Feature/c1t sllidar driver #318
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| HostVehicleParams.yaml | ||
| build-image.sh | ||
| Dockerfile |
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| # Copyright (C) 2018-2021 LEIDOS. | ||
| # | ||
| # Licensed under the Apache License, Version 2.0 (the "License"); you may not | ||
| # use this file except in compliance with the License. You may obtain a copy of | ||
| # the License at | ||
| # | ||
| # http://www.apache.org/licenses/LICENSE-2.0 | ||
| # | ||
| # Unless required by applicable law or agreed to in writing, software | ||
| # distributed under the License is distributed on an "AS IS" BASIS, WITHOUT | ||
| # WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the | ||
| # License for the specific language governing permissions and limitations under | ||
| # the License. | ||
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| # GENERIC Template for CARMA Configuration Dockerfiles | ||
| # Do not invoke directly, symlink into configuration folders below and invoke from there | ||
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| FROM busybox:latest | ||
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| ARG BUILD_DATE="NULL" | ||
| ARG VERSION="NULL" | ||
| ARG VCS_REF="NULL" | ||
| ARG CONFIG_NAME="carma-config:unspecified" | ||
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| LABEL org.label-schema.schema-version="1.0" | ||
| LABEL org.label-schema.name=${CONFIG_NAME} | ||
| LABEL org.label-schema.description="System configuration data for the CARMA Platform" | ||
| LABEL org.label-schema.vendor="Leidos" | ||
| LABEL org.label-schema.version=${VERSION} | ||
| LABEL org.label-schema.url="https://highways.dot.gov/research/research-programs/operations/CARMA" | ||
| LABEL org.label-schema.vcs-url="https://github.com/usdot-fhwa-stol/carma-config" | ||
| LABEL org.label-schema.vcs-ref=${VCS_REF} | ||
| LABEL org.label-schema.build-date=${BUILD_DATE} | ||
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| ADD . /root/vehicle/config | ||
| VOLUME /opt/carma/vehicle/config | ||
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| CMD cp /root/vehicle/config/* /opt/carma/vehicle/config |
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| # This file contains configurations for the subsystem_controllers which manage the lifecycle of each individual subsystem | ||
| # For brevity the parameter descriptions are not provided here. The descriptions can be found in the default parameter files located | ||
| # in the subsystem_controllers parameter directory here: https://github.com/usdot-fhwa-stol/carma-platform/tree/develop/subsystem_controllers/config | ||
| # The parameters specified in this file override the parameters in the default parameter files. | ||
| # NOTE: Due to a limitation in ROS2 empty arrays in this file should be denoted with [''] | ||
| environment: | ||
| environment_perception_controller: | ||
| ros__parameters: | ||
| subsystem_namespace: /environment | ||
| required_subsystem_nodes: [''] | ||
| unmanaged_required_nodes: | ||
| - /hardware_interface/dsrc_driver_node | ||
| full_subsystem_required: true | ||
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| hardware_interface: | ||
| drivers_controller: | ||
| ros__parameters: | ||
| subsystem_namespace: /hardware_interface | ||
| required_subsystem_nodes: [''] | ||
| unmanaged_required_nodes: [''] | ||
| full_subsystem_required: false | ||
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| message: | ||
| v2x_controller: | ||
| ros__parameters: | ||
| subsystem_namespace: /message | ||
| required_subsystem_nodes: [''] | ||
| unmanaged_required_nodes: | ||
| - /hardware_interface/dsrc_driver_node | ||
| full_subsystem_required: true | ||
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| guidance: | ||
| guidance_controller: | ||
| ros__parameters: | ||
| subsystem_namespace: /guidance | ||
| required_subsystem_nodes: [''] | ||
| unmanaged_required_nodes: [''] # TODO add the controller driver once it is integrated with ROS2 | ||
| full_subsystem_required: true | ||
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| localization: | ||
| localization_controller: | ||
| ros__parameters: | ||
| subsystem_namespace: /localization | ||
| required_subsystem_nodes: [''] | ||
| unmanaged_required_nodes: [''] | ||
| full_subsystem_required: true | ||
| sensor_nodes: | ||
| - /hardware_interface/sllidar_ros2_driver_wrapper | ||
| - /hardware_interface/bno055_ros2_driver_wrapper | ||
| sensor_fault_map: ' | ||
|
There was a problem hiding this comment. any info on what this is and if it applies going from a 3d lidar config to a 2d one? |
