoseStamped): + """ + This method is called when new kalman_pos data is received. + It also publishes error distances between + kalman_pos.x and ideal_pos.x, + kalman_pos.y and ideal_pos.y, + kalman_pos and ideal_pos: + # kalman_pos.x and ideal_pos.x in debug.data[0] + # kalman_pos.y and ideal_pos.y in debug.data[1] + # kalman_pos and ideal_pos in debug.data[2] + """ + self.kalman_pos = data + debug = Float32MultiArray() + + debug.data = [0, 0, 0] + debug.data[0] = (self.ideal_current_pos.pose.position.x + - self.kalman_pos.pose.position.x) + debug.data[1] = (self.ideal_current_pos.pose.position.y + - self.kalman_pos.pose.position.y) + debug.data[2] = math.sqrt(( + self.kalman_pos.pose.position.x - + self.ideal_current_pos.pose.position.x)**2 + + (self.kalman_pos.pose.position.y - + self.ideal_current_pos.pose.position.y)**2) + + self.kalman_debug_publisher.publish(debug) + self.kalman_pos = data + + # TODO: make it more clean! + self.current_pos_debug() + def update_heading_error(self, data: Float32): """ This method is called when new current_heading data is received. @@ -179,7 +253,7 @@ def update_location_error(self, data: PoseStamped): error = Float32MultiArray() - error.data = [0, 0, 0] + error.data = [0, 0, 0, 0] # calculate the error between ideal_current_pos and current_pos error.data[0] = math.sqrt(( self.ideal_current_pos.pose.position.x - data.pose.position.x)**2 @@ -188,7 +262,6 @@ def update_location_error(self, data: PoseStamped): error.data[1] = math.sqrt(( self.carla_current_pos.pose.position.x - data.pose.position.x)**2 + (self.carla_current_pos.pose.position.y - data.pose.position.y)**2) - self.location_error_publisher.publish(error) def get_geoRef(self, opendrive: String): From eddac1d4ad02dfd8bdccdfd60aeadc2cd78c7d2e Mon Sep 17 00:00:00 2001 From: robertik10 Date: Fri, 15 Dec 2023 22:21:42 +0100 Subject: [PATCH 04/22] feat(#106): more plots --- code/perception/launch/perception.launch | 8 ++-- code/perception/src/kalman_filter.py | 2 +- code/perception/src/sensor_filter_debug.py | 51 +++++++++++++++++++--- 3 files changed, 50 insertions(+), 11 deletions(-) diff --git a/code/perception/launch/perception.launch b/code/perception/launch/perception.launch index 8c2aed3e..828bf1da 100644 --- a/code/perception/launch/perception.launch +++ b/code/perception/launch/perception.launch @@ -16,15 +16,15 @@ - + - - - + + + diff --git a/code/perception/src/kalman_filter.py b/code/perception/src/kalman_filter.py index 264a7bd7..8e13c580 100755 --- a/code/perception/src/kalman_filter.py +++ b/code/perception/src/kalman_filter.py @@ -248,7 +248,7 @@ def loop(): # Publish the kalman-data: self.publish_kalman_heading() self.publish_kalman_location() - time.sleep(self.control_loop_rate) + rospy.sleep(self.control_loop_rate) # roscomp.spin(loop, 1.0/self.control_loop_rate) # self.new_timer(self.control_loop_rate, loop) diff --git a/code/perception/src/sensor_filter_debug.py b/code/perception/src/sensor_filter_debug.py index 115bb2f2..9d608b29 100755 --- a/code/perception/src/sensor_filter_debug.py +++ b/code/perception/src/sensor_filter_debug.py @@ -38,6 +38,7 @@ def __init__(self): self.ideal_current_pos = PoseStamped() self.carla_current_pos = PoseStamped() self.ideal_heading = Float32() + self.unfiltered_pos = PoseStamped() self.loginfo("Position publisher node started") @@ -101,6 +102,13 @@ def __init__(self): self.kalman_debug, qos_profile=1) + # Unfiltered_pos subscriber: + self.unfiltered_pos_subscriber = self.new_subscription( + PoseStamped, + f"/paf/{self.role_name}/unfiltered_pos", + self.unfiltered_pos_debug, + qos_profile=1) + # Subscriber END # Publisher START @@ -173,8 +181,41 @@ def __init__(self): Float32MultiArray, f"/paf/{self.role_name}/current_pos_debug", qos_profile=1) + # Unfiltered_pos Debug Publisher + self.unfiltered_pos_debug_publisher = self.new_publisher( + Float32MultiArray, + f"/paf/{self.role_name}/unfiltered_pos_debug", + qos_profile=1) + # Publisher END + def unfiltered_pos_debug(self, data: PoseStamped): + """ + This method is called when new unfiltered_pos data is received. + It also publishes error distances between + unfiltered_pos.x and ideal_pos.x, + unfiltered_pos.y and ideal_pos.y + unfiltered_pos and ideal_pos: + # unfiltered_pos and ideal_pos.x in debug.data[0] + # unfiltered_pos and ideal_pos.y in debug.data[1] + # unfiltered_pos and ideal_pos in debug.data[2] + """ + self.unfiltered_pos = data + debug = Float32MultiArray() + + debug.data = [0, 0, 0] + debug.data[0] = (self.ideal_current_pos.pose.position.x - + self.unfiltered_pos.pose.position.x) + debug.data[1] = (self.ideal_current_pos.pose.position.y - + self.unfiltered_pos.pose.position.y) + debug.data[2] = math.sqrt(( + self.unfiltered_pos.pose.position.x - + self.ideal_current_pos.pose.position.x)**2 + + (self.unfiltered_pos.pose.position.y - + self.ideal_current_pos.pose.position.y)**2) + + self.unfiltered_pos_debug_publisher.publish(debug) + def current_pos_debug(self): """ This method is called when new current_pos data is received. @@ -200,7 +241,6 @@ def current_pos_debug(self): self.ideal_current_pos.pose.position.y)**2) self.current_pos_debug_publisher.publish(debug) - self.current_pos = debug def kalman_debug(self, data: PoseStamped): """ @@ -227,11 +267,9 @@ def kalman_debug(self, data: PoseStamped): + (self.kalman_pos.pose.position.y - self.ideal_current_pos.pose.position.y)**2) - self.kalman_debug_publisher.publish(debug) - self.kalman_pos = data - # TODO: make it more clean! self.current_pos_debug() + self.kalman_debug_publisher.publish(debug) def update_heading_error(self, data: Float32): """ @@ -250,10 +288,10 @@ def update_location_error(self, data: PoseStamped): :param data: new current_pos measurement :return: """ - + self.current_pos = data error = Float32MultiArray() - error.data = [0, 0, 0, 0] + error.data = [0, 0] # calculate the error between ideal_current_pos and current_pos error.data[0] = math.sqrt(( self.ideal_current_pos.pose.position.x - data.pose.position.x)**2 @@ -262,6 +300,7 @@ def update_location_error(self, data: PoseStamped): error.data[1] = math.sqrt(( self.carla_current_pos.pose.position.x - data.pose.position.x)**2 + (self.carla_current_pos.pose.position.y - data.pose.position.y)**2) + self.location_error_publisher.publish(error) def get_geoRef(self, opendrive: String): From f6d54d985d680972c2d86b30976060e43f380f67 Mon Sep 17 00:00:00 2001 From: robertik10 Date: Mon, 18 Dec 2023 01:25:03 +0100 Subject: [PATCH 05/22] feat(#106): functioning kalman filter --- code/perception/launch/perception.launch | 14 +- .../kalman_datasets/heading_error/data_00.csv | 476 ++++++++++ .../kalman_datasets/heading_error/data_01.csv | 487 +++++++++++ .../kalman_datasets/heading_error/data_02.csv | 482 +++++++++++ .../kalman_datasets/heading_error/data_03.csv | 457 ++++++++++ .../kalman_datasets/heading_error/data_04.csv | 256 ++++++ .../kalman_datasets/heading_error/data_05.csv | 465 ++++++++++ .../kalman_datasets/heading_error/data_06.csv | 453 ++++++++++ .../kalman_datasets/heading_error/data_07.csv | 178 ++++ .../kalman_datasets/heading_error/data_08.csv | 797 +++++++++++++++++ .../kalman_datasets/heading_error/data_09.csv | 795 +++++++++++++++++ .../kalman_datasets/heading_error/data_10.csv | 814 ++++++++++++++++++ .../kalman_datasets/heading_error/data_11.csv | 786 +++++++++++++++++ .../kalman_datasets/heading_error/data_12.csv | 247 ++++++ .../kalman_datasets/heading_error/data_13.csv | 386 +++++++++ .../kalman_datasets/heading_error/data_14.csv | 319 +++++++ .../kalman_datasets/heading_error/data_15.csv | 378 ++++++++ .../kalman_datasets/heading_error/data_16.csv | 376 ++++++++ .../kalman_datasets/heading_error/data_17.csv | 373 ++++++++ .../kalman_datasets/heading_error/data_18.csv | 331 +++++++ .../kalman_datasets/heading_error/data_19.csv | 376 ++++++++ .../kalman_datasets/heading_error/data_20.csv | 386 +++++++++ .../kalman_datasets/heading_error/data_21.csv | 327 +++++++ .../kalman_datasets/heading_error/data_22.csv | 138 +++ .../kalman_datasets/heading_error/data_23.csv | 381 ++++++++ .../kalman_datasets/heading_error/data_24.csv | 389 +++++++++ .../kalman_datasets/heading_error/data_25.csv | 389 +++++++++ .../kalman_datasets/heading_error/data_26.csv | 388 +++++++++ .../kalman_datasets/heading_error/data_27.csv | 387 +++++++++ .../kalman_datasets/heading_error/data_28.csv | 366 ++++++++ .../kalman_datasets/heading_error/data_29.csv | 359 ++++++++ .../kalman_datasets/heading_error/data_30.csv | 387 +++++++++ .../kalman_datasets/heading_error/data_31.csv | 378 ++++++++ .../kalman_datasets/heading_error/data_32.csv | 387 +++++++++ .../kalman_datasets/x_error/data_00.csv | 477 ++++++++++ .../kalman_datasets/x_error/data_01.csv | 487 +++++++++++ .../kalman_datasets/x_error/data_02.csv | 482 +++++++++++ .../kalman_datasets/x_error/data_03.csv | 457 ++++++++++ .../kalman_datasets/x_error/data_04.csv | 256 ++++++ .../kalman_datasets/x_error/data_05.csv | 465 ++++++++++ .../kalman_datasets/x_error/data_06.csv | 453 ++++++++++ .../kalman_datasets/x_error/data_07.csv | 178 ++++ .../kalman_datasets/x_error/data_08.csv | 797 +++++++++++++++++ .../kalman_datasets/x_error/data_09.csv | 795 +++++++++++++++++ .../kalman_datasets/x_error/data_10.csv | 814 ++++++++++++++++++ .../kalman_datasets/x_error/data_11.csv | 786 +++++++++++++++++ .../kalman_datasets/x_error/data_12.csv | 247 ++++++ .../kalman_datasets/x_error/data_13.csv | 386 +++++++++ .../kalman_datasets/x_error/data_14.csv | 319 +++++++ .../kalman_datasets/x_error/data_15.csv | 378 ++++++++ .../kalman_datasets/x_error/data_16.csv | 376 ++++++++ .../kalman_datasets/x_error/data_17.csv | 373 ++++++++ .../kalman_datasets/x_error/data_18.csv | 331 +++++++ .../kalman_datasets/x_error/data_19.csv | 376 ++++++++ .../kalman_datasets/x_error/data_20.csv | 386 +++++++++ .../kalman_datasets/x_error/data_21.csv | 327 +++++++ .../kalman_datasets/x_error/data_22.csv | 138 +++ .../kalman_datasets/x_error/data_23.csv | 381 ++++++++ .../kalman_datasets/x_error/data_24.csv | 389 +++++++++ .../kalman_datasets/x_error/data_25.csv | 389 +++++++++ .../kalman_datasets/x_error/data_26.csv | 388 +++++++++ .../kalman_datasets/x_error/data_27.csv | 387 +++++++++ .../kalman_datasets/x_error/data_28.csv | 366 ++++++++ .../kalman_datasets/x_error/data_29.csv | 360 ++++++++ .../kalman_datasets/x_error/data_30.csv | 387 +++++++++ .../kalman_datasets/x_error/data_31.csv | 378 ++++++++ .../kalman_datasets/x_error/data_32.csv | 387 +++++++++ .../kalman_datasets/y_error/data_00.csv | 477 ++++++++++ .../kalman_datasets/y_error/data_01.csv | 487 +++++++++++ .../kalman_datasets/y_error/data_02.csv | 482 +++++++++++ .../kalman_datasets/y_error/data_03.csv | 457 ++++++++++ .../kalman_datasets/y_error/data_04.csv | 256 ++++++ .../kalman_datasets/y_error/data_05.csv | 465 ++++++++++ .../kalman_datasets/y_error/data_06.csv | 453 ++++++++++ .../kalman_datasets/y_error/data_07.csv | 178 ++++ .../kalman_datasets/y_error/data_08.csv | 797 +++++++++++++++++ .../kalman_datasets/y_error/data_09.csv | 795 +++++++++++++++++ .../kalman_datasets/y_error/data_10.csv | 814 ++++++++++++++++++ .../kalman_datasets/y_error/data_11.csv | 786 +++++++++++++++++ .../kalman_datasets/y_error/data_12.csv | 247 ++++++ .../kalman_datasets/y_error/data_13.csv | 386 +++++++++ .../kalman_datasets/y_error/data_14.csv | 319 +++++++ .../kalman_datasets/y_error/data_15.csv | 378 ++++++++ .../kalman_datasets/y_error/data_16.csv | 376 ++++++++ .../kalman_datasets/y_error/data_17.csv | 373 ++++++++ .../kalman_datasets/y_error/data_18.csv | 331 +++++++ .../kalman_datasets/y_error/data_19.csv | 376 ++++++++ .../kalman_datasets/y_error/data_20.csv | 386 +++++++++ .../kalman_datasets/y_error/data_21.csv | 327 +++++++ .../kalman_datasets/y_error/data_22.csv | 138 +++ .../kalman_datasets/y_error/data_23.csv | 381 ++++++++ .../kalman_datasets/y_error/data_24.csv | 389 +++++++++ .../kalman_datasets/y_error/data_25.csv | 389 +++++++++ .../kalman_datasets/y_error/data_26.csv | 388 +++++++++ .../kalman_datasets/y_error/data_27.csv | 387 +++++++++ .../kalman_datasets/y_error/data_28.csv | 366 ++++++++ .../kalman_datasets/y_error/data_29.csv | 360 ++++++++ .../kalman_datasets/y_error/data_30.csv | 387 +++++++++ .../kalman_datasets/y_error/data_31.csv | 378 ++++++++ .../kalman_datasets/y_error/data_32.csv | 387 +++++++++ code/perception/src/kalman_filter.py | 39 +- code/perception/src/sensor_filter_debug.py | 257 ++++-- 102 files changed, 41912 insertions(+), 84 deletions(-) create mode 100644 code/perception/src/00_Experiments/kalman_datasets/heading_error/data_00.csv create mode 100644 code/perception/src/00_Experiments/kalman_datasets/heading_error/data_01.csv create mode 100644 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+44.774863211,-5448.709472657113,-5449.132096312331,-5448.914469309413,-5449.129247717892,0.4226236552176488,0.20499665229999664,0.4197750607791022 +44.874863213,-5448.62841796953,-5448.744708655065,-5448.909748851581,-5448.7422751698505,0.11629068553429533,0.28133088205049717,0.11385720032012614 +44.874863213,-5448.534667969747,-5448.244028574946,-5448.787323506349,-5448.242180992578,-0.29063939480056433,0.2526555366021057,-0.3862369769522047 +44.974863214,-5448.428710937055,-5447.82111739851,-5448.657742676032,-5447.81931685593,-0.6075935385451885,0.229031738977028,-0.7153511138167232 diff --git a/code/perception/src/kalman_filter.py b/code/perception/src/kalman_filter.py index 8e13c580..e0a8fe1f 100755 --- a/code/perception/src/kalman_filter.py +++ b/code/perception/src/kalman_filter.py @@ -1,6 +1,5 @@ #!