feat(#242): added sprint reviews for paf23

doc/08_dev_talks/dev_talks_paf23/sprint_2.md

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+# Sprint 2
+
+## General ToDo’s
+
+- Test Submit for new Leaderboard {Samuel, Max}
+  - Submission Page stating what can be left in the code
+  - Build Docker Image with Environment Variables
+  - Make Docker Script
+  - (info: 99 submissions per month possible)
+
+## Perception
+
+- dvc {Max, (Leon)}
+  - Look more closely
+  - Solution approach for Large File Storage
+- Clean Up {Leon}
+  - Throw out EfficientPS
+    - If thrown out → remove dependencies for Image (BACKLOG)
+- New Segmentation Node {Leon, Max}
+  - Visualization in RViz
+  - Baseline Model (Object Detection / Segmentation)
+  - General procedure
+- Sensor Data Filter {Robert}
+  - Is there any filtering at all?
+  - Filtering of data (Maybe the sensor noise can be removed in Sensorconfig for tests)
+    - Sensorfile
+    - Without Leaderboard → as many sensors as you want
+    - Read out values without noise via Python API
+
+## Planning
+
+- Understanding of current Decision Tree {Samuel}
+  - [ ]  Does the global routing by the Decision Tree work?
+  - [ ]  Are lane decisions correct? (holding lane, switching lanes)
+  - [ ]  How well does it perform
+  - [ ]  Limitations?
+- Visual Architecture {Julius}
+- What is currently output {}
+- What is currently arriving {}
+  - What should arrive?
+- Object Avoidance [BACKLOG] {}
+  - Must-Have for next milestone
+  - For passing obstacles
+
+## Acting
+
+- Simpler design of Acting
+  - Maybe fewer controllers
+  - Maybe alternative architecture
+- Measure rule deviation
+  - Ideal Dummy Sensors (Python API)
+  - With ideal actual state
+- Make analysis possible
+- For testing
+  - Turn off all vehicles
+  - Maybe use Trajectories Dummy for this (Gabriel as contact person)
+- Emergency Breaks
+- Parking out scenario → currently without sensor input → only Acting / Hardcoded
+
+## Notes
+
+- Relative speed of objects published by perception via radar
+- Documentation of issues during presentations
+- Github file limit of 100MB
+- Define interfaces

doc/08_dev_talks/dev_talks_paf23/sprint_3.md

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+# Sprint 3
+
+## General ToDo's
+
+- Leaderboard Submission (when unlocked)
+- Fix steering when parking out {Samuel, Robert}
+- Update Cuda or Torch version
+
+## Perception
+
+- Segmentation Node {Leon}
+  - Speed
+  - Segmentation Mask
+  - Yolo Models
+  - Tensorflow
+- Agree on interfaces (Issue already created)
+  - From Perception to Planning:
+    - GPS
+    - Speed (Carla Sensor)
+- LIDAR research {Leon}
+  - possible combination with Object Detection
+- Possible use of Radar: {}
+  - In combination with LIDAR for Emergency Break
+  - Relative speed
+- Filter out current position more accurately {Robert}
+  - maybe Kalman Filter
+  - in relation to which point?
+  - for what exactly?
+- Check if and how much noise is measured by the sensors {Robert}
+- Location Error Bugfix {Robert}
+- Canny-Edge-Detection [BACKLOG]  {Max}
+- Traffic Lights [BACKLOG → after Object Detection] {Max}
+  - what's already there?
+
+## Planning
+
+- Collision Check
+- ACC
+  - in behavior tree or not?
+  - maybe look at others
+- Connection Local Planner & Behavior Tree
+-
+
+## Acting
+
+- maybe test ACC
+- Finish building test case
+  - push-bar
+- Tuning of the controllers
+
+## Notes
+
+- Segmentation Node with all cameras maybe
+- Camera to the back can look over cars
+  - → you see the road when parking out

doc/08_dev_talks/dev_talks_paf23/sprint_4.md

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+# Sprint 4
+
+## General ToDo's
+
+- [ ] Fix Submission {Samuel, Max}
+
+## Perception
+
+- [ ] LIDAR {Leon}
+  - [ ] Calculate distance to each detected object
+    - [ ] Define exactly to which point the distance is calculated
+  - [ ] Reference coordinate system (maybe at the bumper)
+- [ ] Get CUDA running {Leon}
+- [ ] Traffic Light Node {Max}
+  - [ ] Create new publisher
+  - [ ] Detect orientation of the traffic light
+    - [ ] Check relevance
+- [ ] Complete and test Kalman Filter {Robert}
+  - [ ] Position
+  - [ ] Heading
+- [ ] Document research on other filtering options if not accurate enough {Robert}
+  - [ ] Maybe Monte Carlo
+  - [ ] Maybe also implement directly
+
+## Planning
+
+- [ ] Collision Check needs to be converted into a node
+- [ ] Motion planning missing
+- [ ] Implement ACC
+- [ ] Change publishers (only publish name of task)
+
+## Acting
+
+- [ ] Velocity Controller {Alex}
+  - [ ] Different step responses
+  - [ ] Follow-up control
+  - [ ] Braking
+  - [ ] Approx. 1 m/s as maximum deviation
+- [ ] Steering {Alex, Robert}
+  - [ ] Check implementation
+  - [ ] PP Waypoint/ Trajectory Vector
+- [ ] Check Emergency Brake [BACKLOG] {Robert}