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| { | ||
| "sensor_fault_map": | ||
| [ | ||
| [1,0,2], | ||
| [0,1,3], | ||
| [0,0,0] | ||
| ] | ||
| } | ||
| ' | ||
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| # Defines the ros parameters which define the characteristics of this host vehicle configuration | ||
| # The value type field is used to indicate how the field should be set. | ||
| # Should it be treated as a measured value (Measured) or a desired behavior constraint (Desired) | ||
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| # String: Host vehicle make | ||
| # Value type: Measured | ||
| vehicle_make: 'C1Tenth' | ||
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| # String: Host vehicle model | ||
| # Value type: Measured | ||
| vehicle_model: 'Truck' | ||
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| # Integer: Host vehicle year | ||
| # Value type: Measured | ||
| # Units: Year | ||
| vehicle_year: 2023 | ||
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| # Double: Host vehicle length | ||
| # Value type: Measured | ||
| # Units: Meters | ||
| vehicle_length: 0.52 | ||
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| # Double: Host vehicle width | ||
| # Value type: Measured | ||
| # Units: Meters | ||
| vehicle_width: 0.187 | ||
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| # Double: Host vehicle height | ||
| # Value type: Measured | ||
| # Units: Meters | ||
| vehicle_height: 0.293 | ||
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| # Double: Distance from front axel to rear axel | ||
| # Value type: Measured | ||
| # Units: Meters | ||
| vehicle_wheel_base: 0.447 | ||
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| # Double: Radius of the tires | ||
| # Value type: Measured | ||
| # Units: Meters | ||
| vehicle_tire_radius: 0.041 | ||
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| # Acceleration limit | ||
| # Value type: Desired | ||
| # Units: m/s^2 | ||
| vehicle_acceleration_limit: 2.0 | ||
|
There was a problem hiding this comment. all the accel limits and jerk limits could probably be reduced from full-scale. Couldn't say a good value but maybe in the <1m/s2 range? |
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| # Deceleration limit | ||
| # Value type: Desired | ||
| # Units: m/s^2 | ||
| vehicle_deceleration_limit: 2.0 | ||
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| # Lateral Acceleration Limit | ||
| # Value type: Desired | ||
| # Units: m/s^2 | ||
| vehicle_lateral_accel_limit: 2.5 | ||
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| # Lateral Jerk Limit | ||
| # Value type: Desired | ||
| # Units: m/s^3 | ||
| vehicle_lateral_jerk_limit: 2.0 | ||
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| # Max curvature rate | ||
| # Value type: Desired | ||
| # Units: (m^-1) / s | ||
| vehicle_max_curvature_rate: 0.75 | ||
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| # Ratio relating the steering wheel angle and the tire position on the road | ||
| # Value type: Measured | ||
| # (radians of a full steering wheel rotation) / (radians of tires with the longitudinal axis under full steer) | ||
| vehicle_steering_gear_ratio: 16.863 | ||
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| # Maximum steering angle of the wheel relative to the vehicle centerline. | ||
| # Value type: Measured | ||
| # Unit: deg | ||
| vehicle_steer_lim_deg: 29.2 | ||
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| # steering dynamics time constant | ||
| # Value type: Measured | ||
| # Unit: s | ||
| vehicle_model_steer_tau : 0.3 | ||
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| # Parameter to switch between passenger car and truck | ||
| # Value type: Measured | ||
| truck: false | ||
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There was a problem hiding this comment. not sure what this does but assuming it's related to line 97 should these both be set as truck classifications? |
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| car: true | ||
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| # Required drivers for the vehicle to be functional | ||
| required_drivers: | ||
| - /hardware_interface/vesc_ros2_driver_wrapper | ||
| lidar_gps_drivers: | ||
| - /hardware_interface/sllidar_ros2_driver_wrapper | ||
| - /hardware_interface/bno055_ros2_driver_wrapper | ||
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| # Vehicle Participation Type corresponding to the Lanelet2 participant type standards. | ||
| # Used for interpreting traffic rules in world model instances | ||
| vehicle_participant_type: "vehicle:car" | ||
