# 長さの単位はcm
isLoop = True
centerLine = 30
thresWidth = 15
facingAngleThres = 15
betweenSensors = 20
timeStamp = []
timeStamp.append(time.time())
print("carmachi")
# steering setting
car = NvidiaRacecar()
car.steering_gain = 1.0
car.steering_offset = 0.0
rightMax = 1.0
leftMax = -1.0
steerParam = 1.0 # steerParam * facingAngle で facingAngle[rad]曲がる
# throttle setting
car.throttle_gain = 0.5
speedHigh = 10
speedLow = 0.5
# *Distance are the acquired distance to the wall from each sensor
rightFrontDistance = []
rightRearDistance = []
model_trt = TRTModule()
model_trt.load_state_dict(torch.load(MODEL_PATH_TRT))
else:
model = AutopilotModel(pretrained=False)
model.load_from_path(MODEL_PATH)
model.eval()
x = torch.ones((1, FRAME_CHANNELS, FRAME_SIZE, FRAME_SIZE)).cuda()
model_trt = torch2trt(model, [x], fp16_mode=True)
torch.save(model_trt.state_dict(), MODEL_PATH_TRT)
try:
# Car
car = NvidiaRacecar()
car.throttle_gain = THROTTLE_GAIN
car.steering_offset = STEERING_OFFSET
# Camera
camera = CSICamera(width=CAMERA_WIDTH, height=CAMERA_HEIGHT)
# Control Loop
while True:
if SHOW_LOGS:
start_time = time.time()
camera_frame = camera.read()
cropped_frame = center_crop_square(camera_frame)
resized_frame = cv2.resize(cropped_frame, (FRAME_SIZE, FRAME_SIZE))
preprocessed_frame = preprocess_image(resized_frame)
output = model_trt(preprocessed_frame).detach().clamp(
-1.0, 1.0).cpu().numpy().flatten()
#!/usr/bin/env python3
import rospy
from jetracer.nvidia_racecar import NvidiaRacecar
from std_msgs.msg import Float32
#Initialize car variable and tune settings
car = NvidiaRacecar()
car.steering_gain = 0.65
car.steering_offset = -0.16
car.throttle_gain = 1
car.steering = 0.0
car.throttle = 0.0
#Throttle
def callback_throttle(throt):
car.throttle = throt.data
rospy.loginfo("Throttle: %s", str(throt.data))
#Steering
def callback_steering(steer):
car.steering = steer.data
rospy.loginfo("Steering: %s", str(steer.data))
#Setup node and topics subscription
def racecar():
rospy.init_node('racecar', anonymous=True)
rospy.Subscriber("throttle", Float32, callback_throttle)
rospy.Subscriber("steering", Float32, callback_steering)
rospy.spin()