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Michal Sojka [Tue, 4 Apr 2023 07:07:18 +0000 (09:07 +0200)]
Update Makefile to generate trajectories with our ROS node
For this to work, you should create a symlink to the park binary from
the cf_parking ROS package.
Michal Sojka [Tue, 4 Apr 2023 07:05:24 +0000 (09:05 +0200)]
Update meaning of the path fields
I made this change long time ago, but forgot to commit it. Now, I've
not tested whether it still works.
Jiri Vlasak [Wed, 29 Mar 2023 09:41:07 +0000 (11:41 +0200)]
Add two more perperdicular parking scenarios
Jiri Vlasak [Tue, 28 Mar 2023 11:51:20 +0000 (13:51 +0200)]
Update scenarios
Jiri Vlasak [Mon, 27 Mar 2023 11:47:33 +0000 (13:47 +0200)]
Fix HEAD^
Jiri Vlasak [Mon, 27 Mar 2023 11:44:39 +0000 (13:44 +0200)]
Fix plot for various wheel angles in path
Jiri Vlasak [Sun, 26 Mar 2023 19:40:04 +0000 (21:40 +0200)]
Compute wheel angle for ovals
Jiri Vlasak [Fri, 24 Mar 2023 17:21:41 +0000 (18:21 +0100)]
Merge branch 'gen-all-ovals'
Jiri Vlasak [Fri, 24 Mar 2023 17:18:53 +0000 (18:18 +0100)]
Remove oval scenarios, use make ovals
Jiri Vlasak [Fri, 24 Mar 2023 17:19:48 +0000 (18:19 +0100)]
Add makefile rule for oval scenarios
Jiri Vlasak [Fri, 24 Mar 2023 17:18:06 +0000 (18:18 +0100)]
Add oval scenarios with mtr 5
Jiri Vlasak [Fri, 24 Mar 2023 17:11:54 +0000 (18:11 +0100)]
Add oval scenario with mtr min to right
Jiri Vlasak [Fri, 24 Mar 2023 17:04:27 +0000 (18:04 +0100)]
Rewrite gen steer scenario script
Jiri Vlasak [Fri, 24 Mar 2023 15:52:21 +0000 (16:52 +0100)]
Update max steer oval scenarios with generated scenarios
Jiri Vlasak [Fri, 24 Mar 2023 11:05:51 +0000 (12:05 +0100)]
Add mtr=5 oval to left/right scenarios
Jiri Vlasak [Fri, 24 Mar 2023 10:55:21 +0000 (11:55 +0100)]
Add gen steer scenario script
Jiri Vlasak [Fri, 24 Mar 2023 10:54:58 +0000 (11:54 +0100)]
Add max steer oval to left/right scenarios
Jiri Vlasak [Fri, 24 Mar 2023 10:35:18 +0000 (11:35 +0100)]
Fix plot script
Jiri Vlasak [Fri, 24 Mar 2023 10:29:33 +0000 (11:29 +0100)]
Add max steer to left/right scenarios
Jiri Vlasak [Fri, 24 Mar 2023 10:02:05 +0000 (11:02 +0100)]
Set +-36 instead of +-1 for turning in path
Michal Sojka [Thu, 23 Mar 2023 23:56:16 +0000 (00:56 +0100)]
Fix data type in forward.json
Jiri Vlasak [Thu, 23 Mar 2023 14:40:10 +0000 (15:40 +0100)]
Merge branch 'update-scenarios'
Jiri Vlasak [Thu, 23 Mar 2023 14:39:35 +0000 (15:39 +0100)]
Add more scenarios
Jiri Vlasak [Thu, 23 Mar 2023 12:09:39 +0000 (13:09 +0100)]
Do not plot unimprontant things
Jiri Vlasak [Wed, 22 Mar 2023 09:13:33 +0000 (10:13 +0100)]
Remove unused scenarios
Jiri Vlasak [Wed, 22 Mar 2023 09:06:57 +0000 (10:06 +0100)]
Improve paths of existing scenarios
Michal Sojka [Wed, 22 Mar 2023 12:36:19 +0000 (13:36 +0100)]
Decrease maximum speed
Max. speed allowed by the car is 3 km/h, but we need some room for the
controller to catch up if the car is behind where it should be.
Michal Sojka [Tue, 21 Mar 2023 23:58:45 +0000 (00:58 +0100)]
Generate trajectory as .cpp files
This will allow faster compilation of multiple trajectories and the
commander.cpp will need to be compiled only once, and the
trajectories, which are fast to compile, will be just linked to it.
Michal Sojka [Tue, 21 Mar 2023 22:54:50 +0000 (23:54 +0100)]
Set heading in pose_at()
This will be needed for controller for compensation of errors caused
by wheel angle rate limit.
