Transform map and localization information into a usable format #17
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Hey team! Please add your planning poker estimate with ZenHub @crsz20 @EganJ @jim-works @NikhilNarvekar123 |
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@jim-works would you mind adding some details about this in the Issue description? |
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Take in the lanelet map data and convert each lane and road boundary into a smaller length sequence of points such that creating the cubic spline through those points is a good estimate of the boundaries. I can fill in more details of the implementation once I look at the code. |
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@jim-works what's the progress on this? Could you use some extra help? |
Nope, this is done except for unit tests. Turns out auto ware had a decent amount of code for this, which I copied and modified. |
Merged
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@jim-works Have these unit tests been written?
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wheitman
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Dec 2, 2021
* added path_planner package, cubic spline implementation, and offset spline header * - added library for splines - added wrapper for position splines - added lane center line->spline generation * fix typo * added points for lane boundaries * fix compiler errors and some other stuff i forgot * updated formatting + tests * fix tests and add more comments * Update license with GPL and add test function comment Co-authored-by: Joshua Williams <joshmackwilliams@protonmail.com>
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Published in v1.1.0 |
wheitman
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Jan 24, 2022
* Initial draft, with quite a few TODOs remaining * Revise the README This version of the readme is much shorter and simpler than my initial idea. The reason is, if someone is really interested in using or running our software, they need to be directed to the wiki anyways. Perhaps a later update could include build and run instructions, but any instructions we put here will need to be tested on machines other than the quad to ensure accuracy. * Add I2C interface and GPS node * Feature: basic safety manager (#176) * Implement hello-world package safety_manager * Create service interfaces for safety manager * Add stubs for test client and server * First draft of TestServer * First draft of TestClient * Add simple tests for TestClient and TestServer * Create basic safety manager with dummy logging * safety manager now logs some info about events * simple tests for the safety manager * Add watchdog schematic (#180) * Add basic sidecar design notes * Add schematic * Automatic testing with GH Actions (#182) * Add automatic testing workflow (version 1) * Fix syntax error * Skip packages and run on pushes * Rosdep will now ignore errors * Install colcon-common-extensions and vcstool * Install colcon mixins, as in ROS dockerfile * Removed troublesome packages On doing a docker build, the mpc_controller and test_trajectory_following packages were causing rosdep to throw errors. After talking with Will, it seems we don't actually need these packages, so they have been deleted. * Use docker for build and test * Don't run on pushes * Remove *_nodes packages from testing * Retest up to 8 times on failure * Add sleep time to safety manager test * Issues #17 and #18 (#179) * added path_planner package, cubic spline implementation, and offset spline header * - added library for splines - added wrapper for position splines - added lane center line->spline generation * fix typo * added points for lane boundaries * fix compiler errors and some other stuff i forgot * updated formatting + tests * fix tests and add more comments * Update license with GPL and add test function comment Co-authored-by: Joshua Williams <joshmackwilliams@protonmail.com> * Hotfix: actually poll messages & put them into a non-null buffer * Fix build error with symlink_install and object libs (#203) * Add lio-sam and ring channel emulation * Working initially * Finish mapping tweaks, working in sim * Create "hubble" localization package * Add saveMap servicewa * Update GPS node to use Odom msg * Add data_collection.launch.py * Add grid_divider, update GPS node * Add gomentum pcds, grid_divider script * Add grid_divider, update hubble, gps - grid_divider is script to divide AND FILTER a big PCD map - Hubble now uses python, will move back to C++ later - Fix seg fault in GPS (thanks to Avery) * Remove maps using .gitignore * Remove useless script * Add to mapping nodes * Switch from IMU integration to ZED odom * Add mapping GPS debug * Finish basic mapping with lio_sam. Needs filtering * Add map loader * Add lanelet visualization * Cleanup, add deviation_report skeleton * Remove buggy junk from Autoware * Rename lio_sam, fix safety_manager static build * Finish working prototype of icp_nudger * Add maps for gomentum * Add campus map cells; switch nudger to NDT * Update robot_localization * Change state_estiamtion to hubble. Docker works! * Add robot localization * Update route planner to new design (#206) * trim autoware code * Route planner logic and basic testing * Node and message update * Cleanup and docs * Disable linter on lanetlet2_global_planner Co-authored-by: Joshua Williams <joshmackwilliams@protonmail.com> Thank you @EganJ ! * Disable linting in all packages Co-authored-by: Avery Bainbridge <axb200157@utdallas.edu> Co-authored-by: Will Heitman <Will.Heitman@UTDallas.edu> Co-authored-by: Avery <11591624+a-bainbridge@users.noreply.github.com> Co-authored-by: Jim <80440382+jim-works@users.noreply.github.com> Co-authored-by: Egan <34986820+EganJ@users.noreply.github.com>
wheitman
pushed a commit
that referenced
this issue
Jan 25, 2022
