feat(control_data_collecting_tool): add trajectory inside circle and …

…lanelet2 trajectory (#156) * Add trajectory inside circle Signed-off-by: Yoshihiro Kogure <[email protected]> * Fix bug Signed-off-by: Yoshihiro Kogure <[email protected]> * Add lanelet2 trajectory Signed-off-by: Yoshihiro Kogure <[email protected]> * pre-commit run Signed-off-by: Yoshihiro Kogure <[email protected]> * Fix bug Signed-off-by: Yoshihiro Kogure <[email protected]> * pre-commit Signed-off-by: Yoshihiro Kogure <[email protected]> * Update README.md Signed-off-by: Yoshihiro Kogure <[email protected]> * Add parameter descriptions to the README Signed-off-by: Yoshihiro Kogure <[email protected]> * style(pre-commit): autofix * Revise the content Signed-off-by: Yoshihiro Kogure <[email protected]> * style(pre-commit): autofix * Update README Signed-off-by: Yoshihiro Kogure <[email protected]> * Update README Signed-off-by: Yoshihiro Kogure <[email protected]> * Add comments Signed-off-by: Yoshihiro Kogure <[email protected]> * Update prameters for along_road course Signed-off-by: Yoshihiro Kogure <[email protected]> * style(pre-commit): autofix * Add default mask and mask selector Signed-off-by: Yoshihiro Kogure <[email protected]> * Add mask to plotter Signed-off-by: Yoshihiro Kogure <[email protected]> * Data collection concerning Mask Signed-off-by: Yoshihiro Kogure <[email protected]> * Modify the code to publish the pose Signed-off-by: Yoshihiro Kogure <[email protected]> * style(pre-commit): autofix * Modify to work even when map_path is not provided Signed-off-by: Yoshihiro Kogure <[email protected]> * Add steer rate plot Signed-off-by: Yoshihiro Kogure <[email protected]> * Update README.md and fix typo Signed-off-by: Yoshihiro Kogure <[email protected]> * Changes to the README and parameter values Signed-off-by: Yoshihiro Kogure <[email protected]> * fix markdownlint Signed-off-by: kosuke55 <[email protected]> * ignore prettier Signed-off-by: kosuke55 <[email protected]> * Fix typo Signed-off-by: Yoshihiro Kogure <[email protected]> * style(pre-commit): autofix * Add cpell:ignore Signed-off-by: Yoshihiro Kogure <[email protected]> * Remove cspell:ignore Signed-off-by: Yoshihiro Kogure <[email protected]> * style(pre-commit): autofix * Revert "style(pre-commit): autofix" This reverts commit 1cdbd05. Signed-off-by: Yoshihiro Kogure <[email protected]> * Revert "Merge branch 'feat/default_mask' into feat/trajectory_inside_circle_and_lanelet2_trajectory" This reverts commit d372051, reversing changes made to 50f46bd. Signed-off-by: Yoshihiro Kogure <[email protected]> --------- Signed-off-by: Yoshihiro Kogure <[email protected]> Signed-off-by: kosuke55 <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: kosuke55 <[email protected]>
autowarefoundation · Dec 2, 2024 · f3e9313 · f3e9313
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diff --git a/control_data_collecting_tool/CMakeLists.txt b/control_data_collecting_tool/CMakeLists.txt
@@ -4,39 +4,53 @@ project(control_data_collecting_tool)
 find_package(autoware_cmake REQUIRED)
 autoware_package()
 
+# Configure Qt5
+find_package(Qt5 REQUIRED COMPONENTS Core Widgets)
+set(QT_LIBRARIES Qt5::Widgets)
+set(CMAKE_AUTOMOC ON)
+
+# Find necessary ROS 2 packages
+find_package(rviz_common REQUIRED)
+find_package(pluginlib REQUIRED)
+find_package(rclcpp REQUIRED)
+
+# Build the library as a plugin
+ament_auto_add_library(${PROJECT_NAME} SHARED
+  src/data_collecting_area_selection.cpp
+  src/data_collecting_goal_pose.cpp
+)
+
+# Link necessary libraries
+ament_target_dependencies(${PROJECT_NAME}
+  Qt5
+  rviz_common
+  pluginlib
+  rclcpp
+)
+
+# Export the plugin XML file
+pluginlib_export_plugin_description_file(rviz_common plugins/plugin_description.xml)
+
+# Install scripts
 install(PROGRAMS
   scripts/data_collecting_pure_pursuit_trajectory_follower.py
   scripts/data_collecting_trajectory_publisher.py
   scripts/data_collecting_plotter.py
   scripts/data_collecting_rosbag_record.py
   scripts/data_collecting_data_counter.py
   scripts/data_collecting_base_node.py
-  scripts/rosbag_play.py
   DESTINATION lib/${PROJECT_NAME}
 )
 
