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Hotfix/throttle interp #24

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30cee12
add throttle interp files
Dec 9, 2024
f76c794
update submodules
Dec 9, 2024
b7c4760
update subm
Dec 10, 2024
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4 changes: 2 additions & 2 deletions .devcontainer/devcontainer.json
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Original file line number Diff line number Diff line change
Expand Up @@ -2,8 +2,8 @@
"name": "ForzaETH Race Stack Humble",
"privileged": true,
"remoteUser": "${localEnv:USER}",
"image": "jet_forzaeth_racestack_ros2:humble",
// "image": "nuc_forzaeth_racestack_ros2:humble",
// "image": "jet_forzaeth_racestack_ros2:humble",
"image": "nuc_forzaeth_racestack_ros2:humble",
"initializeCommand": "/bin/bash -c 'source ${localWorkspaceFolder}/.devcontainer/xauth_setup.sh'",
"workspaceFolder": "/home/${localEnv:USER}/ws/src/race_stack/",
"workspaceMount": "source=${localWorkspaceFolder},target=/home/${localEnv:USER}/ws/src/race_stack,type=bind",
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2 changes: 1 addition & 1 deletion base_system/f1tenth_system
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Submodule f1tenth_system updated 3 files
+1 −1 ackermann_mux
+49 −10 f1tenth_stack/f1tenth_stack/throttle_interpolator.py
+16 −2 f1tenth_stack/launch/bringup_launch.py
2 changes: 0 additions & 2 deletions controller/controller/controller_manager.py
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Original file line number Diff line number Diff line change
Expand Up @@ -99,8 +99,6 @@ def __init__(self):
self.waypoint_pub = self.create_publisher(MarkerArray, 'my_waypoints', 10)
self.l1_pub = self.create_publisher(Point, 'l1_distance', 10)
self.gap_data = self.create_publisher(PidData, '/trailing/gap_data', 10)
# Publisher for steering and speed command
self.publish_topic = '/vesc/high_level/ackermann_cmd_mux/input/nav_1'

self.track_length = None
self.opponent = None
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2 changes: 1 addition & 1 deletion sensors/vesc
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Submodule vesc updated 1 files
+4 −2 vesc_ackermann/src/ackermann_to_vesc.cpp
9 changes: 6 additions & 3 deletions stack_master/launch/head_to_head_launch.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -4,6 +4,7 @@
<arg name="overtake_mode" default="spliner" /> <!-- spliner / graph_based -->
<arg name="ctrl_algo" default="MAP"/> <!-- MAP / PP -->
<arg name="measure" default="False" />
<arg name="use_od" default="True" />

<!-- launch controller manager -->
<include file="$(find-pkg-share controller)/launch/controller_launch.xml">
Expand All @@ -23,8 +24,10 @@
</group>

<!-- PERCEPTION -->
<include file="$(find-pkg-share perception)/launch/perception_launch.xml">
<arg name="param_file" value="$(find-pkg-share stack_master)/config/opponent_tracker_params.yaml" />
</include>
<group if="$(var use_od)">
<include file="$(find-pkg-share perception)/launch/perception_launch.xml">
<arg name="param_file" value="$(find-pkg-share stack_master)/config/opponent_tracker_params.yaml" />
</include>
</group>

</launch>
1 change: 1 addition & 0 deletions stack_master/setup.py
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Original file line number Diff line number Diff line change
Expand Up @@ -26,6 +26,7 @@
(os.path.join('share', package_name, 'config', 'NUC5'), glob(os.path.join('config', 'NUC5', '*/*'), recursive=True)),
(os.path.join('share', package_name, 'config', 'NUC5'), glob(os.path.join('config', 'NUC5', '*.yaml'))),
(os.path.join('share', package_name, 'config', 'NUC6'), glob(os.path.join('config', 'NUC6', '*/*'), recursive=True)),
(os.path.join('share', package_name, 'config', 'NUC6'), glob(os.path.join('config', 'NUC6', '*.yaml'))),
(os.path.join('share', package_name, 'config', 'NUC7'), glob(os.path.join('config', 'NUC7', '*.yaml'))),(os.path.join('share', package_name, 'config', 'NUC7'), glob(os.path.join('config', 'NUC7', '*/*'), recursive=True)),
(os.path.join('share', package_name, 'config', 'NUC7'), glob(os.path.join('config', 'NUC7', '*.yaml'))),
(os.path.join('share', package_name, 'config', 'SIM'), glob(os.path.join('config', 'SIM', '*.*'))),
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