Racing team full PR by alo-20 · Pull Request #190 · krishauser/GEMstack

alo-20 · 2025-05-08T23:20:15Z

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

…n radius of the next 3 segments of 3 points

…curve radius calculation in trajectory.py. Add generate_circle.py to generate circle paths and add circle paths in knowledge/routes.

…total travel distance can vary)

krishauser

Commits not yet coordinated well with other teams.

krishauser · 2025-05-15T18:44:52Z

GEMstack/knowledge/defaults/current.yaml

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

krishauser · 2025-05-15T18:45:51Z

GEMstack/knowledge/vehicle/gem_e4_dynamics.yaml

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

krishauser · 2025-05-15T18:46:47Z

GEMstack/onboard/perception/cone_detection.py

Please take this out of the PR if nothing is changing

krishauser · 2025-05-15T18:48:49Z

GEMstack/state/trajectory.py

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.

…e_pursuite

…ax speed back to 10.0

alo-20 · 2025-05-16T04:04:33Z

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

krishauser

The changes recently made didn't address the issues. Sorry, your PR wasn't successfully approved.

alo-20 · 2025-05-16T18:52:40Z

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.

krishauser · 2025-05-16T19:21:01Z

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

alo-20 · 2025-05-16T19:51:56Z

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

alo-20 · 2025-05-16T19:58:43Z

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 · 2025-05-16T22:50:45Z

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

diegoasfmravpp and others added 30 commits May 7, 2025 11:32

gg diagram for dynamic limits

f3b0a42

speed and accel plots

ea92375

50m route and launch file

b6e87ed

braking at route end for pp

ec4bfa7

launch control added

c442880

plotting changes

eb28337

Add 65m and right turn routes

c302b05

modify fit_curve_radius in trajectory.py to use the min (tighest) tur…

0f71fd3

…n radius of the next 3 segments of 3 points

add better right turn paths

bd9800d

phone accel data

3d1ed53

add methods in trajectory.py to calculate upcoming turn radius

f0a0eb0

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.

gg data switched to json

9fd3cd0

add figure8 path generator and figure8 path

b0ae510

update generate figure8 and figure8 path

d9322e1

gg logs and launch control tests

026056b

pp speeds

27653c4

fixed gg plot

6ee28df

velocity profile based on existing route

ac1031a

Add files via upload

ff0a847

Update fixed_route.yaml

a1eb720

Update fixed_route.yaml

de1aa04

Update current.yaml

edc92b5

changed launch ctrl to gem

31eb662

initial trajectory generation and feasibility check functions

db2d83d

Update waypoint generation and combine with trajectory planning

d23f1b5

integrating velocity profile into stanley

2cd8e83

trajectory generation can take x in state and speed is not fixed (so …

a346cd3

…total travel distance can vary)

updated stanley + racing velocities, working sim

2067ac8

lower speed for high cte in racing

3b96c70

alo-20 and others added 6 commits May 15, 2025 11:10

remove formatting change from current.yaml

611ed94

remove whitespace

5b6a46b

remove extra comments from gem_e4_dyanamics

73fd274

Update launch files

1e4b388

remove route in launch file

fda3f62

Clean up racing planner code

9dc7843

alo-20 requested a review from krishauser May 15, 2025 16:45

krishauser requested changes May 15, 2025

View reviewed changes

alo-20 and others added 5 commits May 15, 2025 15:29

remove changes to cone_detection.py

42d887c

remove changes to gem_e4_dyanmics

6bf4b55

Separate racing tuning parameters in current.yaml for stanley and pur…

2edbfcd

…e_pursuite

changing desired speed for PID back to derivative eval and changing m…

4429f1e

…ax speed back to 10.0

Merge branch 's2025' into racing_pr_prep

e6d0497

alo-20 requested a review from krishauser May 16, 2025 04:04

alo-20 changed the title ~~Racing team initial PR~~ Racing team full PR May 16, 2025

krishauser requested changes May 16, 2025

View reviewed changes

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

add changes from control group

8055e27

alo-20 and others added 2 commits May 16, 2025 15:47

Manual integration of control team logic

cdc2b8e

Merge branch 's2025' into racing_pr_prep

99741a0

htliang517 and others added 4 commits May 16, 2025 17:27

Fix minor issue with unused reference test code indicated by autocheck.

98cc525

Fix warning of velocity_profile

2968d06

Remove cone agents and scenes for simulation

53d9b09

remove racing_fixed_slalom

64c9196

Provide feedback

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Racing team full PR#190

Racing team full PR#190
alo-20 wants to merge 102 commits intos2025from
racing_pr_prep

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