Track day 18/10 - tuning parameters

src/machines/roscube_machine/launch/foxglove.launch.py

@@ -0,0 +1,47 @@
+
+from launch import LaunchDescription
+from launch_ros.actions import Node
+
+
+def generate_launch_description():
+    return LaunchDescription(
+        [
+            Node(
+                package="foxglove_bridge",
+                executable="foxglove_bridge",
+                output="screen",
+                parameters=[
+                    {"port": 8765},
+                    {"address": "0.0.0.0"},
+                    {"tls": False},
+                    {"certfile": ""},
+                    {"keyfile": ""},
+                    {"topic_whitelist": [".*"]},
+                    {"param_whitelist": [".*"]},
+                    {"service_whitelist": [".*"]},
+                    {"client_topic_whitelist": [".*"]},
+                    {"min_qos_depth": 1},
+                    {"max_qos_depth": 10},
+                    {"num_threads": 0},
+                    {"send_buffer_limit": 10000000},
+                    {"use_sim_time": False},
+                    {
+                        "capabilities": [
+                            "clientPublish",
+                            "parameters",
+                            "parametersSubscribe",
+                            "services",
+                            "connectionGraph",
+                            "assets",
+                        ]
+                    },
+                    {"include_hidden": False},
+                    {
+                        "asset_uri_allowlist": [
+                            "^package://(?:\\w+/)*\\w+\\.(?:dae|fbx|glb|gltf|jpeg|jpg|mtl|obj|png|stl|tif|tiff|urdf|webp|xacro)$"
+                        ]
+                    },
+                ],
+            )
+        ]
+    )

src/machines/roscube_machine/launch/machine.launch.py

@@ -61,10 +61,43 @@ def generate_launch_description():
                 package="rosboard",
                 executable="rosboard_node",
             ),
-            Node(
-                package="foxglove_bridge",
-                executable="foxglove_bridge",
-            ),
+            # Node(
+            #     package="foxglove_bridge",
+            #     executable="foxglove_bridge",
+            #     output="screen",
+            #     parameters=[
+            #         {"port": 8765},
+            #         {"address": "0.0.0.0"},
+            #         {"tls": False},
+            #         {"certfile": ""},
+            #         {"keyfile": ""},
+            #         {"topic_whitelist": [".*"]},
+            #         {"param_whitelist": [".*"]},
+            #         {"service_whitelist": [".*"]},
+            #         {"client_topic_whitelist": [".*"]},
+            #         {"min_qos_depth": 1},
+            #         {"max_qos_depth": 10},
+            #         {"num_threads": 0},
+            #         {"send_buffer_limit": 1000000000},
+            #         {"use_sim_time": False},
+            #         {
+            #             "capabilities": [
+            #                 "clientPublish",
+            #                 "parameters",
+            #                 "parametersSubscribe",
+            #                 "services",
+            #                 "connectionGraph",
+            #                 "assets",
+            #             ]
+            #         },
+            #         {"include_hidden": False},
+            #         {
+            #             "asset_uri_allowlist": [
+            #                 "^package://(?:\\w+/)*\\w+\\.(?:dae|fbx|glb|gltf|jpeg|jpg|mtl|obj|png|stl|tif|tiff|urdf|webp|xacro)$"
+            #             ]
+            #         },
+            #     ],
+            # ),
             Node(
                 package="driverless_common",
                 executable="display",

src/machines/roscube_machine/package.xml

@@ -33,6 +33,7 @@
     <depend>mission_controller</depend>
     <depend>odom_transformer</depend>
     <depend>sbg_driver</depend>
+    <depend>map_creation</depend>
 