/usr/bin/env python -import time import numpy as np import ros_compatibility as roscomp from ros_compatibility.node import CompatibleNode @@ -14,9 +13,8 @@ import threading from coordinate_transformation import CoordinateTransformer from xml.etree import ElementTree as eTree +GPS_RUNNING_AVG_ARGS: int = 10 -# TODO remove rolling average from current position -# TODO Or use raw gps data for current position ''' This class implements a Kalman filter for a 3D object tracked in 3D space. It implements the data of the IMU and the GPS Sensors. @@ -38,7 +36,6 @@ [initial_y], [v_x], [v_y], - ([a_hy] in direction of v_hy (heading hy), TODO not used) [yaw], [omega_z], The state transition matrix F is defined as: @@ -91,7 +88,6 @@ def __init__(self): [initial_y], [v_x], [v_y], - ([a_hy] in direction of v_hy (heading hy), TODO not used) [yaw], [omega_z], ] @@ -144,10 +140,7 @@ def __init__(self): self.z_v = np.zeros((2, 1)) # Velocity measurement (v_x, v_y) self.z_imu = np.zeros((2, 1)) # IMU measurements (yaw, omega_z) - # Define measurement noise covariance matrix - # TODO delete comment if not useful anymore: - # self.R = np.diag([0.005, 0.005, 0.001, 0.0001]) - self.R = np.diag([0.005, 0.005, 0, 0, 0, 0]) + self.R = np.diag([0.0005, 0.0005, 0, 0, 0, 0]) # Define process noise covariance matrix self.Q = np.diag([0.0001, 0.0001, 0.00001, 0.00001, 0.000001, 0.00001]) @@ -192,6 +185,8 @@ def __init__(self): self.update_gps_data, qos_profile=1) # Initialize the subscriber for the current_pos in XYZ + self.avg_z = np.zeros((GPS_RUNNING_AVG_ARGS, 1)) + self.avg_gps_counter: int = 0 self.unfiltered_pos_subscriber = self.new_subscription( PoseStamped, "/paf/" + self.role_name + "/unfiltered_pos", @@ -221,8 +216,8 @@ def run(self): Run the Kalman Filter """ while not self.initialized: - time.sleep(1) - time.sleep(2) + rospy.sleep(1) + rospy.sleep(1) self.loginfo('KalmanFilter started its loop!') @@ -235,7 +230,7 @@ def run(self): [self.z_imu[0, 0]], [self.z_imu[1, 0]]]) self.x_est = np.copy(self.x_0) # estimated initial state vector - self.P_est = np.eye(6) * 1000 # estiamted initialstatecovariancematrix + self.P_est = np.eye(6) * 1 # estiamted initialstatecovariancematrix def loop(): """ @@ -291,7 +286,7 @@ def publish_kalman_heading(self): kalman_heading = Float32() # Fill the kalman-heading - kalman_heading.data = self.x_est[2, 0] + kalman_heading.data = self.x_est[4, 0] # Publish the kalman-heading self.kalman_heading_publisher.publish(kalman_heading) @@ -312,7 +307,7 @@ def publish_kalman_location(self): kalman_position.pose.position.x = self.x_est[0, 0] kalman_position.pose.position.y = self.x_est[1, 0] - # TODO add some kind of filter for z + kalman_position.pose.position.z = self.latitude kalman_position.pose.orientation.x = 0 kalman_position.pose.orientation.y = 0 @@ -339,8 +334,9 @@ def update_imu_data(self, imu_data): # Implementation by paf22 in Position_Publisher_Node.py # TODO: Why were they using roll and pitch instead of yaw? # Even though they are basically deriving the yaw that way? + # -> yaw is the only needed value for now roll, pitch, yaw = euler_from_quaternion(data_orientation_q) - raw_heading = math.atan2(roll, pitch) + raw_heading = yaw # transform raw_heading so that: # --------------------------------------------------------------- @@ -351,12 +347,15 @@ def update_imu_data(self, imu_data): # update IMU Measurements: self.z_imu[0, 0] = heading self.z_imu[1, 0] = imu_data.angular_velocity.z + + """ if imu_data.orientation_covariance[8] != 0: # [8] because we want the diag z element of the covariance matrix self.R[2, 2] = imu_data.orientation_covariance[8] if imu_data.angular_velocity_covariance[8] != 0: # [8] because we want the diag z element of the covariance matrix self.R[3, 3] = imu_data.angular_velocity_covariance[8] + """ def update_gps_data(self, gps_data): """ @@ -383,11 +382,13 @@ def update_gps_data(self, gps_data): # look up if covariance type is not 0 (0 = COVARANCE_TYPE_UNKNOWN) # (1 = approximated, 2 = diagonal known or 3 = known) # if it is not 0 -> update the covariance matrix + """ if gps_data.position_covariance_type != 0: # [0] because we want the diag lat element of the covariance matrix self.R[0, 0] = gps_data.pose.covariance[0] # [5] because we want the diag lon element of the covariance matrix self.R[1, 1] = gps_data.pose.covariance[5] + """ pass def update_current_pos(self, current_pos): @@ -398,7 +399,13 @@ def update_current_pos(self, current_pos): self.z_gps[0, 0] = current_pos.pose.position.x self.z_gps[1, 0] = current_pos.pose.position.y - self.latitude = current_pos.pose.position.z + z = current_pos.pose.position.z + + self.avg_z = np.roll(self.avg_z, -1, axis=0) + self.avg_z[-1] = np.matrix([z]) + avg_z = np.mean(self.avg_z, axis=0) + + self.latitude = avg_z # set self.initialized to True so that the kalman filter can start if not self.initialized: diff --git a/code/perception/src/sensor_filter_debug.py b/code/perception/src/sensor_filter_debug.py index 9d608b29..0fb8fe92 100755 --- a/code/perception/src/sensor_filter_debug.py +++ b/code/perception/src/sensor_filter_debug.py @@ -3,6 +3,8 @@ """ This node publishes all relevant topics for the ekf node. """ +import os +import csv import math import numpy as np import ros_compatibility as roscomp @@ -15,10 +17,10 @@ from tf.transformations import euler_from_quaternion from std_msgs.msg import Float32MultiArray from xml.etree import ElementTree as eTree -import carla # remove ___ to use import rospy GPS_RUNNING_AVG_ARGS: int = 10 +DATA_SAVING_MAX_TIME: int = 45 class SensorFilterDebugNode(CompatibleNode): @@ -34,11 +36,26 @@ def __init__(self): super(SensorFilterDebugNode, self).__init__('ekf_translation') self.kalman_pos = PoseStamped() + self.kalman_pos_debug_data = Float32MultiArray() + self.kalman_heading = Float32() + self.kalman_heading_debug_data = Float32() self.current_pos = PoseStamped() + self.current_pos_debug_data = Float32MultiArray() + self.current_heading = Float32() + self.current_heading_debug_data = Float32() self.ideal_current_pos = PoseStamped() self.carla_current_pos = PoseStamped() self.ideal_heading = Float32() self.unfiltered_pos = PoseStamped() + self.unfiltered_pos_debug_data = Float32MultiArray() + + # csv file attributes + self.csv_x_created = False + self.csv_file_path_x = '' + self.csv_y_created = False + self.csv_file_path_y = '' + self.csv_heading_created = False + self.csv_file_path_heading = '' self.loginfo("Position publisher node started") @@ -46,21 +63,7 @@ def __init__(self): self.role_name = self.get_param("role_name", "hero") self.control_loop_rate = self.get_param("control_loop_rate", "0.05") - # todo: automatically detect town self.transformer = None - # remove comments to use carla - # Carla API hero car position - # Get parameters from the launch file - host = rospy.get_param('~host', 'carla-simulator') - port = rospy.get_param('~port', 2000) - timeout = rospy.get_param('~timeout', 100.0) - # Connect to the CARLA server - client = carla.Client(host, port) - client.set_timeout(timeout) - # Get the world - self.world = client.get_world() - # Get the ego vehicle - self.vehicle = None # Subscriber START self.map_sub = self.new_subscription( @@ -99,7 +102,12 @@ def __init__(self): self.kalman_pos_subscriber = self.new_subscription( PoseStamped, f"/paf/{self.role_name}/kalman_pos", - self.kalman_debug, + self.kalman_pos_debug, + qos_profile=1) + self.kalman_heading_subscriber = self.new_subscription( + Float32, + f"/paf/{self.role_name}/kalman_heading", + self.kalman_heading_debug, qos_profile=1) # Unfiltered_pos subscriber: @@ -213,7 +221,8 @@ def unfiltered_pos_debug(self, data: PoseStamped): self.ideal_current_pos.pose.position.x)**2 + (self.unfiltered_pos.pose.position.y - self.ideal_current_pos.pose.position.y)**2) - + + self.unfiltered_pos_debug_data = debug self.unfiltered_pos_debug_publisher.publish(debug) def current_pos_debug(self): @@ -240,9 +249,24 @@ def current_pos_debug(self): + (self.current_pos.pose.position.y - self.ideal_current_pos.pose.position.y)**2) + self.current_pos_debug_data = debug self.current_pos_debug_publisher.publish(debug) - def kalman_debug(self, data: PoseStamped): + def kalman_heading_debug(self, data: Float32): + """ + This method is called when new kalman_heading data is received. + """ + self.kalman_heading = data + self.loginfo("kalman_heading: " + str(data)) + debug = Float32() + + debug.data = self.ideal_heading.data - data.data + + self.kalman_heading_debug_data = debug + self.save_heading_errors() + # self.kalman_debug_publisher.publish(debug) + + def kalman_pos_debug(self, data: PoseStamped): """ This method is called when new kalman_pos data is received. It also publishes error distances between @@ -268,26 +292,119 @@ def kalman_debug(self, data: PoseStamped): self.ideal_current_pos.pose.position.y)**2) # TODO: make it more clean! + self.kalman_pos_debug_data = debug self.current_pos_debug() self.kalman_debug_publisher.publish(debug) + # save data in paf23/doc/05_acting/00_Experiments/kalman_datasets + # for debugging with matplotlib: + self.save_location_errors() + + def save_location_errors(self): + """ + This method saves the current location errors in a csv file. + in the folders of paf23/doc/05_acting/00_Experiments/kalman_datasets + It does this for a limited amount of time. + """ + # if rospy.get_time() > 45 stop saving data: + if rospy.get_time() > DATA_SAVING_MAX_TIME: + self.loginfo("STOPPED SAVING LOCATION DATA") + return + + # Specify the path to the folder where you want to save the data + base_path = ('/workspace/code/perception/' + 'src/00_Experiments/kalman_datasets/') + folder_path_x = base_path + 'x_error' + folder_path_y = base_path + 'y_error' + # Ensure the directories exist + os.makedirs(folder_path_x, exist_ok=True) + os.makedirs(folder_path_y, exist_ok=True) + + if self.csv_x_created is False: + self.csv_file_path_x = create_file(folder_path_x) + self.csv_x_created = True + if self.csv_y_created is False: + self.csv_file_path_y = create_file(folder_path_y) + self.csv_y_created = True + + with open(self.csv_file_path_x, 'a', newline='') as file: + writer = csv.writer(file) + writer.writerow([rospy.get_time(), + self.ideal_current_pos.pose.position.x, + self.kalman_pos.pose.position.x, + self.current_pos.pose.position.x, + self.unfiltered_pos.pose.position.x, + self.kalman_pos_debug_data.data[0], + self.current_pos_debug_data.data[0], + self.unfiltered_pos_debug_data.data[0]]) + + with open(self.csv_file_path_y, 'a', newline='') as file: + writer = csv.writer(file) + writer.writerow([rospy.get_time(), + self.ideal_current_pos.pose.position.y, + self.kalman_pos.pose.position.y, + self.current_pos.pose.position.y, + self.unfiltered_pos.pose.position.y, + self.kalman_pos_debug_data.data[1], + self.current_pos_debug_data.data[1], + self.unfiltered_pos_debug_data.data[1]]) + + def save_heading_errors(self): + """ + This method saves the current heading errors in a csv file. + in the folders of paf23/doc/05_acting/00_Experiments/kalman_datasets + It does this for a limited amount of time. + """ + # if rospy.get_time() > 45 stop saving data: + if rospy.get_time() > DATA_SAVING_MAX_TIME: + self.loginfo("STOPPED SAVING HEADING DATA") + return + + # Specify the path to the folder where you want to save the data + base_path = ('/workspace/code/perception/' + 'src/00_Experiments/kalman_datasets/') + folder_path_heading = base_path + 'heading_error' + + # Ensure the directories exist + os.makedirs(folder_path_heading, exist_ok=True) + + if self.csv_heading_created is False: + self.csv_file_path_heading = create_file(folder_path_heading) + self.csv_heading_created = True + + with open(self.csv_file_path_heading, 'a', newline='') as file: + writer = csv.writer(file) + writer.writerow([rospy.get_time(), + self.ideal_heading.data, + self.kalman_heading.data, + self.current_heading.data, + self.kalman_heading_debug_data.data, + self.current_heading_debug_data.data]) + def update_heading_error(self, data: Float32): """ This method is called when new current_heading data is received. """ - current_heading = data.data + self.current_heading = data + self.loginfo("current_heading: " + str(data)) + + heading_error = Float32() # calculate the error between ideal_imu and imu - heading_error = self.ideal_heading.data - current_heading + heading_error.data = (self.ideal_heading.data - + self.current_heading.data) self.heading_error_publisher.publish(heading_error) + # for savnig data in csv file: + self.current_heading_debug_data = heading_error + """ def update_location_error(self, data: PoseStamped): - """ + "" This method is called when new current_pos data is received. It handles all necessary updates and publishes the error. :param data: new current_pos measurement :return: - """ + "" self.current_pos = data error = Float32MultiArray() @@ -302,6 +419,7 @@ def update_location_error(self, data: PoseStamped): + (self.carla_current_pos.pose.position.y - data.pose.position.y)**2) self.location_error_publisher.publish(error) + """ def get_geoRef(self, opendrive: String): """_summary_ @@ -371,52 +489,53 @@ def update_gps_data(self, data: NavSatFix): self.cur_pos_publisher.publish(cur_pos) self.ideal_current_pos = cur_pos + # TODO check if still needed # also update carla_car_position: - if self.vehicle is None: - for actor in self.world.get_actors(): - if actor.attributes.get('role_name') == self.role_name: - self.vehicle = actor - break + # if self.vehicle is None: + # for actor in self.world.get_actors(): + # if actor.attributes.get('role_name') == self.role_name: + # self.vehicle = actor + # break - carla_pos = PoseStamped() - carla_pos.header.stamp = data.header.stamp - carla_pos.header.frame_id = "global" + # carla_pos = PoseStamped() + # carla_pos.header.stamp = data.header.stamp + # carla_pos.header.frame_id = "global" - pos = self.vehicle.get_location() - carla_pos.pose.position.x = pos.x - carla_pos.pose.position.y = -pos.y - carla_pos.pose.position.z = pos.z + # pos = self.vehicle.get_location() + # carla_pos.pose.position.x = pos.x + # carla_pos.pose.position.y = -pos.y + # carla_pos.pose.position.z = pos.z - carla_pos.pose.orientation.x = 0 - carla_pos.pose.orientation.y = 0 - carla_pos.pose.orientation.z = 1 - carla_pos.pose.orientation.w = 0 + # carla_pos.pose.orientation.x = 0 + # carla_pos.pose.orientation.y = 0 + # carla_pos.pose.orientation.z = 1 + # carla_pos.pose.orientation.w = 0 - self.carla_pos_publisher.publish(carla_pos) - self.carla_current_pos = carla_pos + # self.carla_pos_publisher.publish(carla_pos) + # self.carla_current_pos = carla_pos # get x and y coordinates of ideal_GPS and carla_pos # publish errors between ideal_x and carla_pos.x # and ideal_y and carla_pos.y - ideal_x = Float32MultiArray() - ideal_y = Float32MultiArray() - x_error = ( - self.ideal_current_pos.pose.position.x - - self.carla_current_pos.pose.position.x - ) - y_error = ( - self.ideal_current_pos.pose.position.y - - self.carla_current_pos.pose.position.y - ) - ideal_x.data = [self.ideal_current_pos.pose.position.x, - self.carla_current_pos.pose.position.x, - x_error] - ideal_y.data = [self.ideal_current_pos.pose.position.y, - self.carla_current_pos.pose.position.y, - y_error] - - self.ideal_x_publisher.publish(ideal_x) - self.ideal_y_publisher.publish(ideal_y) + # ideal_x = Float32MultiArray() + # ideal_y = Float32MultiArray() + # x_error = ( + # self.ideal_current_pos.pose.position.x + # - self.carla_current_pos.pose.position.x + # ) + # y_error = ( + # self.ideal_current_pos.pose.position.y + # - self.carla_current_pos.pose.position.y + # ) + # ideal_x.data = [self.ideal_current_pos.pose.position.x, + # self.carla_current_pos.pose.position.x, + # x_error] + # ideal_y.data = [self.ideal_current_pos.pose.position.y, + # self.carla_current_pos.pose.position.y, + # y_error] + + # self.ideal_x_publisher.publish(ideal_x) + # self.ideal_y_publisher.publish(ideal_y) def update_imu_data(self, data: Imu): """ @@ -461,7 +580,7 @@ def update_imu_data(self, data: Imu): data.orientation.w] roll, pitch, yaw = euler_from_quaternion(data_orientation_q) - raw_heading = math.atan2(roll, pitch) + raw_heading = yaw # transform raw_heading so that: # --------------------------------------------------------------- @@ -471,6 +590,8 @@ def update_imu_data(self, data: Imu): self.