+# Install other configurations and files
 install(
   DIRECTORY config/
   DESTINATION share/${PROJECT_NAME}/config
 )
 
-find_package(Qt5 REQUIRED Core Widgets)
-set(QT_LIBRARIES Qt5::Widgets)
-
-set(CMAKE_AUTOMOC ON)
-
-
-ament_auto_add_library(${PROJECT_NAME} SHARED
-  src/data_collecting_area_selection.cpp
-)
-
-target_link_libraries(${PROJECT_NAME}
-  ${QT_LIBRARIES})
-
-pluginlib_export_plugin_description_file(rviz_common plugins/plugin_description.xml)
-
 install(DIRECTORY launch DESTINATION share/${PROJECT_NAME})
 
+# Build configuration for the package
 ament_auto_package(
   INSTALL_TO_SHARE
   plugins

diff --git a/control_data_collecting_tool/README.md b/control_data_collecting_tool/README.md
diff --git a/control_data_collecting_tool/config/common_param.yaml b/control_data_collecting_tool/config/common_param.yaml
@@ -0,0 +1,42 @@
+/**:
+  ros__parameters:
+    LOAD_ROSBAG2_FILES: true
+
+    # COURSE_NAME: eight_course
+    # COURSE_NAME: u_shaped_return
+    # COURSE_NAME: straight_line_positive
+    # COURSE_NAME: straight_line_negative
+    COURSE_NAME: reversal_loop_circle
+    # COURSE_NAME: along_road
+
+    NUM_BINS_V: 10
+    NUM_BINS_STEER: 20
+    NUM_BINS_A: 10
+    V_MIN: 0.0
+    V_MAX: 11.5
+    STEER_MIN: -0.6
+    STEER_MAX: 0.6
+    A_MIN: -1.0
+    A_MAX: 1.0
+
+    max_lateral_accel: 2.00
+    lateral_error_threshold: 1.50
+    yaw_error_threshold: 0.75
+    velocity_limit_by_tracking_error: 1.0
+    mov_ave_window: 50
+    target_longitudinal_velocity: 6.0
+
+    pure_pursuit_type: linearized
+    # pure_pursuit_type: naive
+    wheel_base: 2.79
+    acc_kp: 1.0
+    lookahead_time: 2.0
+    min_lookahead: 2.0
+    linearized_pure_pursuit_steer_kp_param: 2.0
+    linearized_pure_pursuit_steer_kd_param: 2.0
+    stop_acc: -2.0
+    stop_jerk_lim: 5.0
+    lon_acc_lim: 1.5
+    lon_jerk_lim: 0.5
+    steer_lim: 0.6
+    steer_rate_lim: 0.6
diff --git a/control_data_collecting_tool/config/course_param/along_road_param.yaml b/control_data_collecting_tool/config/course_param/along_road_param.yaml
@@ -0,0 +1,29 @@
+/**:
+  ros__parameters:
+    # Course Specific Parameters
+    velocity_on_curve: 3.5
+    stopping_distance: 15.0
+    course_width: 1.5
+    smoothing_window: 100
+    length_of_straight_line: 50.0
+    longitude: 139.6503
+    latitude: 35.6762
+
+    # Data Collection Range
+    COLLECTING_DATA_V_MIN: 0.5
+    COLLECTING_DATA_V_MAX: 8.0
+    COLLECTING_DATA_A_MIN: -1.0
+    COLLECTING_DATA_A_MAX: 1.0
+
+    # Noise Parameters
+    longitudinal_velocity_noise_amp: 0.01
+    longitudinal_velocity_noise_min_period: 5.0
+    longitudinal_velocity_noise_max_period: 20.0
+
+    acc_noise_amp: 0.01
+    acc_noise_min_period: 5.0
+    acc_noise_max_period: 20.0
+
+    steer_noise_amp: 0.01
+    steer_noise_min_period: 5.0
+    steer_noise_max_period: 20.0
diff --git a/control_data_collecting_tool/config/course_param/eight_course_param.yaml b/control_data_collecting_tool/config/course_param/eight_course_param.yaml
@@ -0,0 +1,24 @@
+/**:
+  ros__parameters:
+    # Course Specific Parameters
+    velocity_on_curve: 4.5
+    smoothing_window: 400
+
+    # Data Collection Range
+    COLLECTING_DATA_V_MIN: 0.5
+    COLLECTING_DATA_V_MAX: 8.0
+    COLLECTING_DATA_A_MIN: -1.0
+    COLLECTING_DATA_A_MAX: 1.0
+
+    # Noise Parameters
+    longitudinal_velocity_noise_amp: 0.01
+    longitudinal_velocity_noise_min_period: 5.0
+    longitudinal_velocity_noise_max_period: 20.0
+
+    acc_noise_amp: 0.01
+    acc_noise_min_period: 5.0
