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Merged
CharlesMcCabe merged 2 commits into from
May 10, 2026
Merged

Gap follow and map helpers in GUI #40

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fb2d868
removing map cleaner package mounting
Gabduf Apr 30, 2026
eed62e6
gap follow + map helpers from gui
Gabduf May 10, 2026
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1 change: 0 additions & 1 deletion sim_ws/docker-compose.yml
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Expand Up @@ -10,7 +10,6 @@ services:
- ../sim_ws/src/scripts:/sim_ws/src/scripts
- ../sim_ws/src/visualization:/sim_ws/src/visualization
- ../sim_ws/src/arcus_gui:/sim_ws/src/arcus_gui
- ../sim_ws/src/map_cleaner:/sim_ws/src/map_cleaner
- ../../arcus:/sim_ws/src/arcus
- /tmp/.X11-unix:/tmp/.X11-unix:rw
environment:
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1 change: 1 addition & 0 deletions sim_ws/src/arcus_gui/CMakeLists.txt
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Expand Up @@ -43,6 +43,7 @@ add_executable(main_gui src/gui.cpp
src/QWidget/QLocalNodes/QLocalNodes.cpp
src/QWidget/QMapRacelineHelpers/QMapRacelineHelpers.cpp
src/QWidget/QPurePursuitWidget/QPurePursuit.cpp
src/QWidget/QGapFollow/QGapFollow.cpp
src/QWidget/QArcusMaster/QSafetyWidget/QSafetyWidget.cpp
src/Global/Helper/QTopicSelector/QTopicSelector.cpp
src/Global/Helper/QProcessHandler/QProcessHandler.cpp
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4 changes: 2 additions & 2 deletions sim_ws/src/arcus_gui/src/MainWindow.cpp
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Expand Up @@ -7,7 +7,7 @@ MainWindow::MainWindow(std::shared_ptr<rclcpp::Node> guiNode_):
_localNodesWidget(guiNode_, this),
_mapRacelineHelpers(guiNode_, this),
_purePursuitWidget(guiNode_, this),
_exampleWidget5(this)
_gapFollowWidget(guiNode_, this)
{

this->setCentralWidget(&_centralWidget);
Expand All @@ -18,7 +18,7 @@ MainWindow::MainWindow(std::shared_ptr<rclcpp::Node> guiNode_):
_gridLayout.addWidget(&_localNodesWidget, 0, 2);
_gridLayout.addWidget(&_mapRacelineHelpers, 1, 0);
_gridLayout.addWidget(&_purePursuitWidget, 1, 1);
_gridLayout.addWidget(&_exampleWidget5, 1, 2);
_gridLayout.addWidget(&_gapFollowWidget, 1, 2);

_gridLayout.setColumnStretch(0, 1);
_gridLayout.setColumnStretch(1, 1);
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3 changes: 2 additions & 1 deletion sim_ws/src/arcus_gui/src/MainWindow.hpp
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Expand Up @@ -16,6 +16,7 @@
#include "QWidget/QArcusMaster/QArcusMaster.hpp"
#include "QWidget/QLocalNodes/QLocalNodes.hpp"
#include "QWidget/QPurePursuitWidget/QPurePursuit.hpp"
#include "QWidget/QGapFollow/QGapFollow.hpp"
#include "QWidget/QMapRacelineHelpers/QMapRacelineHelpers.hpp"
#include "rclcpp/rclcpp.hpp"

Expand All @@ -37,7 +38,7 @@ class MainWindow : public QMainWindow
QLocalNodesWidget _localNodesWidget;
QMapRacelineHelpers _mapRacelineHelpers;
QPurePursuitWidget _purePursuitWidget;
QWidget _exampleWidget5;
QGapFollowWidget _gapFollowWidget;
};

#endif // MAIN_WINDOWS_HPP
18 changes: 18 additions & 0 deletions sim_ws/src/arcus_gui/src/QWidget/QGapFollow/QGapFollow.cpp
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@@ -0,0 +1,18 @@
#include "QGapFollow.hpp"
#include <yaml-cpp/yaml.h>