__heading = heading self.__heading_publisher.publish(self.__heading) + self.loginfo("heading: " + str(heading)) + self.ideal_heading = Float32(heading) def run(self): @@ -481,6 +602,22 @@ def run(self): self.spin() +def create_file(folder_path): + ''' + This function creates a new csv file in the folder_path + in correct sequence looking like data_00.csv, data_01.csv, ... + and returns the path to the file. + ''' + i = 0 + while True: + file_path = f'{folder_path}/data_{str(i).zfill(2)}.csv' + if not os.path.exists(file_path): + with open(file_path, 'w', newline=''): + pass + return file_path + i += 1 + + def main(args=None): """ main function From fd3eba5dfcf75615a744e18bf07dfac5c5161f15 Mon Sep 17 00:00:00 2001 From: robertik10 Date: Mon, 18 Dec 2023 01:25:23 +0100 Subject: [PATCH 06/22] feat(#106): functioning kalman filter --- build/docker-compose.yml | 4 ++-- code/perception/src/sensor_filter_debug.py | 2 +- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/build/docker-compose.yml b/build/docker-compose.yml index 238d49f8..a68e97c4 100644 --- a/build/docker-compose.yml +++ b/build/docker-compose.yml @@ -57,8 +57,8 @@ services: tty: true shm_size: 2gb #command: bash -c "sleep 10 && python3 /opt/leaderboard/leaderboard/leaderboard_evaluator.py --debug=0 --routes=/opt/leaderboard/data/routes_devtest.xml --agent=/opt/leaderboard/leaderboard/autoagents/npc_agent.py --host=carla-simulator --track=SENSORS" - command: bash -c "sleep 10 && sudo chown -R carla:carla ../code/ && sudo chmod -R a+w ../code/ && roslaunch agent/launch/dev.launch" - #command: bash -c "sleep 10 && sudo chown -R carla:carla ../code/ && sudo chmod -R a+w ../code/ && python3 /opt/leaderboard/leaderboard/leaderboard_evaluator.py --debug=0 --routes=/opt/leaderboard/data/routes_devtest.xml --agent=/workspace/code/agent/src/agent/agent.py --host=carla-simulator --track=MAP" + #command: bash -c "sleep 10 && roslaunch agent/launch/dev.launch" + command: bash -c "sleep 10 && sudo chown -R carla:carla ../code/ && sudo chmod -R a+w ../code/ && python3 /opt/leaderboard/leaderboard/leaderboard_evaluator.py --debug=0 --routes=/opt/leaderboard/data/routes_devtest.xml --agent=/workspace/code/agent/src/agent/agent.py --host=carla-simulator --track=MAP" logging: driver: "local" environment: diff --git a/code/perception/src/sensor_filter_debug.py b/code/perception/src/sensor_filter_debug.py index 0fb8fe92..437f46bd 100755 --- a/code/perception/src/sensor_filter_debug.py +++ b/code/perception/src/sensor_filter_debug.py @@ -221,7 +221,7 @@ def unfiltered_pos_debug(self, data: PoseStamped): self.ideal_current_pos.pose.position.x)**2 + (self.unfiltered_pos.pose.position.y - self.ideal_current_pos.pose.position.y)**2) - + self.unfiltered_pos_debug_data = debug self.unfiltered_pos_debug_publisher.publish(debug) From cd782ca6fddfc2b0734070c74beea7010ea58063 Mon Sep 17 00:00:00 2001 From: robertik10 Date: Sun, 7 Jan 2024 19:38:03 +0100 Subject: [PATCH 07/22] feat(#106): fixed heading angle calculation --- .../perception/src/Position_Publisher_Node.py | 19 +++++++-- code/perception/src/kalman_filter.py | 39 +++++++------------ 2 files changed, 31 insertions(+), 27 deletions(-) diff --git a/code/perception/src/Position_Publisher_Node.py b/code/perception/src/Position_Publisher_Node.py index 1e7559a5..2b46b7a6 100755 --- a/code/perception/src/Position_Publisher_Node.py +++ b/code/perception/src/Position_Publisher_Node.py @@ -12,8 +12,10 @@ from nav_msgs.msg import Odometry from std_msgs.msg import Float32, String from coordinate_transformation import CoordinateTransformer -from tf.transformations import euler_from_quaternion from xml.etree import ElementTree as eTree + +from scipy.spatial.transform import Rotation + GPS_RUNNING_AVG_ARGS: int = 10 @@ -158,14 +160,25 @@ def update_imu_data(self, data: Imu): data.orientation.z, data.orientation.w] - roll, pitch, yaw = euler_from_quaternion(data_orientation_q) - raw_heading = math.atan2(roll, pitch) + # Create a Rotation object from the quaternion + rotation = Rotation.from_quat(data_orientation_q) + # Convert the Rotation object to a matrix + rotation_matrix = rotation.as_matrix() + # calculate the angle around the z-axis (theta) from the matrix + theta = np.arctan2(rotation_matrix[1, 0], rotation_matrix[0, 0]) + + raw_heading = theta # transform raw_heading so that: # --------------------------------------------------------------- # | 0 = x-axis | pi/2 = y-axis | pi = -x-axis | -pi/2 = -y-axis | # --------------------------------------------------------------- heading = (raw_heading - (math.pi / 2)) % (2 * math.pi) - math.pi + + # TODO delete + # self.loginfo('yaw: ' + str(yaw) + '; GPTYaw: ' + str(GPTYaw) + + # '; Heading ' + str(heading) + '; diff: ' + str(yaw - GPTYaw)) + self.__heading = heading self.__heading_publisher.publish(self.__heading) diff --git a/code/perception/src/kalman_filter.py b/code/perception/src/kalman_filter.py index e0a8fe1f..fea161dd 100755 --- a/code/perception/src/kalman_filter.py +++ b/code/perception/src/kalman_filter.py @@ -6,13 +6,14 @@ from geometry_msgs.msg import PoseStamped from std_msgs.msg import Float32, UInt32, String from sensor_msgs.msg import NavSatFix, Imu -from tf.transformations import euler_from_quaternion from carla_msgs.msg import CarlaSpeedometer import rospy import math import threading from coordinate_transformation import CoordinateTransformer from xml.etree import ElementTree as eTree +from scipy.spatial.transform import Rotation + GPS_RUNNING_AVG_ARGS: int = 10 ''' @@ -331,17 +332,24 @@ def update_imu_data(self, imu_data): orientation_z, orientation_w] - # Implementation by paf22 in Position_Publisher_Node.py - # TODO: Why were they using roll and pitch instead of yaw? - # Even though they are basically deriving the yaw that way? - # -> yaw is the only needed value for now - roll, pitch, yaw = euler_from_quaternion(data_orientation_q) - raw_heading = yaw + # Create a Rotation object from the quaternion + rotation = Rotation.from_quat(data_orientation_q) + # Convert the Rotation object to a matrix + rotation_matrix = rotation.as_matrix() + # calculate the angle around the z-axis (theta) from the matrix + theta = np.arctan2(rotation_matrix[1, 0], rotation_matrix[0, 0]) + + raw_heading = theta # transform raw_heading so that: # --------------------------------------------------------------- # | 0 = x-axis | pi/2 = y-axis | pi = -x-axis | -pi/2 = -y-axis | # --------------------------------------------------------------- + # The above transformation limits the heading to the range of -pi to pi + # It also rotates the heading by 90 degrees so that the heading is in + # the direction of the x-axis which the car starts in (heading = 0) + + # heading is positive in counter clockwise rotations heading = (raw_heading - (math.pi / 2)) % (2 * math.pi) - math.pi # update IMU Measurements: @@ -362,23 +370,6 @@ def update_gps_data(self, gps_data): Update the GPS Data used for covariance matrix """ - # #Make sure position is only published when reference values have been - # # read from the Map - # if CoordinateTransformer.ref_set is False: - # self.transformer = CoordinateTransformer() - # CoordinateTransformer.ref_set = True - # if CoordinateTransformer.ref_set is True: - # lat = gps_data.latitude - # lon = gps_data.longitude - # alt = gps_data.altitude - - # x, y, z = self.transformer.gnss_to_xyz(lat, lon, alt) - - # self.avg_xyz = np.roll(self.avg_xyz, -1, axis=0) - # self.avg_xyz[-1] = np.matrix([x, y, z]) - - # avg_x, avg_y, avg_z = np.mean(self.avg_xyz, axis=0) - # look up if covariance type is not 0 (0 = COVARANCE_TYPE_UNKNOWN) # (1 = approximated, 2 = diagonal known or 3 = known) # if it is not 0 -> update the covariance matrix From 630874e4f00ee673ff782fd101b1c1654b24bef5 Mon Sep 17 00:00:00 2001 From: robertik10 Date: Fri, 12 Jan 2024 17:34:17 +0100 Subject: [PATCH 08/22] feat(#106): cleaned up the Position_Publisher_Node --- .gitignore | 3 + code/perception/launch/perception.launch | 26 +- .../perception/src/Position_Publisher_Node.py | 267 +++++++++++------- .../src/coordinate_transformation.py | 49 +++- code/perception/src/kalman_filter.py | 63 ++--- code/perception/src/sensor_filter_debug.py | 30 +- code/requirements.txt | 3 +- .../00_coordinate_transformation.md | 27 ++ doc/06_perception/Readme.md | 2 + 9 files changed, 285 insertions(+), 185 deletions(-) create mode 100644 doc/06_perception/00_coordinate_transformation.md diff --git a/.gitignore b/.gitignore index bf3c7859..26bcdb6c 100644 --- a/.gitignore +++ b/.gitignore @@ -11,3 +11,6 @@ code/output # Byte-compiled / optimized / DLL files __pycache__/ + +# data from experiments is not needed in the repo +code/perception/src/00_Experiments/ diff --git a/code/perception/launch/perception.launch b/code/perception/launch/perception.launch index c2f22aec..84cf7b35 100644 --- a/code/perception/launch/perception.launch +++ b/code/perception/launch/perception.launch @@ -13,23 +13,25 @@ - - - - - - + + + + @@ -66,7 +68,7 @@ - + + +- [Coordinate Transformation](#dataset-generator) + - [Author](#author) + - [Date](#date) + - [Necessary adjustments](#necessary-adjustments) + - [Usage](#usage) + + + +## Necessary adjustments + +## Usage diff --git a/doc/06_perception/Readme.md b/doc/06_perception/Readme.md index 4147f1dc..f2942fb3 100644 --- a/doc/06_perception/Readme.md +++ b/doc/06_perception/Readme.md @@ -2,6 +2,8 @@ This folder contains further documentation of the perception components. +## 0. [Coordinate Transformation (helper functions)](./00_coordinate_transformation.md) + ## 1. [Dataset generator](./01_dataset_generator.md) ## 2. [Dataset Structure](./02_dataset_structure.md) From f1e75bf9c3bcc4c63df35b5e23dc78c2a08ee889 Mon Sep 17 00:00:00 2001 From: robertik10 Date: Fri, 12 Jan 2024 17:34:49 +0100 Subject: [PATCH 09/22] feat(#106): cleaned up the perception launch --- code/perception/launch/perception.launch | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/code/perception/launch/perception.launch b/code/perception/launch/perception.launch index 84cf7b35..e5328799 100644 --- a/code/perception/launch/perception.launch +++ b/code/perception/launch/perception.launch @@ -68,7 +68,7 @@ - + - + From 40d87f15e22d964c068c6228a92121adb65a5b47 Mon Sep 17 00:00:00 2001 From: robertik10 Date: Fri, 12 Jan 2024 17:50:21 +0100 Subject: [PATCH 10/22] feat(#106): Added kalman datasets --- .gitignore | 2 - .../kalman_datasets/heading_error/data_33.csv | 316 +++++++ .../kalman_datasets/heading_error/data_34.csv | 148 +++ .../kalman_datasets/heading_error/data_35.csv | 179 ++++ .../kalman_datasets/heading_error/data_36.csv | 199 ++++ .../kalman_datasets/heading_error/data_37.csv | 795 ++++++++++++++++ .../kalman_datasets/heading_error/data_38.csv | 183 ++++ .../kalman_datasets/heading_error/data_39.csv | 465 ++++++++++ .../kalman_datasets/heading_error/data_40.csv | 457 +++++++++ .../kalman_datasets/heading_error/data_41.csv | 459 +++++++++ .../kalman_datasets/heading_error/data_42.csv | 459 +++++++++ .../plots/data_26_MAE_Boxed.png | Bin 0 -> 51965 bytes .../plots/data_26_MSE_Boxed.png | Bin 0 -> 55386 bytes .../plots/data_26_RMSPE_Boxed.png | Bin 0 -> 34364 bytes .../src/00_Experiments/kalman_datasets/viz.py | 875 ++++++++++++++++++ .../kalman_datasets/x_error/data_33.csv | 316 +++++++ .../kalman_datasets/x_error/data_34.csv | 148 +++ .../kalman_datasets/x_error/data_35.csv | 179 ++++ .../kalman_datasets/x_error/data_36.csv | 199 ++++ .../kalman_datasets/x_error/data_37.csv | 795 ++++++++++++++++ .../kalman_datasets/x_error/data_38.csv | 183 ++++ .../kalman_datasets/y_error/data_33.csv | 457 +++++++++ .../kalman_datasets/y_error/data_34.csv | 459 +++++++++ 23 files changed, 7271 insertions(+), 2 deletions(-) create mode 100644 code/perception/src/00_Experiments/kalman_datasets/heading_error/data_33.csv create mode 100644 code/perception/src/00_Experiments/kalman_datasets/heading_error/data_34.csv create mode 100644 code/perception/src/00_Experiments/kalman_datasets/heading_error/data_35.csv create mode 100644 code/perception/src/00_Experiments/kalman_datasets/heading_error/data_36.csv create mode 100644 code/perception/src/00_Experiments/kalman_datasets/heading_error/data_37.csv create mode 100644 code/perception/src/00_Experiments/kalman_datasets/heading_error/data_38.csv create mode 100644 code/perception/src/00_Experiments/kalman_datasets/heading_error/data_39.csv create mode 100644 code/perception/src/00_Experiments/kalman_datasets/heading_error/data_40.csv create mode 100644 code/perception/src/00_Experiments/kalman_datasets/heading_error/data_41.csv create mode 100644 code/perception/src/00_Experiments/kalman_datasets/heading_error/data_42.csv create mode 100644 code/perception/src/00_Experiments/kalman_datasets/plots/data_26_MAE_Boxed.png create mode 100644 code/perception/src/00_Experiments/kalman_datasets/plots/data_26_MSE_Boxed.png create mode 100644 code/perception/src/00_Experiments/kalman_datasets/plots/data_26_RMSPE_Boxed.png create mode 100644 code/perception/src/00_Experiments/kalman_datasets/viz.py create mode 100644 code/perception/src/00_Experiments/kalman_datasets/x_error/data_33.csv create mode 100644 code/perception/src/00_Experiments/kalman_datasets/x_error/data_34.csv create mode 100644 code/perception/src/00_Experiments/kalman_datasets/x_error/data_35.csv create mode 100644 code/perception/src/00_Experiments/kalman_datasets/x_error/data_36.csv create mode 100644 code/perception/src/00_Experiments/kalman_datasets/x_error/data_37.csv create mode 100644 code/perception/src/00_Experiments/kalman_datasets/x_error/data_38.csv create mode 100644 code/perception/src/00_Experiments/kalman_datasets/y_error/data_33.csv create mode 100644 code/perception/src/00_Experiments/kalman_datasets/y_error/data_34.csv diff --git a/.gitignore b/.gitignore index 26bcdb6c..33b82e2d 100644 --- a/.gitignore +++ b/.gitignore @@ -12,5 +12,3 @@ code/output # Byte-compiled / optimized / DLL files __pycache__/ -# data from experiments is not needed in the repo -code/perception/src/00_Experiments/ diff --git a/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_33.csv b/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_33.csv new file mode 100644 index 00000000..681cd855 --- /dev/null +++ b/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_33.csv @@ -0,0 +1,316 @@ 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+1,875 @@ +import pandas as pd +import matplotlib.pyplot as plt +import numpy as np + +FILE_START = 15 +FILE_END = 33 + +file_name = "data_26.csv" +folder_path_x = "./x_error/" +folder_path_y = "./y_error/" +file_path_x = folder_path_x + file_name +file_path_y = folder_path_y + file_name +file_path_heading = "./heading_error/" + file_name + + +def plot_best_tuned_file_by_type(type='x', error_type='MSE', check_type='IQR'): + """ + Berechnet den Error Typ für x oder y Daten. + + Parameters: + type (str): The type of data to read. Either 'x' or 'y'. (default 'x') + error_type (str): The type of error to calculate. Either 'MSE', 'MAE' or + 'RMSPE'. (default 'MSE') + check_type (str): The type of error to calculate. Either 'IQR' or 'default' + + Returns: + + """ + best_file = "" + best_val = [] + # best_error_data = () + for i in range(FILE_START, FILE_END): + if i < 10: + file_name = "data_0" + str(i) + ".csv" + else: + file_name = "data_" + str(i) + ".csv" + + ideal, kalman, running_avg, unfiltered = ( + get_x_or_y_from_csv_file(file_name, type)) + + if error_type == 'MSE': + # Calculate the MSE for each method + val_kalman, kalman_list = calculate_mse_x_or_y(ideal, kalman) + val_running_avg, running_avg_list = calculate_mse_x_or_y( + ideal, + running_avg) + val_unfiltered, unfiltered_list = calculate_mse_x_or_y( + ideal, + unfiltered) + elif error_type == 'MAE': + # Calculate the MAE for each method + val_kalman, kalman_list = calculate_mae_x_or_y(ideal, kalman) + val_running_avg, running_avg_list = calculate_mae_x_or_y( + ideal, + running_avg) + val_unfiltered, unfiltered_list = calculate_mae_x_or_y(ideal, + unfiltered) + elif error_type == 'RMSPE': + # Calculate the RMSPE for each method + val_kalman, kalman_list = calculate_RMSPE_x_or_y(ideal, + kalman) + val_running_avg, running_avg_list = calculate_RMSPE_x_or_y( + ideal, running_avg) + val_unfiltered, unfiltered_list = calculate_RMSPE_x_or_y( + ideal, unfiltered) + + vals = [val_kalman, val_running_avg, val_unfiltered] + # error_lists = (kalman_list, running_avg_list, unfiltered_list) + + if check_type == 'IQR': + q3, q1 = np.percentile(kalman_list, [80, 0]) + iqr = q3 - q1 + if i == FILE_START: + best_val = iqr + best_file = file_name + # best_error_data = error_lists + else: + # compare the vals of the kalman filter that is tuned the best + if abs(iqr) < abs(best_val): + best_val = iqr + best_file = file_name + # best_error_data = error_lists + elif check_type == 'default': + if i == FILE_START: + best_val = vals[0] + best_file = file_name + # best_error_data = error_lists + else: + # compare the vals of the kalman filter that is tuned the best + if abs(vals[0]) < abs(best_val): + best_val = vals[0] + best_file = file_name + # best_error_data = error_lists + + # plot the best file + plot_x_or_y_notched_box(best_file, type=type, error_type=error_type) + print(best_file) + print(best_val) + + +def plot_best_tuned_file(): + """ + Berechnet den Mean Squared Error (MSE) für Positionsdaten. + + Parameters: + true_positions (numpy.ndarray): Die tatsächlichen Positionen. + estimated_positions (numpy.ndarray): Die geschätzten Positionen. + + Returns: + tuple: best file as a String and the MSE's of the best file. + """ + best_file = "" + best_mse = [] + # best_error_data = () + for i in range(FILE_START, FILE_END): + if i < 10: + file_name = "data_0" + str(i) + ".csv" + else: + file_name = "data_" + str(i) + ".csv" + + ideal_pos, kalman_pos, running_avg_pos, unfiltered_pos = ( + get_positions_from_csv_file(file_name)) + + # Calculate the Error for each method by error_type + val_kalman, kalman_list = calculate_mse(ideal_pos, kalman_pos) + val_running_avg, running_avg_list = calculate_mse(ideal_pos, + running_avg_pos) + val_unfiltered, unfiltered_list = calculate_mse(ideal_pos, + unfiltered_pos) + + mses = [val_kalman, val_running_avg, val_unfiltered] + # error_lists = (kalman_list, running_avg_list, unfiltered_list) + + # Show the plot + # plt.show() + if i == 2: + best_mse = mses + best_file = file_name + else: + # compare the mses of the kalman filter that is tuned the best + if mses[0] < best_mse[0]: + best_mse = mses + best_file = file_name + # best_error_data = error_lists + + # plot the best file + plot_MSE_notched_box(best_file) + print(best_file) + print(best_mse) + + +def plot_x_or_y_notched_box(file_name, type='x', error_type='MSE'): + """ + Berechnet den Mean Squared Error (MSE) für Positionsdaten. + + Parameters: + file_name (str): The name of the CSV file. + type (str): The type of data to read. Either 'x' or 'y'. (default 'x') + error_type (str): The type of error to calculate. Either 'MSE', 'MAE' or + 'RMSPE'. (default 'MSE') + + Returns: + """ + if type == 'x': + ideal_pos, kalman_pos, running_avg_pos, unfiltered_pos = ( + get_x_or_y_from_csv_file(file_name, 'x')) + elif type == 'y': + ideal_pos, kalman_pos, running_avg_pos, unfiltered_pos = ( + get_x_or_y_from_csv_file(file_name, 'y')) + + if error_type == 'MSE': + # Calculate the MSE for each method + val_kalman, kalman_list = calculate_mse_x_or_y(ideal_pos, kalman_pos) + val_running_avg, running_avg_list = calculate_mse_x_or_y( + ideal_pos, + running_avg_pos) + val_unfiltered, unfiltered_list = calculate_mse_x_or_y( + ideal_pos, + unfiltered_pos) + elif error_type == 'MAE': + # Calculate the MAE for each method + val_kalman, kalman_list = calculate_mae_x_or_y(ideal_pos, kalman_pos) + val_running_avg, running_avg_list = calculate_mae_x_or_y( + ideal_pos, + running_avg_pos) + val_unfiltered, unfiltered_list = calculate_mae_x_or_y(ideal_pos, + unfiltered_pos) + elif error_type == 'RMSPE': + # Calculate the RMSPE for each method + val_kalman, kalman_list = calculate_RMSPE_x_or_y( + ideal_pos, + kalman_pos) + val_running_avg, running_avg_list = calculate_RMSPE_x_or_y( + ideal_pos, running_avg_pos) + val_unfiltered, unfiltered_list = calculate_RMSPE_x_or_y( + ideal_pos, unfiltered_pos) + + # Create a new figure + fig, ax = plt.subplots() + + # Create a list of all positions + pos_error_list = [kalman_list, running_avg_list, unfiltered_list] + # Create a box plot with notches + boxplot = ax.boxplot(pos_error_list, notch=True, + labels=['Kalman', 'Running Avg', 'Unfiltered'], + patch_artist=True) + + # fill with colors and put median vals in the boxes + colors = ['pink', 'lightblue', 'lightgreen'] + + tuple = zip(boxplot['boxes'], colors, boxplot['medians'], + boxplot['whiskers'][::2]) + + for i, (box, color, median, whisker) in enumerate(tuple): + box.set_facecolor(color) + median_val = median.get_ydata()[1] + ax.text(i+1, median_val, f'Median: {median_val:.2f}', va='center', + ha='center', backgroundcolor='white') + + # Calculate IQR + q3, q1 = np.percentile(pos_error_list[i], [75, 0]) + iqr = q3 - q1 + + # Get the y position for the IQR text + median_y = boxplot['medians'][i].get_ydata()[0] # height of the notch + + # Add the IQR text + ax.text(i+0.8, median_y, f'IQR: {iqr:.2f}', va='center', + ha='center', rotation=90, color='red', backgroundcolor='white') + + # Set the labels + ax.set_xlabel('Filter') + ax.set_ylabel(error_type) + ax.set_title(error_type + ' of ' + type + ' for different methods') + ax.yaxis.grid(True) + + # Show the plot + plt.show() + + +def get_positions_from_csv_file(file_name): + """ + Reads position data from CSV files and returns them as numpy arrays. + + Args: + file_name (str): The name of the CSV file. + + Returns: + tuple: A tuple containing four numpy arrays representing the positions. + - ideal_pos: The ideal positions. + - kalman_pos: The positions estimated using Kalman filtering. + - running_avg_pos: The positions calculated using a running + average. + - unfiltered_pos: The unfiltered positions. + + Raises: + FileNotFoundError: If the specified CSV file does not exist. + """ + file_path_x = folder_path_x + file_name + file_path_y = folder_path_y + file_name + + # Read the CSV file into a DataFrame + df_x = pd.read_csv(file_path_x) + df_y = pd.read_csv(file_path_y) + + # rename the columns + df_x.columns = ['time', 'ideal_x', 'kalman_x', 'running_avg_x', + 'unfiltered_x', 'kalman_debug_x', 'current_debug_x', + 'unfiltered_debug_x'] + df_y.columns = ['time', 'ideal_y', 'kalman_y', 'running_avg_y', + 'unfiltered_y', 'kalman_debug_y', 'current_debug_y', + 'unfiltered_debug_y'] + + # Set the first column (time) as the index of the DataFrames + df_x.set_index(df_x.columns[0], inplace=True) + df_y.set_index(df_y.columns[0], inplace=True) + + # create pos tuples of the x and y data and store them as numpy arrays + ideal_pos = np.array(list(zip(df_x['ideal_x'], df_y['ideal_y']))) + kalman_pos = np.array(list(zip(df_x['kalman_x'], df_y['kalman_y']))) + running_avg_pos = np.array(list(zip(df_x['running_avg_x'], + df_y['running_avg_y']))) + unfiltered_pos = np.array(list(zip(df_x['unfiltered_x'], + df_y['unfiltered_y']))) + + return ideal_pos, kalman_pos, running_avg_pos, unfiltered_pos + + +def get_x_or_y_from_csv_file(file_name, type='x'): + """ + Reads x or y data from CSV files and returns them as numpy arrays. + + Args: + file_name (str): The name of the CSV file. + type (str): The type of data to read. Either 'x' or 'y'. (default 'x') + + Returns: + tuple: A tuple containing four numpy arrays representing the positions. + - ideal: The ideal positions. + - kalman: The positions estimated using Kalman filtering. + - running_avg: The positions calculated using a running + average. + - unfiltered: The unfiltered positions. """ + + if type == 'x': + file_path = folder_path_x + file_name + elif type == 'y': + file_path = folder_path_y + file_name + + # Read the CSV file into a DataFrame + df = pd.read_csv(file_path) + + # rename the columns + df.columns = ['time', 'ideal_x', 'kalman_x', 'running_avg_x', + 'unfiltered_x', 'kalman_debug_x', 'current_debug_x', + 'unfiltered_debug_x'] + + # Set the first column (time) as the index of the DataFrames + df.set_index(df.columns[0], inplace=True) + + # store x as numpy arrays + ideal = np.array(df['ideal_x']) + kalman = np.array(df['kalman_x']) + running_avg = np.array(df['running_avg_x']) + unfiltered = np.array(df['unfiltered_x']) + + return ideal, kalman, running_avg, unfiltered + + +def plot_RMSPE_notched_box(file_name): + """ + Berechnet den Root Mean Squared Percentage Error (RMSPE) + für Positionsdaten. + + Parameters: + String: file_name + + Returns: + """ + + ideal_pos, kalman_pos, running_avg_pos, unfiltered_pos = ( + get_positions_from_csv_file(file_name)) + + # Calculate the RMSPE for each method + rmspe_kalman, kalman_list = calculate_RMSPE(ideal_pos, kalman_pos) + rmspe_running_avg, running_avg_list = calculate_RMSPE(ideal_pos, + running_avg_pos) + rmspe_unfiltered, unfiltered_list = calculate_RMSPE(ideal_pos, + unfiltered_pos) + + # Create a new figure + fig, ax = plt.subplots() + + # Create a list of all positions + pos_rmspe_list = [kalman_list, running_avg_list, unfiltered_list] + # Create a box plot with notches + boxplot = ax.boxplot(pos_rmspe_list, notch=True, + labels=['Kalman', 'Running Avg', 'Unfiltered'], + patch_artist=True) + + # fill with colors and put median vals in the boxes + colors = ['pink', 'lightblue', 'lightgreen'] + for i, (box, color, median) in enumerate(zip(boxplot['boxes'], colors, + boxplot['medians'])): + box.set_facecolor(color) + median_val = median.get_ydata()[1] + ax.text(i+1, median_val, f'Median: {median_val:.2f}', va='center', + ha='center', backgroundcolor='white') + + # Set the labels + ax.set_xlabel('Method') + ax.set_ylabel('RMSPE') + ax.set_title('RMSPE for different methods') + ax.yaxis.grid(True) + + # Show the plot + plt.show() + + +def plot_MSE_notched_box(file_name): + """ + Berechnet den Mean Squared Error (MSE) für Positionsdaten. + + Parameters: + true_positions (numpy.ndarray): Die tatsächlichen Positionen. + estimated_positions (numpy.ndarray): Die geschätzten Positionen. + + Returns: + float: Der Mean Squared Error (MSE). + """ + ideal_pos, kalman_pos, running_avg_pos, unfiltered_pos = ( + get_positions_from_csv_file(file_name)) + + # Calculate the MSE for each method + val_kalman, kalman_list = calculate_mse(ideal_pos, kalman_pos) + val_running_avg, running_avg_list = calculate_mse(ideal_pos, + running_avg_pos) + val_unfiltered, unfiltered_list = calculate_mse(ideal_pos, unfiltered_pos) + + # Create a new figure + fig, ax = plt.subplots() + + # Create a list of all positions + pos_mse_list = [kalman_list, running_avg_list, unfiltered_list] + # Create a box plot with notches + boxplot = ax.boxplot(pos_mse_list, notch=True, + labels=['Kalman', 'Running Avg', 'Unfiltered'], + patch_artist=True) + + # fill with colors and put median vals in the boxes + colors = ['pink', 'lightblue', 'lightgreen'] + for i, (box, color, median) in enumerate(zip(boxplot['boxes'], colors, + boxplot['medians'])): + box.set_facecolor(color) + median_val = median.get_ydata()[1] + ax.text(i+1, median_val, f'Median: {median_val:.2f}', va='center', + ha='center', backgroundcolor='white') + + # Set the labels + ax.set_xlabel('Method') + ax.set_ylabel('MSE') + ax.set_title('MSE for different methods') + ax.yaxis.grid(True) + + # Show the plot + plt.show() + + +def plot_MAE_notched_box(file_name): + """ + Berechnet den Mean Absolute Error (MAE) für Positionsdaten. + + Parameters: + true_positions (numpy.ndarray): Die tatsächlichen Positionen. + estimated_positions (numpy.ndarray): Die geschätzten Positionen. + + Returns: + float: Der Mean Absolute Error (MAE). + """ + ideal_pos, kalman_pos, running_avg_pos, unfiltered_pos = ( + get_positions_from_csv_file(file_name)) + + # Calculate the MAE for each method + mae_kalman, kalman_list = calculate_mae(ideal_pos, kalman_pos) + mae_running_avg, running_avg_list = calculate_mae(ideal_pos, + running_avg_pos) + mae_unfiltered, unfiltered_list = calculate_mae(ideal_pos, unfiltered_pos) + + # Create a new figure + fig, ax = plt.subplots() + + # Create a list of all positions + pos_mae_list = [kalman_list, running_avg_list, unfiltered_list] + + # Create a box plot with notches + boxplot = ax.boxplot(pos_mae_list, notch=True, + labels=['Kalman', 'Running Avg', 'Unfiltered'], + patch_artist=True) + + # fill with