doc/08_dev_talks/dev_talks_paf23/sprint_5.md

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+# Sprint 5
+
+## General ToDo's
+
+- [ ] Merge PR
+- [ ] Fix Cuda Errors [Backlog]
+- [ ] Minimum Distance Publisher
+
+## Perception
+
+- [ ] Merge Lidar and Vision Nodes {Leon}
+- [ ] Lidar Flickering {Leon}
+- [ ] Heading Bug Fix {Robert}
+  - [ ] Transformation to correct Yaw
+  - [ ] How is the Heading used in the rest of the code
+- [ ] Kalman Filter tuning {Robert}
+  - [ ] Heading
+  - [ ] Position
+  - [ ] Publishing the data
+- [ ] Additional cameras
+- [ ] Traffic Light Detection
+  - [ ] Detect traffic lights that are outside
+
+## Planning
+
+- [ ] Continue publishing ACC Node → Ignore Emergency Break
+- [ ] Ignore red traffic lights if already in intersection [Backlog]
+  - [ ] → Test
+- [ ] Rebuild Planning Directory
+- [ ] Verify behaviours
+  - [ ] Build test node
+  - [ ] Also test in leaderboard if test node works
+
+## Acting
+
+- [ ] Test Emergency Breaks
+  - [ ] Via Testnode
+- [ ] Steering Tuning, Testing
+  - [ ] First Pure Pursuit (easier to tune)
+  - [ ] Then maybe Stanley
+
+## Notes
+
+Perception:
+
+- [ ] Limit Lidar data up and down (Z axis)
+  - [ ] Or merge multiple images
+  - [ ] Change Lidar Config because of flickering
+- [ ] Merge Lidar and Vision Nodes
+- [ ] Vision Node:
+  - [ ] Instead of yolov8x seg → rtdetr-x so you can see far enough for traffic lights
+- [ ] Traffic Light Detection:
+  - [ ] Extension of traffic light detection classes:
+    - [ ] Backside, Green, Yellow, Red, Side
+  - [ ] Publisher:
+    - [ ] Traffic_light_state
+    - [ ] Four states:
+      - [ ] 3 Colors + Unknown
+  - [ ] Red traffic lights are detected from the wrong side when turning
+    - [ ] → Planning has to work with this case
+- [ ] Tuned Kalman filter is amazing!!!
+  - [ ] Is published as kalman_pos
+  - [ ] Should replace current_pos
+- [ ] Heading Bug
+  - [ ] Dirty fix
+  - [ ] KalmannHeading is running
+- [ ] Kalman filter is as accurate as the old filter
+- [ ] YAAAAAAAAAAAAWWWW!
+- [ ] We now have a filter for the Heading, which we didn't have before
+
+Planning:
+
+- [ ] At np.inf from collision check → no Collision
+- [ ] Fully integrate ACC and collision check + testing
+- [ ] Probably some adjustments
+- [ ] Remove ACC in consultation with Acting
+- [ ] ACC node should continue to publish messages even if full braking is present
+- [ ] Build speed calculation not linear
+  - [ ] → Brake harder the closer
+- [ ] Maybe ACC with target acceleration instead of target speed
+- [ ] ACC PID controller has been removed
+- [ ] Local Planning:
+  - [ ] Cleaned
+  - [ ] Rebuild Planning Directory
+  - [ ] Verify behaviours
+    - [ ] Build test node
+    - [ ] Also test in leaderboard if test node works
+
+Acting:
+
+- [ ] Velocity_Controller
+  - [ ] Apply Integral Clipping only at higher or lower values
+
+Misc:
+
+- [ ] Extra msg folder that needs to be compiled first
+  - [ ] → Then every package can recognize the messages
+- [ ] Carla_Manual_Control → agent_manual.launch
+  - [ ] Press P key
+- [ ] Memory Leak:
+  - [ ] Swap-File in Linux as workaround (approx. 10 GB per minute)
+  - [ ] Limitation of RAM for the simulator