QGapFollowWidget::QGapFollowWidget(std::shared_ptr<rclcpp::Node> node_, QWidget* parent_):
QWidget(parent_),
_node(node_),
_maxSpeedSlider(parent_, node_, MAX_SPEED_PARAM_NAME, GAP_FOLLOW_NODE_NAME, MAX_SPEED_MIN, MAX_SPEED_MAX, MAX_SPEED_DEFAULT, SPEED_PRECISION),
_distanceSpeedGainSlider(parent_, node_, DISTANCE_SPEED_GAIN_PARAM_NAME, GAP_FOLLOW_NODE_NAME, DISTANCE_SPEED_GAIN_MIN, DISTANCE_SPEED_GAIN_MAX, DISTANCE_SPEED_GAIN_DEFAULT, DISTANCE_SPEED_GAIN_PRECISION),
_bubbleRadiusSlider(parent_, node_, BUBBLE_RADIUS_PARAM_NAME, GAP_FOLLOW_NODE_NAME, BUBBLE_RADIUS_MIN, BUBBLE_RADIUS_MAX, BUBBLE_RADIUS_DEFAULT, BUBBLE_RADIUS_PRECISION),
_staticFrictionCoeffSlider(parent_, node_, STATIC_FRICTION_COEFF, GAP_FOLLOW_NODE_NAME, STATIC_FRICTION_COEFF_MIN, STATIC_FRICTION_COEFF_MAX, STATIC_FRICTION_COEFF_DEFAULT, STATIC_FRICTION_COEFF_PRECISION)
{
_ui.setupUi(this);

_ui.sliderLayout->addWidget(&_maxSpeedSlider);
_ui.sliderLayout->addWidget(&_distanceSpeedGainSlider);
_ui.sliderLayout->addWidget(&_bubbleRadiusSlider);
_ui.sliderLayout->addWidget(&_staticFrictionCoeffSlider);
}
57 changes: 57 additions & 0 deletions sim_ws/src/arcus_gui/src/QWidget/QGapFollow/QGapFollow.hpp
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@@ -0,0 +1,57 @@
#ifndef Q_GAP_FOLLOW_WIDGET_HPP
#define Q_GAP_FOLLOW_WIDGET_HPP

#include "UI_GapFollowWidget.h"
#include "Global/Helper/QParamSlider/QParamSlider.hpp"

#include <rclcpp/rclcpp.hpp>
#include <QtWidgets/QWidget>

class QGapFollowWidget : public QWidget
{
Q_OBJECT

static constexpr const char* GAP_FOLLOW_NODE_NAME = "/arcus/gap_follow";
static constexpr const char* MAX_SPEED_PARAM_NAME = "max_speed";
static constexpr const char* DISTANCE_SPEED_GAIN_PARAM_NAME = "speed_distance_factor";
static constexpr const char* BUBBLE_RADIUS_PARAM_NAME = "bubble_radius";
static constexpr const char* STATIC_FRICTION_COEFF = "static_friction_coeff";

static constexpr float MAX_SPEED_DEFAULT = 5;
static constexpr float DISTANCE_SPEED_GAIN_DEFAULT = 1.2;
static constexpr float BUBBLE_RADIUS_DEFAULT = 0.3;
static constexpr float STATIC_FRICTION_COEFF_DEFAULT = 0.7;

static constexpr float MAX_SPEED_MIN = 0.0;
static constexpr float DISTANCE_SPEED_GAIN_MIN = 0.0;
static constexpr float BUBBLE_RADIUS_MIN = 0.0;
static constexpr float STATIC_FRICTION_COEFF_MIN = 0.0;

static constexpr float MAX_SPEED_MAX = 20.0;
static constexpr float DISTANCE_SPEED_GAIN_MAX = 10.0;
static constexpr float BUBBLE_RADIUS_MAX = 1.0;
static constexpr float STATIC_FRICTION_COEFF_MAX = 5.0;

static constexpr float SPEED_PRECISION = 0.05;
static constexpr float DISTANCE_SPEED_GAIN_PRECISION = 0.05;
static constexpr float BUBBLE_RADIUS_PRECISION = 0.05;
static constexpr float STATIC_FRICTION_COEFF_PRECISION = 0.05;


public:
QGapFollowWidget(std::shared_ptr<rclcpp::Node> node_, QWidget* parent_);

private:
void setupUI(void);

std::shared_ptr<rclcpp::Node> _node;

QParamSlider _maxSpeedSlider;
QParamSlider _distanceSpeedGainSlider;
QParamSlider _bubbleRadiusSlider;
QParamSlider _staticFrictionCoeffSlider;

Ui::gapFollowWidget _ui;
};