colors and put median vals in the boxes + colors = ['pink', 'lightblue', 'lightgreen'] + for i, (box, color, median) in enumerate(zip(boxplot['boxes'], colors, + boxplot['medians'])): + box.set_facecolor(color) + median_val = median.get_ydata()[1] + ax.text(i+1, median_val, f'Median: {median_val:.2f}', va='center', + ha='center', backgroundcolor='white') + + # Set the labels + ax.set_xlabel('Method') + ax.set_ylabel('MAE') + ax.set_title('MAE for different methods') + ax.yaxis.grid(True) + + # Show the plot + plt.show() + + +def plot_CEP(file_name): + """ + Berechnet den Circular Error Probable (CEP) für Positionsdaten. + + Parameters: + String: file_name + + Returns: + """ + file_path_x = folder_path_x + file_name + file_path_y = folder_path_y + file_name + + # Read the CSV file into a DataFrame + df_x = pd.read_csv(file_path_x) + df_y = pd.read_csv(file_path_y) + + # rename the columns + df_x.columns = ['time', 'ideal_x', 'kalman_x', 'running_avg_x', + 'unfiltered_x', 'kalman_debug_x', 'current_debug_x', + 'unfiltered_debug_x'] + df_y.columns = ['time', 'ideal_y', 'kalman_y', 'running_avg_y', + 'unfiltered_y', 'kalman_debug_y', 'current_debug_y', + 'unfiltered_debug_y'] + + # Set the first column (time) as the index of the DataFrames + df_x.set_index(df_x.columns[0], inplace=True) + df_y.set_index(df_y.columns[0], inplace=True) + + # create pos tuples of the x and y data and store them as numpy arrays + ideal_pos = np.array(list(zip(df_x['ideal_x'], df_y['ideal_y']))) + kalman_pos = np.array(list(zip(df_x['kalman_x'], df_y['kalman_y']))) + running_avg_pos = np.array(list(zip(df_x['running_avg_x'], + df_y['running_avg_y']))) + unfiltered_pos = np.array(list(zip(df_x['unfiltered_x'], + df_y['unfiltered_y']))) + + # create CEP for each method + cep_kalman, cep_running_avg, cep_unfiltered = calculate_cep( + ideal_pos, kalman_pos, running_avg_pos, unfiltered_pos) + + # plot the cep as error circles of different colors in the x-y plane + # Create a new figure + fig, ax = plt.subplots() + + # Create circles with the given radii + circle_kalman = plt.Circle((0, 0), cep_kalman, fill=False, label='Kalman', + color='r') + circle_running_avg = plt.Circle((0, 0), cep_running_avg, fill=False, + label='Running Avg', color='g') + circle_unfiltered = plt.Circle((0, 0), cep_unfiltered, fill=False, + label='Unfiltered', color='b') + + # Add the circles to the plot + ax.add_artist(circle_kalman) + ax.add_artist(circle_running_avg) + ax.add_artist(circle_unfiltered) + + # Set the limits of the plot to show all circles + ax.set_xlim(-max(cep_kalman, cep_running_avg, cep_unfiltered), + max(cep_kalman, cep_running_avg, cep_unfiltered)) + ax.set_ylim(-max(cep_kalman, cep_running_avg, cep_unfiltered), + max(cep_kalman, cep_running_avg, cep_unfiltered)) + + # Add a legend + plt.legend() + + # Add a grid + plt.grid(True) + + # Set the y-axis label to 'Distance in Meters' + plt.ylabel('Distance in Meters') + + # Set the x-axis label to 'Distance in Meters' + plt.xlabel('Distance in Meters') + + +def plot_csv(file_path, type): + # Read the CSV file into a DataFrame + df = pd.read_csv(file_path) + + # Set the first column (time) as the index of the DataFrame + df.set_index(df.columns[0], inplace=True) + + # Select the last three columns along with the index + df_to_plot = df[df.columns[-3:-1]] + + # Rename the columns + if type == 'x': + df_to_plot.columns = ['kalman_x_error', 'current_x_error'] + elif type == 'y': + df_to_plot.columns = ['kalman_y_error', 'current_y_error'] + + # Plot the DataFrame + df_to_plot.plot() + + # Add a grid + plt.grid(True) + + # Set the y-axis label to 'Meters' + plt.ylabel('Distance to Ideal in meters') + + # Set the x-axis label to 'Time' + plt.xlabel('Time in seconds') + + # Separate the positive and negative vals + positive_kalman_error = df_to_plot[df_to_plot.iloc[:, 0] > 0].iloc[:, 0] + negative_kalman_error = df_to_plot[df_to_plot.iloc[:, 0] < 0].iloc[:, 0] + + positive_current_error = df_to_plot[df_to_plot.iloc[:, 1] > 0].iloc[:, 1] + negative_current_error = df_to_plot[df_to_plot.iloc[:, 1] < 0].iloc[:, 1] + + # Calculate the average overshoot into the positive + avg_positive_kalman_error = positive_kalman_error.mean() + avg_positive_current_error = positive_current_error.mean() + + # Calculate the average overshoot into the negative + avg_negative_kalman_error = negative_kalman_error.mean() + avg_negative_current_error = negative_current_error.mean() + + # Add a horizontal line at the average val + plt.axhline(y=avg_positive_kalman_error, color='b', linestyle='--') + plt.axhline(y=avg_negative_kalman_error, color='b', linestyle='--') + plt.axhline(y=avg_positive_current_error, color='r', linestyle='--') + plt.axhline(y=avg_negative_current_error, color='r', linestyle='--') + # plt.axhline(y=avg_kalman_error, color='r', linestyle='--') + # plt.axhline(y=avg_current_error, color='b', linestyle='--') + + +def plot_csv_heading(file_path): + # Read the CSV file into a DataFrame + df = pd.read_csv(file_path) + + # Set the first column (time) as the index of the DataFrame + df.set_index(df.columns[0], inplace=True) + + # Select the last two columns along with the index + df_to_plot = df[df.columns[-2:-1]] + + # Rename the columns + df_to_plot.columns = ['kalman_heading'] + + # Plot the DataFrame + df_to_plot.plot() + + # Add a grid + plt.grid(True) + + # Set the y-axis label to 'Radians' + plt.ylabel('Heading in Radians') + + # Set the x-axis label to 'Time' + plt.xlabel('Time in seconds') + + # Separate the positive and negative vals + positive_kalman_heading = df_to_plot[df_to_plot.iloc[:, 0] > 0].iloc[:, 0] + negative_kalman_heading = df_to_plot[df_to_plot.iloc[:, 0] < 0].iloc[:, 0] + # positive_current_heading = + # df_to_plot[df_to_plot.iloc[:, 1] > 0].iloc[:, 1] + # negative_current_heading = + # df_to_plot[df_to_plot.iloc[:, 1] < 0].iloc[:, 1] + + # Calculate the average overshoot into the positive + avg_positive_k_heading = positive_kalman_heading.mean() + # avg_positive_c_heading = positive_current_heading.mean() + + # Calculate the average overshoot into the negative + avg_negative_k_heading = negative_kalman_heading.mean() + # avg_negative_c_heading = negative_current_heading.mean() + + # Add a horizontal line at the average val + plt.axhline(y=avg_positive_k_heading, color='b', linestyle='--') + plt.axhline(y=avg_negative_k_heading, color='b', linestyle='--') + # plt.axhline(y=avg_positive_c_heading, color='r', linestyle='--') + # plt.axhline(y=avg_negative_c_heading, color='r', linestyle='--') + + +def plot_csv_heading2(file_path): + # Read the CSV file into a DataFrame + df = pd.read_csv(file_path) + + # Set the first column (time) as the index of the DataFrame + df.set_index(df.columns[0], inplace=True) + + # Select the first three columns + df_to_plot = df[df.columns[:3]] + + # Rename the columns + df_to_plot.columns = ['ideal_heading', 'kalman_heading', 'current_heading'] + + # Plot the 'kalman_heading' and 'current_heading' columns with default + # line style + plt.plot(df_to_plot['kalman_heading'], label='kalman_heading') + plt.plot(df_to_plot['current_heading'], label='current_heading') + + # Plot the 'ideal_heading' column with a blue dotted line + plt.plot(df_to_plot['ideal_heading'], 'r:', label='ideal_heading') + # Display the legend + plt.legend() + # Plot the DataFrame + # df_to_plot.plot() + + # Add a grid + plt.grid(True) + + # Set the y-axis label to 'Radians' + plt.ylabel('Heading in Radians') + + # Set the x-axis label to 'Time' + plt.xlabel('Time in seconds') + + +def calculate_mae(ideal, estimated): + """ + Calculates the Mean Absolute Error (MAE) for position data. + + Parameters: + ideal (numpy.ndarray): The ideal positions. + estimated (numpy.ndarray): The estimated positions. + + Returns: + Tuple: A tuple containing the MAE and the error for each position. + """ + # Calculate the errors + error = np.linalg.norm(ideal - estimated, axis=1) + + # Calculate the MAE + mae = np.mean(error) + + return mae, error + + +def calculate_mae_x_or_y(ideal, estimated): + """ + Calculates the Mean Absolute Error (MAE) for x or y data. + + Parameters: + ideal (numpy.ndarray): The ideal x or y positions. + estimated (numpy.ndarray): The estimated x or y positions. + + Returns: + Tuple: A tuple containing the MAE and the error for each position. + """ + # Calculate the errors + error = np.abs(ideal - estimated) + + # Calculate the MAE + mae = np.mean(error) + + return mae, error + + +def calculate_mse(ideal, estimated): + """ + Calculates the Mean Squared Error (MSE) for position data. + + Parameters: + ideal (numpy.ndarray): The ideal positions. + estimated (numpy.ndarray): The estimated positions. + + Returns: + Tuple: A tuple containing the MSE and the error for each position. + """ + # Calculate the errors + error = np.linalg.norm(ideal - estimated, axis=1)**2 + + # Calculate the MSE + mse = np.mean(error) + + return mse, error + + +def calculate_mse_x_or_y(ideal, estimated): + """ + Calculates the Mean Squared Error (MSE) for x or y data. + + Parameters: + ideal (numpy.ndarray): The ideal x or y positions. + estimated (numpy.ndarray): The estimated x or y positions. + + Returns: + Tuple: A tuple containing the MSE and the error for each position. + """ + # Calculate the errors + error = (ideal - estimated)**2 + + # Calculate the MSE + mse = np.mean(error) + + return mse, error + + +def calculate_cep(ideal, kalman, running_avg, unfiltered, percentile=50): + """ + Calculates the Circular Error Probable (CEP) for position data. + + Parameters: + ideal (numpy.ndarray): The ideal positions. + kalman (numpy.ndarray): The positions estimated using Kalman filtering. + running_avg (numpy.ndarray): The positions calculated using a running + average. + unfiltered (numpy.ndarray): The unfiltered positions. + percentile (int): The percentile to use when calculating the CEP. + + Returns: + tuple: A tuple containing the CEP for each method. + """ + # Calculate the errors + error_kalman = np.sqrt(np.sum((kalman - ideal)**2, axis=1)) + error_running_avg = np.sqrt(np.sum((running_avg - ideal)**2, axis=1)) + error_unfiltered = np.sqrt(np.sum((unfiltered - ideal)**2, axis=1)) + + # Calculate the CEP for each method + cep_kalman = np.percentile(error_kalman, percentile) + cep_running_avg = np.percentile(error_running_avg, percentile) + cep_unfiltered = np.percentile(error_unfiltered, percentile) + + return cep_kalman, cep_running_avg, cep_unfiltered + + +def calculate_RMSPE_x_or_y(ideal, estimated): + """ + Calculates the Root Mean Squared Percentage Error (RMSPE) + for x or y data. + + Parameters: + ideal (numpy.ndarray): The ideal x or y positions. + estimated (numpy.ndarray): The estimated x or y positions. + + Returns: + Tuple: A tuple containing the RMSPE and the error for each position. + """ + + # Replace zeros in 'ideal' array with a small number to avoid + # division by zero + ideal_no_zero = np.where(ideal == 0, 1e-10, ideal) + # Calculate the errors + error = ((ideal_no_zero - estimated) / ideal_no_zero) ** 2 + + # Calculate the RMSPE + rmspe = np.sqrt(np.mean(error)) + + return rmspe, error + + +# TODO macht nicht viel Sinn -> entfernen +def calculate_RMSPE(ideal, estimated): + """ + Calculates the Root Mean Squared Percentage Error (RMSPE) + for position data. + + Parameters: + ideal (numpy.ndarray): The ideal positions. + estimated (numpy.ndarray): The estimated positions. + + Returns: + Tuple: A tuple containing the RMSPE and the error for each position. + """ + # Calculate the errors + errors = np.sqrt(np.sum((ideal - estimated)**2, axis=1)) + + # Calculate the RMSPE + rmspe = np.sqrt(np.mean(errors**2)) + + return rmspe, errors + + +# plot_csv(file_path_x, 'x') +# plot_csv(file_path_y, 'y') + + +# plot_csv_heading(file_path_heading) +# plot_MSE_0() + +# plot_best_tuned_file() +# plot_csv_heading2(file_path_heading) +# Show the plot +# plot_best_tuned_file_by_type('x', 'MSE') +# plot_best_tuned_file_by_type('y', 'MSE') +# plot_best_tuned_file_by_type('x', 'MAE') +# plot_best_tuned_file_by_type('y', 'MAE') +# plot_best_tuned_file_by_type('x', 'RMSPE') +# plot_best_tuned_file_by_type('y', 'RMSPE') + +# plot_x_or_y_notched_box("data_26.csv", type='x', error_type='MSE') +# plot_x_or_y_notched_box("data_25.csv", type='x', error_type='MSE') +# plot_x_or_y_notched_box("data_25.csv", type='y', error_type='MSE') +# plot_x_or_y_notched_box("data_26.csv", type='y', error_type='MSE') +# # plot_RMSPE_notched_box("data_26.csv") +# plot_CEP("data_25.csv") +# plot_CEP("data_26.csv") +data = "data_34.csv" +plot_x_or_y_notched_box(data, type='x', error_type='MSE') +plot_x_or_y_notched_box(data, type='x', error_type='MAE') +plot_x_or_y_notched_box(data, type='y', error_type='MSE') +plot_x_or_y_notched_box(data, type='y', error_type='MAE') + +plt.show() diff --git a/code/perception/src/00_Experiments/kalman_datasets/x_error/data_33.csv b/code/perception/src/00_Experiments/kalman_datasets/x_error/data_33.csv new file mode 100644 index 00000000..06ac6527 --- /dev/null +++ b/code/perception/src/00_Experiments/kalman_datasets/x_error/data_33.csv @@ -0,0 +1,316 @@ 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+44.739764437,-5442.003417967165,-5442.3795200601735,-5442.010171140022,-5442.37891608858,0.37610209300873976,0.006753172857315803,0.3754981214151485 +44.789764437,-5442.003417967165,-5442.675148045864,-5442.146959022236,-5442.675443378812,0.6717300786995111,0.1435410550711822,0.6720254116471551 +44.839764438,-5442.003417967165,-5442.514737824021,-5442.169894399738,-5442.514577573889,0.511319856856062,0.16647643257329037,0.5111596067245046 +44.889764439,-5442.003417967165,-5441.8813527486345,-5442.085919185895,-5441.880719995681,-0.12206521853022423,0.08250121873061289,-0.12269797148383077 +44.93976444,-5442.003417967165,-5441.791042579483,-5442.066015454145,-5441.7909523594435,-0.21237538768218656,0.06259748697993928,-0.21246560772124212 +44.98976444,-5442.003417967165,-5442.504215851935,-5442.223888698087,-5442.504928313458,0.5007978847706909,0.22047073092198843,0.5015103462928892 From a33df325b0f39047db4631f1683f3ab4fdbe0f2d Mon Sep 17 00:00:00 2001 From: robertik10 Date: Fri, 12 Jan 2024 18:14:55 +0100 Subject: [PATCH 11/22] fix: add behaviour tree to flake8 config exclusion --- .flake8 | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/.flake8 b/.flake8 index 15b36b64..f495724a 100644 --- a/.flake8 +++ b/.flake8 @@ -1,3 +1,5 @@ [flake8] exclude= code/planning/behavior_agent/src/behavior_agent/behavior_tree.py, - code/planning/behavior_agent/src/behavior_agent/behaviours/__init__.py + code/planning/behavior_agent/src/behavior_agent/behaviours/__init__.py, + code/planning/src/behavior_agent/behavior_tree.py, + code/planning/src/behavior_agent/behaviours/__init__.py From 177da72f9a5d1a5c1ba9f8f3259ff87869c45220 Mon Sep 17 00:00:00 2001 From: robertik10 Date: Fri, 12 Jan 2024 18:20:19 +0100 Subject: [PATCH 12/22] fix: test commit --- code/perception/src/00_Experiments/kalman_datasets/viz.py | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/code/perception/src/00_Experiments/kalman_datasets/viz.py b/code/perception/src/00_Experiments/kalman_datasets/viz.py index be7e52ee..5dda3231 100644 --- a/code/perception/src/00_Experiments/kalman_datasets/viz.py +++ b/code/perception/src/00_Experiments/kalman_datasets/viz.py @@ -13,6 +13,7 @@ file_path_heading = "./heading_error/" + file_name +# region PLOTS def plot_best_tuned_file_by_type(type='x', error_type='MSE', check_type='IQR'): """ Berechnet den Error Typ für x oder y Daten. @@ -685,8 +686,10 @@ def plot_csv_heading2(file_path): # Set the x-axis label to 'Time' plt.xlabel('Time in seconds') +# endregion PLOTS +# region CALCUATIONS def calculate_mae(ideal, estimated): """ Calculates the Mean Absolute Error (MAE) for position data. @@ -840,6 +843,7 @@ def calculate_RMSPE(ideal, estimated): rmspe = np.sqrt(np.mean(errors**2)) return rmspe, errors +# endregion CALCUATIONS # plot_csv(file_path_x, 'x') From a67f00dfdc5581ed2481277d632a8fd4c09cdcd3 Mon Sep 17 00:00:00 2001 From: robertik10 Date: Sun, 14 Jan 2024 20:00:26 +0100 Subject: [PATCH 13/22] feat(#106): added documentation-> this branch is ready for merge --- .gitignore | 1 - build/docker-compose.yml | 4 +- code/acting/launch/acting.launch | 4 +- code/perception/launch/perception.launch | 1 + .../perception/src/Position_Publisher_Node.py | 18 +- code/perception/src/kalman_filter.py | 19 +- .../perception/data_26_MAE_Boxed.png | Bin 0 -> 51965 bytes .../perception/data_26_MSE_Boxed.png | Bin 0 -> 55386 bytes .../perception/kalman_installation_guide.png | Bin 0 -> 75918 bytes doc/00_assets/perception/quat_to_angle.png | Bin 0 -> 120212 bytes .../00_coordinate_transformation.md | 128 ++++++++++++- doc/06_perception/08_kalman_filter.md | 179 ++++++++++++++---- .../09_position_publisher_node.md | 116 ++++++++++++ doc/06_perception/Readme.md | 2 + 14 files changed, 413 insertions(+), 59 deletions(-) create mode 100644 doc/00_assets/perception/data_26_MAE_Boxed.png create mode 100644 doc/00_assets/perception/data_26_MSE_Boxed.png create mode 100644 doc/00_assets/perception/kalman_installation_guide.png create mode 100644 doc/00_assets/perception/quat_to_angle.png create mode 100644 doc/06_perception/09_position_publisher_node.md diff --git a/.gitignore b/.gitignore index 33b82e2d..bf3c7859 100644 --- a/.gitignore +++ b/.gitignore @@ -11,4 +11,3 @@ code/output # Byte-compiled / optimized / DLL files __pycache__/ - diff --git a/build/docker-compose.yml b/build/docker-compose.yml index a68e97c4..1545f945 100644 --- a/build/docker-compose.yml +++ b/build/docker-compose.yml @@ -57,8 +57,8 @@ services: tty: true shm_size: 2gb #command: bash -c "sleep 10 && python3 /opt/leaderboard/leaderboard/leaderboard_evaluator.py --debug=0 --routes=/opt/leaderboard/data/routes_devtest.xml --agent=/opt/leaderboard/leaderboard/autoagents/npc_agent.py --host=carla-simulator --track=SENSORS" - #command: bash -c "sleep 10 && roslaunch agent/launch/dev.launch" - command: bash -c "sleep 10 && sudo chown -R carla:carla ../code/ && sudo chmod -R a+w ../code/ && python3 /opt/leaderboard/leaderboard/leaderboard_evaluator.py --debug=0 --routes=/opt/leaderboard/data/routes_devtest.xml --agent=/workspace/code/agent/src/agent/agent.py --host=carla-simulator --track=MAP" + command: bash -c "sleep 10 && roslaunch agent/launch/dev.launch" + #command: bash -c "sleep 10 && sudo chown -R carla:carla ../code/ && sudo chmod -R a+w ../code/ && python3 /opt/leaderboard/leaderboard/leaderboard_evaluator.py --debug=0 --routes=/opt/leaderboard/data/routes_devtest.xml --agent=/workspace/code/agent/src/agent/agent.py --host=carla-simulator --track=MAP" logging: driver: "local" environment: diff --git a/code/acting/launch/acting.launch b/code/acting/launch/acting.launch index 975d0b0e..b1262c4b 100644 --- a/code/acting/launch/acting.launch +++ b/code/acting/launch/acting.launch @@ -29,10 +29,10 @@ - + diff --git a/code/perception/launch/perception.launch b/code/perception/launch/perception.launch index e5328799..1100405d 100644 --- a/code/perception/launch/perception.launch +++ b/code/perception/launch/perception.launch @@ -31,6 +31,7 @@ Heading Filter values: - "Kalman" (Default) - "None" + - "Old" (Buggy for demonstration purposes only) --> diff --git a/code/perception/src/Position_Publisher_Node.py b/code/perception/src/Position_Publisher_Node.py index 66e438f4..25a56f30 100755 --- a/code/perception/src/Position_Publisher_Node.py +++ b/code/perception/src/Position_Publisher_Node.py @@ -3,7 +3,8 @@ """ This node publishes all relevant topics for the ekf node. """ -# import math +import math +from tf.transformations import euler_from_quaternion import numpy as np import ros_compatibility as roscomp from ros_compatibility.node import CompatibleNode @@ -104,7 +105,9 @@ def __init__(self): # No additional subscriber needed since the unfiltered heading # data is subscribed by self.imu_subscriber pass + # endregion Subscriber END + # region Publisher START # IMU # self.ekf_imu_publisher = self.new_publisher( @@ -186,6 +189,19 @@ def publish_unfiltered_heading(self, data: Imu): if self.heading_filter == "None": self.__heading = heading self.__heading_publisher.publish(self.__heading) + elif self.heading_filter == "Old": + # In the case of using "Old" filter, the heading is + # calculated the WRONG way, just for demonstration purposes + roll, pitch, yaw = euler_from_quaternion(data_orientation_q) + raw_heading = math.atan2(roll, pitch) + + # transform raw_heading so that: + # --------------------------------------------------------------- + # | 0 = x-axis | pi/2 = y-axis | pi = -x-axis | -pi/2 = -y-axis | + # --------------------------------------------------------------- + heading = (raw_heading - (math.pi / 2)) % (2 * math.pi) - math.pi + self.__heading = heading + self.__heading_publisher.publish(self.__heading) else: # in each other case the heading is published as unfiltered heading # for further filtering in other nodes such as the kalman node diff --git a/code/perception/src/kalman_filter.py b/code/perception/src/kalman_filter.py index 67f9e36b..9ee3d242 100755 --- a/code/perception/src/kalman_filter.py +++ b/code/perception/src/kalman_filter.py @@ -46,7 +46,6 @@ [0, 0, 0, 1, 0, 0], [0, 0, 0, 0, 1, 0], [0, 0, 0, 0, 0, 1]]) - I: Identity Matrix The measurement matrix H is defined as: self.H = np.array([[1, 0, 0, 0, 0, 0], # x [0, 1, 0, 0, 0, 0], # y @@ -168,7 +167,7 @@ def __init__(self): # Initialize the subscriber for the IMU Data self.imu_subscriber = self.new_subscription( Imu, - "/carla/" + self.role_name + "/Ideal_IMU", + "/carla/" + self.role_name + "/IMU", self.update_imu_data, qos_profile=1) # Initialize the subscriber for the GPS Data @@ -177,13 +176,13 @@ def __init__(self): "/carla/" + self.role_name + "/GPS", self.update_gps_data, qos_profile=1) - # Initialize the subscriber for the current_pos in XYZ + # Initialize the subscriber for the unfiltered_pos in XYZ self.avg_z = np.zeros((GPS_RUNNING_AVG_ARGS, 1)) self.avg_gps_counter: int = 0 self.unfiltered_pos_subscriber = self.new_subscription( PoseStamped, "/paf/" + self.role_name + "/unfiltered_pos", - self.update_current_pos, + self.update_unfiltered_pos, qos_profile=1) # Initialize the subscriber for the velocity self.velocity_subscriber = self.new_subscription( @@ -209,7 +208,7 @@ def run(self): Run the Kalman Filter """ # wait until the car receives the first GPS Data - # from the update_current_pos method + # from the update_unfiltered_pos method while not self.initialized: rospy.sleep(1) rospy.sleep(1) @@ -249,7 +248,7 @@ def predict(self): """ # Predict the next state and covariance matrix, pretending the last # velocity state estimate stayed constant - self.x_pred = self.A @ self.x_est # + B @ v[:] + u + self.x_pred = self.A @ self.x_est self.P_pred = self.A @ self.P_est @ self.A.T + self.Q def update(self): @@ -357,17 +356,17 @@ def update_gps_data(self, gps_data): """ pass - def update_current_pos(self, current_pos): + def update_unfiltered_pos(self, unfiltered_pos): """ Update the current position ALSO: allows the kalman filter to start running by setting self.initialized to True """ # update GPS Measurements: - self.z_gps[0, 0] = current_pos.pose.position.x - self.z_gps[1, 0] = current_pos.pose.position.y + self.z_gps[0, 0] = unfiltered_pos.pose.position.x + self.z_gps[1, 0] = unfiltered_pos.pose.position.y - z = current_pos.pose.position.z + z = unfiltered_pos.pose.position.z self.avg_z = np.roll(self.avg_z, -1, axis=0) self.avg_z[-1] = np.matrix([z]) diff --git 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F{{dbzAjJRx literal 0 HcmV?d00001 diff --git a/doc/06_perception/00_coordinate_transformation.md b/doc/06_perception/00_coordinate_transformation.md index cafc83fd..3a54cbf5 100644 --- a/doc/06_perception/00_coordinate_transformation.md +++ b/doc/06_perception/00_coordinate_transformation.md @@ -1,6 +1,6 @@ # Coordinate Transformation -**Summary:** Used for various helper functions such as quat_to_heading, that are useful in a lot of cases. +**Summary:** Used for various helper functions such as quat_to_heading, that are useful in a lot of cases. **It is not yet fully documented**. --- @@ -14,14 +14,132 @@ Robert Fischer -- [Coordinate Transformation](#dataset-generator) +- [Coordinate Transformation](#coordonate-transformation) - [Author](#author) - [Date](#date) - - [Necessary adjustments](#necessary-adjustments) - [Usage](#usage) + - [Methods](#methods) + - [quat_to_heading(quaternion)](#quat_to_headingquaternion) -## Necessary adjustments - ## Usage + +Just importing the coordinate_transformation.py file is enough to use all of its funcions. + +```Python +# Example +from coordinate_transformation import quat_to_heading +``` + +## Methods + +This class provides multiple useful methods: + +### quat_to_heading(quaternion) + +For the cars orientation we need the angle of the cars Heading around the **z-axis**. +We are provided with a Quaternion of the cars Rotation with respect to the Global Coordinate System. + +Also the car always starts in the direction of the `x-axis`, which is what our `0 rad point` will be. + +To calculate the Heading we first need to create a Rotation Matrix out of the quaternion: + +`R = Rotation.from_quat(quaternion).rotation.as_matrix()` + +$$ +R = +\begin{bmatrix} + a & b & c\\ + d & e & f\\ + g & h & i\\ +\end{bmatrix} +$$ + +The original vector `V` of the car is `(1,0,0)`, since it spawns looking into the x-axis direction. + +$$ +V = +\begin{bmatrix} + 1\\ + 0\\ + 0\\ +\end{bmatrix} +$$ + +To calculate our rotated vector `V'` we do the following: + +$$ + +V' = R \cdot V + +\\ + +\begin{bmatrix} + a\\ + d\\ + g\\ +\end{bmatrix} + += +\begin{bmatrix} + a & b & c\\ + d & e & f\\ + g & h & i\\ +\end{bmatrix} +\cdot +\begin{bmatrix} + 1\\ + 0\\ + 0\\ +\end{bmatrix} +$$ + +So we end up with a vector that's rotated into the x-y plane with the new x and y coordinates being `a` and `d`: + +![quat_to_angle](../../doc/00_assets/perception/quat_to_angle.png) + +Now all we need to do is calculate the angle $\theta$ around the z-axis which this vector creates between the x-axis and itself using the `atan` function: + +$$ +\theta = atan2(\frac{d}{a}) +$$ + +To finish up we rotate the heading angle around 90 degrees, so the x-axis is our 0 rad point: + +`heading = (raw_heading - (math.pi / 2)) % (2 * math.pi) - math.pi` + +Now the Heading is 0 rad in the x-axis start position and `positive when rotating counter clockwise`. + +```Python + + """ + Converts a quaternion to a heading of the car in radians + :param quaternion: quaternion of the car as a list [q.x, q.y, q.z, q.w] + where q is the quaternion + :return: heading of the car in radians (float) + """ + # Create a Rotation object from the quaternion + rotation = Rotation.from_quat(quaternion) + # Convert the Rotation object to a matrix + rotation_matrix = rotation.as_matrix() + # calculate the angle around the z-axis (theta) from the matrix + # (see ../../doc/06_perception/00_coordinate_transformation.md) + theta = np.arctan2(rotation_matrix[1, 0], rotation_matrix[0, 0]) + + raw_heading = theta + + # transform raw_heading so that: + # --------------------------------------------------------------- + # | 0 = x-axis | pi/2 = y-axis | pi = -x-axis | -pi/2 = -y-axis | + # --------------------------------------------------------------- + # The above transformation limits the heading to the range of -pi to pi + # It also rotates the heading by 90 degrees so that the heading is in + # the direction of the x-axis which the car starts in (heading = 0) + + # heading is positive in counter clockwise rotations + heading = (raw_heading - (math.pi / 2)) % (2 * math.pi) - math.pi + + return heading + +``` diff --git a/doc/06_perception/08_kalman_filter.md b/doc/06_perception/08_kalman_filter.md index 7ba78703..d3a0b1a9 100644 --- a/doc/06_perception/08_kalman_filter.md +++ b/doc/06_perception/08_kalman_filter.md @@ -4,6 +4,8 @@ The Kalman Filter node is responsible for filtering the location and heading data, by using an IMU and GNSS sensor together with the carla speedometer. +As of now it is working with a 2D x-y-Transition model, which is why the current z-pos is calculated with a rolling average. + --- ## Author @@ -27,20 +29,26 @@ Robert Fischer - [1. Predict](#1-predict) - [2. Update](#2-update) - [3. Publish Data](#3-publish-data) + - [Also Important](#also-important) - [Inputs](#inputs) - [Outputs](#outputs) + - [Performance](#performance) --- ## Getting started -Right now the Node does not work correctly. It creates topics to publish to, but doesn't yet. -This will be fixed in [#106](https://github.com/una-auxme/paf23/issues/106) - Uncomment the kalman_filter.py node in the [perception.launch](../../code/perception/launch/perception.launch) to start the node. -You can also uncomment the rqt_plots that seem useful to you. -No extra installation needed. + +Also change the pos_filter and heading_filter parameter values of the Position_Publisher_Node in the [perception.launch](../../code/perception/launch/perception.launch) file, +to **"Kalman"**, depending on if you want to use the Filter for both the Position and the Heading. + +In the case