     <exec_depend>ros2launch</exec_depend>
 

src/navigation/nav_bringup/config/nav2_params.yaml

@@ -231,9 +231,9 @@ controller_server:
       plugin: "nav2_regulated_pure_pursuit_controller::RegulatedPurePursuitController"
       desired_linear_vel: 4.5  # The desired maximum linear velocity to use.
       lookahead_dist: 6.0  # The lookahead distance to use to find the lookahead point.
-      min_lookahead_dist: 5.0  # The minimum lookahead distance threshold when using velocity scaled lookahead distances.
-      max_lookahead_dist: 7.0  # The maximum lookahead distance threshold when using velocity scaled lookahead distances.
-      lookahead_time: 2.0  # The time to project the velocity by to find the velocity scaled lookahead distance. Also known as the lookahead gain.
+      min_lookahead_dist: 4.0  # The minimum lookahead distance threshold when using velocity scaled lookahead distances.
+      max_lookahead_dist: 8.0  # The maximum lookahead distance threshold when using velocity scaled lookahead distances.
+      lookahead_time: 2.5  # The time to project the velocity by to find the velocity scaled lookahead distance. Also known as the lookahead gain.
       # rotate_to_heading_angular_vel: 1.8  # If rotate to heading is used, this is the angular velocity to use.
       transform_tolerance: 0.3  # The TF transform tolerance.
       use_velocity_scaled_lookahead_dist: true  # Whether to use the velocity scaled lookahead distances or constant lookahead_distance.
@@ -248,9 +248,9 @@ controller_server:
       # inflation_cost_scaling_factor: 0.5  # The value of cost_scaling_factor set for the inflation layer in the local costmap.
         # The value should be exactly the same for accurately computing distance from obstacles using the inflated cell values
       regulated_linear_scaling_min_radius: 7.0  # The turning radius for which the regulation features are triggered.
-      regulated_linear_scaling_min_speed: 3.0  # The minimum speed for which the regulated features can send, to ensure process is still achievable even in high cost spaces with high curvature.
+      regulated_linear_scaling_min_speed: 3.5  # The minimum speed for which the regulated features can send, to ensure process is still achievable even in high cost spaces with high curvature.
       use_fixed_curvature_lookahead: true  # Enable fixed lookahead for curvature detection. Useful for systems with long lookahead.
-      curvature_lookahead_dist: 2.0  # Distance to lookahead to determine curvature for velocity regulation purposes if use_fixed_curvature_lookahead is enabled.
+      curvature_lookahead_dist: 5.0  # Distance to lookahead to determine curvature for velocity regulation purposes if use_fixed_curvature_lookahead is enabled.
       use_rotate_to_heading: false  # Whether to enable rotating to rough heading and goal orientation when using holonomic planners.
       # rotate_to_heading_min_angle: 0.785  # The difference in the path orientation and the starting robot orientation to trigger a rotate in place, if use_rotate_to_heading is enabled.
       # max_angular_accel: 6.0  # Maximum allowable angular acceleration while rotating to heading, if enabled.
@@ -259,7 +259,7 @@ controller_server:
 
     EBSTestRPP:
       plugin: "nav2_regulated_pure_pursuit_controller::RegulatedPurePursuitController"
-      desired_linear_vel: 12.0  # The desired maximum linear velocity to use.
+      desired_linear_vel: 10.0  # The desired maximum linear velocity to use.
       lookahead_dist: 6.0  # The lookahead distance to use to find the lookahead point.
       # min_lookahead_dist: 3.0  # The minimum lookahead distance threshold when using velocity scaled lookahead distances.
       # max_lookahead_dist: 5.0  # The maximum lookahead distance threshold when using velocity scaled lookahead distances.

src/navigation/nav_bringup/config/slam_toolbox_params.yaml

@@ -41,7 +41,7 @@ slam_toolbox_node:
     minimum_travel_distance: 0.1  # Minimum distance of travel before processing a new scan
     minimum_travel_heading: 0.05  # Minimum changing in heading to justify an update
 
-    scan_buffer_size: 1000  # The number of scans to buffer into a chain, also used as the number of scans in the circular buffer of localization mode
+    scan_buffer_size: 500  # The number of scans to buffer into a chain, also used as the number of scans in the circular buffer of localization mode
     #   Approx 500 in pit track, 800 in skidpad track
     scan_buffer_maximum_scan_distance: 100.0  # Maximum distance of a scan from the pose before removing the scan from the buffer
     #   Skidpad track approx 50m diam

src/navigation/planners/config/ft_planner.yaml

@@ -16,7 +16,7 @@ ft_planner_node:
     mpc_path_length: 20
     mpc_prediction_horizon: 40
 