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| # Parameter to enable configurable speed limit | ||
| # Value type: Desired | ||
| config_speed_limit: 45.0 | ||
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There was a problem hiding this comment. assuming this is in mph but it's way high for the scale regardless |
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| # Topics to exclude from rosbag recording | ||
| exclude_default: true | ||
| excluded_default_topics: | ||
| - /rosout(.*) | ||
| - (.*)/received_messages | ||
| - (.*)/sent_messages | ||
| - (.*)/scan | ||
| - (.*)/compressed(.*) | ||
| - /environment/base_map | ||
| - /environment/external_object_predictions | ||
| - /environment/external_objects_viz | ||
| - /environment/lanelet2_map_viz | ||
| - /environment/map_update | ||
| - /environment/points_no_ground | ||
| - /environment/roadway_objects | ||
| - /environment/semantic_map | ||
| - /environment/tcm_visualizer | ||
| - /environment/tcr_bounding_points | ||
| - /guidance/angular_gravity | ||
| - /guidance/deviation_of_current_position | ||
| - /guidance/next_target_mark | ||
| - /guidance/next_waypoint_mark | ||
| - /guidance/node_status | ||
| - /guidance/platoon_info | ||
| - /guidance/platooning_info | ||
| - /guidance/plugin_discovery | ||
| - /guidance/route_marker | ||
| - /guidance/search_circle_mark | ||
| - /guidance/trajectory_circle_mark | ||
| - /guidance/trajectory_visualizer | ||
| - /guidance/twist_cmd | ||
| - /guidance/twist_filter/limitation_debug/ctrl/lateral_accel | ||
| - /guidance/twist_filter/limitation_debug/ctrl/lateral_jerk | ||
| - /guidance/twist_filter/limitation_debug/twist/lateral_accel | ||
| - /guidance/twist_filter/limitation_debug/twist/lateral_jerk | ||
| - /guidance/twist_filter/result/ctrl/lateral_accel | ||
| - /guidance/twist_filter/result/ctrl/lateral_jerk | ||
| - /guidance/twist_filter/result/twist/lateral_accel | ||
| - /guidance/twist_filter/result/twist/lateral_jerk | ||
| - /guidance/twist_raw | ||
| - /guidance/upcoming_lane_change_status | ||
| - /hardware_interface/brake_command_echo | ||
| - /hardware_interface/comms/inbound_binary_msg | ||
| - /hardware_interface/comms/outbound_binary_msg | ||
| - /hardware_interface/curvature_feedback | ||
| - /hardware_interface/dbw_enabled_feedback | ||
| - /hardware_interface/gear_command_echo | ||
| - /hardware_interface/gear_estimation | ||
| - /hardware_interface/gear_select | ||
| - /hardware_interface/lightbar/light_bar_status | ||
| - /hardware_interface/lightbar_manager/indicator_control | ||
| - /hardware_interface/module_states | ||
| - /hardware_interface/pacmod/as_rx/accel_cmd | ||
| - /hardware_interface/pacmod/as_rx/brake_cmd | ||
| - /hardware_interface/pacmod/as_rx/shift_cmd | ||
| - /hardware_interface/pacmod/as_rx/steer_cmd | ||
| - /hardware_interface/pacmod/as_rx/turn_cmd | ||
| - /hardware_interface/pacmod/as_tx/all_system_statuses | ||
| - /hardware_interface/pacmod/as_tx/enabled | ||
| - /hardware_interface/pacmod/as_tx/vehicle_speed | ||
| - /hardware_interface/pacmod/can_rx | ||
| - /hardware_interface/pacmod/can_tx | ||
| - /hardware_interface/pacmod/parsed_tx/accel_aux_rpt | ||
| - /hardware_interface/pacmod/parsed_tx/accel_rpt | ||
| - /hardware_interface/pacmod/parsed_tx/brake_aux_rpt | ||
| - /hardware_interface/pacmod/parsed_tx/brake_rpt | ||
| - /hardware_interface/pacmod/parsed_tx/brake_rpt_detail_1 | ||
| - /hardware_interface/pacmod/parsed_tx/brake_rpt_detail_2 | ||
| - /hardware_interface/pacmod/parsed_tx/brake_rpt_detail_3 | ||
| - /hardware_interface/pacmod/parsed_tx/component_rpt | ||
| - /hardware_interface/pacmod/parsed_tx/cruise_control_buttons_rpt | ||
| - /hardware_interface/pacmod/parsed_tx/engine_brake_rpt | ||
| - /hardware_interface/pacmod/parsed_tx/engine_rpt | ||
| - /hardware_interface/pacmod/parsed_tx/global_rpt | ||
| - /hardware_interface/pacmod/parsed_tx/hazard_lights_rpt | ||
| - /hardware_interface/pacmod/parsed_tx/headlight_aux_rpt | ||
| - /hardware_interface/pacmod/parsed_tx/headlight_rpt | ||
| - /hardware_interface/pacmod/parsed_tx/horn_rpt | ||
| - /hardware_interface/pacmod/parsed_tx/marker_lamp_rpt | ||
| - /hardware_interface/pacmod/parsed_tx/parking_brake_status_rpt | ||
| - /hardware_interface/pacmod/parsed_tx/shift_aux_rpt | ||
| - /hardware_interface/pacmod/parsed_tx/shift_rpt | ||
| - /hardware_interface/pacmod/parsed_tx/sprayer_rpt | ||
| - /hardware_interface/pacmod/parsed_tx/steer_aux_rpt | ||
| - /hardware_interface/pacmod/parsed_tx/steer_rpt | ||
| - /hardware_interface/pacmod/parsed_tx/steer_rpt_detail_1 | ||
| - /hardware_interface/pacmod/parsed_tx/steer_rpt_detail_2 | ||