#endif // Q_GAP_FOLLOW_WIDGET_HPP
8 changes: 2 additions & 6 deletions sim_ws/src/arcus_gui/src/QWidget/QMapRacelineHelpers/QMapRacelineHelpers.cpp
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Expand Up @@ -3,12 +3,8 @@
QMapRacelineHelpers::QMapRacelineHelpers(std::shared_ptr<rclcpp::Node> node_, QWidget* parent_):
QWidget(parent_),
_node(node_),
_mapCarToLocalProcess(this, "Map (Car to Local)", MAP_CAR_TO_LOCAL_CMD, true),
_racelineScriptProcess(this, "Raceline Script", RACELINE_SCRIPT_CMD, true),
_waypointsLocalToCarProcess(this, "Waypoints (Local to Car)", WAYPOINTS_LOCAL_TO_CAR_CMD, true)
_racelineHelper(this, "Raceline Helpers", RACELINE_HELPER_CMD, true)
{
_ui.setupUi(this);
_ui.buttonsLayout->addWidget(&_mapCarToLocalProcess);
_ui.buttonsLayout->addWidget(&_racelineScriptProcess);
_ui.buttonsLayout->addWidget(&_waypointsLocalToCarProcess);
_ui.buttonsLayout->addWidget(&_racelineHelper);
}
8 changes: 2 additions & 6 deletions sim_ws/src/arcus_gui/src/QWidget/QMapRacelineHelpers/QMapRacelineHelpers.hpp
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Expand Up @@ -11,9 +11,7 @@ class QMapRacelineHelpers : public QWidget
{
Q_OBJECT

static constexpr const char* MAP_CAR_TO_LOCAL_CMD = "source /opt/ros/humble/setup.bash && ros2 launch f1tenth_gym_ros visualize_launch.py";
static constexpr const char* RACELINE_SCRIPT_CMD = "source /opt/ros/humble/setup.bash && ros2 launch drive_controller drive_controller.launch.py";
static constexpr const char* WAYPOINTS_LOCAL_TO_CAR_CMD = "source /opt/ros/humble/setup.bash && ros2 launch drive_controller drive_controller.launch.py";
static constexpr const char* RACELINE_HELPER_CMD = "python3 /sim_ws/src/scripts/map_preparation/prepare_map.py";

public:
QMapRacelineHelpers(std::shared_ptr<rclcpp::Node> node_, QWidget* parent_);
Expand All @@ -25,9 +23,7 @@ class QMapRacelineHelpers : public QWidget

std::shared_ptr<rclcpp::Node> _node;

QProcessHandler _mapCarToLocalProcess;
QProcessHandler _racelineScriptProcess;
QProcessHandler _waypointsLocalToCarProcess;
QProcessHandler _racelineHelper;

Ui::MapRacelineHelpers _ui;
};
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58 changes: 58 additions & 0 deletions sim_ws/src/arcus_gui/ui/ui/GapFollowWidget.ui
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@@ -0,0 +1,58 @@
<?xml version="1.0" encoding="UTF-8"?>
<ui version="4.0">
<class>gapFollowWidget</class>
<widget class="QWidget" name="gapFollowWidget">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>611</width>
<height>300</height>
</rect>
</property>
<property name="windowTitle">
<string>Form</string>
</property>
<layout class="QGridLayout" name="gridLayout">
<item row="0" column="0">
<layout class="QVBoxLayout" name="sliderLayout">
<item>
<widget class="QLineEdit" name="lineEdit">
<property name="font">
<font>
<pointsize>24</pointsize>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="text">
<string>GAP FOLLOW</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item>
<spacer name="verticalSpacer">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::Expanding</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>40</height>
</size>
</property>
</spacer>
</item>
</layout>
</item>
</layout>
</widget>
<resources/>
<connections/>
</ui>
2 changes: 1 addition & 1 deletion sim_ws/src/arcus_gui/ui/ui/MapRacelineHelpers.ui
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Expand Up @@ -51,7 +51,7 @@
</font>
</property>
<property name="text">
<string>MAP/RACELINE HELPERS</string>
<string>MAPPIN AND RISK</string>
</property>
<property name="echoMode">
<enum>QLineEdit::Normal</enum>
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2 changes: 1 addition & 1 deletion sim_ws/src/scripts/map_preparation/utils/exportAlgos.sh
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Expand Up @@ -5,7 +5,7 @@ USER="arcus"
HOST="arcus-jetson.local"

RACELINE_FILE="saved/algos.csv"
REMOTE_RACELINE_DIR="/home/arcus/arcus/resources/waypoints"
REMOTE_RACELINE_DIR="/home/arcus/arcus/resources"

echo "Sending raceline back to remote..."
scp "$RACELINE_FILE" "$USER@$HOST:$REMOTE_RACELINE_DIR"
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2 changes: 1 addition & 1 deletion sim_ws/src/scripts/map_preparation/utils/exportSpeedZones.sh
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Expand Up @@ -5,7 +5,7 @@ USER="arcus"
HOST="arcus-jetson.local"

RACELINE_FILE="saved/speed_zones.csv"
REMOTE_RACELINE_DIR="/home/arcus/arcus/resources/waypoints"
REMOTE_RACELINE_DIR="/home/arcus/arcus/resources"

echo "Sending raceline back to remote..."
scp "$RACELINE_FILE" "$USER@$HOST:$REMOTE_RACELINE_DIR"
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