├── .devcontainer ├── .install_utils │ ├── bashrc_ext │ ├── cartographer_dep.sh │ ├── cartographer_req.sh │ ├── cartographer_setup.sh │ ├── catkin_skiplist_car.sh │ ├── catkin_skiplist_sim.sh │ ├── dev_pf_setup.sh │ ├── install_abseil.sh │ ├── install_acados.sh │ ├── linux_req_car.txt │ ├── linux_req_sim.txt │ ├── pf_setup.sh │ ├── post_installation.sh │ ├── requirements.txt │ ├── ros_entrypoint.sh │ ├── setup_user.sh │ └── xauth_setup.sh └── devcontainer.json ├── .docker_utils ├── Dockerfile.base_arm ├── Dockerfile.base_x86 ├── Dockerfile.jet ├── Dockerfile.nuc ├── Dockerfile.sim_arm ├── Dockerfile.sim_x86 ├── README.md ├── README_GUI.md ├── main_attach_dock.sh ├── main_dock.sh └── sec_dock.sh ├── .gitignore ├── .gitlab └── .gitlab-ci.yml ├── .gitmodules ├── CONTRIBUTING.md ├── INSTALLATION.md ├── LICENSE ├── README.md ├── TROUBLESHOOTING.md ├── base_system ├── README.md └── misc │ ├── hardware_thumbnail.png │ ├── install_thumbnail.png │ ├── simulator_thumbnail.png │ └── sys_arch_with_sim.png ├── controller ├── CMakeLists.txt ├── README.md ├── cfg │ ├── dyn_kmpc_params_tuner.cfg │ ├── dyn_l1_params_tuner.cfg │ └── dyn_stmpc_params_tuner.cfg ├── controller_manager.py ├── ftg │ ├── README.md │ └── ftg.py ├── map │ ├── README.md │ ├── README_IMG │ │ ├── l1_dist.png │ │ └── speed_scaling.png │ └── src │ │ ├── MAP_Controller.py │ │ ├── l1_params_server.py │ │ └── plotter.py ├── misc │ └── controller_arch.png ├── mpc │ ├── README.md │ ├── config │ │ ├── mpc_acc_constraints_plotjuggler.xml │ │ └── mpc_plotjuggler.xml │ └── src │ │ ├── .gitignore │ │ ├── kinematic_mpc │ │ ├── __init__.py │ │ ├── acados_settings.py │ │ ├── bicycle_model.py │ │ ├── kinematic_mpc.py │ │ └── utils │ │ │ ├── __init__.py │ │ │ ├── indicies.py │ │ │ └── splinify.py │ │ ├── kinematic_mpc_viz.py │ │ ├── plotting_fnc.py │ │ ├── single_track_mpc │ │ ├── __init__.py │ │ ├── acados_settings.py │ │ ├── bicycle_model.py │ │ ├── single_track_mpc.py │ │ └── utils │ │ │ ├── __init__.py │ │ │ ├── indicies.py │ │ │ └── splinify.py │ │ └── single_track_mpc_viz.py ├── online_tuning_server │ └── mpc_online_params_server.py ├── package.xml ├── pp │ ├── README.md │ ├── README_IMG │ │ ├── l1_dist.png │ │ └── speed_scaling.png │ └── src │ │ └── PP_Controller.py └── setup.py ├── docker-compose.yaml ├── f110_utils ├── README.md ├── libs │ ├── f110_msgs │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── msg │ │ │ ├── CarState.msg │ │ │ ├── CarStateStamped.msg │ │ │ ├── GapData.msg │ │ │ ├── LapData.msg │ │ │ ├── OTWpntArray.msg │ │ │ ├── Obstacle.msg │ │ │ ├── ObstacleArray.msg │ │ │ ├── OppWpnt.msg │ │ │ ├── OpponentTrajectory.msg │ │ │ ├── PidData.msg │ │ │ ├── ProjOppPoint.msg │ │ │ ├── ProjOppTraj.msg │ │ │ ├── Wpnt.msg │ │ │ └── WpntArray.msg │ │ └── package.xml │ └── frenet_conversion │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── __init__.py │ │ ├── helpers │ │ └── frenet_debugerino.ipynb │ │ ├── include │ │ └── frenet_conversion.h │ │ ├── package.xml │ │ ├── setup.py │ │ ├── src │ │ ├── __init__.py │ │ ├── frenet_conversion.cc │ │ ├── frenet_converter │ │ │ ├── __init__.py │ │ │ └── frenet_converter.py │ │ └── tester.py │ │ └── srv │ │ ├── Frenet2Glob.srv │ │ ├── Frenet2GlobArr.srv │ │ ├── Glob2Frenet.srv │ │ └── Glob2FrenetArr.srv ├── nodes │ ├── car_to_car_sync │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── config │ │ │ └── topics_to_redirect.yaml │ │ ├── launch │ │ │ └── car_to_car_redirect.launch │ │ ├── package.xml │ │ └── src │ │ │ └── car2car_redirect_topic.py │ ├── frenet_conversion_server │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── include │ │ │ └── frenet_conversion_server.h │ │ ├── package.xml │ │ └── src │ │ │ └── frenet_conversion_server_node.cc │ ├── frenet_odom_republisher │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── include │ │ │ └── frenet_odom_republisher_node.h │ │ ├── launch │ │ │ └── frenet_odom_republisher.launch │ │ ├── package.xml │ │ └── src │ │ │ └── frenet_odom_republisher_node.cc │ ├── gb_traj_publisher │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── launch │ │ │ └── gb_traj.launch │ │ ├── package.xml │ │ ├── setup.py │ │ └── src │ │ │ └── gb_traj_publisher.py │ ├── lap_analyser │ │ ├── .gitignore │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── config │ │ │ ├── lapplot_pj.xml │ │ │ ├── long_ana_pj.xml │ │ │ ├── rqt_multiplot.xml │ │ │ └── tracking_plot_pj.xml │ │ ├── include │ │ │ └── ScanAlignAnalyzer.hpp │ │ ├── launch │ │ │ ├── data_analyser.launch │ │ │ ├── data_plotter.launch │ │ │ ├── lap_analyser.launch │ │ │ └── longitudinal_analyser.launch │ │ ├── package.xml │ │ ├── setup.py │ │ └── src │ │ │ └── lap_analyser │ │ │ ├── ScanAlignAnalyzer.cpp │ │ │ ├── __init__.py │ │ │ ├── data_analyser.py │ │ │ ├── lap_analyser.py │ │ │ ├── longitudinal_analyser.py │ │ │ ├── scan_align_analyser.py │ │ │ └── vel_analyser.py │ ├── map_editor │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── launch │ │ │ └── map_editor.launch │ │ ├── maps │ │ │ └── hangar │ │ │ │ ├── global_waypoints.json │ │ │ │ ├── global_wpnts.bag.active │ │ │ │ ├── hangar.pbstream │ │ │ │ ├── hangar.png │ │ │ │ ├── hangar.yaml │ │ │ │ ├── ot_sectors.yaml │ │ │ │ └── speed_scaling.yaml │ │ ├── media │ │ │ └── workflow.jpg │ │ ├── package.xml │ │ └── rviz │ │ │ └── editor.rviz │ ├── obstacle_publisher │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── cfg │ │ │ ├── __init__.py │ │ │ └── dyn_obs_publisher.cfg │ │ ├── launch │ │ │ └── obstacle_publisher.launch │ │ ├── package.xml │ │ ├── setup.py │ │ └── src │ │ │ ├── Testing.py │ │ │ ├── __init__.py │ │ │ ├── collision_detector.py │ │ │ ├── dynamic_obs_pub_server.py │ │ │ └── obstacle_publisher.py │ ├── overtaking_sector_tuner │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── cfg │ │ │ └── ot_dyn_sect_tuner.cfg │ │ ├── launch │ │ │ ├── ot_interpolator.launch │ │ │ └── ot_sector_tuner.launch │ │ ├── package.xml │ │ ├── scripts │ │ │ └── finish_sector.sh │ │ └── src │ │ │ ├── ot_interpolator.py │ │ │ ├── ot_sector_server.py │ │ │ └── ot_sector_slicing.py │ ├── param_optimizer │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── launch │ │ │ └── param_optimizer.launch │ │ ├── package.xml │ │ ├── plots │ │ │ ├── avg_lat_err_EI_10ite_1lpe.png │ │ │ ├── cost.png │ │ │ ├── l1_param_EI_10iterations_1lpe.png │ │ │ ├── lap_time.png │ │ │ └── min_dist_EI_10ite_1lpe.png │ │ └── src │ │ │ └── param_optimizer.py │ ├── random_obstacle_publisher │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── launch │ │ │ └── random_obstacle_publisher.launch │ │ ├── package.xml │ │ ├── setup.py │ │ └── src │ │ │ └── random_obstacle_publisher │ │ │ ├── __init__.py │ │ │ └── random_obstacle_publisher.py │ ├── sector_tuner │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── cfg │ │ │ └── dyn_sect_tuner.cfg │ │ ├── data │ │ │ └── .gitkeep │ │ ├── launch │ │ │ ├── sector_tuner.launch │ │ │ └── velocity_scaler.launch │ │ ├── package.xml │ │ ├── scripts │ │ │ └── finish_sector.sh │ │ └── src │ │ │ ├── sector_server.py │ │ │ ├── sector_slicing.py │ │ │ └── vel_scaler_node.py │ ├── set_pose │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── package.xml │ │ └── src │ │ │ └── set_pose_node.py │ ├── slam_tuner │ │ ├── .gitignore │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── config │ │ │ ├── f110_2d.lua │ │ │ ├── f110_2d_loc.lua │ │ │ └── f110_description │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── meshes │ │ │ │ ├── chassis.STL │ │ │ │ ├── chassis.dae │ │ │ │ ├── cone.dae │ │ │ │ ├── hokuyo.dae │ │ │ │ ├── left_front_wheel.STL │ │ │ │ ├── left_front_wheel.dae │ │ │ │ ├── left_rear_wheel.STL │ │ │ │ ├── left_rear_wheel.dae │ │ │ │ ├── left_steering_hinge.STL │ │ │ │ ├── left_steering_hinge.dae │ │ │ │ ├── parking_1.dae │ │ │ │ ├── right_front_wheel.STL │ │ │ │ ├── right_front_wheel.dae │ │ │ │ ├── right_rear_wheel.STL │ │ │ │ ├── right_rear_wheel.dae │ │ │ │ ├── right_steering_hinge.STL │ │ │ │ ├── right_steering_hinge.dae │ │ │ │ └── walker_racecourse.dae │ │ │ │ ├── models │ │ │ │ ├── MIT_Tunnel │ │ │ │ │ ├── model.config │ │ │ │ │ └── model.sdf │ │ │ │ ├── ar_tags │ │ │ │ │ ├── marker0 │ │ │ │ │ │ ├── marker0 │ │ │ │ │ │ │ ├── marker0 │ │ │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ │ │ └── model.config │ │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ │ └── model.config │ │ │ │ │ │ ├── materials │ │ │ │ │ │ │ └── textures │ │ │ │ │ │ │ │ └── Marker0.png │ │ │ │ │ │ ├── meshes │ │ │ │ │ │ │ └── Marker0.dae │ │ │ │ │ │ ├── model-1_4.sdf │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ ├── model.config │ │ │ │ │ │ └── model.sdf │ │ │ │ │ ├── marker1 │ │ │ │ │ │ ├── marker0 │ │ │ │ │ │ │ ├── marker0 │ │ │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ │ │ └── model.config │ │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ │ └── model.config │ │ │ │ │ │ ├── materials │ │ │ │ │ │ │ └── textures │ │ │ │ │ │ │ │ └── Marker1.png │ │ │ │ │ │ ├── meshes │ │ │ │ │ │ │ └── Marker1.dae │ │ │ │ │ │ ├── model-1_4.sdf │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ ├── model.config │ │ │ │ │ │ └── model.sdf │ │ │ │ │ ├── marker10 │ │ │ │ │ │ ├── marker0 │ │ │ │ │ │ │ ├── marker0 │ │ │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ │ │ └── model.config │ │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ │ └── model.config │ │ │ │ │ │ ├── materials │ │ │ │ │ │ │ └── textures │ │ │ │ │ │ │ │ └── Marker10.png │ │ │ │ │ │ ├── meshes │ │ │ │ │ │ │ └── Marker10.dae │ │ │ │ │ │ ├── model-1_4.sdf │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ ├── model.config │ │ │ │ │ │ └── model.sdf │ │ │ │ │ ├── marker11 │ │ │ │ │ │ ├── marker0 │ │ │ │ │ │ │ ├── marker0 │ │ │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ │ │ └── model.config │ │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ │ └── model.config │ │ │ │ │ │ ├── materials │ │ │ │ │ │ │ └── textures │ │ │ │ │ │ │ │ └── Marker11.png │ │ │ │ │ │ ├── meshes │ │ │ │ │ │ │ └── Marker11.dae │ │ │ │ │ │ ├── model-1_4.sdf │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ ├── model.config │ │ │ │ │ │ └── model.sdf │ │ │ │ │ ├── marker12 │ │ │ │ │ │ ├── marker0 │ │ │ │ │ │ │ ├── marker0 │ │ │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ │ │ └── model.config │ │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ │ └── model.config │ │ │ │ │ │ ├── materials │ │ │ │ │ │ │ └── textures │ │ │ │ │ │ │ │ └── Marker12.png │ │ │ │ │ │ ├── meshes │ │ │ │ │ │ │ └── Marker12.dae │ │ │ │ │ │ ├── model-1_4.sdf │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ ├── model.config │ │ │ │ │ │ └── model.sdf │ │ │ │ │ ├── marker13 │ │ │ │ │ │ ├── marker0 │ │ │ │ │ │ │ ├── marker0 │ │ │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ │ │ └── model.config │ │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ │ └── model.config │ │ │ │ │ │ ├── materials │ │ │ │ │ │ │ └── textures │ │ │ │ │ │ │ │ └── Marker13.png │ │ │ │ │ │ ├── meshes │ │ │ │ │ │ │ └── Marker13.dae │ │ │ │ │ │ ├── model-1_4.sdf │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ ├── model.config │ │ │ │ │ │ └── model.sdf │ │ │ │ │ ├── marker14 │ │ │ │ │ │ ├── marker0 │ │ │ │ │ │ │ ├── marker0 │ │ │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ │ │ └── model.config │ │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ │ └── model.config │ │ │ │ │ │ ├── materials │ │ │ │ │ │ │ └── textures │ │ │ │ │ │ │ │ └── Marker14.png │ │ │ │ │ │ ├── meshes │ │ │ │ │ │ │ └── Marker14.dae │ │ │ │ │ │ ├── model-1_4.sdf │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ ├── model.config │ │ │ │ │ │ └── model.sdf │ │ │ │ │ ├── marker15 │ │ │ │ │ │ ├── marker0 │ │ │ │ │ │ │ ├── marker0 │ │ │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ │ │ └── model.config │ │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ │ └── model.config │ │ │ │ │ │ ├── materials │ │ │ │ │ │ │ └── textures │ │ │ │ │ │ │ │ └── Marker15.png │ │ │ │ │ │ ├── meshes │ │ │ │ │ │ │ └── Marker15.dae │ │ │ │ │ │ ├── model-1_4.sdf │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ ├── model.config │ │ │ │ │ │ └── model.sdf │ │ │ │ │ ├── marker16 │ │ │ │ │ │ ├── marker0 │ │ │ │ │ │ │ ├── marker0 │ │ │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ │ │ └── model.config │ │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ │ └── model.config │ │ │ │ │ │ ├── materials │ │ │ │ │ │ │ └── textures │ │ │ │ │ │ │ │ └── Marker16.png │ │ │ │ │ │ ├── meshes │ │ │ │ │ │ │ └── Marker16.dae │ │ │ │ │ │ ├── model-1_4.sdf │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ ├── model.config │ │ │ │ │ │ └── model.sdf │ │ │ │ │ ├── marker17 │ │ │ │ │ │ ├── marker0 │ │ │ │ │ │ │ ├── marker0 │ │ │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ │ │ └── model.config │ │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ │ └── model.config │ │ │ │ │ │ ├── materials │ │ │ │ │ │ │ └── textures │ │ │ │ │ │ │ │ └── Marker17.png │ │ │ │ │ │ ├── meshes │ │ │ │ │ │ │ └── Marker17.dae │ │ │ │ │ │ ├── model-1_4.sdf │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ ├── model.config │ │ │ │ │ │ └── model.sdf │ │ │ │ │ ├── marker2 │ │ │ │ │ │ ├── marker0 │ │ │ │ │ │ │ ├── marker0 │ │ │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ │ │ └── model.config │ │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ │ └── model.config │ │ │ │ │ │ ├── materials │ │ │ │ │ │ │ └── textures │ │ │ │ │ │ │ │ └── Marker2.png │ │ │ │ │ │ ├── meshes │ │ │ │ │ │ │ └── Marker2.dae │ │ │ │ │ │ ├── model-1_4.sdf │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ ├── model.config │ │ │ │ │ │ └── model.sdf │ │ │ │ │ ├── marker3 │ │ │ │ │ │ ├── marker0 │ │ │ │ │ │ │ ├── marker0 │ │ │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ │ │ └── model.config │ │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ │ └── model.config │ │ │ │ │ │ ├── materials │ │ │ │ │ │ │ └── textures │ │ │ │ │ │ │ │ └── Marker3.png │ │ │ │ │ │ ├── meshes │ │ │ │ │ │ │ └── Marker3.dae │ │ │ │ │ │ ├── model-1_4.sdf │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ ├── model.config │ │ │ │ │ │ └── model.sdf │ │ │ │ │ ├── marker4 │ │ │ │ │ │ ├── marker0 │ │ │ │ │ │ │ ├── marker0 │ │ │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ │ │ └── model.config │ │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ │ └── model.config │ │ │ │ │ │ ├── materials │ │ │ │ │ │ │ └── textures │ │ │ │ │ │ │ │ └── Marker4.png │ │ │ │ │ │ ├── meshes │ │ │ │ │ │ │ └── Marker4.dae │ │ │ │ │ │ ├── model-1_4.sdf │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ ├── model.config │ │ │ │ │ │ └── model.sdf │ │ │ │ │ ├── marker5 │ │ │ │ │ │ ├── marker0 │ │ │ │ │ │ │ ├── marker0 │ │ │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ │ │ └── model.config │ │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ │ └── model.config │ │ │ │ │ │ ├── materials │ │ │ │ │ │ │ └── textures │ │ │ │ │ │ │ │ └── Marker5.png │ │ │ │ │ │ ├── meshes │ │ │ │ │ │ │ └── Marker5.dae │ │ │ │ │ │ ├── model-1_4.sdf │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ ├── model.config │ │ │ │ │ │ └── model.sdf │ │ │ │ │ ├── marker6 │ │ │ │ │ │ ├── marker0 │ │ │ │ │ │ │ ├── marker0 │ │ │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ │ │ └── model.config │ │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ │ └── model.config │ │ │ │ │ │ ├── materials │ │ │ │ │ │ │ └── textures │ │ │ │ │ │ │ │ └── Marker6.png │ │ │ │ │ │ ├── meshes │ │ │ │ │ │ │ └── Marker6.dae │ │ │ │ │ │ ├── model-1_4.sdf │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ ├── model.config │ │ │ │ │ │ └── model.sdf │ │ │ │ │ ├── marker7 │ │ │ │ │ │ ├── marker0 │ │ │ │ │ │ │ ├── marker0 │ │ │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ │ │ └── model.config │ │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ │ └── model.config │ │ │ │ │ │ ├── materials │ │ │ │ │ │ │ └── textures │ │ │ │ │ │ │ │ └── Marker7.png │ │ │ │ │ │ ├── meshes │ │ │ │ │ │ │ └── Marker7.dae │ │ │ │ │ │ ├── model-1_4.sdf │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ ├── model.config │ │ │ │ │ │ └── model.sdf │ │ │ │ │ ├── marker8 │ │ │ │ │ │ ├── marker0 │ │ │ │ │ │ │ ├── marker0 │ │ │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ │ │ └── model.config │ │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ │ └── model.config │ │ │ │ │ │ ├── materials │ │ │ │ │ │ │ └── textures │ │ │ │ │ │ │ │ └── Marker8.png │ │ │ │ │ │ ├── meshes │ │ │ │ │ │ │ └── Marker8.dae │ │ │ │ │ │ ├── model-1_4.sdf │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ ├── model.config │ │ │ │ │ │ └── model.sdf │ │ │ │ │ └── marker9 │ │ │ │ │ │ ├── marker0 │ │ │ │ │ │ ├── marker0 │ │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ │ └── model.config │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ └── model.config │ │ │ │ │ │ ├── materials │ │ │ │ │ │ └── textures │ │ │ │ │ │ │ └── Marker9.png │ │ │ │ │ │ ├── meshes │ │ │ │ │ │ └── Marker9.dae │ │ │ │ │ │ ├── model-1_4.sdf │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ ├── model.config │ │ │ │ │ │ └── model.sdf │ │ │ │ ├── cone │ │ │ │ │ ├── model.config │ │ │ │ │ └── model.sdf │ │ │ │ ├── parking_1 │ │ │ │ │ ├── model.config │ │ │ │ │ └── model.sdf │ │ │ │ └── walker_racecourse │ │ │ │ │ ├── model.config │ │ │ │ │ └── model.sdf │ │ │ │ ├── package.xml │ │ │ │ └── urdf │ │ │ │ ├── F110.xacro │ │ │ │ ├── macros.xacro │ │ │ │ ├── materials.xacro │ │ │ │ ├── racecar.gazebo │ │ │ │ └── racecar.xacro │ │ ├── launch │ │ │ └── tuner.launch │ │ ├── package.xml │ │ ├── rviz │ │ │ └── tuner.rviz │ │ └── src │ │ │ ├── errormetrics │ │ │ ├── __init__.py │ │ │ ├── csv_io.py │ │ │ ├── plot_things.py │ │ │ └── utils.py │ │ │ ├── path_recorder.py │ │ │ ├── reconstruction_error.py │ │ │ └── setup.py │ ├── tf_transformer │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── launch │ │ │ └── tf_transformer.launch │ │ ├── package.xml │ │ ├── setup.py │ │ └── src │ │ │ └── tf_transformer_node.py │ └── transform_broadcaster │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── package.xml │ │ └── src │ │ ├── __init__.py │ │ └── transform_broadcaster.py └── scripts │ └── pit_starter │ ├── README.md │ ├── f1.rviz │ └── pit_starter.sh ├── perception ├── README.md └── abd_tracker │ ├── CMakeLists.txt │ ├── README.md │ ├── cfg │ └── dyn_tracker_tuner.cfg │ ├── misc │ └── perception_arch.png │ ├── opponent_tracker │ ├── launch │ │ └── opponent_track.launch │ └── src │ │ ├── detect.py │ │ ├── dynamic_tracker_server.py │ │ └── tracking.py │ └── package.xml ├── planner ├── README.md ├── frenet-planner │ ├── CMakeLists.txt │ ├── LICENSE │ ├── README.md │ ├── include │ │ ├── CubicSpline1D.h │ │ ├── CubicSpline2D.h │ │ ├── FrenetOptimalTrajectory.h │ │ ├── FrenetPath.h │ │ ├── QuarticPolynomial.h │ │ ├── QuinticPolynomial.h │ │ ├── frenet_planner_node.h │ │ ├── py_cpp_struct.h │ │ └── utils.h │ ├── launch │ │ └── frenet_planner.launch │ ├── package.xml │ └── src │ │ ├── CubicSpline1D.cpp │ │ ├── CubicSpline2D.cpp │ │ ├── FrenetOptimalTrajectory.cpp │ │ ├── FrenetPath.cpp │ │ ├── QuarticPolynomial.cpp │ │ ├── QuinticPolynomial.cpp │ │ └── frenet_planner_node.cpp ├── gb_optimizer │ ├── CMakeLists.txt │ ├── README.md │ ├── package.xml │ ├── scripts │ │ └── finish_map.sh │ └── src │ │ ├── global_planner_node.py │ │ ├── global_trajectory_publisher.py │ │ └── readwrite_global_waypoints.py ├── graph_based_planner │ ├── CMakeLists.txt │ ├── launch │ │ └── planner.launch │ ├── package.xml │ └── src │ │ ├── GraphBasedPlanner │ │ ├── LICENSE │ │ ├── README.md │ │ ├── __init__.py │ │ ├── docs │ │ │ ├── requirements.txt │ │ │ └── source │ │ │ │ ├── conf.py │ │ │ │ ├── figures │ │ │ │ ├── Offline_Graph.png │ │ │ │ ├── Offline_Graph_Detail.png │ │ │ │ ├── Title.png │ │ │ │ ├── graphltpl_class.png │ │ │ │ ├── log_elements.png │ │ │ │ ├── log_legend_selection.gif │ │ │ │ ├── log_node_selection.gif │ │ │ │ ├── log_time_selection.gif │ │ │ │ ├── mod_structure.png │ │ │ │ └── sw_scheme.pptx │ │ │ │ ├── index.rst │ │ │ │ ├── software │ │ │ │ ├── basics.rst │ │ │ │ ├── config.rst │ │ │ │ ├── content │ │ │ │ │ ├── basics.rst │ │ │ │ │ ├── config.rst │ │ │ │ │ ├── devtools.rst │ │ │ │ │ ├── inputs.rst │ │ │ │ │ └── logs.rst │ │ │ │ ├── devtools.rst │ │ │ │ ├── inputs.rst │ │ │ │ ├── logs.rst │ │ │ │ └── main.rst │ │ │ │ └── start │ │ │ │ ├── content │ │ │ │ ├── installation.rst │ │ │ │ ├── launching.rst │ │ │ │ └── overview.rst │ │ │ │ ├── installation.rst │ │ │ │ ├── launching.rst │ │ │ │ ├── main.rst │ │ │ │ └── overview.rst │ │ ├── graph_ltpl │ │ │ ├── Graph_LTPL.py │ │ │ ├── __init__.py │ │ │ ├── data_objects │ │ │ │ ├── GraphBase.py │ │ │ │ ├── ObjectListInterface.py │ │ │ │ └── __init__.py │ │ │ ├── helper_funcs │ │ │ │ ├── __init__.py │ │ │ │ └── src │ │ │ │ │ ├── Logging.py │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── calc_brake_emergency.py │ │ │ │ │ ├── calc_vel_profile_follow.py │ │ │ │ │ ├── closest_path_index.py │ │ │ │ │ └── get_s_coord.py │ │ │ ├── imp_global_traj │ │ │ │ ├── __init__.py │ │ │ │ └── src │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── import_globtraj_csv.py │ │ │ │ │ └── variable_step_size.py │ │ │ ├── offline_graph │ │ │ │ ├── __init__.py │ │ │ │ └── src │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── gen_edges.py │ │ │ │ │ ├── gen_node_skeleton.py │ │ │ │ │ ├── gen_offline_cost.py │ │ │ │ │ ├── main_offline_callback.py │ │ │ │ │ └── prune_graph.py │ │ │ ├── online_graph │ │ │ │ ├── __init__.py │ │ │ │ └── src │ │ │ │ │ ├── OnlineTrajectoryHandler.py │ │ │ │ │ ├── VpForwardBackward.py │ │ │ │ │ ├── VpSQP.py │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── check_inside_bounds.py │ │ │ │ │ ├── gen_local_node_template.py │ │ │ │ │ ├── get_intersec_edges.py │ │ │ │ │ ├── get_zone_nodes.py │ │ │ │ │ └── main_online_path_gen.py │ │ │ ├── testing_tools │ │ │ │ ├── __init__.py │ │ │ │ └── src │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── objectlist_dummy.py │ │ │ │ │ └── vdc_dummy.py │ │ │ └── visualization │ │ │ │ ├── __init__.py │ │ │ │ └── src │ │ │ │ ├── PlotHandler.py │ │ │ │ ├── __init__.py │ │ │ │ └── visualize_graph_log.py │ │ ├── inputs │ │ │ ├── stored_graph.pckl │ │ │ └── veh_dyn_info │ │ │ │ └── ax_max_machines.csv │ │ ├── logs │ │ │ └── graph_ltpl │ │ │ │ └── Graph_Objects │ │ │ │ ├── 2022_10_17__13_24_30.pckl │ │ │ │ └── None.pckl │ │ ├── main_min_example.py │ │ ├── main_std_example.py │ │ ├── params │ │ │ ├── driving_task.ini │ │ │ ├── ltpl_config_offline.ini │ │ │ └── ltpl_config_online.ini │ │ ├── requirements.txt │ │ ├── setup.cfg │ │ └── setup.py │ │ ├── Planner.py │ │ └── path_publisher.py ├── misc │ └── planner_arch.png └── spliner │ ├── CMakeLists.txt │ ├── README.md │ ├── cfg │ └── dyn_spliner_tuner.cfg │ ├── package.xml │ └── src │ ├── dynamic_spline_server.py │ └── spliner_node.py ├── stack_master ├── CMakeLists.txt ├── README.md ├── checklists │ ├── HeadToHead.md │ ├── Mapping.md │ ├── OpponentTracker.md │ ├── PitUsage.md │ ├── README.md │ ├── SplinerTuning.md │ ├── SysID.md │ ├── TimeTrials.md │ ├── img │ │ ├── ellipse.png │ │ ├── l1_dist.png │ │ └── speed_scaling.png │ └── networking.md ├── config │ ├── BayesOpt_MAP │ │ └── MAP_EI.yaml │ ├── DEFAULT │ │ ├── kinematic_mpc_dyn_params.yaml │ │ ├── kinematic_mpc_params.yaml │ │ ├── pacejka │ │ │ └── DEFAULT │ │ │ │ └── default.yaml │ │ ├── single_track_mpc_dyn_params.yaml │ │ ├── single_track_mpc_params.yaml │ │ ├── steer_pid.yaml │ │ └── steer_pid_dyn_params.yaml │ ├── JET1 │ │ ├── high_level_mux.yaml │ │ ├── joy_teleop.launch.xml │ │ ├── joy_teleop.yaml │ │ ├── low_level_mux.yaml │ │ ├── sensors.launch.xml │ │ ├── sensors.yaml │ │ ├── slam │ │ │ ├── f110_2d.lua │ │ │ ├── f110_2d_loc.lua │ │ │ └── f110_description │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── meshes │ │ │ │ ├── chassis.STL │ │ │ │ ├── chassis.dae │ │ │ │ ├── cone.dae │ │ │ │ ├── hokuyo.dae │ │ │ │ ├── left_front_wheel.STL │ │ │ │ ├── left_front_wheel.dae │ │ │ │ ├── left_rear_wheel.STL │ │ │ │ ├── left_rear_wheel.dae │ │ │ │ ├── left_steering_hinge.STL │ │ │ │ ├── left_steering_hinge.dae │ │ │ │ ├── parking_1.dae │ │ │ │ ├── right_front_wheel.STL │ │ │ │ ├── right_front_wheel.dae │ │ │ │ ├── right_rear_wheel.STL │ │ │ │ ├── right_rear_wheel.dae │ │ │ │ ├── right_steering_hinge.STL │ │ │ │ ├── right_steering_hinge.dae │ │ │ │ └── walker_racecourse.dae │ │ │ │ ├── models │ │ │ │ ├── MIT_Tunnel │ │ │ │ │ ├── model.config │ │ │ │ │ └── model.sdf │ │ │ │ ├── ar_tags │ │ │ │ │ ├── marker0 │ │ │ │ │ │ ├── marker0 │ │ │ │ │ │ │ ├── marker0 │ │ │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ │ │ └── model.config │ │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ │ └── model.config │ │ │ │ │ │ ├── materials │ │ │ │ │ │ │ └── textures │ │ │ │ │ │ │ │ └── Marker0.png │ │ │ │ │ │ ├── meshes │ │ │ │ │ │ │ └── Marker0.dae │ │ │ │ │ │ ├── model-1_4.sdf │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ ├── model.config │ │ │ │ │ │ └── model.sdf │ │ │ │ │ ├── marker1 │ │ │ │ │ │ ├── marker0 │ │ │ │ │ │ │ ├── marker0 │ │ │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ │ │ └── model.config │ │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ │ └── model.config │ │ │ │ │ │ ├── materials │ │ │ │ │ │ │ └── textures │ │ │ │ │ │ │ │ └── Marker1.png │ │ │ │ │ │ ├── meshes │ │ │ │ │ │ │ └── Marker1.dae │ │ │ │ │ │ ├── model-1_4.sdf │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ ├── model.config │ │ │ │ │ │ └── model.sdf │ │ │ │ │ ├── marker10 │ │ │ │ │ │ ├── marker0 │ │ │ │ │ │ │ ├── marker0 │ │ │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ │ │ └── model.config │ │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ │ └── model.config │ │ │ │ │ │ ├── materials │ │ │ │ │ │ │ └── textures │ │ │ │ │ │ │ │ └── Marker10.png │ │ │ │ │ │ ├── meshes │ │ │ │ │ │ │ └── Marker10.dae │ │ │ │ │ │ ├── model-1_4.sdf │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ ├── model.config │ │ │ │ │ │ └── model.sdf │ │ │ │ │ ├── marker11 │ │ │ │ │ │ ├── marker0 │ │ │ │ │ │ │ ├── marker0 │ │ │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ │ │ └── model.config │ │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ │ └── model.config │ │ │ │ │ │ ├── materials │ │ │ │ │ │ │ └── textures │ │ │ │ │ │ │ │ └── Marker11.png │ │ │ │ │ │ ├── meshes │ │ │ │ │ │ │ └── Marker11.dae │ │ │ │ │ │ ├── model-1_4.sdf │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ ├── model.config │ │ │ │ │ │ └── model.sdf │ │ │ │ │ ├── marker12 │ │ │ │ │ │ ├── marker0 │ │ │ │ │ │ │ ├── marker0 │ │ │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ │ │ └── model.config │ │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ │ └── model.config │ │ │ │ │ │ ├── materials │ │ │ │ │ │ │ └── textures │ │ │ │ │ │ │ │ └── Marker12.png │ │ │ │ │ │ ├── meshes │ │ │ │ │ │ │ └── Marker12.dae │ │ │ │ │ │ ├── model-1_4.sdf │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ ├── model.config │ │ │ │ │ │ └── model.sdf │ │ │ │ │ ├── marker13 │ │ │ │ │ │ ├── marker0 │ │ │ │ │ │ │ ├── marker0 │ │ │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ │ │ └── model.config │ │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ │ └── model.config │ │ │ │ │ │ ├── materials │ │ │ │ │ │ │ └── textures │ │ │ │ │ │ │ │ └── Marker13.png │ │ │ │ │ │ ├── meshes │ │ │ │ │ │ │ └── Marker13.dae │ │ │ │ │ │ ├── model-1_4.sdf │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ ├── model.config │ │ │ │ │ │ └── model.sdf │ │ │ │ │ ├── marker14 │ │ │ │ │ │ ├── marker0 │ │ │ │ │ │ │ ├── marker0 │ │ │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ │ │ └── model.config │ │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ │ └── model.config │ │ │ │ │ │ ├── materials │ │ │ │ │ │ │ └── textures │ │ │ │ │ │ │ │ └── Marker14.png │ │ │ │ │ │ ├── meshes │ │ │ │ │ │ │ └── Marker14.dae │ │ │ │ │ │ ├── model-1_4.sdf │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ ├── model.config │ │ │ │ │ │ └── model.sdf │ │ │ │ │ ├── marker15 │ │ │ │ │ │ ├── marker0 │ │ │ │ │ │ │ ├── marker0 │ │ │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ │ │ └── model.config │ │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ │ └── model.config │ │ │ │ │ │ ├── materials │ │ │ │ │ │ │ └── textures │ │ │ │ │ │ │ │ └── Marker15.png │ │ │ │ │ │ ├── meshes │ │ │ │ │ │ │ └── Marker15.dae │ │ │ │ │ │ ├── model-1_4.sdf │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ ├── model.config │ │ │ │ │ │ └── model.sdf │ │ │ │ │ ├── marker16 │ │ │ │ │ │ ├── marker0 │ │ │ │ │ │ │ ├── marker0 │ │ │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ │ │ └── model.config │ │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ │ └── model.config │ │ │ │ │ │ ├── materials │ │ │ │ │ │ │ └── textures │ │ │ │ │ │ │ │ └── Marker16.png │ │ │ │ │ │ ├── meshes │ │ │ │ │ │ │ └── Marker16.dae │ │ │ │ │ │ ├── model-1_4.sdf │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ ├── model.config │ │ │ │ │ │ └── model.sdf │ │ │ │ │ ├── marker17 │ │ │ │ │ │ ├── marker0 │ │ │ │ │ │ │ ├── marker0 │ │ │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ │ │ └── model.config │ │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ │ └── model.config │ │ │ │ │ │ ├── materials │ │ │ │ │ │ │ └── textures │ │ │ │ │ │ │ │ └── Marker17.png │ │ │ │ │ │ ├── meshes │ │ │ │ │ │ │ └── Marker17.dae │ │ │ │ │ │ ├── model-1_4.sdf │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ ├── model.config │ │ │ │ │ │ └── model.sdf │ │ │ │ │ ├── marker2 │ │ │ │ │ │ ├── marker0 │ │ │ │ │ │ │ ├── marker0 │ │ │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ │ │ └── model.config │ │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ │ └── model.config │ │ │ │ │ │ ├── materials │ │ │ │ │ │ │ └── textures │ │ │ │ │ │ │ │ └── Marker2.png │ │ │ │ │ │ ├── meshes │ │ │ │ │ │ │ └── Marker2.dae │ │ │ │ │ │ ├── model-1_4.sdf │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ ├── model.config │ │ │ │ │ │ └── model.sdf │ │ │ │ │ ├── marker3 │ │ │ │ │ │ ├── marker0 │ │ │ │ │ │ │ ├── marker0 │ │ │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ │ │ └── model.config │ │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ │ └── model.config │ │ │ │ │ │ ├── materials │ │ │ │ │ │ │ └── textures │ │ │ │ │ │ │ │ └── Marker3.png │ │ │ │ │ │ ├── meshes │ │ │ │ │ │ │ └── Marker3.dae │ │ │ │ │ │ ├── model-1_4.sdf │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ ├── model.config │ │ │ │ │ │ └── model.sdf │ │ │ │ │ ├── marker4 │ │ │ │ │ │ ├── marker0 │ │ │ │ │ │ │ ├── marker0 │ │ │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ │ │ └── model.config │ │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ │ └── model.config │ │ │ │ │ │ ├── materials │ │ │ │ │ │ │ └── textures │ │ │ │ │ │ │ │ └── Marker4.png │ │ │ │ │ │ ├── meshes │ │ │ │ │ │ │ └── Marker4.dae │ │ │ │ │ │ ├── model-1_4.sdf │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ ├── model.config │ │ │ │ │ │ └── model.sdf │ │ │ │ │ ├── marker5 │ │ │ │ │ │ ├── marker0 │ │ │ │ │ │ │ ├── marker0 │ │ │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ │ │ └── model.config │ │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ │ └── model.config │ │ │ │ │ │ ├── materials │ │ │ │ │ │ │ └── textures │ │ │ │ │ │ │ │ └── Marker5.png │ │ │ │ │ │ ├── meshes │ │ │ │ │ │ │ └── Marker5.dae │ │ │ │ │ │ ├── model-1_4.sdf │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ ├── model.config │ │ │ │ │ │ └── model.sdf │ │ │ │ │ ├── marker6 │ │ │ │ │ │ ├── marker0 │ │ │ │ │ │ │ ├── marker0 │ │ │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ │ │ └── model.config │ │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ │ └── model.config │ │ │ │ │ │ ├── materials │ │ │ │ │ │ │ └── textures │ │ │ │ │ │ │ │ └── Marker6.png │ │ │ │ │ │ ├── meshes │ │ │ │ │ │ │ └── Marker6.dae │ │ │ │ │ │ ├── model-1_4.sdf │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ ├── model.config │ │ │ │ │ │ └── model.sdf │ │ │ │ │ ├── marker7 │ │ │ │ │ │ ├── marker0 │ │ │ │ │ │ │ ├── marker0 │ │ │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ │ │ └── model.config │ │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ │ └── model.config │ │ │ │ │ │ ├── materials │ │ │ │ │ │ │ └── textures │ │ │ │ │ │ │ │ └── Marker7.png │ │ │ │ │ │ ├── meshes │ │ │ │ │ │ │ └── Marker7.dae │ │ │ │ │ │ ├── model-1_4.sdf │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ ├── model.config │ │ │ │ │ │ └── model.sdf │ │ │ │ │ ├── marker8 │ │ │ │ │ │ ├── marker0 │ │ │ │ │ │ │ ├── marker0 │ │ │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ │ │ └── model.config │ │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ │ └── model.config │ │ │ │ │ │ ├── materials │ │ │ │ │ │ │ └── textures │ │ │ │ │ │ │ │ └── Marker8.png │ │ │ │ │ │ ├── meshes │ │ │ │ │ │ │ └── Marker8.dae │ │ │ │ │ │ ├── model-1_4.sdf │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ ├── model.config │ │ │ │ │ │ └── model.sdf │ │ │ │ │ └── marker9 │ │ │ │ │ │ ├── marker0 │ │ │ │ │ │ ├── marker0 │ │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ │ └── model.config │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ └── model.config │ │ │ │ │ │ ├── materials │ │ │ │ │ │ └── textures │ │ │ │ │ │ │ └── Marker9.png │ │ │ │ │ │ ├── meshes │ │ │ │ │ │ └── Marker9.dae │ │ │ │ │ │ ├── model-1_4.sdf │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ ├── model.config │ │ │ │ │ │ └── model.sdf │ │ │ │ ├── cone │ │ │ │ │ ├── model.config │ │ │ │ │ └── model.sdf │ │ │ │ ├── parking_1 │ │ │ │ │ ├── model.config │ │ │ │ │ └── model.sdf │ │ │ │ └── walker_racecourse │ │ │ │ │ ├── model.config │ │ │ │ │ └── model.sdf │ │ │ │ ├── package.xml │ │ │ │ └── urdf │ │ │ │ ├── F110.xacro │ │ │ │ ├── macros.xacro │ │ │ │ ├── materials.xacro │ │ │ │ ├── racecar.gazebo │ │ │ │ └── racecar.xacro │ │ ├── static_transforms.launch.xml │ │ ├── vesc.launch.xml │ │ ├── vesc.yaml │ │ └── vesc_new.yaml │ ├── NUC2 │ │ ├── BO_ranges.yaml │ │ ├── LUT │ │ │ └── dubi │ │ │ │ ├── archive │ │ │ │ └── 0416_LUT.csv │ │ │ │ └── default.csv │ │ ├── NUC2_linear.yaml │ │ ├── NUC2_pacejka.yaml │ │ ├── car_model.yaml │ │ ├── high_level_mux.yaml │ │ ├── joy_teleop.launch.xml │ │ ├── joy_teleop.yaml │ │ ├── kinematic_mpc_params.yaml │ │ ├── l1_params.yaml │ │ ├── low_level_mux.yaml │ │ ├── pacejka │ │ │ └── dubi │ │ │ │ ├── archive │ │ │ │ └── 0401_pacejka.yaml │ │ │ │ └── default.yaml │ │ ├── sensors.launch.xml │ │ ├── sensors.yaml │ │ ├── single_track_mpc_params.yaml │ │ ├── slam │ │ │ ├── f110_2d.lua │ │ │ ├── f110_2d_loc.lua │ │ │ └── f110_description │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── meshes │ │ │ │ ├── chassis.STL │ │ │ │ ├── chassis.dae │ │ │ │ ├── cone.dae │ │ │ │ ├── hokuyo.dae │ │ │ │ ├── left_front_wheel.STL │ │ │ │ ├── left_front_wheel.dae │ │ │ │ ├── left_rear_wheel.STL │ │ │ │ ├── left_rear_wheel.dae │ │ │ │ ├── left_steering_hinge.STL │ │ │ │ ├── left_steering_hinge.dae │ │ │ │ ├── parking_1.dae │ │ │ │ ├── right_front_wheel.STL │ │ │ │ ├── right_front_wheel.dae │ │ │ │ ├── right_rear_wheel.STL │ │ │ │ ├── right_rear_wheel.dae │ │ │ │ ├── right_steering_hinge.STL │ │ │ │ ├── right_steering_hinge.dae │ │ │ │ └── walker_racecourse.dae │ │ │ │ ├── models │ │ │ │ ├── MIT_Tunnel │ │ │ │ │ ├── model.config │ │ │ │ │ └── model.sdf │ │ │ │ ├── ar_tags │ │ │ │ │ ├── marker0 │ │ │ │ │ │ ├── marker0 │ │ │ │ │ │ │ ├── marker0 │ │ │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ │ │ └── model.config │ │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ │ └── model.config │ │ │ │ │ │ ├── materials │ │ │ │ │ │ │ └── textures │ │ │ │ │ │ │ │ └── Marker0.png │ │ │ │ │ │ ├── meshes │ │ │ │ │ │ │ └── Marker0.dae │ │ │ │ │ │ ├── model-1_4.sdf │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ ├── model.config │ │ │ │ │ │ └── model.sdf │ │ │ │ │ ├── marker1 │ │ │ │ │ │ ├── marker0 │ │ │ │ │ │ │ ├── marker0 │ │ │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ │ │ └── model.config │ │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ │ └── model.config │ │ │ │ │ │ ├── materials │ │ │ │ │ │ │ └── textures │ │ │ │ │ │ │ │ └── Marker1.png │ │ │ │ │ │ ├── meshes │ │ │ │ │ │ │ └── Marker1.dae │ │ │ │ │ │ ├── model-1_4.sdf │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ ├── model.config │ │ │ │ │ │ └── model.sdf │ │ │ │ │ ├── marker10 │ │ │ │ │ │ ├── marker0 │ │ │ │ │ │ │ ├── marker0 │ │ │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ │ │ └── model.config │ │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ │ └── model.config │ │ │ │ │ │ ├── materials │ │ │ │ │ │ │ └── textures │ │ │ │ │ │ │ │ └── Marker10.png │ │ │ │ │ │ ├── meshes │ │ │ │ │ │ │ └── Marker10.dae │ │ │ │ │ │ ├── model-1_4.sdf │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ ├── model.config │ │ │ │ │ │ └── model.sdf │ │ │ │ │ ├── marker11 │ │ │ │ │ │ ├── marker0 │ │ │ │ │ │ │ ├── marker0 │ │ │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ │ │ └── model.config │ │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ │ └── model.config │ │ │ │ │ │ ├── materials │ │ │ │ │ │ │ └── textures │ │ │ │ │ │ │ │ └── Marker11.png │ │ │ │ │ │ ├── meshes │ │ │ │ │ │ │ └── Marker11.dae │ │ │ │ │ │ ├── model-1_4.sdf │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ ├── model.config │ │ │ │ │ │ └── model.sdf │ │ │ │ │ ├── marker12 │ │ │ │ │ │ ├── marker0 │ │ │ │ │ │ │ ├── marker0 │ │ │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ │ │ └── model.config │ │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ │ └── model.config │ │ │ │ │ │ ├── materials │ │ │ │ │ │ │ └── textures │ │ │ │ │ │ │ │ └── Marker12.png │ │ │ │ │ │ ├── meshes │ │ │ │ │ │ │ └── Marker12.dae │ │ │ │ │ │ ├── model-1_4.sdf │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ ├── model.config │ │ │ │ │ │ └── model.sdf │ │ │ │ │ ├── marker13 │ │ │ │ │ │ ├── marker0 │ │ │ │ │ │ │ ├── marker0 │ │ │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ │ │ └── model.config │ │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ │ └── model.config │ │ │ │ │ │ ├── materials │ │ │ │ │ │ │ └── textures │ │ │ │ │ │ │ │ └── Marker13.png │ │ │ │ │ │ ├── meshes │ │ │ │ │ │ │ └── Marker13.dae │ │ │ │ │ │ ├── model-1_4.sdf │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ ├── model.config │ │ │ │ │ │ └── model.sdf │ │ │ │ │ ├── marker14 │ │ │ │ │ │ ├── marker0 │ │ │ │ │ │ │ ├── marker0 │ │ │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ │ │ └── model.config │ │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ │ └── model.config │ │ │ │ │ │ ├── materials │ │ │ │ │ │ │ └── textures │ │ │ │ │ │ │ │ └── Marker14.png │ │ │ │ │ │ ├── meshes │ │ │ │ │ │ │ └── Marker14.dae │ │ │ │ │ │ ├── model-1_4.sdf │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ ├── model.config │ │ │ │ │ │ └── model.sdf │ │ │ │ │ ├── marker15 │ │ │ │ │ │ ├── marker0 │ │ │ │ │ │ │ ├── marker0 │ │ │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ │ │ └── model.config │ │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ │ └── model.config │ │ │ │ │ │ ├── materials │ │ │ │ │ │ │ └── textures │ │ │ │ │ │ │ │ └── Marker15.png │ │ │ │ │ │ ├── meshes │ │ │ │ │ │ │ └── Marker15.dae │ │ │ │ │ │ ├── model-1_4.sdf │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ ├── model.config │ │ │ │ │ │ └── model.sdf │ │ │ │ │ ├── marker16 │ │ │ │ │ │ ├── marker0 │ │ │ │ │ │ │ ├── marker0 │ │ │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ │ │ └── model.config │ │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ │ └── model.config │ │ │ │ │ │ ├── materials │ │ │ │ │ │ │ └── textures │ │ │ │ │ │ │ │ └── Marker16.png │ │ │ │ │ │ ├── meshes │ │ │ │ │ │ │ └── Marker16.dae │ │ │ │ │ │ ├── model-1_4.sdf │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ ├── model.config │ │ │ │ │ │ └── model.sdf │ │ │ │ │ ├── marker17 │ │ │ │ │ │ ├── marker0 │ │ │ │ │ │ │ ├── marker0 │ │ │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ │ │ └── model.config │ │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ │ └── model.config │ │ │ │ │ │ ├── materials │ │ │ │ │ │ │ └── textures │ │ │ │ │ │ │ │ └── Marker17.png │ │ │ │ │ │ ├── meshes │ │ │ │ │ │ │ └── Marker17.dae │ │ │ │ │ │ ├── model-1_4.sdf │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ ├── model.config │ │ │ │ │ │ └── model.sdf │ │ │ │ │ ├── marker2 │ │ │ │ │ │ ├── marker0 │ │ │ │ │ │ │ ├── marker0 │ │ │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ │ │ └── model.config │ │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ │ └── model.config │ │ │ │ │ │ ├── materials │ │ │ │ │ │ │ └── textures │ │ │ │ │ │ │ │ └── Marker2.png │ │ │ │ │ │ ├── meshes │ │ │ │ │ │ │ └── Marker2.dae │ │ │ │ │ │ ├── model-1_4.sdf │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ ├── model.config │ │ │ │ │ │ └── model.sdf │ │ │ │ │ ├── marker3 │ │ │ │ │ │ ├── marker0 │ │ │ │ │ │ │ ├── marker0 │ │ │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ │ │ └── model.config │ │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ │ └── model.config │ │ │ │ │ │ ├── materials │ │ │ │ │ │ │ └── textures │ │ │ │ │ │ │ │ └── Marker3.png │ │ │ │ │ │ ├── meshes │ │ │ │ │ │ │ └── Marker3.dae │ │ │ │ │ │ ├── model-1_4.sdf │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ ├── model.config │ │ │ │ │ │ └── model.sdf │ │ │ │ │ ├── marker4 │ │ │ │ │ │ ├── marker0 │ │ │ │ │ │ │ ├── marker0 │ │ │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ │ │ └── model.config │ │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ │ └── model.config │ │ │ │ │ │ ├── materials │ │ │ │ │ │ │ └── textures │ │ │ │ │ │ │ │ └── Marker4.png │ │ │ │ │ │ ├── meshes │ │ │ │ │ │ │ └── Marker4.dae │ │ │ │ │ │ ├── model-1_4.sdf │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ ├── model.config │ │ │ │ │ │ └── model.sdf │ │ │ │ │ ├── marker5 │ │ │ │ │ │ ├── marker0 │ │ │ │ │ │ │ ├── marker0 │ │ │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ │ │ └── model.config │ │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ │ └── model.config │ │ │ │ │ │ ├── materials │ │ │ │ │ │ │ └── textures │ │ │ │ │ │ │ │ └── Marker5.png │ │ │ │ │ │ ├── meshes │ │ │ │ │ │ │ └── Marker5.dae │ │ │ │ │ │ ├── model-1_4.sdf │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ ├── model.config │ │ │ │ │ │ └── model.sdf │ │ │ │ │ ├── marker6 │ │ │ │ │ │ ├── marker0 │ │ │ │ │ │ │ ├── marker0 │ │ │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ │ │ └── model.config │ │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ │ └── model.config │ │ │ │ │ │ ├── materials │ │ │ │ │ │ │ └── textures │ │ │ │ │ │ │ │ └── Marker6.png │ │ │ │ │ │ ├── meshes │ │ │ │ │ │ │ └── Marker6.dae │ │ │ │ │ │ ├── model-1_4.sdf │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ ├── model.config │ │ │ │ │ │ └── model.sdf │ │ │ │ │ ├── marker7 │ │ │ │ │ │ ├── marker0 │ │ │ │ │ │ │ ├── marker0 │ │ │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ │ │ └── model.config │ │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ │ └── model.config │ │ │ │ │ │ ├── materials │ │ │ │ │ │ │ └── textures │ │ │ │ │ │ │ │ └── Marker7.png │ │ │ │ │ │ ├── meshes │ │ │ │ │ │ │ └── Marker7.dae │ │ │ │ │ │ ├── model-1_4.sdf │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ ├── model.config │ │ │ │ │ │ └── model.sdf │ │ │ │ │ ├── marker8 │ │ │ │ │ │ ├── marker0 │ │ │ │ │ │ │ ├── marker0 │ │ │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ │ │ └── model.config │ │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ │ └── model.config │ │ │ │ │ │ ├── materials │ │ │ │ │ │ │ └── textures │ │ │ │ │ │ │ │ └── Marker8.png │ │ │ │ │ │ ├── meshes │ │ │ │ │ │ │ └── Marker8.dae │ │ │ │ │ │ ├── model-1_4.sdf │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ ├── model.config │ │ │ │ │ │ └── model.sdf │ │ │ │ │ └── marker9 │ │ │ │ │ │ ├── marker0 │ │ │ │ │ │ ├── marker0 │ │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ │ └── model.config │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ └── model.config │ │ │ │ │ │ ├── materials │ │ │ │ │ │ └── textures │ │ │ │ │ │ │ └── Marker9.png │ │ │ │ │ │ ├── meshes │ │ │ │ │ │ └── Marker9.dae │ │ │ │ │ │ ├── model-1_4.sdf │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ ├── model.config │ │ │ │ │ │ └── model.sdf │ │ │ │ ├── cone │ │ │ │ │ ├── model.config │ │ │ │ │ └── model.sdf │ │ │ │ ├── parking_1 │ │ │ │ │ ├── model.config │ │ │ │ │ └── model.sdf │ │ │ │ └── walker_racecourse │ │ │ │ │ ├── model.config │ │ │ │ │ └── model.sdf │ │ │ │ ├── package.xml │ │ │ │ └── urdf │ │ │ │ ├── F110.xacro │ │ │ │ ├── macros.xacro │ │ │ │ ├── materials.xacro │ │ │ │ ├── racecar.gazebo │ │ │ │ └── racecar.xacro │ │ ├── static_transforms.launch.xml │ │ ├── trailing_params.yaml │ │ ├── vesc.launch.xml │ │ ├── vesc.yaml │ │ └── vesc_new.yaml │ ├── README.md │ ├── frenet_planner_params_aggressive.yaml │ ├── frenet_planner_params_safe.yaml │ ├── gb_optimizer │ │ ├── racecar_f110.ini │ │ └── veh_dyn_info │ │ │ ├── ax_max_machines.csv │ │ │ └── ggv.csv │ ├── global_planner_params.yaml │ ├── local_sysid_ver_params.yaml │ ├── opponent_tracker_params.yaml │ └── state_machine_params.yaml ├── launch │ ├── base_system.launch │ ├── headtohead.launch │ ├── mapping.launch │ ├── state_indicator.launch │ ├── sys_id.launch │ ├── sysid_verify.launch │ └── time_trials.launch ├── maps │ ├── .gitignore │ ├── JFR_racingv5 │ │ ├── JFR_racingv5.pbstream │ │ ├── JFR_racingv5.png │ │ ├── JFR_racingv5.yaml │ │ ├── JFR_racingv5_backup.png │ │ ├── global_waypoints.json │ │ ├── ot_sectors.yaml │ │ ├── pf_map.png │ │ ├── pf_map.yaml │ │ └── speed_scaling.yaml │ ├── JFR_racingv6 │ │ ├── JFR_racingv5_backup.png │ │ ├── JFR_racingv6.pbstream │ │ ├── JFR_racingv6.png │ │ ├── JFR_racingv6.yaml │ │ ├── global_waypoints.json │ │ ├── ot_sectors.yaml │ │ ├── pf_map.png │ │ ├── pf_map.yaml │ │ └── speed_scaling.yaml │ ├── f │ │ ├── .gitignore │ │ ├── f.png │ │ ├── f.yaml │ │ ├── global_waypoints.json │ │ ├── ot_sectors.yaml │ │ └── speed_scaling.yaml │ └── test_map │ │ ├── global_waypoints.json │ │ ├── ot_sectors.yaml │ │ ├── speed_scaling.yaml │ │ ├── test_map.png │ │ └── test_map.yaml ├── package.xml ├── pbl_config │ ├── README.md │ ├── autocompletion.png │ ├── config.drawio.svg │ ├── include │ │ └── CppWrapper │ │ │ ├── CarConfig.h │ │ │ ├── Config.h │ │ │ ├── LinearTireConfig.h │ │ │ └── PacejkaTireConfig.h │ └── src │ │ └── pbl_config │ │ ├── CarConfig.py │ │ ├── CppWrapper │ │ ├── CarConfig.cpp │ │ ├── LinearTireConfig.cpp │ │ └── PacejkaTireConfig.cpp │ │ ├── LinearTireConfig.py │ │ ├── PacejkaTireConfig.py │ │ ├── SimImprovementConfig.py │ │ ├── TrailingConfig.py │ │ ├── __init__.py │ │ ├── controller │ │ ├── mpc │ │ │ ├── KMPCConfig.py │ │ │ ├── KMPCConfigDyn.py │ │ │ ├── STMPCConfig.py │ │ │ └── STMPCConfigDyn.py │ │ └── steer_pid │ │ │ ├── SteerPidConfig.py │ │ │ └── SteerPidConfigDyn.py │ │ └── planner │ │ └── MultiOppSplinerConfig.py ├── scripts │ ├── download_map.sh │ ├── finish_map.sh │ ├── run_docker.sh │ ├── switch_map.sh │ └── transfer_map.sh ├── setup.py └── test │ ├── artifacts │ └── foo.md │ ├── head_to_head_splini.test │ ├── head_to_head_test.py │ ├── templates │ └── time_trials.md │ ├── time_trials.test │ └── time_trials_test.py ├── state_estimation ├── README.md └── misc │ └── state_estimation_arch.png ├── state_machine ├── CMakeLists.txt ├── README.md ├── cfg │ └── dyn_statemachine_tuner.cfg ├── misc │ └── state_machine.png ├── package.xml ├── src │ ├── __init__.py │ ├── dynamic_statemachine_server.py │ ├── state_machine_node.py │ ├── state_transitions.py │ ├── states.py │ └── states_types.py └── state_indicator │ ├── README.md │ ├── src │ └── state_indicator_node.py │ └── state_indicator.ino └── system_identification ├── README.md ├── id_analyser ├── .gitignore ├── README.md ├── add_model.py ├── analyse_accel.py ├── analyse_decel.py ├── analyse_motor_rpm.py ├── analyse_steering.py ├── analyse_tires.py ├── data │ └── .gitkeep ├── generate_lookup_table.py ├── helpers │ ├── __init__.py │ ├── bagloader.py │ ├── dotdict.py │ ├── load_model.py │ ├── save_model.py │ └── vehicle_dynamics.py ├── models │ ├── NUC1 │ │ ├── NUC1_linear.txt │ │ └── NUC1_pacejka.txt │ ├── NUC2 │ │ ├── NUC2_glc_linear.csv │ │ ├── NUC2_glc_pacejka.csv │ │ ├── NUC2_hanga_slippery_pacejka_lookup_table.csv │ │ ├── NUC2_linear.txt │ │ ├── NUC2_linear_lookup_table.csv │ │ ├── NUC2_pacejka.txt │ │ ├── NUC2_pacejka_lookup_table.csv │ │ ├── NUC2_white_london_pacejka_lookup_table.csv │ │ ├── ax_max_machines.csv │ │ ├── ax_max_machines_glc_pacejka.csv │ │ └── ggv_glc_pacejka.csv │ ├── SIM │ │ ├── SIM_linear.txt │ │ ├── SIM_pacejka.csv │ │ ├── SIM_pacejka.txt │ │ ├── ax_max_machines.csv │ │ └── ggv_glc_pacejka.csv │ └── SIM1 │ │ └── SIM1_linear.txt └── print_model.py ├── id_controller ├── CMakeLists.txt ├── README.md ├── launch │ └── id_controller.launch ├── package.xml ├── parameters │ └── experiments.yaml ├── setup.py └── src │ └── controller_node.py └── steering_lookup ├── CMakeLists.txt ├── README.md ├── cfg ├── NUC2_pacejka_lookup_table.csv └── SIM_linear_lookup_table.csv ├── package.xml ├── setup.py └── src └── steering_lookup ├── __init__.py └── lookup_steer_angle.py /.devcontainer/.install_utils/cartographer_dep.sh: -------------------------------------------------------------------------------- 1 | #! /bin/bash 2 | 3 | # merge cartographer ws with ours 4 | rm /etc/ros/rosdep/sources.list.d/20-default.list 5 | rosdep init 6 | rosdep update 7 | rosdep install --from-paths src --ignore-src --rosdistro=${ROS_DISTRO} -y 8 | -------------------------------------------------------------------------------- /.devcontainer/.install_utils/catkin_skiplist_sim.sh: -------------------------------------------------------------------------------- 1 | #! /bin/bash 2 | 3 | # list can be manually obtained by ``catkin list --directory `` 4 | # list of packages only for the sim 5 | 6 | catkin config --skiplist f1tenth_simulator 7 | -------------------------------------------------------------------------------- /.devcontainer/.install_utils/dev_pf_setup.sh: -------------------------------------------------------------------------------- 1 | #! /bin/bash 2 | 3 | apt-get update 4 | 5 | pip install cython 6 | # downloading a branch of a fork because they fixed python3 stuff in there 7 | git clone --branch python3 https://github.com/pmusau17/range_libc.git 8 | cd ./range_libc/pywrapper 9 | 10 | python3 setup.py install 11 | -------------------------------------------------------------------------------- /.devcontainer/.install_utils/pf_setup.sh: -------------------------------------------------------------------------------- 1 | #! /bin/bash 2 | 3 | sudo apt-get update 4 | rosdep install -r --from-paths src --ignore-src --rosdistro noetic -y 5 | 6 | sudo pip install cython 7 | # downloading a branch of a fork because they fixed python3 stuff in there 8 | git clone --branch python3 https://github.com/pmusau17/range_libc.git 9 | cd ./range_libc/pywrapper 10 | python3 setup.py install 11 | -------------------------------------------------------------------------------- /.devcontainer/.install_utils/ros_entrypoint.sh: -------------------------------------------------------------------------------- 1 | #! /bin/bash 2 | 3 | set -e 4 | 5 | exec "$@" 6 | -------------------------------------------------------------------------------- /.devcontainer/.install_utils/setup_user.sh: -------------------------------------------------------------------------------- 1 | !# /bin/bash 2 | 3 | useradd -ms /bin/bash -u ${UID} -G sudo ${USER} 4 | groupadd -fg ${GID} ${USER} 5 | -------------------------------------------------------------------------------- /.devcontainer/.install_utils/xauth_setup.sh: -------------------------------------------------------------------------------- 1 | #! /bin/bash 2 | 3 | # Script to create a Xauthority file for the docker container 4 | XAUTH=$HOME/.Xauthority 5 | export XAUTH_LOC=$XAUTH 6 | xhost +local:$USER 7 | 8 | touch $XAUTH -------------------------------------------------------------------------------- /.docker_utils/main_attach_dock.sh: -------------------------------------------------------------------------------- 1 | #! /bin/bash 2 | 3 | # Script to launch the main docker instance for the pblf110 car when the container was already created 4 | docker start forzaeth_devcontainer 5 | docker attach forzaeth_devcontainer 6 | -------------------------------------------------------------------------------- /.docker_utils/sec_dock.sh: -------------------------------------------------------------------------------- 1 | #! /bin/bash 2 | 3 | # Script to launch the main docker instance for the pblf110 car 4 | 5 | docker exec --tty \ 6 | --interactive \ 7 | forzaeth_devcontainer \ 8 | /bin/bash 9 | -------------------------------------------------------------------------------- /base_system/README.md: -------------------------------------------------------------------------------- 1 | # base_system 2 | ![System Architecture](./misc/sys_arch_with_sim.png) 3 | 4 | In the base system you can use either the sim or the physical system. Both base systems have the same interfacing (i.e. topics) as can be further understood in [here](./f1tenth_system/README.md). 5 | 6 | 7 | -------------------------------------------------------------------------------- /base_system/misc/hardware_thumbnail.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ForzaETH/race_stack/2552aa664f66caabdcc3282945cd8843e546f337/base_system/misc/hardware_thumbnail.png -------------------------------------------------------------------------------- /base_system/misc/install_thumbnail.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ForzaETH/race_stack/2552aa664f66caabdcc3282945cd8843e546f337/base_system/misc/install_thumbnail.png -------------------------------------------------------------------------------- /base_system/misc/simulator_thumbnail.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ForzaETH/race_stack/2552aa664f66caabdcc3282945cd8843e546f337/base_system/misc/simulator_thumbnail.png -------------------------------------------------------------------------------- /base_system/misc/sys_arch_with_sim.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ForzaETH/race_stack/2552aa664f66caabdcc3282945cd8843e546f337/base_system/misc/sys_arch_with_sim.png -------------------------------------------------------------------------------- /controller/cfg/dyn_kmpc_params_tuner.cfg: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python3 2 | PACKAGE = "controller" 3 | import rospkg 4 | import yaml, os 5 | import rospy 6 | from dynamic_reconfigure.parameter_generator_catkin import * 7 | from pbl_config import create_KMPC_dynamic_parameters 8 | 9 | gen = ParameterGenerator() 10 | gen = create_KMPC_dynamic_parameters(gen) 11 | 12 | exit(gen.generate(PACKAGE, "dynamic_kmpc_params", "dyn_kmpc_params_tuner")) 13 | -------------------------------------------------------------------------------- /controller/cfg/dyn_stmpc_params_tuner.cfg: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python3 2 | PACKAGE = "controller" 3 | import rospkg 4 | import yaml, os 5 | import rospy 6 | from dynamic_reconfigure.parameter_generator_catkin import * 7 | from pbl_config import create_STMPC_dynamic_parameters 8 | 9 | gen = ParameterGenerator() 10 | gen = create_STMPC_dynamic_parameters(gen) 11 | 12 | exit(gen.generate(PACKAGE, "dynamic_stmpc_params", "dyn_stmpc_params_tuner")) 13 | -------------------------------------------------------------------------------- /controller/map/README_IMG/l1_dist.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ForzaETH/race_stack/2552aa664f66caabdcc3282945cd8843e546f337/controller/map/README_IMG/l1_dist.png -------------------------------------------------------------------------------- /controller/map/README_IMG/speed_scaling.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ForzaETH/race_stack/2552aa664f66caabdcc3282945cd8843e546f337/controller/map/README_IMG/speed_scaling.png -------------------------------------------------------------------------------- /controller/misc/controller_arch.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ForzaETH/race_stack/2552aa664f66caabdcc3282945cd8843e546f337/controller/misc/controller_arch.png -------------------------------------------------------------------------------- /controller/mpc/src/.gitignore: -------------------------------------------------------------------------------- 1 | env/* 2 | .vscode 3 | *.pyc 4 | c_generated_code/* 5 | acados_ocp.json 6 | 7 | .ipynb_checkpoints/* 8 | -------------------------------------------------------------------------------- /controller/mpc/src/kinematic_mpc/__init__.py: -------------------------------------------------------------------------------- 1 | from kinematic_mpc.kinematic_mpc import * 2 | from kinematic_mpc.acados_settings import * 3 | from kinematic_mpc.bicycle_model import * -------------------------------------------------------------------------------- /controller/mpc/src/kinematic_mpc/utils/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ForzaETH/race_stack/2552aa664f66caabdcc3282945cd8843e546f337/controller/mpc/src/kinematic_mpc/utils/__init__.py -------------------------------------------------------------------------------- /controller/mpc/src/single_track_mpc/__init__.py: -------------------------------------------------------------------------------- 1 | from single_track_mpc.acados_settings import * 2 | from single_track_mpc.bicycle_model import * 3 | from single_track_mpc.single_track_mpc import * -------------------------------------------------------------------------------- /controller/mpc/src/single_track_mpc/utils/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ForzaETH/race_stack/2552aa664f66caabdcc3282945cd8843e546f337/controller/mpc/src/single_track_mpc/utils/__init__.py -------------------------------------------------------------------------------- /controller/pp/README_IMG/l1_dist.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ForzaETH/race_stack/2552aa664f66caabdcc3282945cd8843e546f337/controller/pp/README_IMG/l1_dist.png -------------------------------------------------------------------------------- /controller/pp/README_IMG/speed_scaling.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ForzaETH/race_stack/2552aa664f66caabdcc3282945cd8843e546f337/controller/pp/README_IMG/speed_scaling.png -------------------------------------------------------------------------------- /controller/setup.py: -------------------------------------------------------------------------------- 1 | ## ! DO NOT MANUALLY INVOKE THIS setup.py, USE CATKIN INSTEAD 2 | 3 | from setuptools import setup 4 | from catkin_pkg.python_setup import generate_distutils_setup 5 | 6 | # fetch values from package.xml 7 | setup_args = generate_distutils_setup( 8 | packages=['single_track_mpc', 'kinematic_mpc'], 9 | package_dir={'': 'mpc/src'}, 10 | ) 11 | 12 | setup(**setup_args) 13 | -------------------------------------------------------------------------------- /f110_utils/libs/f110_msgs/README.md: -------------------------------------------------------------------------------- 1 | # F110 Msgs 2 | 3 | Contains customs messages used by the F110 group at PBL. 4 | 5 | Message structure can be found in the every `.msg` file. 6 | 7 | --- 8 | [Go back to the utils list](../../README.md) -------------------------------------------------------------------------------- /f110_utils/libs/f110_msgs/msg/CarState.msg: -------------------------------------------------------------------------------- 1 | geometry_msgs/Pose slam_pose 2 | geometry_msgs/Twist ekf_twist 3 | -------------------------------------------------------------------------------- /f110_utils/libs/f110_msgs/msg/CarStateStamped.msg: -------------------------------------------------------------------------------- 1 | std_msgs/Header header 2 | CarState state 3 | -------------------------------------------------------------------------------- /f110_utils/libs/f110_msgs/msg/GapData.msg: -------------------------------------------------------------------------------- 1 | std_msgs/Header header 2 | 3 | float64 gap_diff 4 | float64 vs_diff 5 | float64 gap_int -------------------------------------------------------------------------------- /f110_utils/libs/f110_msgs/msg/LapData.msg: -------------------------------------------------------------------------------- 1 | std_msgs/Header header 2 | 3 | int32 lap_count 4 | float64 lap_time 5 | float64 average_lateral_error_to_global_waypoints 6 | float64 max_lateral_error_to_global_waypoints -------------------------------------------------------------------------------- /f110_utils/libs/f110_msgs/msg/OTWpntArray.msg: -------------------------------------------------------------------------------- 1 | std_msgs/Header header 2 | time last_switch_time 3 | bool side_switch 4 | string ot_side 5 | string ot_line 6 | Wpnt[] wpnts 7 | 8 | -------------------------------------------------------------------------------- /f110_utils/libs/f110_msgs/msg/ObstacleArray.msg: -------------------------------------------------------------------------------- 1 | std_msgs/Header header 2 | Obstacle[] obstacles -------------------------------------------------------------------------------- /f110_utils/libs/f110_msgs/msg/OppWpnt.msg: -------------------------------------------------------------------------------- 1 | int32 id 2 | 3 | # frenet coordinates 4 | float64 s_m 5 | float64 d_m 6 | 7 | # map coordinates 8 | float64 x_m 9 | float64 y_m 10 | 11 | # track information 12 | float64 proj_vs_mps 13 | float64 vd_mps 14 | 15 | #variance 16 | float64 d_var 17 | float64 vs_var 18 | 19 | -------------------------------------------------------------------------------- /f110_utils/libs/f110_msgs/msg/OpponentTrajectory.msg: -------------------------------------------------------------------------------- 1 | std_msgs/Header header 2 | float64 lap_count 3 | bool opp_is_on_trajectory 4 | OppWpnt[] oppwpnts -------------------------------------------------------------------------------- /f110_utils/libs/f110_msgs/msg/PidData.msg: -------------------------------------------------------------------------------- 1 | std_msgs/Header header 2 | 3 | float64 should 4 | float64 actual 5 | float64 error 6 | float64 d_value 7 | float64 i_value 8 | float64 input -------------------------------------------------------------------------------- /f110_utils/libs/f110_msgs/msg/ProjOppPoint.msg: -------------------------------------------------------------------------------- 1 | #Velocities are projected onto ego race line 2 | 3 | float64 s 4 | float64 d 5 | float64 vs 6 | float64 vd 7 | bool is_static 8 | bool is_visible 9 | float64 time 10 | float64 s_var 11 | float64 d_var 12 | float64 vs_var 13 | float64 vd_var -------------------------------------------------------------------------------- /f110_utils/libs/f110_msgs/msg/ProjOppTraj.msg: -------------------------------------------------------------------------------- 1 | float64 lapcount 2 | float64 nrofpoints 3 | bool opp_is_on_trajectory 4 | ProjOppPoint[] detections -------------------------------------------------------------------------------- /f110_utils/libs/f110_msgs/msg/Wpnt.msg: -------------------------------------------------------------------------------- 1 | int32 id 2 | 3 | # frenet coordinates 4 | float64 s_m 5 | float64 d_m 6 | 7 | # map coordinates 8 | float64 x_m 9 | float64 y_m 10 | 11 | # track bound distance 12 | float64 d_right 13 | float64 d_left 14 | 15 | # track information 16 | float64 psi_rad 17 | float64 kappa_radpm 18 | float64 vx_mps 19 | float64 ax_mps2 20 | 21 | -------------------------------------------------------------------------------- /f110_utils/libs/f110_msgs/msg/WpntArray.msg: -------------------------------------------------------------------------------- 1 | std_msgs/Header header 2 | Wpnt[] wpnts 3 | 4 | -------------------------------------------------------------------------------- /f110_utils/libs/frenet_conversion/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ForzaETH/race_stack/2552aa664f66caabdcc3282945cd8843e546f337/f110_utils/libs/frenet_conversion/__init__.py -------------------------------------------------------------------------------- /f110_utils/libs/frenet_conversion/setup.py: -------------------------------------------------------------------------------- 1 | ## ! DO NOT MANUALLY INVOKE THIS setup.py, USE CATKIN INSTEAD 2 | 3 | from setuptools import setup 4 | from catkin_pkg.python_setup import generate_distutils_setup 5 | 6 | # fetch values from package.xml 7 | setup_args = generate_distutils_setup( 8 | packages=['frenet_converter'], 9 | package_dir={'': 'src'}) 10 | 11 | setup(**setup_args) 12 | -------------------------------------------------------------------------------- /f110_utils/libs/frenet_conversion/src/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ForzaETH/race_stack/2552aa664f66caabdcc3282945cd8843e546f337/f110_utils/libs/frenet_conversion/src/__init__.py -------------------------------------------------------------------------------- /f110_utils/libs/frenet_conversion/src/frenet_converter/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ForzaETH/race_stack/2552aa664f66caabdcc3282945cd8843e546f337/f110_utils/libs/frenet_conversion/src/frenet_converter/__init__.py -------------------------------------------------------------------------------- /f110_utils/libs/frenet_conversion/srv/Frenet2Glob.srv: -------------------------------------------------------------------------------- 1 | float64 s 2 | float64 d 3 | --- 4 | float64 x 5 | float64 y 6 | -------------------------------------------------------------------------------- /f110_utils/libs/frenet_conversion/srv/Frenet2GlobArr.srv: -------------------------------------------------------------------------------- 1 | float64[] s 2 | float64[] d 3 | --- 4 | float64[] x 5 | float64[] y 6 | -------------------------------------------------------------------------------- /f110_utils/libs/frenet_conversion/srv/Glob2Frenet.srv: -------------------------------------------------------------------------------- 1 | float64 x 2 | float64 y 3 | --- 4 | float64 s 5 | float64 d 6 | int32 idx 7 | -------------------------------------------------------------------------------- /f110_utils/libs/frenet_conversion/srv/Glob2FrenetArr.srv: -------------------------------------------------------------------------------- 1 | float64[] x 2 | float64[] y 3 | --- 4 | float64[] s 5 | float64[] d 6 | int32[] idx 7 | -------------------------------------------------------------------------------- /f110_utils/nodes/car_to_car_sync/config/topics_to_redirect.yaml: -------------------------------------------------------------------------------- 1 | car2car_topics: 2 | - subname: "/car_state/odom" 3 | pubname: "/opp/car_state/odom" 4 | type: "nav_msgs/msg/Odometry" 5 | - subname: "/car_state/odom_frenet" 6 | pubname: "/opp/car_state/odom_frenet" 7 | type: "nav_msgs/msg/Odometry" 8 | -------------------------------------------------------------------------------- /f110_utils/nodes/frenet_odom_republisher/launch/frenet_odom_republisher.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 6 | 7 | 8 | 9 | 10 | -------------------------------------------------------------------------------- /f110_utils/nodes/gb_traj_publisher/setup.py: -------------------------------------------------------------------------------- 1 | ## ! DO NOT MANUALLY INVOKE THIS setup.py, USE CATKIN INSTEAD 2 | 3 | from distutils.core import setup 4 | from catkin_pkg.python_setup import generate_distutils_setup 5 | 6 | # fetch values from package.xml 7 | setup_args = generate_distutils_setup( 8 | packages=['gb_traj_publisher'], 9 | package_dir={'': 'src'}, 10 | ) 11 | 12 | setup(**setup_args) 13 | -------------------------------------------------------------------------------- /f110_utils/nodes/lap_analyser/.gitignore: -------------------------------------------------------------------------------- 1 | data/* -------------------------------------------------------------------------------- /f110_utils/nodes/lap_analyser/launch/data_analyser.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 5 | 6 | 7 | -------------------------------------------------------------------------------- /f110_utils/nodes/lap_analyser/launch/lap_analyser.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | -------------------------------------------------------------------------------- /f110_utils/nodes/lap_analyser/launch/longitudinal_analyser.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | -------------------------------------------------------------------------------- /f110_utils/nodes/lap_analyser/setup.py: -------------------------------------------------------------------------------- 1 | ## ! DO NOT MANUALLY INVOKE THIS setup.py, USE CATKIN INSTEAD 2 | 3 | from distutils.core import setup 4 | from catkin_pkg.python_setup import generate_distutils_setup 5 | 6 | # fetch values from package.xml 7 | setup_args = generate_distutils_setup( 8 | packages=['lap_analyser'], 9 | package_dir={'': 'src'}, 10 | ) 11 | 12 | setup(**setup_args) 13 | -------------------------------------------------------------------------------- /f110_utils/nodes/lap_analyser/src/lap_analyser/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ForzaETH/race_stack/2552aa664f66caabdcc3282945cd8843e546f337/f110_utils/nodes/lap_analyser/src/lap_analyser/__init__.py -------------------------------------------------------------------------------- /f110_utils/nodes/map_editor/maps/hangar/global_wpnts.bag.active: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ForzaETH/race_stack/2552aa664f66caabdcc3282945cd8843e546f337/f110_utils/nodes/map_editor/maps/hangar/global_wpnts.bag.active -------------------------------------------------------------------------------- /f110_utils/nodes/map_editor/maps/hangar/hangar.pbstream: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ForzaETH/race_stack/2552aa664f66caabdcc3282945cd8843e546f337/f110_utils/nodes/map_editor/maps/hangar/hangar.pbstream -------------------------------------------------------------------------------- /f110_utils/nodes/map_editor/maps/hangar/hangar.