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
```
- Control data collecting tool automatically records topics included in config/topics.yaml when the above command is executed. The topics will be saved in rosbag2 format in the directory where the above command is executed.
- The data from /localization/kinematic_state and /localization/acceleration located in the directory (rosbag2 format) where the command is executed will be automatically loaded and reflected in the data count for these topics. (If LOAD_ROSBAG2_FILES in config/param.yaml is set to false, the data is noe loaded.)
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.
Click the LOCAL button on OperationMode in AutowareStatePanel.

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
```
[!NOTE] When the car crosses the green boundary line, a similar stopping procedure will be automatically triggered.

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 or COURSE_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 which are common in all nodes:

Name	Type	Description	Default value
`LOAD_ROSBAG2_FILES`	`bool`	Flag that determines whether to load rosbag2 data or not	True
`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_A`	`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
`COLLECTING_DATA_V_MIN`	`double`	Minimum velocity for data collection [m/s]	0.0
`COLLECTING_DATA_V_MAX`	`double`	Maximum velocity for data collection [m/s]	11.5
`COLLECTING_DATA_A_MIN`	`double`	Minimum velocity for data collection [m/ss]	1.0
`COLLECTING_DATA_A_MAX`	`double`	Maximum velocity for data collection [m/ss]	-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
`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]	5.0
`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