of using the Filter for both, it should look like this: + +![Kalman Filter for both parameters](../../doc/00_assets/perception/kalman_installation_guide.png) + +No further installation needed. --- @@ -59,28 +67,67 @@ Stackoverflow and other useful sites: [3](https://stackoverflow.com/questions/66167733/getting-3d-position-coordinates-from-an-imu-sensor-on-python), [4](https://github.com/Janudis/Extended-Kalman-Filter-GPS_IMU) -This script implements a Kalman Filter. It is a recursive algorithm used to estimate the state of a system that can be modeled with linear equations. -This Kalman Filter uses the location provided by a GNSS sensor (by using the current_pos provided by the [Position Publisher Node](../../code/perception/src/Position_Publisher_Node.py)) +This script implements a Kalman Filter. + +It is a recursive algorithm used to estimate the state of a system that can be modeled with linear equations. + +This Kalman Filter uses the location provided by a GNSS sensor (by using the unfiltered_ provided by the [Position Publisher Node](../../code/perception/src/Position_Publisher_Node.py)) the orientation and angular velocity provided by the IMU sensor and the current speed in the headed direction by the Carla Speedometer. +As of now it is working with a 2D x-y-Transition model, which is why the current z-pos is calculated with a [rolling average](#also-important). + ```Python + The state vector X is defined as: [initial_x], [initial_y], + [v_x], + [v_y], [yaw], - [v_hy] in direction of heading hy, - [a_hy] in direction of v_hy (heading hy), - [omega_z], -The state transition matrix F is defined as: - A = I - I: Identity Matrix + [omega_z] + +The state transition matrix A is defined as: + ''' + # [x ... ] + # [y ... ] + # [v_x ... ] + # [x_y ... ] + # [yaw ... ] + # [omega_z ... ] + x = x + v_x * dt + y = y + v_y * dt + v_x = v_x + v_y = v_y + yaw = yaw + omega_z * dt + omega_z = omega_z + ''' + A = np.array([[1, 0, self.dt, 0, 0, 0], + [0, 1, 0, self.dt, 0, 0], + [0, 0, 1, 0, 0, self.dt], + [0, 0, 0, 1, 0, 0], + [0, 0, 0, 0, 1, 0], + [0, 0, 0, 0, 0, 1]]) + The measurement matrix H is defined as: - H = [1, 0, 0, 0, 0, 0], - [0, 1, 0, 0, 0, 0], - [0, 0, 1, 0, 0, 0], - [0, 0, 0, 0, 0, 1] + ''' + 1. GPS: x, y + 2. Velocity: v_x, v_y + 3. IMU: yaw, omega_z + -> 6 measurements for a state vector of 6 + ''' + self.H = np.array([[1, 0, 0, 0, 0, 0], # x + [0, 1, 0, 0, 0, 0], # y + [0, 0, 1, 0, 0, 0], # v_x + [0, 0, 0, 1, 0, 0], # v_y + [0, 0, 0, 0, 1, 0], # yaw + [0, 0, 0, 0, 0, 1]]) # omega_z + The process covariance matrix Q is defined as: - Q = np.diag([0.005, 0.005, 0.001, 0.0001]) + self.Q = np.diag([0.0001, 0.0001, 0.00001, 0.00001, 0.000001, 0.00001]) + +The measurement covariance matrix R is defined as: + self.R = np.diag([0.0005, 0.0005, 0, 0, 0, 0]) + ``` Then 3 Steps are run in the frequency of the `control_loop_rate`: @@ -88,48 +135,82 @@ Then 3 Steps are run in the frequency of the `control_loop_rate`: ### 1. Predict ```Python - # Update the old state and covariance matrix - self.x_old_est[:, :] = np.copy(self.x_est[:, :]) - self.P_old_est[:, :] = np.copy(self.P_est[:, :]) - # Predict the next state and covariance matrix - self.x_pred = self.A @ self.x_est[:] # + B @ v[:, k-1] + u - self.P_pred = self.A @ self.P_est[:, :] @ self.A.T + self.Q + # Predict the next state and covariance matrix, pretending the last + # velocity state estimate stayed constant + self.x_pred = self.A @ self.x_est + self.P_pred = self.A @ self.P_est @ self.A.T + self.Q + ``` ### 2. Update ```Python - z = np.concatenate((self.z_gps[:], self.z_imu[:])) # Measurementvector - y = z - self.H @ self.x_pred # Measurement residual - S = self.H @ self.P_pred @ self.H.T + self.R # Residual covariance - self.K[:, :] = self.P_pred @ self.H.T @ np.linalg.inv(S) # Kalman gain - self.x_est[:] = self.x_pred + self.K[:, :] @ y # State estimate - # State covariance estimate - self.P_est[:, :] = (np.eye(6) - self.K[:, :] @ self.H) @ self.P_pred + + # Measurementvector z + z = np.concatenate((self.z_gps, self.z_v, self.z_imu)) + # Measurement residual y + y = z - self.H @ self.x_pred + # Residual covariance S + S = self.H @ self.P_pred @ self.H.T + self.R + # Kalman gain K + self.K = self.P_pred @ self.H.T @ np.linalg.inv(S) + # State estimate x_est + self.x_est = self.x_pred + self.K @ y + # State covariance estimate P_est + # (Joseph form of the covariance update equation) + self.P_est = (np.eye(6) - self.K @ self.H) @ self.P_pred + ``` ### 3. Publish Data ```Python + # Publish the kalman-data: self.publish_kalman_heading() self.publish_kalman_location() + +``` + +### Also Important + +The way that the xyz Position is made, only x and y are measured for the kalman filter, while the z component is filtered by a rolling average. + +```Python + + GPS_RUNNING_AVG_ARGS: int = 10 + + self.avg_z = np.zeros((GPS_RUNNING_AVG_ARGS, 1)) + . + . + . + # update GPS Measurements: + self.z_gps[0, 0] = current_pos.pose.position.x + self.z_gps[1, 0] = current_pos.pose.position.y + + z = current_pos.pose.position.z + + self.avg_z = np.roll(self.avg_z, -1, axis=0) + self.avg_z[-1] = np.matrix([z]) + avg_z = np.mean(self.avg_z, axis=0) + + self.latitude = avg_z + ``` -As stated before, the script does not publish viable data yet, which has to be fixed. -This means the predict and update steps might not be correct, because it wasn't possible to test it yet. +The Kalman Location as well as the Kalman Heading are then subscribed to by the PositionPublisher and republished as **current_heading** and **current_pos** ### Inputs This node subscribes to the following needed topics: - IMU: - - `/carla/{role_name}/Ideal_IMU` ([IMU](https://docs.ros.org/en/api/sensor_msgs/html/msg/Imu.html)) + - `/carla/{role_name}/IMU` ([IMU](https://docs.ros.org/en/api/sensor_msgs/html/msg/Imu.html)) - GPS: - - `/carla/{role_name}/Ideal_GPS` ([NavSatFix](http://docs.ros.org/en/melodic/api/std_msgs/html/msg/String.html)) -- current agent position: - - `/paf/{role_name}/current_pos` ([PoseStamped](http://docs.ros.org/en/noetic/api/geometry_msgs/html/msg/PoseStamped.html)) + - `/carla/{role_name}/GPS` ([NavSatFix](http://docs.ros.org/en/melodic/api/std_msgs/html/msg/String.html)) +- unfiltered agent position: + - `/paf/" + self.role_name + "/unfiltered_pos` ([PoseStamped](http://docs.ros.org/en/noetic/api/geometry_msgs/html/msg/PoseStamped.html)) - Carla Speed: - `/carla/" + self.role_name + "/Speed` CarlaSpeedometer @@ -138,6 +219,28 @@ This node subscribes to the following needed topics: This node publishes the following topics: - Kalman Heading: - - `/paf/{role_name}/kalman_heading` ([PoseStamped](http://docs.ros.org/en/noetic/api/geometry_msgs/html/msg/PoseStamped.html)) + - `/paf/{role_name}/kalman_heading` ([Float32](http://docs.ros.org/en/noetic/api/std_msgs/html/msg/Float32.html)) - Kalman Position: - `/paf/{self.role_name}/kalman_pos` ([PoseStamped](http://docs.ros.org/en/noetic/api/geometry_msgs/html/msg/PoseStamped.html)) + +## Performance + +In the following graphs you will see the MSE/ MAE Boxed Graph of Location Error with respect to ideal Location. + +Lower values in the data mean smaller error values. + +Smaller boxes mean the data is closer together and less spread. + +The Kalman Filter was tuned to create the smallest MSE possible, which gives more weight to larger errors which we want to minimise. + +The MAE on the other hand shows a 1:1 representation in terms of distance from the ideal to the predicted location. +![MSE Boxed Graph of Location Error with respect to ideal Location](../../doc/00_assets/perception/data_26_MSE_Boxed.png) + +![MAE Boxed Graph of Location Error with respect to ideal Location](../../doc/00_assets/perception/data_26_MAE_Boxed.png) + +As you see this data you might think the unfiltered data seems to be just as good if not even better than the previous rolling average filter (RAF). + +This is not the case, since the RAF has a way smaller spread of datapoints, making the location data way smoother (Though with a large error) than without a filter. + +The Kalman Filter on the other hand makes it possible for the data to be way below the 1 m error mark (with 0.48 m as its error median) +and contain the data within a reasonable range. diff --git a/doc/06_perception/09_position_publisher_node.md b/doc/06_perception/09_position_publisher_node.md new file mode 100644 index 00000000..bc2fe25f --- /dev/null +++ b/doc/06_perception/09_position_publisher_node.md @@ -0,0 +1,116 @@ +# Position Publisher Node + +**Summary:** This node publishes the `current_pos` (Location of the car) and `current_heading` (Orientation of the car around the Z- axis) for every Node that needs to work with that. It also publishes all relevant topics for the Filter nodes (such as Kalman). + +--- + +## Author + +Robert Fischer + +## Date + +14.01.2024 + +## Prerequisite + +* [Position Publisher Node](#position-publisher-node) + * [Author](#author) + * [Date](#date) + * [Prerequisite](#prerequisite) + * [Usage](#usage) + * [Heading Functions](#heading-functions) + * [Position Functions](#position-functions) + * [Inputs](#inputs) + * [Outputs](#outputs) + +## Usage + +Change the pos_filter and heading_filter parameter values of the Position_Publisher_Node in the [perception.launch](../../code/perception/launch/perception.launch) file, +to **"Kalman"**, depending on if you want to use the Kalman Filter for both the Position and the Heading. + +You will also have to uncomment the kalman_filter.py node or any other filter in the [perception.launch](../../code/perception/launch/perception.launch) to start the filter node. +The only filter that is already implementet by the Position Publisher Node is the RunningAverage Filter, which can be turned on the same way. + +You can use filters for the heading and for the location independently using the following parameter values: + +**Position Filter values:** + - "Kalman" (Default) + - "RunningAvg" + - "None" +**Heading Filter values:** + - "Kalman" (Default) + - "None" + - "Old" (Buggy for demonstration purposes only) + +In the case of using the Filter for both, it should look like this: + +![Kalman Filter for both parameters](../../doc/00_assets/perception/kalman_installation_guide.png) + +_If you want to create a new Filter in the future, I suggest keeping this template intact._ 😊 + +No further installation needed. + +### Heading Functions + +**`publish_unfiltered_heading`** + +This method is called when new IMU data is received. +It publishes unfiltered location data as `PoseStamped`, so other filters can use it. + +If `none` is selected for the Filter, it publishes the data as the `current_pos` instead. (not recommended) + +**`publish_current_heading`** + +This method is called when new heading data is received. It handles all necessary updates and publishes the heading as a double value, +indicating the cars rotation around the z-axis in rad. +For more info about how the heading is calculated see [here](./00_coordinate_transformation.md). + +### Position Functions + +**`publish_running_avg_pos`** + +This method is called when new GNSS data is received. The function calculates the average position and then publishes it as the current position. + +This is only used when the `running_avg` Filter is selected. + +**`publish_kalman_pos_as_current_pos`** + +This method is called when new kalman filter data is received. The function publishes the kalman position as the current position. + +This is only used when the `Kalman` Filter is selected + +**`publish_unfiltered_gps`** + +This method is called when new GNSS data is received. + +It publishes unfiltered location data as `PoseStamped`, so other filters can use it. + +If `none` is selected for the Filter, it publishes the data as the `current_pos` instead. (not recommended) + +**`get_geoRef`** + +Reads the reference values for lat and lon from the carla OpenDriveMap. +Otherwise we could not calculate the global Coordinate System + +### Inputs + +This node subscribes to the following topics: + +* IMU: + * `/carla/{role_name}/IMU` ([IMU](https://docs.ros.org/en/api/sensor_msgs/html/msg/Imu.html)) +* GPS: + * `/carla/{role_name}/GPS` ([NavSatFix](http://docs.ros.org/en/melodic/api/std_msgs/html/msg/String.html)) +* Kalman position: + * `/paf/" + self.role_name + "/kalman_pos` ([PoseStamped](http://docs.ros.org/en/noetic/api/geometry_msgs/html/msg/PoseStamped.html)) +* Kalman Heading: + * `/paf/" + self.role_name + "/kalman_heading` ([Float32](http://docs.ros.org/en/noetic/api/std_msgs/html/msg/Float32.html)) + +### Outputs + +This node publishes the following topics: + +* Current Heading: + * `/paf/{role_name}/current_heading` ([Float32](http://docs.ros.org/en/noetic/api/std_msgs/html/msg/Float32.html)) +* Current Position: + * `/paf/{self.role_name}/current_pos` ([PoseStamped](http://docs.ros.org/en/noetic/api/geometry_msgs/html/msg/PoseStamped.html)) diff --git a/doc/06_perception/Readme.md b/doc/06_perception/Readme.md index f2942fb3..a436f3cc 100644 --- a/doc/06_perception/Readme.md +++ b/doc/06_perception/Readme.md @@ -19,3 +19,5 @@ This folder contains further documentation of the perception components. ## 7. [sensor_filter_debug.py](./07_sensor_filter_debug.md) ## 8. [Kalman Filter](./08_kalman_filter.md) + +## 9. [Position Publisher Node](./09_position_publisher_node.md) From 54f2494f7d3ad0a6620826a9a89054843dc706ea Mon Sep 17 00:00:00 2001 From: robertik10 Date: Sun, 14 Jan 2024 20:01:01 +0100 Subject: [PATCH 14/22] feat(#106): ready for merge --- code/perception/src/kalman_filter.