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#
-
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
-
Set an initial pose, see here.
-
Add
DataCollectingAreaSelectionTool
rviz plugin. -
Launch control_data_collecting_tool.
ros2 launch control_data_collecting_tool control_data_collecting_tool.launch.py
-
Add visualization in rviz:
/data_collecting_area
- Type: Polygon
/data_collecting_trajectory_marker_array
- Type: MarkerArray
/data_collecting_lookahead_marker_array
- Type: MarkerArray
-
Select
DataCollectingAreaSelectionTool
plugin.Highlight the data collecting area by dragging the mouse over it.
[!NOTE] You cannot change the data collecting area while driving.
-
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
-
Click the
LOCAL
button onOperationMode
inAutowareStatePanel
.Then, data collecting starts.
-
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
-
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
Change Courses#
You can change the course by selecting COURSE_NAME
in config/param.yaml
from [eight_course
, u_shaped_return
, straight_line_positive
, straight_line_negative
].
COURSE_NAME: eight_course
COURSE_NAME: u_shaped_return
COURSE_NAME: straight_line_positive
orCOURSE_NAME: straight_line_negative
( Both "straight_line_positive" and "straight_line_negative" represent straight line courses, but the direction of travel of the course is reversed.)
Parameter#
ROS 2 params in /data_collecting_trajectory_publisher
node:
Name | Type | Description | Default value |
---|---|---|---|
COURSE_NAME |
string |
Course name [eight_course , u_shaped_return , straight_line_positive , straight_line_negative ] |
eight_course |
NUM_BINS_V |
int |
Number of bins of velocity in heatmap | 10 |
NUM_BINS_STEER |
int |
Number of bins of steer in heatmap | 10 |
NUM_BINS_ACCELERATION |
int |
Number of bins of acceleration in heatmap | 10 |
V_MIN |
double |
Minimum velocity in heatmap [m/s] | 0.0 |
V_MAX |
double |
Maximum velocity in heatmap [m/s] | 11.5 |
STEER_MIN |
double |
Minimum steer in heatmap [rad] | -1.0 |
STEER_MAX |
double |
Maximum steer in heatmap [rad] | 1.0 |
A_MIN |
double |
Minimum acceleration in heatmap [m/ss] | -1.0 |
A_MAX |
double |
Maximum acceleration in heatmap [m/ss] | 1.0 |
wheel_base |
double |
Wheel base [m] | 2.79 |
acc_kp |
double |
Accel command proportional gain | 1.0 |
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] | 0.50 |
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 | 100 |
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 |
ROS 2 params in /data_collecting_plotter
node:
Name | Type | Description | Default value |
---|---|---|---|
COURSE_NAME |
string |
Course name [eight_course , u_shaped_return , straight_line_positive , straight_line_negative ] |
eight_course |
NUM_BINS_V |
int |
Number of bins of velocity in heatmap | 10 |
NUM_BINS_STEER |
int |
Number of bins of steer in heatmap | 10 |
NUM_BINS_ACCELERATION |
int |
Number of bins of acceleration in heatmap | 10 |
V_MIN |
double |
Minimum velocity in heatmap [m/s] | 0.0 |
V_MAX |
double |
Maximum velocity in heatmap [m/s] | 11.5 |
STEER_MIN |
double |
Minimum steer in heatmap [rad] | -1.0 |
STEER_MAX |
double |
Maximum steer in heatmap [rad] | 1.0 |
A_MIN |
double |
Minimum acceleration in heatmap [m/ss] | -1.0 |
A_MAX |
double |
Maximum acceleration in heatmap [m/ss] | 1.0 |
wheel_base |
double |
Wheel base [m] | 2.79 |