feat(raw_vehicle_cmd_converter): add contents of vehicle_adaptor

vehicle/autoware_raw_vehicle_cmd_converter/CMakeLists.txt

@@ -2,7 +2,12 @@ cmake_minimum_required(VERSION 3.14)
 project(autoware_raw_vehicle_cmd_converter)
 
 find_package(autoware_cmake REQUIRED)
+find_package(pybind11 REQUIRED)
+find_package(Eigen3 REQUIRED)
+find_package(yaml-cpp REQUIRED)
+find_package(Python REQUIRED COMPONENTS Development)
 autoware_package()
+add_compile_options(-fPIC)
 
 ament_auto_add_library(actuation_map_converter SHARED
   src/accel_map.cpp
@@ -15,15 +20,29 @@ ament_auto_add_library(actuation_map_converter SHARED
 
 ament_auto_add_library(vehicle_adaptor SHARED
   src/vehicle_adaptor/vehicle_adaptor.cpp
+  src/vehicle_adaptor/autoware_vehicle_adaptor/autoware_vehicle_adaptor/src/vehicle_adaptor_compensator.cpp
+  src/vehicle_adaptor/autoware_vehicle_adaptor/autoware_vehicle_adaptor/src/inputs_prediction.cpp
+  src/vehicle_adaptor/autoware_vehicle_adaptor/autoware_vehicle_adaptor/src/nominal_dynamics.cpp
+  src/vehicle_adaptor/autoware_vehicle_adaptor/autoware_vehicle_adaptor/src/transform_vehicle_adaptor_model.cpp
+  src/vehicle_adaptor/autoware_vehicle_adaptor/autoware_vehicle_adaptor/src/inputs_ref_smoother.cpp
+  src/vehicle_adaptor/autoware_vehicle_adaptor/autoware_vehicle_adaptor/src/vehicle_adaptor_utils.cpp
+)
+target_include_directories(vehicle_adaptor PRIVATE
+  ${CMAKE_CURRENT_SOURCE_DIR}/src/vehicle_adaptor/autoware_vehicle_adaptor/autoware_vehicle_adaptor/include
 )
-
 ament_auto_add_library(autoware_raw_vehicle_cmd_converter_node_component SHARED
   src/node.cpp
 )
-
+include_directories(
+    src/vehicle_adaptor/autoware_vehicle_adaptor/autoware_vehicle_adaptor/include
+    ${EIGEN3_INCLUDE_DIR}
+    ${Python_INCLUDE_DIRS}
+)
 target_link_libraries(autoware_raw_vehicle_cmd_converter_node_component
   actuation_map_converter
-  vehicle_adaptor
+  vehicle_adaptor yaml-cpp
+  ${Python_LIBRARIES}
+  pybind11::embed
 )
 
 rclcpp_components_register_node(autoware_raw_vehicle_cmd_converter_node_component
@@ -50,7 +69,7 @@ ament_auto_package(INSTALL_TO_SHARE
   launch
   test
 )
-
+target_compile_definitions(vehicle_adaptor PRIVATE BUILD_PATH=\"${CMAKE_CURRENT_SOURCE_DIR}/src/vehicle_adaptor/autoware_vehicle_adaptor\")
 install(PROGRAMS scripts/plot_accel_brake_map.py
   DESTINATION lib/${PROJECT_NAME}
 )

vehicle/autoware_raw_vehicle_cmd_converter/include/autoware_raw_vehicle_cmd_converter/vehicle_adaptor/vehicle_adaptor.hpp

@@ -15,6 +15,8 @@
 #ifndef AUTOWARE_RAW_VEHICLE_CMD_CONVERTER__VEHICLE_ADAPTOR__VEHICLE_ADAPTOR_HPP_
 #define AUTOWARE_RAW_VEHICLE_CMD_CONVERTER__VEHICLE_ADAPTOR__VEHICLE_ADAPTOR_HPP_
 
+#include "vehicle_adaptor_compensator.h"
+
 #include <autoware_adapi_v1_msgs/msg/operation_mode_state.hpp>
 #include <autoware_control_msgs/msg/control.hpp>
 #include <autoware_control_msgs/msg/control_horizon.hpp>
@@ -44,6 +46,9 @@ class VehicleAdaptor
     [[maybe_unused]] const ControlHorizon & control_horizon);
 
 private:
+  Proxima::VehicleAdaptor proxima_vehicle_adaptor_;
+  double yaw_prev_ = 0.0;
+  bool initialized_ = false;
 };
 }  // namespace autoware::raw_vehicle_cmd_converter
 

vehicle/autoware_raw_vehicle_cmd_converter/src/vehicle_adaptor/autoware_vehicle_adaptor/.gitignore