Michal Sojka [Tue, 21 Mar 2023 22:53:30 +0000 (23:53 +0100)]
Center both y-axes at zero
Michal Sojka [Tue, 21 Mar 2023 12:22:33 +0000 (13:22 +0100)]
plot.py: Use dark color for non-maximum wheel angles
Michal Sojka [Tue, 21 Mar 2023 12:21:55 +0000 (13:21 +0100)]
Rename path-to-traj.py to path2traj.py
This will allow us to import that module elsewhere. See the next
commit.
Michal Sojka [Tue, 21 Mar 2023 12:10:03 +0000 (13:10 +0100)]
Fix bool case in the generated .h file
Michal Sojka [Tue, 21 Mar 2023 12:08:14 +0000 (13:08 +0100)]
Add desired gear to the trajectory
The gear is forward/backward.
Michal Sojka [Tue, 21 Mar 2023 10:58:12 +0000 (11:58 +0100)]
Plot pdfs and pngs of the results
Michal Sojka [Tue, 21 Mar 2023 10:22:07 +0000 (11:22 +0100)]
More or less working version
Michal Sojka [Mon, 20 Mar 2023 16:04:08 +0000 (17:04 +0100)]
Makefile enhancements to simplify my development
Jiri Vlasak [Tue, 21 Mar 2023 10:00:24 +0000 (11:00 +0100)]
Re-plan original scenarios
Jiri Vlasak [Mon, 20 Mar 2023 12:38:19 +0000 (13:38 +0100)]
Copy plot path form iamcar2 repository
Jiri Vlasak [Mon, 20 Mar 2023 12:36:51 +0000 (13:36 +0100)]
Add more solved scenarios
Jiri Vlasak [Sun, 19 Mar 2023 23:03:11 +0000 (00:03 +0100)]
Fix cusps and path (pose) indexes
Jiri Vlasak [Sun, 19 Mar 2023 22:09:09 +0000 (23:09 +0100)]
Fix min x, y of plot script
Jiri Vlasak [Sun, 19 Mar 2023 21:56:25 +0000 (22:56 +0100)]
Use single bicycle car model
Jiri Vlasak [Sun, 19 Mar 2023 21:54:46 +0000 (22:54 +0100)]
Remove code solved in the original palanner
Jiri Vlasak [Sun, 19 Mar 2023 21:44:24 +0000 (22:44 +0100)]
Find cusps in path
Jiri Vlasak [Mon, 13 Mar 2023 20:18:24 +0000 (21:18 +0100)]
Rename scenearios
Michal Sojka [Mon, 13 Mar 2023 15:42:56 +0000 (16:42 +0100)]
Update wa_and_sp_plot.py and add Makefile
Jiri Vlasak [Mon, 13 Mar 2023 03:34:46 +0000 (04:34 +0100)]
Add wheel angle and speed plot script
Jiri Vlasak [Fri, 10 Mar 2023 12:53:03 +0000 (13:53 +0100)]
Use path to traj script with one argument
Jiri Vlasak [Fri, 10 Mar 2023 12:45:07 +0000 (13:45 +0100)]
Add plot script
Jiri Vlasak [Fri, 10 Mar 2023 12:41:05 +0000 (13:41 +0100)]
Merge branch 'rework'
Jiri Vlasak [Fri, 10 Mar 2023 12:31:17 +0000 (13:31 +0100)]
Rewrite main loop
Jiri Vlasak [Fri, 10 Mar 2023 11:21:53 +0000 (12:21 +0100)]
Fix orig forward json file
Jiri Vlasak [Fri, 10 Mar 2023 11:09:19 +0000 (12:09 +0100)]
Improve brake within method
Jiri Vlasak [Fri, 10 Mar 2023 09:15:11 +0000 (10:15 +0100)]
Refactor next of bicycle car (typo)
Jiri Vlasak [Fri, 10 Mar 2023 09:14:20 +0000 (10:14 +0100)]
Update set max helper procedure
Jiri Vlasak [Thu, 9 Mar 2023 20:37:42 +0000 (21:37 +0100)]
Add arc length helper procedure
Jiri Vlasak [Thu, 9 Mar 2023 14:18:59 +0000 (15:18 +0100)]
Find and print path segments, cusps
Jiri Vlasak [Thu, 9 Mar 2023 14:17:27 +0000 (15:17 +0100)]
Add find segments of and find cusps in procedures
Jiri Vlasak [Thu, 9 Mar 2023 12:09:35 +0000 (13:09 +0100)]
Add path segment class
Jiri Vlasak [Wed, 8 Mar 2023 23:48:26 +0000 (00:48 +0100)]
Add WD, improve constants description
Jiri Vlasak [Wed, 8 Mar 2023 23:47:11 +0000 (00:47 +0100)]
Add and use desired wheel angle member variable
Jiri Vlasak [Wed, 8 Mar 2023 23:46:21 +0000 (00:46 +0100)]
Add time to wheel angle method
Jiri Vlasak [Wed, 8 Mar 2023 23:46:09 +0000 (00:46 +0100)]
Add time to speed method
Jiri Vlasak [Wed, 8 Mar 2023 23:45:19 +0000 (00:45 +0100)]
Reorder heading computation in next method
The reason is to be the same as used in the bcar C++ library.