doc/08_dev_talks/dev_talks_paf23/sprint_6.md

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+# Sprint 6
+
+## General ToDo's
+
+- [ ]
+
+## Perception
+
+- [ ] Display XYZ values in RGB
+  - [ ] Instead of visualization → Array
+- [ ] Test rear view camera
+- [ ] Interface between Local Planning and Lidar
+- [ ] Vehicle detection from the side
+- [ ] Lane Detection → Coordination with Planning [BACKLOG]
+
+## Planning
+
+- [ ] Trajectory for overtaking
+  - [ ] From when do you actually have to overtake
+  - [ ] Recognize obstacles in the trajectory
+  - [ ] How long do you have to overtake
+    - [ ] Update during the drive
+  - [ ] Stationary objects as the target of the overtaking process
+- [ ] Behaviour
+  - [ ] Recognize oncoming traffic
+
+## Acting
+
+- [ ] Emergency Brake Fix
+  - [ ] Strong lag in leaderboard version
+  - [ ] Maybe without bug abuse → Max Brake
+- [ ] Stanley:
+  - [ ] Better suited (sources) for higher speeds, tuning for these speeds in the next sprint.
+- [ ] Vehicle Controller:
+  - [ ] If Stanley has also been tuned, question, revise and hopefully improve the sigmoid function which decides which of the Steering-Controller-Inputs is considered (and especially the mixed form of both controller inputs at the transition limit).
+
+## Notes
+
+### Perception*
+
+- [ ] LIDAR:
+  - [ ] Position from Lidar fixed
+  - [ ] Flickering
+    - [ ] Low spin rate → more flickering / more data
+    - [ ] High spin rate → less flickering / less data
+    - [ ] 10 → best resolution
+    - [ ] 15 → sometimes no flickering
+    - [ ] 20 → no flickering, poor resolution
+    - [ ] → 15
+  - [ ] Distances from objects are determined
+- [ ] Traffic light detection:
+  - [ ] YOLO RTDETR
+  - [ ] 5 states, only 3 published
+  - [ ] WORKS GREAT!!
+- [ ] CUDA workaround:
+  - [ ] Ubuntu 22 Bib
+  - [ ] PyTorch 2 usable!
+- [ ] Next Steps:
+  - [ ] Currently only functional with yolo models → adapt to other models
+  - [ ] Display XYZ values in RGB
+    - [ ] Instead of visualization → Array
+  - [ ] Test rear view camera
+  - [ ] Interface between Local Planning and Lidar
+  - [ ] → Testing necessary!
+  - [ ] Attack test submit again as soon as available
+  - [ ] Lane Detection → Coordination with Planning [BACKLOG]
+
+### Planning*
+
+- [ ] Planning Package restructured
+  - [ ] Only one package now
+- [ ] ACC rework
+- [ ] Collision Check Bug:
+  - [ ] Was very laggy
+  - [ ] FIXED
+- [ ] Leave Parking Spot behaviour
+  - [ ] Flag that you can only park out once
+- [ ] WE DRIVE STRAIGHT AHEAD WELL WOHOOOO
+- [ ] Emergency brake → vehicle controller
+  - [ ] Simulator freezes
+- [ ] We get over intersections yipiiiii
+- [ ] Pylot → Implement Frenet Trajectory Planner for us
+- [ ] Carla Route in Dev Launch
+  - [ ] Advantage:
+    - [ ] Waypoints for intersections
+    - [ ] Possible to drive around the map once without obstacles
+  - [ ] RouteOptions documentation in preplanning.md
+- [ ] NEXT STEPS
+  - [ ] Fix Emergency Brake
+  - [ ] Local planning around objects
+    - [ ] Might be enough to avoid and then when you are next to the object calculate the trajectory again
+  - [ ] Maybe use middle lane as a limit when parking out
+  - [ ] Maybe wait a little longer before parking out, because of wrong coordinates
+  - [ ] Test with improved traffic light detection
+  - [ ] Add check if intersection is free
+  - [ ] Expand curve detection
+
+### Acting*
+
+- [ ] Pure Pursuit:
+  - [ ] Low V
+  - [ ] Lookahead d calculated from v
+  - [ ] Look in the heading of the car on trajectory → calculate point
+    - [ ] Calculate vector → angle → steering angle
+  - [ ] Work:
+    - [ ] Simplified
+    - [ ] Min and maxdistance for lookahead set
+    - [ ] Always swings when driving straight :/
+    - [ ] At 10m/s very swinging → stanley
+    - [ ] Finished for now in linear form up to 40 kmh it works quite well
+- [ ] Stanley :
+  - [ ] Higher V
+  - [ ] Always looks at next point on trajectory
+    - [ ] Target value from position and heading
+    - [ ] Trajectory Heading also interesting if possible
+  - [ ] Work:
+    - [ ] Disabled → Tuning in the next sprint
+- [ ] Sigmoid:
+  - [ ] Switch between both from 4 m/s
+- [ ] PID Controller still controls steering
+  - [ ] Necessary?
+- [ ] Tune variable -5 on steering left out for now because probably unnecessary