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CleanUp and Overhaul of Acting ; Final Steering #207

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merged 3 commits into from
Mar 12, 2024
Merged

CleanUp and Overhaul of Acting ; Final Steering #207

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75faf91
feat: tune stanley and compare with purepursuit
hellschwalex Jan 25, 2024
9cd77a4
feat: Clean up Acting
hellschwalex Mar 9, 2024
752eaa4
Merge branch 'main' into 167-feature-stanley-controller-overhaul
hellschwalex Mar 11, 2024
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45 changes: 24 additions & 21 deletions code/acting/launch/acting.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -3,56 +3,59 @@
<arg name="role_name" default="hero" />
<arg name="control_loop_rate" default="0.1" />

<!--node pkg="acting" type="Acting_DebuggerNode.py" name="Acting_Debugger" output="screen">
<param name="control_loop_rate" value="0.05" />
<param name="role_name" value="$(arg role_name)" />
</node-->

<node pkg="acting" type="pure_pursuit_controller.py" name="pure_pursuit_controller" output="screen">
<param name="control_loop_rate" value="$(arg control_loop_rate)" />
<param name="role_name" value="$(arg role_name)" />
</node>

<node pkg="acting" type="stanley_controller.py" name="stanley_controller" output="screen">
<node pkg="acting" type="velocity_controller.py" name="velocity_controller" output="screen">
<param name="control_loop_rate" value="$(arg control_loop_rate)" />
<param name="role_name" value="$(arg role_name)" />
</node>

<node pkg="acting" type="velocity_controller.py" name="velocity_controller" output="screen">
<param name="control_loop_rate" value="$(arg control_loop_rate)" />
<node pkg="acting" type="vehicle_controller.py" name="vehicle_controller" output="screen">
<param name="control_loop_rate" value="$(arg control_loop_rate)" /> <!-- leaderboard expects commands every 0.05 seconds OTHERWISE IT LAGS REALLY BADLY-->
<param name="role_name" value="$(arg role_name)" />
</node>

<node pkg="acting" type="acting_velocity_publisher.py" name="acting_velocity_publisher" output="screen">
<node pkg="acting" type="MainFramePublisher.py" name="MainFramePublisher" output="screen">
<param name="control_loop_rate" value="0.05" />
<param name="role_name" value="$(arg role_name)" />
<param name="control_loop_rate" value="0.2" />
<param name="enabled" value="False" /> <!-- set to True to publish dummy velocities for testing-->
</node>

<!-- UNCOMMENT THIS TO USE THE DEBUG_NODE FOR ACTING-TESTING -->
<!--
<node pkg="acting" type="Acting_Debug_Node.py" name="Acting_Debug_Node" output="screen">
<param name="control_loop_rate" value="0.05" />
<param name="role_name" value="$(arg role_name)" />
</node>
-->

<node pkg="acting" type="vehicle_controller.py" name="vehicle_controller" output="screen">
<param name="control_loop_rate" value="$(arg control_loop_rate)" /> <!-- leaderboard expects commands every 0.05 seconds OTHERWISE IT LAGS REALLY BADLY-->
<!-- ______OBSOLETES______
<node pkg="acting" type="stanley_controller.py" name="stanley_controller" output="screen">
<param name="control_loop_rate" value="$(arg control_loop_rate)" />
<param name="role_name" value="$(arg role_name)" />
</node>

<node pkg="acting" type="MainFramePublisher.py" name="MainFramePublisher" output="screen">
<param name="control_loop_rate" value="0.05" />
<node pkg="acting" type="acting_velocity_publisher.py" name="acting_velocity_publisher" output="screen">
<param name="role_name" value="$(arg role_name)" />
<param name="control_loop_rate" value="0.2" />
<param name="enabled" value="False" />
</node>

<node pkg="acting" type="acc_distance_publisher_dummy.py" name="AccDistancePublisherDummy" output="screen">
<param name="role_name" value="$(arg role_name)" />
<param name="enabled" value="False" /> <!-- set to True to publish dummy velocities for testing-->
<param name="enabled" value="False" />
</node>

<!--node pkg="acting" type="acc.py" name="Acc" output="screen">
<node pkg="acting" type="acc.py" name="Acc" output="screen">
<param name="control_loop_rate" value="$(arg control_loop_rate)" />
<param name="role_name" value="$(arg role_name)" />
</node-->
</node>
-->

<!-- Some plot nodes for debugging speed/steering etc. -->
<!--node pkg="rqt_plot" type="rqt_plot" output="screen" name="rqt_plot_speed" args="/carla/hero/Speed /paf/hero/target_velocity /paf/hero/throttle /paf/hero/brake"/-->
<!--node pkg="rqt_plot" type="rqt_plot" output="screen" name="rqt_plot_steering" args="/paf/hero/pure_pursuit_steer /carla/hero/vehicle_control_cmd/steer /paf/hero/pure_p_debug/l_distance"/-->
<!--node pkg="rqt_plot" type="rqt_plot" output="screen" name="rqt_plot_heading_yaw" args="/paf/hero/yaw /paf/hero/current_heading" /-->
<!--node pkg="rqt_plot" type="rqt_plot" output="screen" name="rqt_plot_CONTROLLER" args="/paf/hero/controller"/-->
<node pkg="rqt_plot" type="rqt_plot" output="screen" name="rqt_plot_steering" args="/paf/hero/pure_pursuit_steer /carla/hero/vehicle_control_cmd/steer /paf/hero/pure_p_debug/l_distance"/>

</launch>
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