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Control data collecting tool#

This package provides tools for automatically collecting data using pure pursuit control within a specified rectangular area.

Overview#

  • This package aims to collect a dataset consisting of control inputs (i.e. control_cmd) and observation variables (i.e. kinematic_state, steering_status, etc).
  • The collected dataset can be used as training dataset for learning-based controllers, including smart_mpc.
  • The data collecting approach is as follows:
    • Setting a figure-eight target trajectory within the specified rectangular area.
    • Following the trajectory using a pure pursuit control law.
    • Adding noises to the trajectory and the control command for data diversity, improving the prediction accuracy of learning model.

How to use#

  1. Launch Autoware.

    ros2 launch autoware_launch planning_simulator.launch.xml map_path:=$HOME/autoware_map/sample-map-planning vehicle_model:=sample_vehicle sensor_model:=sample_sensor_kit

  2. Set an initial pose, see here.

  3. Add DataCollectingAreaSelectionTool rviz plugin.

  4. Launch control_data_collecting_tool.

    ros2 launch control_data_collecting_tool control_data_collecting_tool.launch.py

  5. Add visualization in rviz:

    • /data_collecting_area
      • Type: Polygon
    • /data_collecting_trajectory_marker_array
      • Type: MarkerArray
    • /data_collecting_lookahead_marker_array
      • Type: MarkerArray

  6. Select DataCollectingAreaSelectionTool plugin.

    Highlight the data collecting area by dragging the mouse over it.

    [!NOTE] You cannot change the data collecting area while driving.

  7. start recording rosbag data. For example, run the following command:

    ros2 bag record /localization/kinematic_state /localization/acceleration /vehicle/status/steering_status /sensing/imu/imu_data /system/operation_mode/state /vehicle/status/control_mode /external/selected/control_cmd /external/selected/gear_cmd /data_collecting_trajectory

  8. Click the LOCAL button on OperationMode in AutowareStatePanel.

    Then, data collecting starts.

  9. If you want to stop data collecting automatic driving, run the following command

    ros2 topic pub /data_collecting_stop_request std_msgs/msg/Bool "data: true" --once

  10. If you want to restart data collecting automatic driving, run the following command

ros2 topic pub /data_collecting_stop_request std_msgs/msg/Bool "data: false" --once

Parameter#

ROS 2 params in /data_collecting_trajectory_publisher node:

Name Type Description Default value
max_lateral_accel double Max lateral acceleration limit [m/ss] 0.5
lateral_error_threshold double Lateral error threshold where applying velocity limit [m/s] 5.0
yaw_error_threshold double Yaw error threshold where applying velocity limit [rad] 0.75
velocity_limit_by_tracking_error double Velocity limit applied when tracking error exceeds threshold [m/s] 1.0
mov_ave_window int Moving average smoothing window size 50
target_longitudinal_velocity double Target longitudinal velocity [m/s] 6.0
longitudinal_velocity_noise_amp double Target longitudinal velocity additional sine noise amplitude [m/s] 0.01
longitudinal_velocity_noise_min_period double Target longitudinal velocity additional sine noise minimum period [s] 5.0
longitudinal_velocity_noise_max_period double Target longitudinal velocity additional sine noise maximum period [s] 20.0

ROS 2 params in /data_collecting_pure_pursuit_trajectory_follower node:

Name Type Description Default value
pure_pursuit_type string Pure pursuit type (naive or linearized steer control law ) linearized
wheel_base double Wheel base [m] 2.79
acc_kp double Accel command proportional gain 1.0
lookahead_time double Pure pursuit lookahead time [s] 2.0
min_lookahead double Pure pursuit minimum lookahead length [m] 2.0
linearized_pure_pursuit_steer_kp_param double Linearized pure pursuit steering P gain parameter 2.0
linearized_pure_pursuit_steer_kd_param double Linearized pure pursuit steering D gain parameter 2.0
stop_acc double Accel command for stopping data collecting driving [m/ss] -2.0
stop_jerk_lim double Jerk limit for stopping data collecting driving [m/sss] 1.0
lon_acc_lim double Longitudinal acceleration limit [m/ss] 5.0
lon_jerk_lim double Longitudinal jerk limit [m/sss] 5.0
steer_lim double Steering angle limit [rad] 1.0
steer_rate_lim double Steering angle rate limit [rad/s] 1.0
acc_noise_amp double Accel command additional sine noise amplitude [m/ss] 0.01
acc_noise_min_period double Accel command additional sine noise minimum period [s] 5.0
acc_noise_max_period double Accel command additional sine noise maximum period [s] 20.0
steer_noise_amp double Steer command additional sine noise amplitude [rad] 0.01
steer_noise_max_period double Steer command additional sine noise maximum period [s] 5.0
steer_noise_min_period double Steer command additional sine noise minimum period [s] 20.0