class Configuration(BaseModel):
# ROAR sensors settings
name: str = Field(default="hero",
title="Name of the agent",
description="Duplicate from Carla Setting. "
"But good to have")
front_depth_cam: Camera = Field(default=Camera(
fov=70,
transform=Transform(location=Location(x=1.6, y=0, z=1.7),
rotation=Rotation(pitch=0, yaw=0, roll=0)),
image_size_x=800,
image_size_y=600),
title="Front Depth Camera")
front_rgb_cam: Camera = Field(default=Camera(
fov=70,
transform=Transform(location=Location(x=1.6, y=0, z=1.7),
rotation=Rotation(pitch=0, yaw=0, roll=0)),
image_size_x=800,
image_size_y=600),
title="Front RGB Camera")
rear_rgb_cam: Camera = Field(default=Camera(
fov=145,
transform=Transform(location=Location(x=-1.5, y=0.0, z=1.4),
rotation=Rotation(pitch=0.0, yaw=180, roll=0.0)),
image_size_x=800,
image_size_y=600),
title="Rear RGB Camera")
# data path
waypoint_file_path: str = Field(
default=(Path(os.getcwd()) / "data" /
"easy_map_waypoints.txt").as_posix())
json_waypoint_file_path: str = Field(
default=(Path(os.getcwd()) / "data" /
"easy_map_waypoints.json").as_posix())
output_data_folder_path: str = Field(default=(Path(os.getcwd()) / "data" /
"output"))
# miscellaneous settings
enable_autopilot: bool = Field(default=True,
title="Enable Antopilot",
description="Enable Antopilot")
spawn_point_id: int = Field(default=1,
title="Spaning Location ID",
description="Spanning Location ID")
show_sensors_data: bool = Field(default=False)
graph_post_modem_data: bool = Field(default=False)
save_sensor_data: bool = Field(default=False)
absolute_maximum_map_size: int = Field(
default=1000,
title="Absolute Maximum size of the map",
description="This variable is used to intialize the Occupancy grid map."
"The bigger it is, the more impact it is going to have on the runtime computation"
"However, if it is smaller than the actual map, some weird things can happen"
)
target_speed: int = 80
class Configuration(BaseModel):
# ROAR sensors settings
name: str = Field(default="hero", title="Name of the agent", description="Duplicate from Carla Setting. "
"But good to have")
front_depth_cam: Camera = Field(default=Camera(fov=70,
transform=Transform(
location=Location(x=1.6,
y=0,
z=1.7
),
rotation=Rotation(
pitch=0,
yaw=0,
roll=0)),
image_size_x=800,
image_size_y=600),
title="Front Depth Camera")
front_rgb_cam: Camera = Field(default=Camera(fov=70,
transform=Transform(
location=Location(x=1.6,
y=0,
z=1.7),
rotation=Rotation(pitch=0,
yaw=0,
roll=0)
),
image_size_x=800,
image_size_y=600),
title="Front RGB Camera")
rear_rgb_cam: Camera = Field(default=Camera(fov=145,
transform=Transform(
location=Location(x=-1.5,
y=0.0,
z=1.4),
rotation=Rotation(
pitch=0.0, yaw=180,
roll=0.0)),
image_size_x=800,
image_size_y=600),
title="Rear RGB Camera")
# data path
waypoint_file_path: str = Field(default=(Path(
os.getcwd()) / "data" / "easy_map_waypoints.txt").as_posix())
json_waypoint_file_path: str = Field(default=(Path(
os.getcwd()) / "data" / "easy_map_waypoints.json").as_posix())
json_qr_code_file_path: str = Field(default=(Path(
os.getcwd()) / "ROAR_Jetson" / "data" / "track_1.json"
).as_posix())
output_data_folder_path: str = Field(
default=(Path(os.getcwd()) / "data" / "output"))
# miscellaneous settings
spawn_point_id: int = Field(default=1, title="Spaning Location ID",
description="Spanning Location ID")
show_sensors_data: bool = Field(default=False)
save_sensor_data: bool = Field(default=False)
absolute_maximum_map_size: int = Field(
default=1000, title="Absolute Maximum size of the map",
description="This variable is used to intialize the Occupancy grid map."