+    acc_noise_max_period: 20.0
+
+    steer_noise_amp: 0.01
+    steer_noise_min_period: 5.0
+    steer_noise_max_period: 20.0
diff --git a/control_data_collecting_tool/config/course_param/reversal_loop_circle_param.yaml b/control_data_collecting_tool/config/course_param/reversal_loop_circle_param.yaml
@@ -0,0 +1,25 @@
+/**:
+  ros__parameters:
+    # Course Specific Parameters
+    trajectory_radius: 35.0
+    enclosing_radius: 40.0
+    look_ahead_distance: 15.0
+
+    # Data Collection Range
+    COLLECTING_DATA_V_MIN: 0.5
+    COLLECTING_DATA_V_MAX: 8.0
+    COLLECTING_DATA_A_MIN: -1.0
+    COLLECTING_DATA_A_MAX: 1.0
+
+    # Noise Parameters
+    longitudinal_velocity_noise_amp: 0.01
+    longitudinal_velocity_noise_min_period: 5.0
+    longitudinal_velocity_noise_max_period: 20.0
+
+    acc_noise_amp: 0.01
+    acc_noise_min_period: 5.0
+    acc_noise_max_period: 20.0
+
+    steer_noise_amp: 0.01
+    steer_noise_min_period: 5.0
+    steer_noise_max_period: 20.0
diff --git a/control_data_collecting_tool/config/course_param/straight_line_negative_param.yaml b/control_data_collecting_tool/config/course_param/straight_line_negative_param.yaml
@@ -0,0 +1,23 @@
+/**:
+  ros__parameters:
+    # Course Specific Parameters
+    stopping_buffer_distance: 10.0
+
+    # Data Collection Range
+    COLLECTING_DATA_V_MIN: 0.5
+    COLLECTING_DATA_V_MAX: 8.0
+    COLLECTING_DATA_A_MIN: -1.0
+    COLLECTING_DATA_A_MAX: 1.0
+
+    # Noise Parameters
+    longitudinal_velocity_noise_amp: 0.01
+    longitudinal_velocity_noise_min_period: 5.0
+    longitudinal_velocity_noise_max_period: 20.0
+
+    acc_noise_amp: 0.01
+    acc_noise_min_period: 5.0
+    acc_noise_max_period: 20.0
+
+    steer_noise_amp: 0.01
+    steer_noise_min_period: 5.0
+    steer_noise_max_period: 20.0
diff --git a/control_data_collecting_tool/config/course_param/straight_line_positive_param.yaml b/control_data_collecting_tool/config/course_param/straight_line_positive_param.yaml
@@ -0,0 +1,23 @@
+/**:
+  ros__parameters:
+    # Course Specific Parameters
+    stopping_buffer_distance: 10.0
+
+    # Data Collection Range
+    COLLECTING_DATA_V_MIN: 0.5
+    COLLECTING_DATA_V_MAX: 8.0
+    COLLECTING_DATA_A_MIN: -1.0
+    COLLECTING_DATA_A_MAX: 1.0
+
+    # Noise Parameters
+    longitudinal_velocity_noise_amp: 0.01
+    longitudinal_velocity_noise_min_period: 5.0
+    longitudinal_velocity_noise_max_period: 20.0
+
+    acc_noise_amp: 0.01
+    acc_noise_min_period: 5.0
+    acc_noise_max_period: 20.0
+
+    steer_noise_amp: 0.01
+    steer_noise_min_period: 5.0
+    steer_noise_max_period: 20.0
diff --git a/control_data_collecting_tool/config/course_param/u_shaped_return_param.yaml b/control_data_collecting_tool/config/course_param/u_shaped_return_param.yaml
@@ -0,0 +1,23 @@
+/**:
+  ros__parameters:
+    # Course Specific Parameters
+    velocity_on_curve: 4.5
+
+    # Data Collection Range
+    COLLECTING_DATA_V_MIN: 0.5
+    COLLECTING_DATA_V_MAX: 8.0
+    COLLECTING_DATA_A_MIN: -1.0
+    COLLECTING_DATA_A_MAX: 1.0
+
+    # Noise Parameters
+    longitudinal_velocity_noise_amp: 0.01
+    longitudinal_velocity_noise_min_period: 5.0
+    longitudinal_velocity_noise_max_period: 20.0
+
+    acc_noise_amp: 0.01
+    acc_noise_min_period: 5.0
+    acc_noise_max_period: 20.0
+
+    steer_noise_amp: 0.01
+    steer_noise_min_period: 5.0
+    steer_noise_max_period: 20.0
diff --git a/control_data_collecting_tool/config/param.yaml b/control_data_collecting_tool/config/param.yaml