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ForzaETH/race_stack/2552aa664f66caabdcc3282945cd8843e546f337/f110_utils/nodes/map_editor/maps/hangar/hangar.png -------------------------------------------------------------------------------- /f110_utils/nodes/map_editor/maps/hangar/hangar.yaml: -------------------------------------------------------------------------------- 1 | free_thresh: 0.196 2 | image: hangar.png 3 | negate: 0 4 | occupied_thresh: 0.65 5 | origin: 6 | - -14.471603393554688 7 | - -27.434683227539065 8 | - 0 9 | resolution: 0.05000000074505806 10 | -------------------------------------------------------------------------------- /f110_utils/nodes/map_editor/maps/hangar/ot_sectors.yaml: -------------------------------------------------------------------------------- 1 | n_sectors: 2 2 | yeet_factor: 1.25 3 | spline_len: 30 4 | ot_sector_begin: 0.5 5 | Overtaking_sector0: 6 | start: 0 7 | end: 245 8 | ot_flag: false 9 | Overtaking_sector1: 10 | start: 246 11 | end: 396 12 | ot_flag: false 13 | -------------------------------------------------------------------------------- /f110_utils/nodes/map_editor/maps/hangar/speed_scaling.yaml: -------------------------------------------------------------------------------- 1 | global_limit: 0.5 2 | n_sectors: 1 3 | Sector0: 4 | start: 0 5 | end: 396 6 | scaling: 0.5 7 | only_FTG: false 8 | no_FTG: false 9 | -------------------------------------------------------------------------------- /f110_utils/nodes/map_editor/media/workflow.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ForzaETH/race_stack/2552aa664f66caabdcc3282945cd8843e546f337/f110_utils/nodes/map_editor/media/workflow.jpg -------------------------------------------------------------------------------- /f110_utils/nodes/obstacle_publisher/cfg/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ForzaETH/race_stack/2552aa664f66caabdcc3282945cd8843e546f337/f110_utils/nodes/obstacle_publisher/cfg/__init__.py -------------------------------------------------------------------------------- /f110_utils/nodes/obstacle_publisher/setup.py: -------------------------------------------------------------------------------- 1 | ## ! DO NOT MANUALLY INVOKE THIS setup.py, USE CATKIN INSTEAD 2 | 3 | from distutils.core import setup 4 | from catkin_pkg.python_setup import generate_distutils_setup 5 | 6 | # fetch values from package.xml 7 | setup_args = generate_distutils_setup( 8 | packages=['obstacle_publisher'], 9 | package_dir={'': 'src'}, 10 | ) 11 | 12 | setup(**setup_args) 13 | -------------------------------------------------------------------------------- /f110_utils/nodes/obstacle_publisher/src/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ForzaETH/race_stack/2552aa664f66caabdcc3282945cd8843e546f337/f110_utils/nodes/obstacle_publisher/src/__init__.py -------------------------------------------------------------------------------- /f110_utils/nodes/overtaking_sector_tuner/launch/ot_interpolator.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | -------------------------------------------------------------------------------- /f110_utils/nodes/overtaking_sector_tuner/scripts/finish_sector.sh: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | 3 | source ~/.bashrc 4 | 5 | cd ~/catkin_ws 6 | 7 | #Clean and build sector tuner to force refresh of dynamic reconfigure 8 | catkin clean overtaking_sector_tuner 9 | catkin build overtaking_sector_tuner -------------------------------------------------------------------------------- /f110_utils/nodes/param_optimizer/plots/avg_lat_err_EI_10ite_1lpe.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ForzaETH/race_stack/2552aa664f66caabdcc3282945cd8843e546f337/f110_utils/nodes/param_optimizer/plots/avg_lat_err_EI_10ite_1lpe.png -------------------------------------------------------------------------------- /f110_utils/nodes/param_optimizer/plots/cost.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ForzaETH/race_stack/2552aa664f66caabdcc3282945cd8843e546f337/f110_utils/nodes/param_optimizer/plots/cost.png -------------------------------------------------------------------------------- /f110_utils/nodes/param_optimizer/plots/l1_param_EI_10iterations_1lpe.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ForzaETH/race_stack/2552aa664f66caabdcc3282945cd8843e546f337/f110_utils/nodes/param_optimizer/plots/l1_param_EI_10iterations_1lpe.png -------------------------------------------------------------------------------- /f110_utils/nodes/param_optimizer/plots/lap_time.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ForzaETH/race_stack/2552aa664f66caabdcc3282945cd8843e546f337/f110_utils/nodes/param_optimizer/plots/lap_time.png -------------------------------------------------------------------------------- /f110_utils/nodes/param_optimizer/plots/min_dist_EI_10ite_1lpe.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ForzaETH/race_stack/2552aa664f66caabdcc3282945cd8843e546f337/f110_utils/nodes/param_optimizer/plots/min_dist_EI_10ite_1lpe.png -------------------------------------------------------------------------------- /f110_utils/nodes/random_obstacle_publisher/README.md: -------------------------------------------------------------------------------- 1 | # Random Obstacle Publisher 2 | 3 | TODO: legacy? 4 | 5 | --- 6 | [Go back to the utils list](../../README.md) -------------------------------------------------------------------------------- /f110_utils/nodes/random_obstacle_publisher/setup.py: -------------------------------------------------------------------------------- 1 | ## ! DO NOT MANUALLY INVOKE THIS setup.py, USE CATKIN INSTEAD 2 | 3 | from distutils.core import setup 4 | from catkin_pkg.python_setup import generate_distutils_setup 5 | 6 | # fetch values from package.xml 7 | setup_args = generate_distutils_setup( 8 | packages=['random_obstacle_publisher'], 9 | package_dir={'': 'src'}, 10 | ) 11 | 12 | setup(**setup_args) 13 | -------------------------------------------------------------------------------- /f110_utils/nodes/random_obstacle_publisher/src/random_obstacle_publisher/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ForzaETH/race_stack/2552aa664f66caabdcc3282945cd8843e546f337/f110_utils/nodes/random_obstacle_publisher/src/random_obstacle_publisher/__init__.py -------------------------------------------------------------------------------- /f110_utils/nodes/sector_tuner/data/.gitkeep: -------------------------------------------------------------------------------- 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-------------------------------------------------------------------------------- /f110_utils/nodes/slam_tuner/config/f110_description/models/parking_1/model.config: -------------------------------------------------------------------------------- 1 | 2 | 3 | walker_racecourse 4 | 1.0 5 | model.sdf 6 | 7 | Owen Guldner 8 | owen.guldner@ll.mit.edu 9 | 10 | 11 | -------------------------------------------------------------------------------- /f110_utils/nodes/slam_tuner/config/f110_description/models/walker_racecourse/model.config: -------------------------------------------------------------------------------- 1 | 2 | 3 | walker_racecourse 4 | 1.0 5 | model.sdf 6 | 7 | Owen Guldner 8 | owen.guldner@ll.mit.edu 9 | 10 | 11 | -------------------------------------------------------------------------------- /f110_utils/nodes/slam_tuner/src/errormetrics/__init__.py: -------------------------------------------------------------------------------- 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-------------------------------------------------------------------------------- /f110_utils/nodes/tf_transformer/setup.py: -------------------------------------------------------------------------------- 1 | ## ! DO NOT MANUALLY INVOKE THIS setup.py, USE CATKIN INSTEAD 2 | 3 | from distutils.core import setup 4 | from catkin_pkg.python_setup import generate_distutils_setup 5 | 6 | # fetch values from package.xml 7 | setup_args = generate_distutils_setup( 8 | packages=['tf_transformer'], 9 | package_dir={'': 'src'}, 10 | ) 11 | 12 | setup(**setup_args) 13 | -------------------------------------------------------------------------------- /f110_utils/nodes/transform_broadcaster/src/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ForzaETH/race_stack/2552aa664f66caabdcc3282945cd8843e546f337/f110_utils/nodes/transform_broadcaster/src/__init__.py -------------------------------------------------------------------------------- /perception/README.md: -------------------------------------------------------------------------------- 1 | # Perception 2 | 3 | The *ForzaETH race-stack* provides the following two options for perception. 4 | 5 | - *abd_tracker*: Implementation of an adaptive breakpoint detector combined with a Kalman Filter for the perception in autonomous racing. 6 | - *TinyCenterSpeed*: ML-based method for opponent detection and tracking on an F1Tenth racecar. 7 | -------------------------------------------------------------------------------- /perception/abd_tracker/misc/perception_arch.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ForzaETH/race_stack/2552aa664f66caabdcc3282945cd8843e546f337/perception/abd_tracker/misc/perception_arch.png -------------------------------------------------------------------------------- /planner/README.md: -------------------------------------------------------------------------------- 1 | # Planner 2 | ![Planner](./misc/planner_arch.png) 3 | 4 | This directory contains the local planning system (i.e. overtaking and collision avoidance) and the global planning system (minimum curvature trajectory generation) of F110 at the PBL group 5 | 6 | ## Global Planner 7 | - [`gb_optimizer`](./gb_optimizer) 8 | 9 | ## Local Planner 10 | - [`spliner`](./spliner/README.md) 11 | -------------------------------------------------------------------------------- /planner/gb_optimizer/scripts/finish_map.sh: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | 3 | echo "Finish trajectory..." 