| - /hardware_interface/pacmod/parsed_tx/steer_rpt_detail_3 | ||
| - /hardware_interface/pacmod/parsed_tx/turn_aux_rpt | ||
| - /hardware_interface/pacmod/parsed_tx/turn_rpt | ||
| - /hardware_interface/pacmod/parsed_tx/vehicle_speed_rpt | ||
| - /hardware_interface/pacmod/parsed_tx/vin_rpt | ||
| - /hardware_interface/pacmod/parsed_tx/wheel_speed_rpt | ||
| - /hardware_interface/pacmod/parsed_tx/wiper_aux_rpt | ||
| - /hardware_interface/pacmod/parsed_tx/wiper_rpt | ||
| - /hardware_interface/speed_model_config | ||
| - /hardware_interface/speed_pedals | ||
| - /hardware_interface/steering_command_echo | ||
| - /hardware_interface/steering_model_config | ||
| - /hardware_interface/throttle_command_echo | ||
| - /hardware_interface/turn_signal_command | ||
| - /hardware_interface/veh_controller_config | ||
| - /hardware_interface/veh_interface_config | ||
| - /hardware_interface/vehicle/engage | ||
| - /hardware_interface/vehicle_platform | ||
| - /hardware_interface/vehicle_status | ||
| - /localization/config/random_filter | ||
| - /localization/config/voxel_grid_filter | ||
| - /localization/current_pose_with_covariance | ||
| - /localization/ekf_localizer/debug | ||
| - /localization/ekf_localizer/debug/measured_pose | ||
| - /localization/ekf_localizer/estimated_yaw_bias | ||
| - /localization/ekf_twist | ||
| - /localization/ekf_twist_with_covariance | ||
| - /localization/estimate_twist | ||
| - /localization/estimated_vel | ||
| - /localization/estimated_vel_kmph | ||
| - /localization/estimated_vel_mps | ||
| - /localization/filtered_points | ||
| - /localization/gnss_pose | ||
| - /localization/initialpose | ||
| - /localization/localizer_pose | ||
| - /localization/managed_initialpose | ||
| - /localization/ndt_pose | ||
| - /localization/ndt_reliability | ||
| - /localization/ndt_stat | ||
| - /localization/node_status | ||
| - /localization/pmap_stat | ||
| - /localization/points_downsampler_info | ||
| - /localization/predict_pose | ||
| - /localization/predict_pose_imu | ||
| - /localization/predict_pose_imu_odom | ||
| - /localization/predict_pose_odom | ||
| - /localization/random_points | ||
| - /localization/selected_pose | ||
| - /localization/time_ndt_matching | ||
| - /localization/vehicle/odom | ||
| - /tf | ||
| - /tf_static | ||
| - /ui/client_count | ||
| - /ui/connected_clients | ||
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| exclude_lidar: false | ||
| excluded_lidar_topics: | ||
| - /detection/lidar_detector/objects | ||
| - /detection/lidar_detector/objects_markers | ||
| - /hardware_interface/lidar/points_raw | ||
| - /hardware_interface/camera/projection_matrix/detection/lidar_detector/cloud_clusters | ||
| - /environment/range_vision_fusion_01/detection/lidar_detector/objects | ||
| - /environment/detection/fusion_tools/objects | ||
| - /environment/detection/fusion_tools/objects_markers | ||
| - /environment/detection/object_tracker/objects | ||
| - /environment/detection/object_tracker/objects_markers | ||
| - /environment/detection/objects | ||
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| exclude_camera: false | ||
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There was a problem hiding this comment. should this be true since there's no camera? |
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| excluded_camera_topics: | ||
| - /hardware_interface/camera/camera_info | ||
| - /hardware_interface/camera/image_raw | ||
| - /hardware_interface/camera/image_rect | ||
| - /hardware_interface/camera/image_rects | ||
| - /hardware_interface/camera/projection_matrix/detection/lidar_detector/cloud_clusters | ||
| - /environment/range_vision_fusion_01/detection/image_detector/objects | ||
| - /environment/vision_beyond_track_01/detection/image_detector/objects | ||
| - /environment/detection/fusion_tools/objects | ||
| - /environment/detection/fusion_tools/objects_markers | ||
| - /environment/detection/object_tracker/objects | ||
| - /environment/detection/object_tracker/objects_markers | ||
| - /environment/detection/objects | ||
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| exclude_can: false | ||
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There was a problem hiding this comment. assuming that the CAN interface should always be excluded on C1T |
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| excluded_can_topics: | ||
| - /hardware_interface/ds_fusion/can_bus_dbw/can_rx | ||
| - /hardware_interface/ds_fusion/can_bus_dbw/can_tx | ||
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I see that in other configs the driver wrappers in localization get put into excluded, does this also apply here?