"The bigger it is, the more impact it is going to have on the runtime computation"
"However, if it is smaller than the actual map, some weird things can happen")
enable_autopilot: bool = Field(default=True, title="Enable Antopilot",
description="Enable Antopilot")
num_laps: int = Field(default=1, description="Number of laps to run for")
output_data_folder_path: str = Field(default="./data/output", description="path to save newly generated waypoints txt file.")
output_data_file_name: str = Field(default="map_waypoints", description="file name for a newly generated waypoints txt file.")
max_speed: float = Field(default=200, description="maximum speed in which the vehicle can drive at")
target_speed: int = Field(default=80, description="The tracking speed that the pid controller is trying to achieve")
steering_boundary: tuple = Field(default=(-1,1), description="maximum and minimum boundary for steering") # ROAR Academy:
throttle_boundary: tuple = Field(default=(0,1), description="maximum and minimum boundary for steering") # ROAR Academy:
waypoints_look_ahead_values: dict = Field(default={"60": 5, "80": 10, "120": 20, "180": 50}) # ROAR Academy:
simple_waypoint_local_planner_config_file_path: str = \
Field(default="./ROAR_Sim/configurations/simple_waypoint_local_planner_config.json")
pid_values: dict = Field(default={
'longitudinal_controller': {
'40': {
'Kp': 0.8, 'Kd': 0.2, 'Ki': 0
},
'60': {
'Kp': 0.5, 'Kd': 0.2, 'Ki': 0
},
'150': {
'Kp': 0.2, 'Kd': 0.1, 'Ki': 0.1
}
},
'latitudinal_controller': {
'60': {
'Kp': 0.8, 'Kd': 0.1, 'Ki': 0.1
},
'100': {
'Kp': 0.6, 'Kd': 0.2, 'Ki': 0.1
},
'150': {
'Kp': 0.5, 'Kd': 0.2, 'Ki': 0.1
}
}
}
) # ROAR Academy
pid_config_file_path: str = Field(default="./ROAR_Sim/configurations/pid_config.json")
lqr_config_file_path: str = Field(default="./ROAR_Sim/configurations/lqr_config.json")
class Configuration(BaseModel):
# ROAR sensors settings
name: str = Field(default="hero",
title="Name of the agent",
description="Duplicate from Carla Setting. "
"But good to have")
front_depth_cam: Camera = Field(default=Camera(
fov=70,
transform=Transform(location=Location(x=1.6, y=0, z=1.7),
rotation=Rotation(pitch=0, yaw=0, roll=0)),
image_size_x=800,
image_size_y=600),
title="Front Depth Camera")
front_rgb_cam: Camera = Field(default=Camera(
fov=70,
transform=Transform(location=Location(x=1.6, y=0, z=1.7),
rotation=Rotation(pitch=0, yaw=0, roll=0)),
image_size_x=800,
image_size_y=600),
title="Front RGB Camera")
rear_rgb_cam: Camera = Field(default=Camera(
fov=145,
transform=Transform(location=Location(x=-1.5, y=0.0, z=1.4),
rotation=Rotation(pitch=0.0, yaw=180, roll=0.0)),
image_size_x=800,
image_size_y=600),
title="Rear RGB Camera")
# data path
waypoint_file_path: str = Field(
default=(Path(os.getcwd()) / "data" /
"easy_map_waypoints.txt").as_posix())
json_waypoint_file_path: str = Field(
default=(Path(os.getcwd()) / "data" /
"easy_map_waypoints.json").as_posix())
json_qr_code_file_path: str = Field(default=(Path(os.getcwd()) /
"ROAR_Jetson" / "data" /
"track_1.json").as_posix())
output_data_folder_path: str = Field(default=(Path(os.getcwd()) / "data" /
"output"))
# miscellaneous settings
enable_autopilot: bool = Field(default=True,
title="Enable Antopilot",
description="Enable Antopilot")
spawn_point_id: int = Field(default=1,
title="Spaning Location ID",
description="Spanning Location ID")
show_sensors_data: bool = Field(default=False)
save_sensor_data: bool = Field(default=False)
absolute_maximum_map_size: int = Field(
default=1000,
title="Absolute Maximum size of the map",
description="This variable is used to intialize the Occupancy grid map."
"The bigger it is, the more impact it is going to have on the runtime computation"
"However, if it is smaller than the actual map, some weird things can happen"
)
target_speed: int = 80
pid_config_file_path: str = Field(
default="./ROAR_Sim/configurations/pid_config.json")
pid_config: dict = Field(default={60: {
1,
23,
}})
depth_to_pcd_config_path: str = Field(
default="./ROAR/configurations/carla/carla_depth_to_pcd_config.json")
lqr_config_file_path: str = Field(
default="./ROAR_Sim/configurations/lqr_config.json")
occu_map_config_path: str = Field(
default="./ROAR_Sim/configurations/occu_map_config.json")
obstacle_from_depth_config_path: str = Field(
default="./ROAR_Sim/configurations/obstacle_from_depth_config.json")
simple_waypoint_local_planner_config_file_path: str = \
Field(default="./ROAR_Sim/configurations/simple_waypoint_local_planner_config.json")
max_speed: float = Field(
default=200,
description="maximum speed in which the vehicle can drive at")
num_laps: int = Field(default=1, description="Number of laps to run for")