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/code/perception/src/kalman_filter.py b/code/perception/src/kalman_filter.py index 9ee3d242..382cc19a 100755 --- a/code/perception/src/kalman_filter.py +++ b/code/perception/src/kalman_filter.py @@ -248,7 +248,7 @@ def predict(self): """ # Predict the next state and covariance matrix, pretending the last # velocity state estimate stayed constant - self.x_pred = self.A @ self.x_est + self.x_pred = self.A @ self.x_est self.P_pred = self.A @ self.P_est @ self.A.T + self.Q def update(self): From 65b4a0cfa83b1712816ca8f08158af66eade461b Mon Sep 17 00:00:00 2001 From: robertik10 Date: Sun, 14 Jan 2024 21:12:09 +0100 Subject: [PATCH 15/22] feat(#106): commented the Acting Debugger --- code/acting/launch/acting.launch | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/code/acting/launch/acting.launch b/code/acting/launch/acting.launch index b1262c4b..3316cfae 100644 --- a/code/acting/launch/acting.launch +++ b/code/acting/launch/acting.launch @@ -29,10 +29,10 @@ - + From 21a595baeef92bd779d1a40f0810eef039e9d44b Mon Sep 17 00:00:00 2001 From: robertik10 <58191510+robertik10@users.noreply.github.com> Date: Mon, 15 Jan 2024 12:40:03 +0100 Subject: [PATCH 16/22] Update 00_coordinate_transformation.md fixed latex error --- doc/06_perception/00_coordinate_transformation.md | 6 ++---- 1 file changed, 2 insertions(+), 4 deletions(-) diff --git a/doc/06_perception/00_coordinate_transformation.md b/doc/06_perception/00_coordinate_transformation.md index 3a54cbf5..aaea683a 100644 --- a/doc/06_perception/00_coordinate_transformation.md +++ b/doc/06_perception/00_coordinate_transformation.md @@ -70,17 +70,15 @@ $$ To calculate our rotated vector `V'` we do the following: $$ - V' = R \cdot V - +$$ \\ - +$$ \begin{bmatrix} a\\ d\\ g\\ \end{bmatrix} - = \begin{bmatrix} a & b & c\\ From c7f33c67c7f829013b136436bf95b1e7f463834d Mon Sep 17 00:00:00 2001 From: robertik10 <58191510+robertik10@users.noreply.github.com> Date: Mon, 15 Jan 2024 12:44:10 +0100 Subject: [PATCH 17/22] Update 00_coordinate_transformation.md fixed latex error for good -> ready for merge --- doc/06_perception/00_coordinate_transformation.md | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/doc/06_perception/00_coordinate_transformation.md b/doc/06_perception/00_coordinate_transformation.md index aaea683a..740cef6d 100644 --- a/doc/06_perception/00_coordinate_transformation.md +++ b/doc/06_perception/00_coordinate_transformation.md @@ -72,14 +72,14 @@ To calculate our rotated vector `V'` we do the following: $$ V' = R \cdot V $$ -\\ + $$ \begin{bmatrix} a\\ d\\ g\\ \end{bmatrix} -= +\= \begin{bmatrix} a & b & c\\ d & e & f\\ From 2a8375e82fb81929f55ed10f929ec0313b4448f2 Mon Sep 17 00:00:00 2001 From: robertik10 <58191510+robertik10@users.noreply.github.com> Date: Mon, 15 Jan 2024 14:01:00 +0100 Subject: [PATCH 18/22] Update coordinate_transformation.py removed transformation when calculating heading-> Ready for merge --- .../src/coordinate_transformation.py | 21 ++++++++++--------- 1 file changed, 11 insertions(+), 10 deletions(-) diff --git a/code/perception/src/coordinate_transformation.py b/code/perception/src/coordinate_transformation.py index f228dda5..8e817ab2 100755 --- a/code/perception/src/coordinate_transformation.py +++ b/code/perception/src/coordinate_transformation.py @@ -132,16 +132,17 @@ def quat_to_heading(quaternion): raw_heading = theta - # transform raw_heading so that: - # --------------------------------------------------------------- - # | 0 = x-axis | pi/2 = y-axis | pi = -x-axis | -pi/2 = -y-axis | - # --------------------------------------------------------------- - # The above transformation limits the heading to the range of -pi to pi - # It also rotates the heading by 90 degrees so that the heading is in - # the direction of the x-axis which the car starts in (heading = 0) - - # heading is positive in counter clockwise rotations - heading = (raw_heading - (math.pi / 2)) % (2 * math.pi) - math.pi + # # transform raw_heading so that: + # # --------------------------------------------------------------- + # # | 0 = x-axis | pi/2 = y-axis | pi = -x-axis | -pi/2 = -y-axis | + # # --------------------------------------------------------------- + # # The above transformation limits the heading to the range of -pi to pi + # # It also rotates the heading by 90 degrees so that the heading is in + # # the direction of the x-axis which the car starts in (heading = 0) + + # # heading is positive in counter clockwise rotations + # heading = (raw_heading - (math.pi / 2)) % (2 * math.pi) - math.pi + heading = raw_heading return heading From c2aab4bef080ab763731a4a762cdd214c1c2e19f Mon Sep 17 00:00:00 2001 From: robertik10 Date: Wed, 17 Jan 2024 17:09:53 +0100 Subject: [PATCH 19/22] fix: add new data to the repo + heading --- .../Test_Data/EmergencyBreaks/data_163.csv | 9 ++++++ .../Test_Data/EmergencyBreaks/data_164.csv | 4 +++ .../Test_Data/EmergencyBreaks/data_165.csv | 6 ++++ .../Test_Data/EmergencyBreaks/data_166.csv | 11 ++++++++ .../Test_Data/EmergencyBreaks/data_167.csv | 13 +++++++++ .../Test_Data/EmergencyBreaks/data_168.csv | 14 ++++++++++ .../Test_Data/EmergencyBreaks/data_169.csv | 15 ++++++++++ .../Test_Data/EmergencyBreaks/data_170.csv | 17 ++++++++++++ .../Test_Data/EmergencyBreaks/data_171.csv | 20 ++++++++++++++ .../Test_Data/EmergencyBreaks/data_172.csv | 22 +++++++++++++++ .../Test_Data/EmergencyBreaks/data_173.csv | 26 ++++++++++++++++++ .../Test_Data/Plots/Brake_Distance_1.png | Bin 0 -> 25217 bytes .../acting/Test_Data/Plots/Brake_time_1.png | Bin 0 -> 24703 bytes .../src/00_Experiments/kalman_datasets/viz.py | 5 ++-- .../src/coordinate_transformation.py | 13 +++------ .../00_coordinate_transformation.md | 20 +++++--------- 16 files changed, 171 insertions(+), 24 deletions(-) create mode 100644 code/acting/src/acting/Test_Data/EmergencyBreaks/data_163.csv create mode 100644 code/acting/src/acting/Test_Data/EmergencyBreaks/data_164.csv create mode 100644 code/acting/src/acting/Test_Data/EmergencyBreaks/data_165.csv create mode 100644 code/acting/src/acting/Test_Data/EmergencyBreaks/data_166.csv create mode 100644 code/acting/src/acting/Test_Data/EmergencyBreaks/data_167.csv create mode 100644 code/acting/src/acting/Test_Data/EmergencyBreaks/data_168.csv create mode 100644 code/acting/src/acting/Test_Data/EmergencyBreaks/data_169.csv create mode 100644 code/acting/src/acting/Test_Data/EmergencyBreaks/data_170.csv create mode 100644 code/acting/src/acting/Test_Data/EmergencyBreaks/data_171.csv create mode 100644 code/acting/src/acting/Test_Data/EmergencyBreaks/data_172.csv create mode 100644 code/acting/src/acting/Test_Data/EmergencyBreaks/data_173.csv create mode 100644 code/acting/src/acting/Test_Data/Plots/Brake_Distance_1.png create mode 100644 code/acting/src/acting/Test_Data/Plots/Brake_time_1.png diff --git a/code/acting/src/acting/Test_Data/EmergencyBreaks/data_163.csv b/code/acting/src/acting/Test_Data/EmergencyBreaks/data_163.csv new file mode 100644 index 00000000..21ff40aa --- /dev/null +++ b/code/acting/src/acting/Test_Data/EmergencyBreaks/data_163.csv @@ -0,0 +1,9 @@ +26.981568377,984.2717165869615,-5448.485194551819,8.417115265892138 +27.031568378,984.2792978342279,-5448.873475258132,8.619125878345864 +27.081568378,984.2735361090026,-5449.161074787122,7.959971041195068 +27.131568379,984.2581308173458,-5449.549872551304,6.811253635596549 +27.18156838,984.2628199611521,-5449.863462370065,5.54839077601463 +27.231568381,984.2574266575106,-5450.27355683064,4.218688283576547 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zx6hu-JK7w-_!jXLD%w^W;pI;!<%;=3t19EGl$3JvcGuf#UKE|5YFQ3umc-O+h;`H#Babjy`H+LYhZm(Su(%cz^KqZr~!N99pm)7rT zCffsciZ;k`?XO;>SLZaEYXsQVz-p&13sK2SZ=N70G|%&!ho}nr96&uFwq4E)H5-M3 zX*y6!PTB)FthL1EjYPzX8H=#=L@`0Kzbzn|Eh|Mnhc{)z!=PMu^?N;(XBj7Pf_PY| z(-ufxO4|Vtv*iVoX^a7GwD}{Kwh{rdr8OvUsW^BDl7Xp0B-@Cahn1slt4kzu#4?r-zD)+SIq?ypj>D9Hajq9{<(wm4;EC_mwc+p7DEmkN literal 0 HcmV?d00001 diff --git a/code/perception/src/00_Experiments/kalman_datasets/viz.py b/code/perception/src/00_Experiments/kalman_datasets/viz.py index 5dda3231..cba16bc5 100644 --- a/code/perception/src/00_Experiments/kalman_datasets/viz.py +++ b/code/perception/src/00_Experiments/kalman_datasets/viz.py @@ -770,7 +770,7 @@ def calculate_mse_x_or_y(ideal, estimated): return mse, error -def calculate_cep(ideal, kalman, running_avg, unfiltered, percentile=50): +def calculate_cep(ideal, kalman, running_avg, unfiltered, percentile=90): """ Calculates the Circular Error Probable (CEP) for position data. @@ -870,7 +870,8 @@ def calculate_RMSPE(ideal, estimated): # # plot_RMSPE_notched_box("data_26.csv") # plot_CEP("data_25.csv") # plot_CEP("data_26.csv") -data = "data_34.csv" +data = "data_26.csv" +plot_CEP(data) plot_x_or_y_notched_box(data, type='x', error_type='MSE') plot_x_or_y_notched_box(data, type='x', error_type='MAE') plot_x_or_y_notched_box(data, type='y', error_type='MSE') diff --git a/code/perception/src/coordinate_transformation.py b/code/perception/src/coordinate_transformation.py index f228dda5..fd570e0a 100755 --- a/code/perception/src/coordinate_transformation.py +++ b/code/perception/src/coordinate_transformation.py @@ -118,6 +118,7 @@ def ecef_to_enu(x, y, z, lat0, lon0, h0): def quat_to_heading(quaternion): """ Converts a quaternion to a heading of the car in radians + (see ../../doc/06_perception/00_coordinate_transformation.md) :param quaternion: quaternion of the car as a list [q.x, q.y, q.z, q.w] where q is the quaternion :return: heading of the car in radians (float) @@ -127,21 +128,15 @@ def quat_to_heading(quaternion): # Convert the Rotation object to a matrix rotation_matrix = rotation.as_matrix() # calculate the angle around the z-axis (theta) from the matrix - # (see ../../doc/06_perception/00_coordinate_transformation.md) theta = np.arctan2(rotation_matrix[1, 0], rotation_matrix[0, 0]) - raw_heading = theta - - # transform raw_heading so that: + # arctan2 returns a theta so that: # --------------------------------------------------------------- # | 0 = x-axis | pi/2 = y-axis | pi = -x-axis | -pi/2 = -y-axis | # --------------------------------------------------------------- - # The above transformation limits the heading to the range of -pi to pi - # It also rotates the heading by 90 degrees so that the heading is in - # the direction of the x-axis which the car starts in (heading = 0) - # heading is positive in counter clockwise rotations - heading = (raw_heading - (math.pi / 2)) % (2 * math.pi) - math.pi + + heading = theta return heading diff --git a/doc/06_perception/00_coordinate_transformation.md b/doc/06_perception/00_coordinate_transformation.md index 740cef6d..d89406ba 100644 --- a/doc/06_perception/00_coordinate_transformation.md +++ b/doc/06_perception/00_coordinate_transformation.md @@ -103,16 +103,16 @@ $$ \theta = atan2(\frac{d}{a}) $$ -To finish up we rotate the heading angle around 90 degrees, so the x-axis is our 0 rad point: +To conclude: -`heading = (raw_heading - (math.pi / 2)) % (2 * math.pi) - math.pi` - -Now the Heading is 0 rad in the x-axis start position and `positive when rotating counter clockwise`. +$$heading = \theta$$ ```Python +def quat_to_heading(quaternion): """ Converts a quaternion to a heading of the car in radians + (see ../../doc/06_perception/00_coordinate_transformation.md) :param quaternion: quaternion of the car as a list [q.x, q.y, q.z, q.w] where q is the quaternion :return: heading of the car in radians (float) @@ -122,21 +122,15 @@ Now the Heading is 0 rad in the x-axis start position and `positive when rotatin # Convert the Rotation object to a matrix rotation_matrix = rotation.as_matrix() # calculate the angle around the z-axis (theta) from the matrix - # (see ../../doc/06_perception/00_coordinate_transformation.md) theta = np.arctan2(rotation_matrix[1, 0], rotation_matrix[0, 0]) - raw_heading = theta - - # transform raw_heading so that: + # arctan2 returns a theta so that: # --------------------------------------------------------------- # | 0 = x-axis | pi/2 = y-axis | pi = -x-axis | -pi/2 = -y-axis | # --------------------------------------------------------------- - # The above transformation limits the heading to the range of -pi to pi - # It also rotates the heading by 90 degrees so that the heading is in - # the direction of the x-axis which the car starts in (heading = 0) - # heading is positive in counter clockwise rotations - heading = (raw_heading - (math.pi / 2)) % (2 * math.pi) - math.pi + + heading = theta return heading From 277819571937519cbff9fa5c4c5d1f719de0a259 Mon Sep 17 00:00:00 2001 From: robertik10 Date: Wed, 17 Jan 2024 17:43:41 +0100 Subject: [PATCH 20/22] fix: ready for merge --- doc/06_perception/00_coordinate_transformation.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/doc/06_perception/00_coordinate_transformation.md b/doc/06_perception/00_coordinate_transformation.md index d89406ba..46eea5ca 100644 --- a/doc/06_perception/00_coordinate_transformation.md +++ b/doc/06_perception/00_coordinate_transformation.md @@ -79,7 +79,7 @@ $$ d\\ g\\ \end{bmatrix} -\= +\quad = \quad \begin{bmatrix} a & b & c\\ d & e & f\\ From aa2fa11476d639f3cf4d687e06aab1884610e039 Mon Sep 17 00:00:00 2001 From: robertik10 Date: Wed, 17 Jan 2024 17:45:32 +0100 Subject: [PATCH 21/22] fix: ready for merge --- code/acting/src/acting/vehicle_controller.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/code/acting/src/acting/vehicle_controller.py b/code/acting/src/acting/vehicle_controller.py index 314e5bcd..ea062909 100755 --- a/code/acting/src/acting/vehicle_controller.py +++ b/code/acting/src/acting/vehicle_controller.py @@ -210,7 +210,7 @@ def __map_steering(self, steering_angle: float) -> float: :param steering_angle: calculated by a controller in [-pi/2 , pi/2] :return: float for steering in [-1, 1] """ - tune_k = 1 # factor for tuning TODO: tune but why? + tune_k = -1 # factor for tuning TODO: tune but why? # negative because carla steer and our steering controllers are flipped r = 1 / (math.pi / 2) steering_float = steering_angle * r * tune_k From 5d56c01715507a055c00843e2301223e2bf94aca Mon Sep 17 00:00:00 2001 From: robertik10 Date: Wed, 17 Jan 2024 18:28:05 +0100 Subject: [PATCH 22/22] fix: rechanged docker-compose.yml to original-> ready for merge --- build/docker-compose.yml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/build/docker-compose.yml b/build/docker-compose.yml index 34db1e5e..ac6c07ea 100644 --- a/build/docker-compose.yml +++ b/build/docker-compose.yml @@ -61,8 +61,8 @@ services: tty: true shm_size: 2gb #command: bash -c "sleep 10 && python3 /opt/leaderboard/leaderboard/leaderboard_evaluator.py --debug=0 --routes=/opt/leaderboard/data/routes_devtest.xml --agent=/opt/leaderboard/leaderboard/autoagents/npc_agent.py --host=carla-simulator --track=SENSORS" - command: bash -c "sleep 10 && roslaunch agent/launch/dev.launch" - #command: bash -c "sleep 10 && sudo chown -R carla:carla ../code/ && sudo chmod -R a+w ../code/ && python3 /opt/leaderboard/leaderboard/leaderboard_evaluator.py --debug=0 --routes=/opt/leaderboard/data/routes_devtest.xml --agent=/workspace/code/agent/src/agent/agent.py --host=carla-simulator --track=MAP" + #command: bash -c "sleep 10 && roslaunch agent/launch/dev.launch" + command: bash -c "sleep 10 && sudo chown -R carla:carla ../code/ && sudo chmod -R a+w ../code/ && python3 /opt/leaderboard/leaderboard/leaderboard_evaluator.py --debug=0 --routes=/opt/leaderboard/data/routes_devtest.xml --agent=/workspace/code/agent/src/agent/agent.py --host=carla-simulator --track=MAP" logging: driver: "local" environment: