170 feature setup object and distance detection for multiple cameras

code/agent/config/dev_objects.json

@@ -45,7 +45,7 @@
         },
         {
           "type": "sensor.camera.rgb",
-          "id": "Left",
+          "id": "Right",
           "spawn_point": {
             "x": 0.0,
             "y": 0.0,
@@ -64,7 +64,7 @@
         },
         {
           "type": "sensor.camera.rgb",
-          "id": "Right",
+          "id": "Left",
           "spawn_point": {
             "x": 0.0,
             "y": 0.0,

code/agent/launch/agent.launch

@@ -21,6 +21,5 @@
         <arg name="role_name" value="$(arg role_name)"/>
     </include>
 
-
     <node type="rviz" name="rviz" pkg="rviz" args="-d $(find agent)/config/rviz_config.rviz" />
 </launch>

code/agent/src/agent/agent.py

@@ -1,5 +1,6 @@
 from leaderboard.autoagents.ros1_agent import ROS1Agent
 from leaderboard.autoagents.autonomous_agent import Track
+import math
 
 
 def get_entry_point():
@@ -22,23 +23,67 @@ def get_ros_entrypoint(self):
 
     def sensors(self):
         sensors = [
-            {'type': 'sensor.camera.rgb', 'id': 'Center',
-             'x': 0.0, 'y': 0.0, 'z': 1.70, 'roll': 0.0, 'pitch': 0.0,
-             'yaw': 0.0, 'width': 1280, 'height': 720, 'fov': 100},
-            {'type': 'sensor.lidar.ray_cast', 'id': 'LIDAR',
-             'x': 0.0, 'y': 0.0, 'z': 1.70, 'roll': 0.0, 'pitch': 0.0,
-             'yaw': 0.0},
-            {'type': 'sensor.other.radar', 'id': 'RADAR',
-             'x': 0.7, 'y': -0.4, 'z': 1.60, 'roll': 0.0, 'pitch': 0.0,
-             'yaw': -45.0, 'horizontal_fov': 30, 'vertical_fov': 30},
-            {'type': 'sensor.other.gnss', 'id': 'GPS',
-             'x': 0.7, 'y': -0.4, 'z': 1.60},
-            {'type': 'sensor.other.imu', 'id': 'IMU',
-             'x': 0.7, 'y': -0.4, 'z': 1.60, 'roll': 0.0, 'pitch': 0.0,
-             'yaw': 0.0},
-            {'type': 'sensor.opendrive_map', 'id': 'OpenDRIVE',
-             'reading_frequency': 1},
-            {'type': 'sensor.speedometer', 'id': 'Speed'},
+            {
+                'type': 'sensor.camera.rgb',
+                'id': 'Center',
+                'x': 0.0, 'y': 0.0, 'z': 1.70,
+                'roll': 0.0, 'pitch': 0.0, 'yaw': 0.0,
+                'width': 1280, 'height': 720, 'fov': 100
+                },
+            {
+                'type': 'sensor.camera.rgb',
+                'id': 'Back',
+                'x': 0.0, 'y': 0.0, 'z': 1.70,
+                'roll': 0.0, 'pitch': 0.0, 'yaw': math.radians(180.0),
+                'width': 1280, 'height': 720, 'fov': 100
+                },
+            {
+                'type': 'sensor.camera.rgb',
+                'id': 'Left',
+                'x': 0.0, 'y': 0.0, 'z': 1.70,
+                'roll': 0.0, 'pitch': 0.0, 'yaw': math.radians(-90.0),
+                'width': 1280, 'height': 720, 'fov': 100
+                },
+            {
+                'type': 'sensor.camera.rgb',
+                'id': 'Right',
+                'x': 0.0, 'y': 0.0, 'z': 1.70,
+                'roll': 0.0, 'pitch': 0.0, 'yaw': math.radians(90.0),
+                'width': 1280, 'height': 720, 'fov': 100
+                },
+            {
+                'type': 'sensor.lidar.ray_cast',
+                'id': 'LIDAR',
+                'x': 0.0, 'y': 0.0, 'z': 1.70,
+                'roll': 0.0, 'pitch': 0.0, 'yaw': 0.0
+                },
+            {
+                'type': 'sensor.other.radar',
+                'id': 'RADAR',
+                'x': 0.7, 'y': -0.4, 'z': 1.60,
+                'roll': 0.0, 'pitch': 0.0, 'yaw': -45.0,
+                'horizontal_fov': 30, 'vertical_fov': 30
+                },
+            {
+                'type': 'sensor.other.gnss',
+                'id': 'GPS',
+                'x': 0.7, 'y': -0.4, 'z': 1.60
+                },
+            {
+                'type': 'sensor.other.imu',
+                'id': 'IMU',
+                'x': 0.7, 'y': -0.4, 'z': 1.60,
+                'roll': 0.0, 'pitch': 0.0, 'yaw': 0.0
+                },
+            {
+                'type': 'sensor.opendrive_map',
+                'id': 'OpenDRIVE',
+                'reading_frequency': 1
+                },
+            {
+                'type': 'sensor.speedometer',
+                'id': 'Speed'
+                }
         ]
         return sensors
 

code/perception/launch/perception.launch

@@ -38,9 +38,12 @@
   <node pkg="perception" type="vision_node.py" name="VisionNode" output="screen">
     <param name="role_name" value="$(arg role_name)" />
     <param name="side" value="Center" />
-
-    <!--
-      Object-Detection: 
+    <param name="center" value="True" />
+    <param name="back" value="False" />
+    <param name="left" value="False" />
+    <param name="right" value="False" />
+
+      <!--Object-Detection: 
       - fasterrcnn_resnet50_fpn_v2 
       - fasterrcnn_mobilenet_v3_large_320_fpn
       - yolov8n
@@ -59,7 +62,7 @@
       Image-Segmentation:
       - deeplabv3_resnet101
       - yolov8x-seg 
-    -->
+      -->
 
     <param name="model" value="rtdetr-x" />
   </node>
@@ -76,16 +79,11 @@
   </node>
 
  <node pkg="perception" type="lidar_distance.py" name="lidar_distance" output="screen">
-    <param name="max_y" value="2.5"/>
-    <param name="min_y" value="-2.5"/>
-    <param name="min_x" value="1."/>
-    <param name="min_z" value="-1.6"/>
-    <param name="max_z" value="1."/>
     <param name="point_cloud_topic" value="/carla/hero/LIDAR_filtered"/>
     <param name="range_topic" value="/carla/hero/LIDAR_range"/>
   </node>
 
- <node pkg="perception" type="lidar_distance.py" name="lidar_distance_rear_right" output="screen">
+ <!--<node pkg="perception" type="lidar_distance.py" name="lidar_distance_rear_right" output="screen">
     <param name="min_y" value="-5"/>
     <param name="max_y" value="-2.5"/>
     <param name="max_x" value="0"/>
@@ -104,5 +102,5 @@
     <param name="point_cloud_topic" value="/carla/hero/LIDAR_filtered_rear_left"/>
     <param name="range_topic" value="/carla/hero/LIDAR_range_rear_left"/>
   </node>
-
+-->
 </launch>