From fd404bc704308d63f282779f2336f2a5d5c79757 Mon Sep 17 00:00:00 2001
From: Charles McCabe <mccabe.charles@icloud.com>
Date: Tue, 5 May 2026 19:11:38 -0400
Subject: [PATCH] map getter function loads clean version if exist

---
 sim_ws/src/scripts/map_preparation/raceline_config.py | 6 +++---
 sim_ws/src/scripts/map_preparation/requirements.txt   | 8 ++++++++
 sim_ws/src/scripts/map_preparation/utils/map_io.py    | 5 +++--
 3 files changed, 14 insertions(+), 5 deletions(-)
 create mode 100644 sim_ws/src/scripts/map_preparation/requirements.txt

diff --git a/sim_ws/src/scripts/map_preparation/raceline_config.py b/sim_ws/src/scripts/map_preparation/raceline_config.py
index 5fb7d85..6427e3d 100644
--- a/sim_ws/src/scripts/map_preparation/raceline_config.py
+++ b/sim_ws/src/scripts/map_preparation/raceline_config.py
@@ -4,8 +4,8 @@
 @dataclass(frozen=True)
 class RacelineConfig:
     # Map files
-    map_folder: str = "../raceLine_maker/slam_maps"
-    forced_map_basename: str = ""
+    map_folder: str = "slam_maps"
+    forced_map_basename: str = "slam_map_20260503_222842_clean"
 
     # Output
     csv_folder: str = "saved/"
@@ -16,7 +16,7 @@ class RacelineConfig:
 
     # A* tuning
     safety_weight: float = 100
-    turn_weight: float = 8.0
+    turn_weight: float = 0.0
 
     # Raceline mode: "astar", "min_curvature" or "manual_spline"
     raceline_mode: str = "min_curvature"
diff --git a/sim_ws/src/scripts/map_preparation/requirements.txt b/sim_ws/src/scripts/map_preparation/requirements.txt
new file mode 100644
index 0000000..ccb356d
--- /dev/null
+++ b/sim_ws/src/scripts/map_preparation/requirements.txt
@@ -0,0 +1,8 @@
+numpy
+opencv-python
+PyYAML
+matplotlib
+scipy
+scikit-image
+Pillow
+cvxpy
diff --git a/sim_ws/src/scripts/map_preparation/utils/map_io.py b/sim_ws/src/scripts/map_preparation/utils/map_io.py
index 964f4cb..8f29812 100644
--- a/sim_ws/src/scripts/map_preparation/utils/map_io.py
+++ b/sim_ws/src/scripts/map_preparation/utils/map_io.py
@@ -80,14 +80,15 @@ def find_latest_map_pair(map_folder):
         if not os.path.isfile(pgm_path):
             continue
 
-        candidates.append((m.group(1), entry, pgm_name))
+        is_clean = stem.endswith("_clean")
+        candidates.append((m.group(1), is_clean, entry, pgm_name))
 
     if not candidates:
         raise FileNotFoundError(
             f"No timestamped YAML/PGM map pairs found in '{map_folder}'."
         )
 
-    _, yaml_name, pgm_name = max(candidates, key=lambda x: x[0])
+    _, _, yaml_name, pgm_name = max(candidates, key=lambda x: (x[0], x[1]))
     return yaml_name, pgm_name