-    min_track_width: 3.3
+    min_track_width: 2.9
     max_search_range: 5
     max_search_angle: 45
     matches_should_be_monotonic: True

src/operations/mission_controller/launch/ebs_test.launch.py

@@ -22,13 +22,13 @@ def generate_launch_description():
                 )
             ),
             # mapping/planning
-            # Node(
-            #     package="map_creation",
-            #     executable="cone_placement_node",
-            #     parameters=[
-            #         get_package_share_path("map_creation") / "config" / "cone_placement.yaml",
-            #     ],
-            # ),
+            Node(
+                package="map_creation",
+                executable="cone_placement_node",
+                parameters=[
+                    get_package_share_path("map_creation") / "config" / "cone_placement.yaml",
+                ],
+            ),
             Node(
                 package="slam_gridmap",
                 executable="gridmap_to_cone_detection_node",

src/operations/mission_controller/launch/trackdrive.launch.py

@@ -22,13 +22,13 @@ def generate_launch_description():
                 )
             ),
             # mapping/planning
-            # Node(
-            #     package="map_creation",
-            #     executable="cone_placement_node",
-            #     parameters=[
-            #         get_package_share_path("map_creation") / "config" / "cone_placement.yaml",
-            #     ],
-            # ),
+            Node(
+                package="map_creation",
+                executable="cone_placement_node",
+                parameters=[
+                    get_package_share_path("map_creation") / "config" / "cone_placement.yaml",
+                ],
+            ),
             Node(
                 package="slam_gridmap",
                 executable="gridmap_to_cone_detection_node",
@@ -41,7 +41,7 @@ def generate_launch_description():
                 ],
                 ros_arguments=[
                     "-p",
-                    "topic_name:=slam/cone_detection",
+                    "topic_name:=slam/global_map",
                     "-p",
                     "target_frame:=track",
                 ],

src/operations/mission_controller/mission_controller/node_trackdrive_handler.py

@@ -170,7 +170,7 @@ def timer_callback(self):
             self.controller_id = "TrackdriveRPPFast"
 
         # we have finished lap "10"
-        if self.laps == 10:
+        if self.laps == 11:
             self.get_logger().info("Trackdrive mission complete")
             # currently only works when vehicle supervisor node is running on-car
             # TODO: sort out vehicle states for eventual environment agnostic operation

src/perception/lidar_pipeline/launch/lidar_pipeline.launch.py

@@ -19,6 +19,7 @@ def generate_launch_description():
     pointcloud_to_laserscan_node = Node(
         package="pointcloud_to_laserscan",
         executable="pointcloud_to_laserscan_node",
+        name="pointcloud_to_laserscan_node",
         output="screen",
         parameters=[
             os.path.join(pkg_share, "config", "laserscan_params.yaml"),

tools/play_bag.sh

@@ -8,7 +8,7 @@ source install/setup.bash
 # BAG_CMD="ros2 bag play -s mcap /mnt/e/rosbag2_2024_07_25-03_24_19/ --clock -p" # lidar on roll hoop test
 # BAG_CMD="ros2 bag play -s mcap /mnt/e/rosbag2_2024_07_25-05_04_46/ --clock -p" # half lap
 # BAG_CMD="ros2 bag play -s mcap /mnt/e/rosbag2_2024_07_25-05_18_42/ --clock -p" # other half of lap
-BAG_CMD="ros2 bag play -s mcap /mnt/e/rosbag2_2024_09_04-05_14_43/ --clock -p" # 2.5 laps
+BAG_CMD="ros2 bag play -s mcap src/rosbag2_2024_10_17-01_36_17 -p" # 2.5 laps
 # BAG_CMD="ros2 bag play -s mcap /mnt/e/rosbag2_2024_09_24-06_08_59/ --clock -p" # 1 lap, loop close crashing
 # BAG_CMD="ros2 bag play -s mcap /mnt/e/rosbag2_2024_09_24-02_16_55/ --clock -p" # ebs test run
 
@@ -21,14 +21,14 @@ REMAPPINGS=(
 )
 
 TOPICS=(
-    /imu/odometry # needed for RL
-    /vehicle/wheel_twist # needed for RL
-    # /lidar/objects
-    /lidar/converted_2D_scan
-    /lidar/cone_detection
-    # /debug_markers/lidar_markers
-    /system/as_status # needed for lap = 0 in mapping
-    # /imu/nav_sat_fix # for visual
+    # /imu/odometry # needed for RL
+    # /vehicle/wheel_twist # needed for RL
+    # # /lidar/objects
+    # /lidar/converted_2D_scan
+    # /lidar/cone_detection
+    # # /debug_markers/lidar_markers
+    # /system/as_status # needed for lap = 0 in mapping
+    # # /imu/nav_sat_fix # for visual
 )
 
 # remap these topics if you are running programs which output to the same topic names