@@ -0,0 +1,7 @@
+.ipynb_checkpoints
+# Files generated when installing
+build/
+*.egg-info/
+.cspell.json
+
+*.so

vehicle/autoware_raw_vehicle_cmd_converter/src/vehicle_adaptor/autoware_vehicle_adaptor/README.md

@@ -0,0 +1,34 @@
+<p align="center">
+  <a href="https://proxima-ai-tech.com/">
+    <img width="500px" src="./images/proxima_logo.png">
+  </a>
+</p>
+
+# Autoware Vehicle Adaptor
+
+In order to perform adaptive control that allows various vehicles to operate without detailed parameter calibration, it is placed in the lower part of the controller and corrects the input so that the ideal state based on the internal model of the controller is achieved according to the learned model.
+However, if you are not going to do any learning and simply want to drive on Autoware with the default NN model, you do not need to follow this installation procedure, and it is sufficient to just do the normal Autoware setup.
+
+# Provided features
+
+To use all the functions of this package, execute the following setup command on the autoware_vehicle_adaptor directory:
+
+```bash
+pip3 install .
+```
+
+For the upcoming setup, execute the following command:
+
+```bash
+pip3 install -U .
+```
+
+## Trajectory following with vehicle adaptor
+
+## Training and its evaluation
+
+## Brief simulation using a python simulator
+
+# Parameter description
+
+# Limitation

vehicle/autoware_raw_vehicle_cmd_converter/src/vehicle_adaptor/autoware_vehicle_adaptor/autoware_vehicle_adaptor/.gitignore

@@ -0,0 +1,2 @@
+__pycache__/
+*.json

vehicle/autoware_raw_vehicle_cmd_converter/src/vehicle_adaptor/autoware_vehicle_adaptor/autoware_vehicle_adaptor/actuation_cmd_maps/accel_brake_maps/1/accel_map.csv

@@ -0,0 +1,7 @@
+default,0,1.39,2.78,4.17,5.56,6.94,8.33,9.72,11.11,12.5,13.89
+0,0.570,0.11,-0.04,-0.04,-0.041,-0.096,-0.137,-0.178,-0.234,-0.322,-0.456
+0.1,0.836,0.57,0.379,0.17,0.08,0.07,0.068,0.027,-0.03,-0.117,-0.251
+0.2,1.129,0.863,0.672,0.542,0.4,0.38,0.361,0.32,0.263,0.176,0.042
+0.3,1.559,1.293,1.102,0.972,0.887,0.832,0.791,0.75,0.694,0.606,0.472
+0.4,2.176,1.909,1.718,1.588,1.503,1.448,1.408,1.367,1.31,1.222,1.089
+0.5,3.027,2.76,2.57,2.439,2.354,2.299,2.259,2.218,2.161,2.074,1.94

vehicle/autoware_raw_vehicle_cmd_converter/src/vehicle_adaptor/autoware_vehicle_adaptor/autoware_vehicle_adaptor/actuation_cmd_maps/accel_brake_maps/1/brake_map.csv

@@ -0,0 +1,10 @@
+default,0,1.39,2.78,4.17,5.56,6.94,8.33,9.72,11.11,12.5,13.89
+0,0.570,0.11,-0.04,-0.04,-0.041,-0.096,-0.137,-0.178,-0.234,-0.322,-0.456
+0.1,0.466,0.08,-0.1,-0.121,-0.206,-0.261,-0.302,-0.343,-0.399,-0.487,-0.621
+0.2,0.1,0.05,-0.165,-0.296,-0.381,-0.436,-0.476,-0.517,-0.574,-0.661,-0.795
+0.3,-0.1,-0.207,-0.398,-0.528,-0.613,-0.668,-0.709,-0.75,-0.807,-0.894,-1.028
+0.4,-0.281,-0.547,-0.738,-0.868,-0.953,-1.008,-1.049,-1.09,-1.146,-1.234,-1.367
+0.5,-0.776,-1.042,-1.233,-1.364,-1.449,-1.504,-1.544,-1.585,-1.642,-1.729,-1.863
+0.6,-1.476,-1.743,-1.934,-2.064,-2.149,-2.204,-2.244,-2.285,-2.342,-2.43,-2.563
+0.7,-2.43,-2.697,-2.887,-3.018,-3.103,-3.158,-3.198,-3.239,-3.296,-3.383,-3.517
+0.8,-3.687,-3.953,-4.144,-4.274,-4.359,-4.414,-4.455,-4.496,-4.552,-4.64,-4.774

vehicle/autoware_raw_vehicle_cmd_converter/src/vehicle_adaptor/autoware_vehicle_adaptor/autoware_vehicle_adaptor/actuation_cmd_maps/accel_brake_maps/10/accel_map.csv