* Release 1.1 (#196) * Initial draft, with quite a few TODOs remaining * Revise the README This version of the readme is much shorter and simpler than my initial idea. The reason is, if someone is really interested in using or running our software, they need to be directed to the wiki anyways. Perhaps a later update could include build and run instructions, but any instructions we put here will need to be tested on machines other than the quad to ensure accuracy. * Add I2C interface and GPS node * Feature: basic safety manager (#176) * Implement hello-world package safety_manager * Create service interfaces for safety manager * Add stubs for test client and server * First draft of TestServer * First draft of TestClient * Add simple tests for TestClient and TestServer * Create basic safety manager with dummy logging * safety manager now logs some info about events * simple tests for the safety manager * Add watchdog schematic (#180) * Add basic sidecar design notes * Add schematic * Automatic testing with GH Actions (#182) * Add automatic testing workflow (version 1) * Fix syntax error * Skip packages and run on pushes * Rosdep will now ignore errors * Install colcon-common-extensions and vcstool * Install colcon mixins, as in ROS dockerfile * Removed troublesome packages On doing a docker build, the mpc_controller and test_trajectory_following packages were causing rosdep to throw errors. After talking with Will, it seems we don't actually need these packages, so they have been deleted. * Use docker for build and test * Don't run on pushes * Remove *_nodes packages from testing * Retest up to 8 times on failure * Add sleep time to safety manager test Co-authored-by: Avery Bainbridge <axb200157@utdallas.edu> Co-authored-by: Will Heitman <Will.Heitman@UTDallas.edu> Co-authored-by: Avery <11591624+a-bainbridge@users.noreply.github.com> * Release 1.2 (#216) * Initial draft, with quite a few TODOs remaining * Revise the README This version of the readme is much shorter and simpler than my initial idea. The reason is, if someone is really interested in using or running our software, they need to be directed to the wiki anyways. Perhaps a later update could include build and run instructions, but any instructions we put here will need to be tested on machines other than the quad to ensure accuracy. * Add I2C interface and GPS node * Feature: basic safety manager (#176) * Implement hello-world package safety_manager * Create service interfaces for safety manager * Add stubs for test client and server * First draft of TestServer * First draft of TestClient * Add simple tests for TestClient and TestServer * Create basic safety manager with dummy logging * safety manager now logs some info about events * simple tests for the safety manager * Add watchdog schematic (#180) * Add basic sidecar design notes * Add schematic * Automatic testing with GH Actions (#182) * Add automatic testing workflow (version 1) * Fix syntax error * Skip packages and run on pushes * Rosdep will now ignore errors * Install colcon-common-extensions and vcstool * Install colcon mixins, as in ROS dockerfile * Removed troublesome packages On doing a docker build, the mpc_controller and test_trajectory_following packages were causing rosdep to throw errors. After talking with Will, it seems we don't actually need these packages, so they have been deleted. * Use docker for build and test * Don't run on pushes * Remove *_nodes packages from testing * Retest up to 8 times on failure * Add sleep time to safety manager test * Issues #17 and #18 (#179) * added path_planner package, cubic spline implementation, and offset spline header * - added library for splines - added wrapper for position splines - added lane center line->spline generation * fix typo * added points for lane boundaries * fix compiler errors and some other stuff i forgot * updated formatting + tests * fix tests and add more comments * Update license with GPL and add test function comment Co-authored-by: Joshua Williams <joshmackwilliams@protonmail.com> * Hotfix: actually poll messages & put them into a non-null buffer * Fix build error with symlink_install and object libs (#203) * Add lio-sam and ring channel emulation * Working initially * Finish mapping tweaks, working in sim * Create "hubble" localization package * Add saveMap servicewa * Update GPS node to use Odom msg * Add data_collection.launch.py * Add grid_divider, update GPS node * Add gomentum pcds, grid_divider script * Add grid_divider, update hubble, gps - grid_divider is script to divide AND FILTER a big PCD map - Hubble now uses python, will move back to C++ later - Fix seg fault in GPS (thanks to Avery) * Remove maps using .gitignore * Remove useless script * Add to mapping nodes * Switch from IMU integration to ZED odom * Add mapping GPS debug * Finish basic mapping with lio_sam. Needs filtering * Add map loader * Add lanelet visualization * Cleanup, add deviation_report skeleton * Remove buggy junk from Autoware * Rename lio_sam, fix safety_manager static build * Finish working prototype of icp_nudger * Add maps for gomentum * Add campus map cells; switch nudger to NDT * Update robot_localization * Change state_estiamtion to hubble. Docker works! * Add robot localization * Update route planner to new design (#206) * trim autoware code * Route planner logic and basic testing * Node and message update * Cleanup and docs * Disable linter on lanetlet2_global_planner Co-authored-by: Joshua Williams <joshmackwilliams@protonmail.com> Thank you @EganJ ! * Disable linting in all packages Co-authored-by: Avery Bainbridge <axb200157@utdallas.edu> Co-authored-by: Will Heitman <Will.Heitman@UTDallas.edu> Co-authored-by: Avery <11591624+a-bainbridge@users.noreply.github.com> Co-authored-by: Jim <80440382+jim-works@users.noreply.github.com> Co-authored-by: Egan <34986820+EganJ@users.noreply.github.com> Co-authored-by: Avery Bainbridge <axb200157@utdallas.edu> Co-authored-by: Will Heitman <Will.Heitman@UTDallas.edu> Co-authored-by: Avery <11591624+a-bainbridge@users.noreply.github.com> Co-authored-by: Jim <80440382+jim-works@users.noreply.github.com> Co-authored-by: Egan <34986820+EganJ@users.noreply.github.com>
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