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Racing team full PR#190

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alo-20 wants to merge 102 commits into
s2025from
racing_pr_prep
Open

Racing team full PR#190
alo-20 wants to merge 102 commits into
s2025from
racing_pr_prep

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@alo-20

@alo-20 alo-20 commented May 8, 2025

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First PR for Racing team. Includes:

  • More set paths for testing control
  • Cone detection logic
  • Launch Control logic
  • Racing Planner
  • Stanley controller
  • velocity_profile which generates desired velocities for points along a racing path
  • trajectory.py
  • A few extra tools for plotting, generating paths, and testing

diegoasfmravpp and others added 30 commits May 7, 2025 11:32
@diegoasfmravpp @alo-20
gg diagram for dynamic limits
f3b0a42
@diegoasfmravpp @alo-20
speed and accel plots
ea92375
@diegoasfmravpp @alo-20
50m route and launch file
b6e87ed
@diegoasfmravpp @alo-20
braking at route end for pp
ec4bfa7
@Demon16th @alo-20
launch control added
c442880
@diegoasfmravpp @alo-20
plotting changes
eb28337
@alo-20
Add 65m and right turn routes
c302b05
@Demon16th @alo-20
modify fit_curve_radius in trajectory.py to use the min (tighest) tur…
0f71fd3 
…n radius of the next 3 segments of 3 points
@Demon16th @alo-20
add better right turn paths
bd9800d
@diegoasfmravpp @alo-20
phone accel data
3d1ed53
@alo-20
add methods in trajectory.py to calculate upcoming turn radius
f0a0eb0
@Demon16th @alo-20
add logic in pure_pursuit to set speed based on curve radius. Change …
c1a3983 
…curve radius calculation in trajectory.py. Add generate_circle.py to generate circle paths and add circle paths in knowledge/routes.
@diegoasfmravpp @alo-20
gg data switched to json
9fd3cd0
@Demon16th @alo-20
add figure8 path generator and figure8 path
b0ae510
@Demon16th @alo-20
update generate figure8 and figure8 path
d9322e1
@alo-20
gg logs and launch control tests
026056b
@Demon16th @alo-20
pp speeds
27653c4
@diegoasfmravpp @alo-20
fixed gg plot
6ee28df
@diegoasfmravpp @alo-20
velocity profile based on existing route
ac1031a
@laneccolin @alo-20
Add files via upload
ff0a847
@laneccolin @alo-20
Update fixed_route.yaml
a1eb720
@laneccolin @alo-20
Update fixed_route.yaml
de1aa04
@laneccolin @alo-20
Update current.yaml
edc92b5
@Adi9103 @alo-20
changed launch ctrl to gem
31eb662
@ShellyRiver @alo-20
initial trajectory generation and feasibility check functions
db2d83d
@htliang517 @alo-20
Update waypoint generation and combine with trajectory planning
d23f1b5
@diegoasfmravpp @alo-20
integrating velocity profile into stanley
2cd8e83
@ShellyRiver @alo-20
trajectory generation can take x in state and speed is not fixed (so …
a346cd3 
…total travel distance can vary)
@Demon16th @alo-20
updated stanley + racing velocities, working sim
2067ac8
@Demon16th @alo-20
lower speed for high cte in racing
3b96c70
@alo-20 alo-20 requested a review from krishauser May 15, 2025 16:45
krishauser
krishauser requested changes May 15, 2025
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@krishauser krishauser left a comment

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Commits not yet coordinated well with other teams.

Comment thread GEMstack/knowledge/defaults/current.yaml

@krishauser krishauser May 15, 2025

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Are these parameter changes coordinated with the control team / parking team?

Comment thread GEMstack/knowledge/vehicle/gem_e4_dynamics.yaml

@krishauser krishauser May 15, 2025

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These accelerator / braking ranges do not appear coordinated with the control team's changes. @Jugthegreat did you agree to these changes?

Comment thread GEMstack/onboard/perception/cone_detection.py

@krishauser krishauser May 15, 2025

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Please take this out of the PR if nothing is changing

Comment thread GEMstack/state/trajectory.py

@krishauser krishauser May 15, 2025

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It's not the function of a trajectory to specify velocity limits. That's more of the function of a route or a plan. We talked about the definition of a trajectory in class.

@alo-20

alo-20 commented May 16, 2025

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Changed current.yaml to have separate racing parameters as discussed with the control team.
Removed velocities from Trajectory as discussed.

@alo-20 alo-20 requested a review from krishauser May 16, 2025 04:04
@alo-20 alo-20 changed the title Racing team initial PR Racing team full PR May 16, 2025
krishauser
krishauser requested changes May 16, 2025
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The changes recently made didn't address the issues. Sorry, your PR wasn't successfully approved.

@alo-20

alo-20 commented May 16, 2025

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I'm sorry, but what issues are still remaining? We addressed the Trajectory issue by taking out velocities, and we switched the racing settings in current.yaml to be separate from the other settings. I'm not sure what other issues there were, other than having a few "Agent" references left... but I mentioned in the PR comments that that was only so that we could still use the Klampt simulation. If you'd like we could take that out as well.

@alo-20 alo-20 requested a review from krishauser May 16, 2025 18:52
@krishauser

krishauser commented May 16, 2025

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You made surface-level changes to address my review but you didn't test the code.

@alo-20

alo-20 commented May 16, 2025

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I did test the code in simulation, would you like to see it working?

@alo-20

alo-20 commented May 16, 2025

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I did test the code in simulation, would you like to see it working?

The reason why we did switch back to just timings is because Diego and I tested it last night and it worked in sim.

@sonarqubecloud

sonarqubecloud Bot commented May 16, 2025

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Quality Gate Passed Quality Gate passed

Issues
103 New issues
0 Accepted issues

Measures
0 Security Hotspots
0.0% Coverage on New Code
0.9% Duplication on New Code

See analysis details on SonarQube Cloud

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