@@ -0,0 +1,7 @@
+default,0,1.39,2.78,4.17,5.56,6.94,8.33,9.72,11.11,12.5,13.89
+0,0.570,0.11,-0.04,-0.04,-0.041,-0.096,-0.137,-0.178,-0.234,-0.322,-0.456
+0.1,0.836,0.57,0.379,0.17,0.08,0.07,0.068,0.027,-0.03,-0.117,-0.251
+0.2,1.129,0.863,0.672,0.542,0.4,0.38,0.361,0.32,0.263,0.176,0.042
+0.3,1.559,1.293,1.102,0.972,0.887,0.832,0.791,0.75,0.694,0.606,0.472
+0.4,2.176,1.909,1.718,1.588,1.503,1.448,1.408,1.367,1.31,1.222,1.089
+0.5,3.027,2.76,2.57,2.439,2.354,2.299,2.259,2.218,2.161,2.074,1.94

vehicle/autoware_raw_vehicle_cmd_converter/src/vehicle_adaptor/autoware_vehicle_adaptor/autoware_vehicle_adaptor/actuation_cmd_maps/accel_brake_maps/10/brake_map.csv

@@ -0,0 +1,10 @@
+default,0,1.39,2.78,4.17,5.56,6.94,8.33,9.72,11.11,12.5,13.89
+0,0.570,0.11,-0.04,-0.04,-0.041,-0.096,-0.137,-0.178,-0.234,-0.322,-0.456
+0.1,0.466,0.08,-0.1,-0.121,-0.206,-0.261,-0.302,-0.343,-0.399,-0.487,-0.621
+0.2,0.1,0.05,-0.165,-0.296,-0.381,-0.436,-0.476,-0.517,-0.574,-0.661,-0.795
+0.3,-0.1,-0.207,-0.398,-0.528,-0.613,-0.668,-0.709,-0.75,-0.807,-0.894,-1.028
+0.4,-0.281,-0.547,-0.738,-0.868,-0.953,-1.008,-1.049,-1.09,-1.146,-1.234,-1.367
+0.5,-0.776,-1.042,-1.233,-1.364,-1.449,-1.504,-1.544,-1.585,-1.642,-1.729,-1.863
+0.6,-1.476,-1.743,-1.934,-2.064,-2.149,-2.204,-2.244,-2.285,-2.342,-2.43,-2.563
+0.7,-2.43,-2.697,-2.887,-3.018,-3.103,-3.158,-3.198,-3.239,-3.296,-3.383,-3.517
+0.8,-3.687,-3.953,-4.144,-4.274,-4.359,-4.414,-4.455,-4.496,-4.552,-4.64,-4.774

vehicle/autoware_raw_vehicle_cmd_converter/src/vehicle_adaptor/autoware_vehicle_adaptor/autoware_vehicle_adaptor/actuation_cmd_maps/accel_brake_maps/2/accel_map.csv

@@ -0,0 +1,7 @@
+default,0,1.39,2.78,4.17,5.56,6.94,8.33,9.72,11.11,12.5,13.89
+0,0.570,0.11,-0.04,-0.04,-0.041,-0.096,-0.137,-0.178,-0.234,-0.322,-0.456
+0.1,0.836,0.57,0.379,0.17,0.08,0.07,0.068,0.027,-0.03,-0.117,-0.251
+0.2,1.129,0.863,0.672,0.542,0.4,0.38,0.361,0.32,0.263,0.176,0.042
+0.3,1.559,1.293,1.102,0.972,0.887,0.832,0.791,0.75,0.694,0.606,0.472
+0.4,2.176,1.909,1.718,1.588,1.503,1.448,1.408,1.367,1.31,1.222,1.089
+0.5,3.027,2.76,2.57,2.439,2.354,2.299,2.259,2.218,2.161,2.074,1.94

vehicle/autoware_raw_vehicle_cmd_converter/src/vehicle_adaptor/autoware_vehicle_adaptor/autoware_vehicle_adaptor/actuation_cmd_maps/accel_brake_maps/2/brake_map.csv

