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Update vehicle configuration parameters for CDAR VRU UC testing (#326)
<!-- Thanks for the contribution, this is awesome. --> # PR Details ## Description Cherry Picking shared from https://github.com/usdot-fhwa-stol/carma-config/tree/spike-smoke-test branch. This change set is meant to be related to Carma Platform configurations. **Notable differences to smoke testing branch** - Removed duplicate VehicleConfigParams.yaml in `ail_vru_uc1_scenario/cdasim_config/carma`. <!--- Describe your changes in detail --> ## Related Issue <!--- This project only accepts pull requests related to open issues --> <!--- If suggesting a new feature or change, please discuss it in an issue first --> <!--- If fixing a bug, there should be an issue describing it with steps to reproduce --> <!--- Please link to the issue here: --> ## Motivation and Context CDAR-593 <!--- Why is this change required? What problem does it solve? --> ## How Has This Been Tested? <!--- Please describe in detail how you tested your changes. --> <!--- Include details of your testing environment, and the tests you ran to --> <!--- see how your change affects other areas of the code, etc. --> ## Types of changes <!--- What types of changes does your code introduce? Put an `x` in all the boxes that apply: --> - [ ] Defect fix (non-breaking change that fixes an issue) - [x] New feature (non-breaking change that adds functionality) - [ ] Breaking change (fix or feature that cause existing functionality to change) ## Checklist: <!--- Go over all the following points, and put an `x` in all the boxes that apply. --> <!--- If you're unsure about any of these, don't hesitate to ask. We're here to help! --> - [ ] I have added any new packages to the sonar-scanner.properties file - [ ] My change requires a change to the documentation. - [ ] I have updated the documentation accordingly. - [x] I have read the **CONTRIBUTING** document. [CARMA Contributing Guide](https://github.com/usdot-fhwa-stol/carma-platform/blob/develop/Contributing.md) - [ ] I have added tests to cover my changes. - [ ] All new and existing tests passed.
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152 changes: 152 additions & 0 deletions
152
ail_vru_uc1_scenario/cdasim_config/carma-carla-integration/carma_carla_agent.launch
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,152 @@ | ||
| <!-- | ||
| Copyright (C) 2021 LEIDOS. | ||
| Licensed under the Apache License, Version 2.0 (the "License"); you may not | ||
| @@ -13,6 +12,18 @@ | ||
| WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the | ||
| License for the specific language governing permissions and limitations under | ||
| the License. | ||
| This file is loosely based on the reference architecture developed by Intel Corporation for Leidos located here | ||
| https://github.com/carla-simulator/carla-autoware/blob/master/carla-autoware-agent/launch/carla_autoware_agent.launch | ||
| That file has the following license and some code snippets from it may be present in this file as well and are under the same license. | ||
| Copyright (c) 2019 Intel Corporation | ||
| This work is licensed under the terms of the MIT license. | ||
| For a copy, see <https://opensource.org/licenses/MIT>. | ||
| --> | ||
|
|
||
| <launch> | ||
| <!-- | ||
| ################### | ||
| ## Configuration ## | ||
| ################### | ||
| --> | ||
| <param name="use_sim_time" value="true"/> | ||
| <arg name='agent' default='agent'/> | ||
| <!-- connecting default info --> | ||
| <arg name='host' default='127.0.0.1'/> | ||
| <arg name='port' default='2000'/> | ||
| <arg name='town' default='Town04'/> | ||
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| <!-- set synchronous_mode to 'true' when carma-carla-integration not running with co-simulation tool --> | ||
| <arg name='synchronous_mode' default='false' /> | ||
| <arg name='synchronous_mode_wait_for_vehicle_control_command' default='false'/> | ||
| <arg name='fixed_delta_seconds' default='0.05'/> | ||
|
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| <!-- use comma separated format "x,y,z,roll,pìtch,yaw" --> | ||
| <arg name='spawn_point' default='15.4,-90.1,0,0,0,90'/> | ||
|
|
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| <!-- vehicle info --> | ||
| <arg name='role_name' default='carma_1'/> | ||
| <arg name='vehicle_model' default='vehicle.toyota.prius'/> | ||
| <arg name='vehicle_length' default='5.00'/> | ||
| <arg name='vehicle_width' default='3.00'/> | ||
| <arg name='vehicle_wheelbase' default='2.79'/> | ||
|
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| <!-- vehicle speed PID --> | ||
| <arg name='speed_Kp' default='0.4'/> | ||
| <arg name='speed_Ki' default='0.03'/> | ||
| <arg name='speed_Kd' default='0.0'/> | ||
|
|
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| <!-- vehicle acceleration PID --> | ||
| <arg name='accel_Kp' default='0.125'/> | ||
| <arg name='accel_Ki' default='0.0'/> | ||
| <arg name='accel_Kd' default='0.05'/> | ||
|
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| <!-- Initial arguments for integration scripts --> | ||