Jiri Vlasak [Wed, 8 Mar 2023 23:44:39 +0000 (00:44 +0100)]
Reorder pose method
Jiri Vlasak [Wed, 8 Mar 2023 21:14:10 +0000 (22:14 +0100)]
Add braking distance method
Jiri Vlasak [Wed, 8 Mar 2023 21:14:24 +0000 (22:14 +0100)]
Add cont for seconds procedure
Jiri Vlasak [Wed, 8 Mar 2023 21:13:53 +0000 (22:13 +0100)]
Remove braking path length constant
Jiri Vlasak [Wed, 8 Mar 2023 21:13:24 +0000 (22:13 +0100)]
Add max wa rate
Jiri Vlasak [Thu, 9 Mar 2023 14:18:13 +0000 (15:18 +0100)]
Make initial point part of the last segment
Jiri Vlasak [Wed, 8 Mar 2023 09:43:13 +0000 (10:43 +0100)]
Make initial point part of the first segment
Jiri Vlasak [Wed, 8 Mar 2023 09:42:10 +0000 (10:42 +0100)]
Improve docstring
Jiri Vlasak [Wed, 8 Mar 2023 09:04:20 +0000 (10:04 +0100)]
Rename rad to degree procedure
Jiri Vlasak [Wed, 8 Mar 2023 09:03:51 +0000 (10:03 +0100)]
Remove workarounds
Jiri Vlasak [Tue, 7 Mar 2023 12:17:46 +0000 (13:17 +0100)]
When stopped, deccelerate
Jiri Vlasak [Tue, 7 Mar 2023 11:17:40 +0000 (12:17 +0100)]
Wait three seconds at the end of trajectory
Jiri Vlasak [Tue, 7 Mar 2023 11:07:05 +0000 (12:07 +0100)]
Make path to traj script excutable
Jiri Vlasak [Tue, 28 Feb 2023 13:27:54 +0000 (14:27 +0100)]
When changing speed wait three seconds
Jiri Vlasak [Mon, 27 Feb 2023 23:58:05 +0000 (00:58 +0100)]
Add simple forward path
Jiri Vlasak [Mon, 27 Feb 2023 23:34:53 +0000 (00:34 +0100)]
Remove unused code
Jiri Vlasak [Mon, 27 Feb 2023 23:31:25 +0000 (00:31 +0100)]
Fix pe2
Jiri Vlasak [Mon, 27 Feb 2023 23:18:45 +0000 (00:18 +0100)]
Fix pe1
Jiri Vlasak [Mon, 27 Feb 2023 23:07:50 +0000 (00:07 +0100)]
Fix pa2
Jiri Vlasak [Mon, 27 Feb 2023 22:37:33 +0000 (23:37 +0100)]
Remove generated json files
Jiri Vlasak [Mon, 27 Feb 2023 22:35:06 +0000 (23:35 +0100)]
Rework cusps, braking, steering
Jiri Vlasak [Mon, 27 Feb 2023 20:20:19 +0000 (21:20 +0100)]
Output C header file with commands
Jiri Vlasak [Sun, 26 Feb 2023 23:03:43 +0000 (00:03 +0100)]
Automate differences between plan
Jiri Vlasak [Sun, 26 Feb 2023 23:00:53 +0000 (00:00 +0100)]
Add original plan files
Jiri Vlasak [Sun, 26 Feb 2023 22:55:31 +0000 (23:55 +0100)]
Generate file with control (wa, acc)
Jiri Vlasak [Sat, 25 Feb 2023 23:39:29 +0000 (00:39 +0100)]
Add perperdicular parknig 2 (wo)
Jiri Vlasak [Sat, 25 Feb 2023 23:16:46 +0000 (00:16 +0100)]
Add perpendicular parking 1 (no)
Jiri Vlasak [Sat, 25 Feb 2023 22:08:12 +0000 (23:08 +0100)]
Add parallel parking 3 (no)
Jiri Vlasak [Sat, 25 Feb 2023 22:02:51 +0000 (23:02 +0100)]
Add parallel parking 2 (wo)
Jiri Vlasak [Sat, 25 Feb 2023 21:39:58 +0000 (22:39 +0100)]
Add parallel parking 1 (wo)
Jiri Vlasak [Thu, 23 Feb 2023 10:12:54 +0000 (11:12 +0100)]
Add path to traj script