@@ -0,0 +1,10 @@
+default,0,1.39,2.78,4.17,5.56,6.94,8.33,9.72,11.11,12.5,13.89
+0,0.570,0.11,-0.04,-0.04,-0.041,-0.096,-0.137,-0.178,-0.234,-0.322,-0.456
+0.1,0.466,0.08,-0.1,-0.121,-0.206,-0.261,-0.302,-0.343,-0.399,-0.487,-0.621
+0.2,0.1,0.05,-0.165,-0.296,-0.381,-0.436,-0.476,-0.517,-0.574,-0.661,-0.795
+0.3,-0.1,-0.207,-0.398,-0.528,-0.613,-0.668,-0.709,-0.75,-0.807,-0.894,-1.028
+0.4,-0.281,-0.547,-0.738,-0.868,-0.953,-1.008,-1.049,-1.09,-1.146,-1.234,-1.367
+0.5,-0.776,-1.042,-1.233,-1.364,-1.449,-1.504,-1.544,-1.585,-1.642,-1.729,-1.863
+0.6,-1.476,-1.743,-1.934,-2.064,-2.149,-2.204,-2.244,-2.285,-2.342,-2.43,-2.563
+0.7,-2.43,-2.697,-2.887,-3.018,-3.103,-3.158,-3.198,-3.239,-3.296,-3.383,-3.517
+0.8,-3.687,-3.953,-4.144,-4.274,-4.359,-4.414,-4.455,-4.496,-4.552,-4.64,-4.774

vehicle/autoware_raw_vehicle_cmd_converter/src/vehicle_adaptor/autoware_vehicle_adaptor/autoware_vehicle_adaptor/actuation_cmd_maps/accel_brake_maps/3/accel_map.csv

@@ -0,0 +1,7 @@
+default,0,1.39,2.78,4.17,5.56,6.94,8.33,9.72,11.11,12.5,13.89
+0,0.554,0.0263,-0.319,-0.32,-0.321,-0.322,-0.323,-0.324,-0.325,-0.326,-0.456
+0.1,0.839,0.512,0.133,-0.0174,-0.132,-0.133,-0.134,-0.135,-0.136,-0.137,-0.251
+0.2,1.13,1.01,0.617,0.41,0.38,0.311,0.31,0.309,0.163,0.163,0.042
+0.3,1.56,1.29,1.1,1.02,0.894,0.832,0.69,0.689,0.68,0.606,0.472
+0.4,2.18,1.91,1.72,1.59,1.5,1.45,1.41,1.37,1.31,1.22,1.09
+0.5,3.03,2.76,2.57,2.44,2.35,2.3,2.26,2.22,2.16,2.07,1.94

vehicle/autoware_raw_vehicle_cmd_converter/src/vehicle_adaptor/autoware_vehicle_adaptor/autoware_vehicle_adaptor/actuation_cmd_maps/accel_brake_maps/3/brake_map.csv

@@ -0,0 +1,10 @@
+default,0,1.39,2.78,4.17,5.56,6.94,8.33,9.72,11.11,12.5,13.89
+0,0.554,0.0263,-0.319,-0.32,-0.321,-0.322,-0.323,-0.324,-0.325,-0.326,-0.456
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+0.8,-3.69,-3.95,-4.14,-4.27,-4.36,-4.41,-4.46,-4.5,-4.55,-4.64,-4.77

vehicle/autoware_raw_vehicle_cmd_converter/src/vehicle_adaptor/autoware_vehicle_adaptor/autoware_vehicle_adaptor/actuation_cmd_maps/accel_brake_maps/4/accel_map.csv

@@ -0,0 +1,7 @@
+default,0,1.39,2.78,4.17,5.56,6.94,8.33,9.72,11.11,12.5,13.89
+0,0.394,0.0006,-0.139,-0.289,-0.291,-0.356,-0.358,-0.359,-0.36,-0.363,-0.456
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+0.3,1.56,1.41,1.11,0.885,0.783,0.559,0.558,0.442,0.305,0.292,0.291
+0.4,2.18,1.91,1.66,1.47,1.29,0.946,0.945,0.806,0.805,0.804,0.803
+0.5,3.03,2.76,2.57,2.44,2.35,2.3,2.26,2.22,2.16,2.07,1.94

vehicle/autoware_raw_vehicle_cmd_converter/src/vehicle_adaptor/autoware_vehicle_adaptor/autoware_vehicle_adaptor/actuation_cmd_maps/accel_brake_maps/4/brake_map.csv

@@ -0,0 +1,10 @@
+default,0,1.39,2.78,4.17,5.56,6.94,8.33,9.72,11.11,12.5,13.89
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vehicle/autoware_raw_vehicle_cmd_converter/src/vehicle_adaptor/autoware_vehicle_adaptor/autoware_vehicle_adaptor/actuation_cmd_maps/accel_brake_maps/5/accel_map.csv