| <arg name='init_speed' default='5'/> | ||
| <arg name='init_acceleration' default='1'/> | ||
| <arg name='init_steering_angle' default='0'/> | ||
| <arg name='init_jerk' default='0'/> | ||
| <arg name='max_steering_degree' default='70'/> | ||
|
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| <arg name='use_ground_truth_localization' default='false'/> | ||
| <arg name='use_ground_truth_detections' default='false'/> | ||
|
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| <!-- driver status params --> | ||
| <arg name='lidar_enabled' default='true'/> | ||
| <arg name='controller_enabled' default='true'/> | ||
| <arg name='camera_enabled' default='true'/> | ||
| <arg name='gnss_enabled' default='true'/> | ||
| <arg name='driver_status_pub_rate' default='10'/> | ||
|
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| <!-- robot status params --> | ||
| <arg name='robot_status_pub_rate' default='10'/> | ||
|
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| <!-- route and plugins params --> | ||
| <arg name='selected_route' default="Release_test_case_1"/> | ||
| <arg name="selected_plugins" default="['/guidance/plugins/route_following_plugin','/guidance/plugins/inlanecruising_plugin','/guidance/plugins/stop_and_wait_plugin','/guidance/plugins/pure_pursuit_wrapper']"/> | ||
| <arg name="start_delay_in_seconds" default="15.0"/> | ||
|
|
||
| <!-- enable sensor external object--> | ||
| <arg name='enable_sensor_objects' default='false'/> | ||
| <arg name='sensor_object_pub_rate' default='10'/> | ||
| <arg name='sensor_id' default="1"/> | ||
| <arg name='detection_cycle_delay_seconds' default='0.1'/> | ||
|
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||
| <!-- | ||
| ########################## | ||
| ## CARLA CARMA bridge ## | ||
| ########################## | ||
| --> | ||
| <include file='$(find carma_carla_bridge)/launch/carma_carla_bridge.launch'> | ||
| <arg name='host' value='$(arg host)'/> | ||
| <arg name='port' value='$(arg port)'/> | ||
| <arg name='vehicle_filter' value='$(arg vehicle_model)'/> | ||
| <arg name='role_name' value='$(arg role_name)'/> | ||
| <arg name='spawn_point' value='$(arg spawn_point)'/> | ||
| <arg name='speed_Kp' value='$(arg speed_Kp)'/> | ||
| <arg name='speed_Ki' value='$(arg speed_Ki)'/> | ||
| <arg name='speed_Kd' value='$(arg speed_Kd)'/> | ||
| <arg name='accel_Kp' value='$(arg accel_Kp)'/> | ||
| <arg name='accel_Ki' value='$(arg accel_Ki)'/> | ||
| <arg name='accel_Kd' value='$(arg accel_Kd)'/> | ||
|
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| <arg name='synchronous_mode' value='$(arg synchronous_mode)'/> | ||
| <arg name='synchronous_mode_wait_for_vehicle_control_command' value='$(arg synchronous_mode_wait_for_vehicle_control_command)'/> | ||
| <arg name='fixed_delta_seconds' value='$(arg fixed_delta_seconds)'/> | ||
|
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| </include> | ||
|
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| <!-- | ||
| ################## | ||
| ## Agent bridge ## | ||
| ################## | ||
| --> | ||
| <include file='$(find carma_carla_agent)/$(arg agent)/bridge.launch'> | ||
| <arg name='role_name' value='$(arg role_name)'/> | ||
| <arg name='wheelbase' value='$(arg vehicle_wheelbase)'/> | ||
| <arg name='init_speed' value='$(arg init_speed)'/> | ||
| <arg name='init_acceleration' value='$(arg init_acceleration)'/> | ||
| <arg name='init_steering_angle' value='$(arg init_steering_angle)'/> | ||
| <arg name='init_jerk' value='$(arg init_jerk)'/> | ||
| <arg name='max_steering_degree' value='$(arg max_steering_degree)'/> | ||
|
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| <!-- driver status params --> | ||
| <arg name='lidar_enabled' value='$(arg lidar_enabled)'/> | ||
| <arg name='controller_enabled' value='$(arg controller_enabled)'/> | ||
| <arg name='camera_enabled' value='$(arg camera_enabled)'/> | ||
| <arg name='gnss_enabled' value='$(arg gnss_enabled)'/> | ||
| <arg name='driver_status_pub_rate' value='$(arg driver_status_pub_rate)'/> | ||
|
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| <!-- robot status params --> | ||
| <arg name='robot_status_pub_rate' value='$(arg robot_status_pub_rate)'/> | ||
|
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| <!-- route and plugins params--> | ||
| <arg name='selected_route' value='$(arg selected_route)'/> | ||
| <arg name='selected_plugins' value='$(arg selected_plugins)'/> | ||
| <arg name='start_delay_in_seconds' value='$(arg start_delay_in_seconds)'/> | ||
|
|
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| <arg name='host' value="$(arg host)"/> | ||
| <arg name='port' value="$(arg port)"/> | ||
| <arg name='enable_sensor_objects' value='$(arg enable_sensor_objects)'/> | ||
| <arg name='sensor_object_pub_rate' value='$(arg sensor_object_pub_rate)'/> | ||
| <arg name='sensor_id' value='$(arg sensor_id)'/> | ||
| <arg name='detection_cycle_delay_seconds' value='$(arg detection_cycle_delay_seconds)'/> | ||
|
|
||
| </include> | ||
| </launch> |
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