@@ -0,0 +1,7 @@
+default,0,1.39,2.78,4.17,5.56,6.94,8.33,9.72,11.11,12.5,13.89
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+0.3,1.559,1.293,1.102,0.972,0.887,0.832,0.791,0.75,0.694,0.606,0.472
+0.4,2.176,1.909,1.718,1.588,1.503,1.448,1.408,1.367,1.31,1.222,1.089
+0.5,3.027,2.76,2.57,2.439,2.354,2.299,2.259,2.218,2.161,2.074,1.94

vehicle/autoware_raw_vehicle_cmd_converter/src/vehicle_adaptor/autoware_vehicle_adaptor/autoware_vehicle_adaptor/actuation_cmd_maps/accel_brake_maps/5/brake_map.csv

@@ -0,0 +1,10 @@
+default,0,1.39,2.78,4.17,5.56,6.94,8.33,9.72,11.11,12.5,13.89
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+0.5,-0.776,-1.042,-1.233,-1.364,-1.449,-1.504,-1.544,-1.585,-1.642,-1.729,-1.863
+0.6,-1.476,-1.743,-1.934,-2.064,-2.149,-2.204,-2.244,-2.285,-2.342,-2.43,-2.563
+0.7,-2.43,-2.697,-2.887,-3.018,-3.103,-3.158,-3.198,-3.239,-3.296,-3.383,-3.517
+0.8,-3.687,-3.953,-4.144,-4.274,-4.359,-4.414,-4.455,-4.496,-4.552,-4.64,-4.774

vehicle/autoware_raw_vehicle_cmd_converter/src/vehicle_adaptor/autoware_vehicle_adaptor/autoware_vehicle_adaptor/actuation_cmd_maps/accel_brake_maps/6/accel_map.csv

@@ -0,0 +1,7 @@
+default,0,1.39,2.78,4.17,5.56,6.94,8.33,9.72,11.11,12.5,13.89
+0,0.570,0.11,-0.04,-0.04,-0.041,-0.096,-0.137,-0.178,-0.234,-0.322,-0.456
+0.1,0.836,0.57,0.379,0.17,0.08,0.07,0.068,0.027,-0.03,-0.117,-0.251
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vehicle/autoware_raw_vehicle_cmd_converter/src/vehicle_adaptor/autoware_vehicle_adaptor/autoware_vehicle_adaptor/actuation_cmd_maps/accel_brake_maps/6/brake_map.csv

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vehicle/autoware_raw_vehicle_cmd_converter/src/vehicle_adaptor/autoware_vehicle_adaptor/autoware_vehicle_adaptor/actuation_cmd_maps/accel_brake_maps/7/accel_map.csv

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vehicle/autoware_raw_vehicle_cmd_converter/src/vehicle_adaptor/autoware_vehicle_adaptor/autoware_vehicle_adaptor/actuation_cmd_maps/accel_brake_maps/7/brake_map.csv

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vehicle/autoware_raw_vehicle_cmd_converter/src/vehicle_adaptor/autoware_vehicle_adaptor/autoware_vehicle_adaptor/actuation_cmd_maps/accel_brake_maps/8/accel_map.csv

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vehicle/autoware_raw_vehicle_cmd_converter/src/vehicle_adaptor/autoware_vehicle_adaptor/autoware_vehicle_adaptor/actuation_cmd_maps/accel_brake_maps/8/brake_map.csv

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vehicle/autoware_raw_vehicle_cmd_converter/src/vehicle_adaptor/autoware_vehicle_adaptor/autoware_vehicle_adaptor/actuation_cmd_maps/accel_brake_maps/9/accel_map.csv

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vehicle/autoware_raw_vehicle_cmd_converter/src/vehicle_adaptor/autoware_vehicle_adaptor/autoware_vehicle_adaptor/actuation_cmd_maps/accel_brake_maps/9/brake_map.csv

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vehicle/autoware_raw_vehicle_cmd_converter/src/vehicle_adaptor/autoware_vehicle_adaptor/autoware_vehicle_adaptor/actuation_cmd_maps/accel_brake_maps/default_parameter/accel_map.csv

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vehicle/autoware_raw_vehicle_cmd_converter/src/vehicle_adaptor/autoware_vehicle_adaptor/autoware_vehicle_adaptor/actuation_cmd_maps/accel_brake_maps/low_quality_map/brake_map.csv

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