4 | rosservice call /finish_trajectory 0 5 | 6 | echo "Save map under the name $1" 7 | rosservice call /write_state "{filename: '$1', include_unfinished_submaps: "true"}" 8 | -------------------------------------------------------------------------------- /planner/graph_based_planner/src/GraphBasedPlanner/__init__.py: -------------------------------------------------------------------------------- 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-------------------------------------------------------------------------------- 1 | import graph_ltpl.data_objects 2 | import graph_ltpl.helper_funcs.src 3 | import graph_ltpl.imp_global_traj.src 4 | import graph_ltpl.offline_graph.src 5 | import graph_ltpl.online_graph.src 6 | import graph_ltpl.testing_tools.src 7 | import graph_ltpl.Graph_LTPL 8 | -------------------------------------------------------------------------------- /planner/graph_based_planner/src/GraphBasedPlanner/graph_ltpl/data_objects/__init__.py: -------------------------------------------------------------------------------- 1 | import graph_ltpl.data_objects.GraphBase 2 | import graph_ltpl.data_objects.ObjectListInterface 3 | -------------------------------------------------------------------------------- /planner/graph_based_planner/src/GraphBasedPlanner/graph_ltpl/helper_funcs/__init__.py: -------------------------------------------------------------------------------- 1 | import graph_ltpl.helper_funcs.src 2 | -------------------------------------------------------------------------------- /planner/graph_based_planner/src/GraphBasedPlanner/graph_ltpl/helper_funcs/src/__init__.py: -------------------------------------------------------------------------------- 1 | import graph_ltpl.helper_funcs.src.calc_vel_profile_follow 2 | import graph_ltpl.helper_funcs.src.closest_path_index 3 | import graph_ltpl.helper_funcs.src.get_s_coord 4 | import graph_ltpl.helper_funcs.src.Logging 5 | import graph_ltpl.helper_funcs.src.calc_brake_emergency 6 | -------------------------------------------------------------------------------- /planner/graph_based_planner/src/GraphBasedPlanner/graph_ltpl/imp_global_traj/__init__.py: -------------------------------------------------------------------------------- 1 | import graph_ltpl.imp_global_traj.src 2 | -------------------------------------------------------------------------------- /planner/graph_based_planner/src/GraphBasedPlanner/graph_ltpl/imp_global_traj/src/__init__.py: -------------------------------------------------------------------------------- 1 | import graph_ltpl.imp_global_traj.src.import_globtraj_csv 2 | import graph_ltpl.imp_global_traj.src.variable_step_size 3 | -------------------------------------------------------------------------------- /planner/graph_based_planner/src/GraphBasedPlanner/graph_ltpl/offline_graph/__init__.py: -------------------------------------------------------------------------------- 1 | import graph_ltpl.offline_graph.src 2 | -------------------------------------------------------------------------------- /planner/graph_based_planner/src/GraphBasedPlanner/graph_ltpl/offline_graph/src/__init__.py: -------------------------------------------------------------------------------- 1 | import graph_ltpl.offline_graph.src.gen_edges 2 | import graph_ltpl.offline_graph.src.gen_node_skeleton 3 | import graph_ltpl.offline_graph.src.gen_offline_cost 4 | import graph_ltpl.offline_graph.src.main_offline_callback 5 | import graph_ltpl.offline_graph.src.prune_graph 6 | -------------------------------------------------------------------------------- /planner/graph_based_planner/src/GraphBasedPlanner/graph_ltpl/online_graph/__init__.py: -------------------------------------------------------------------------------- 1 | import graph_ltpl.online_graph.src 2 | -------------------------------------------------------------------------------- /planner/graph_based_planner/src/GraphBasedPlanner/graph_ltpl/testing_tools/__init__.py: -------------------------------------------------------------------------------- 1 | import graph_ltpl.testing_tools.src 2 | -------------------------------------------------------------------------------- /planner/graph_based_planner/src/GraphBasedPlanner/graph_ltpl/testing_tools/src/__init__.py: -------------------------------------------------------------------------------- 1 | import graph_ltpl.testing_tools.src.vdc_dummy 2 | import graph_ltpl.testing_tools.src.objectlist_dummy 3 | -------------------------------------------------------------------------------- /planner/graph_based_planner/src/GraphBasedPlanner/graph_ltpl/visualization/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ForzaETH/race_stack/2552aa664f66caabdcc3282945cd8843e546f337/planner/graph_based_planner/src/GraphBasedPlanner/graph_ltpl/visualization/__init__.py -------------------------------------------------------------------------------- /planner/graph_based_planner/src/GraphBasedPlanner/graph_ltpl/visualization/src/__init__.py: -------------------------------------------------------------------------------- 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-------------------------------------------------------------------------------- /planner/graph_based_planner/src/GraphBasedPlanner/requirements.txt: -------------------------------------------------------------------------------- 1 | numpy==1.18.1 2 | matplotlib==3.3.1 3 | scipy==1.3.3 4 | python-igraph==0.8.2 5 | trajectory_planning_helpers==0.75 6 | flake8==3.7.9 7 | velocity_optimization>=0.4 8 | pyzmq==18.1.1 9 | -------------------------------------------------------------------------------- /planner/graph_based_planner/src/GraphBasedPlanner/setup.cfg: -------------------------------------------------------------------------------- 1 | [metadata] 2 | name = graph_ltpl 3 | version = 0.69 4 | author = PBL 5 | 6 | [flake8] 7 | exclude = *__init__.py, *-env/* 8 | ignore = E402, W503, E704 9 | max-line-length = 120 10 | -------------------------------------------------------------------------------- /planner/graph_based_planner/src/GraphBasedPlanner/setup.py: -------------------------------------------------------------------------------- 1 | from setuptools import setup, find_packages 2 | 3 | setup( 4 | name='GraphBasedPlanner', 5 | version='0.1', 6 | packages=find_packages(include=['graph_ltpl', 'logs', 'inputs', 'params']), 7 | install_requires=[ 8 | # Add your dependencies here 9 | ], 10 | ) 11 | -------------------------------------------------------------------------------- /planner/misc/planner_arch.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ForzaETH/race_stack/2552aa664f66caabdcc3282945cd8843e546f337/planner/misc/planner_arch.png -------------------------------------------------------------------------------- /stack_master/checklists/img/ellipse.png: -------------------------------------------------------------------------------- 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-------------------------------------------------------------------------------- 1 | acq_func: EI 2 | experiment_name: MAP_tuning 3 | input_dim: 3 4 | log_dir: /home/gnone/catkin_ws/logs 5 | lower_bound: 6 | - 0.6 7 | - 0.3 8 | - -0.2 9 | max_iter: 20 10 | maximize: false 11 | n_init: 1 12 | upper_bound: 13 | - 0.9 14 | - 0.6 15 | - -0.1 16 | -------------------------------------------------------------------------------- /stack_master/config/DEFAULT/kinematic_mpc_dyn_params.yaml: -------------------------------------------------------------------------------- 1 | qadv: [0, 100] 2 | qv: [0, 100] 3 | qn: [0, 100] 4 | qalpha: [0, 100] 5 | qac: [0, 1] 6 | qddelta: [0, 100] 7 | alat_max: [0, 20] 8 | a_min: [-20, 0] 9 | a_max: [0, 20] 10 | v_min: [-2, 4] 11 | v_max: [-1, 30] 12 | track_safety_margin: [0, 1] -------------------------------------------------------------------------------- /stack_master/config/DEFAULT/pacejka/DEFAULT/default.yaml: -------------------------------------------------------------------------------- 1 | Bf: 7.016 2 | Br: 5.4485 3 | Cf: 0.4626 4 | Cr: 1.2871 5 | Df: 1.392 6 | Dr: 0.8068 7 | Ef: 0.5023 8 | Er: 1.3117 9 | floor: dubi 10 | friction_coeff: 1.0 11 | -------------------------------------------------------------------------------- /stack_master/config/DEFAULT/single_track_mpc_dyn_params.yaml: -------------------------------------------------------------------------------- 1 | qadv: [0, 100] 2 | qv: [0, 100] 3 | qn: [0, 100] 4 | qalpha: [0, 100] 5 | qjerk: [0, 1] 6 | qddelta: [0, 100] 7 | alat_max: [0, 20] 8 | a_min: [-20, 0] 9 | a_max: [0, 20] 10 | track_safety_margin: [0, 1] -------------------------------------------------------------------------------- /stack_master/config/DEFAULT/steer_pid.yaml: -------------------------------------------------------------------------------- 1 | K_p: !!float 1.6 2 | K_d: !!float 0.005 3 | K_i: !!float 0.0 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-------------------------------------------------------------------------------- 1 | 2 | 3 | MIT_Tunnel 4 | 1.0 5 | model.sdf 6 | 7 | Abhishek Agarwal 8 | abhia@mit.edu 9 | 10 | Building 32-081 11 | 12 | -------------------------------------------------------------------------------- /stack_master/config/JET1/slam/f110_description/models/ar_tags/marker0/marker0/marker0/model-1_5.sdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | true 5 | 6 | 7 | 8 | 9 | model://marker0/meshes/Marker0.dae 10 | 11 | 12 | 13 | 14 | 15 | 16 | -------------------------------------------------------------------------------- /stack_master/config/JET1/slam/f110_description/models/ar_tags/marker0/marker0/model-1_5.sdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | true 5 | 6 | 7 | 8 | 9 | model://marker0/meshes/Marker0.dae 10 | 11 | 12 | 13 | 14 | 15 | 16 | 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| 3 | true 4 | 5 | 6 | 7 | 8 | model://racecar_description/models/ar_tags/marker0/meshes/Marker0.dae 9 | 0.1 0.1 0.1 10 | 11 | 12 | 13 | 14 | -------------------------------------------------------------------------------- /stack_master/config/JET1/slam/f110_description/models/ar_tags/marker1/marker0/marker0/model-1_5.sdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | true 5 | 6 | 7 | 8 | 9 | model://marker0/meshes/Marker0.dae 10 | 11 | 12 | 13 | 14 | 15 | 16 | -------------------------------------------------------------------------------- /stack_master/config/JET1/slam/f110_description/models/ar_tags/marker1/marker0/model-1_5.sdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | true 5 | 6 | 7 | 8 | 9 | model://marker0/meshes/Marker0.dae 10 | 11 | 12 | 13 | 14 | 15 | 16 | -------------------------------------------------------------------------------- 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Arguedas 10 | mikael.arguedas@gmail.com 11 | 12 | 13 | 14 | A model of AR marker 15 | 16 | 17 | -------------------------------------------------------------------------------- /stack_master/config/JET1/slam/f110_description/models/ar_tags/marker16/model.sdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | true 4 | 5 | 6 | 7 | 8 | model://racecar_description/models/ar_tags/marker16/meshes/Marker16.dae 9 | 0.1 0.1 0.1 10 | 11 | 12 | 13 | 14 | -------------------------------------------------------------------------------- /stack_master/config/JET1/slam/f110_description/models/ar_tags/marker17/marker0/marker0/model-1_5.sdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | true 5 | 6 | 7 | 8 | 9 | model://marker0/meshes/Marker0.dae 10 | 11 | 12 | 13 | 14 | 15 | 16 | -------------------------------------------------------------------------------- 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Owen Guldner 8 | owen.guldner@ll.mit.edu 9 | 10 | 11 | -------------------------------------------------------------------------------- /stack_master/config/JET1/slam/f110_description/models/walker_racecourse/model.config: -------------------------------------------------------------------------------- 1 | 2 | 3 | walker_racecourse 4 | 1.0 5 | model.sdf 6 | 7 | Owen Guldner 8 | owen.guldner@ll.mit.edu 9 | 10 | 11 | -------------------------------------------------------------------------------- /stack_master/config/NUC2/LUT/dubi/default.csv: -------------------------------------------------------------------------------- 1 | /home/gnone/catkin_ws/src/race_stack/stack_master/config/NUC2/LUT/dubi/archive/0416_LUT.csv -------------------------------------------------------------------------------- /stack_master/config/NUC2/NUC2_linear.yaml: -------------------------------------------------------------------------------- 1 | C_0d: 0.48 2 | C_0v: 100 3 | C_Sf: 5.035741752330491 4 | C_Sr: 9.618871913816136 5 | C_acc: 3.2 6 | C_d: -1.1 7 | C_dec: 3.2 8 | C_v: 20 9 | I_z: 0.05797 10 | a_max: 3 11 | a_min: -3 12 | h_cg: 0.014 13 | l_f: 0.162 14 | l_r: 0.145 15 | l_wb: 0.307 16 | m: 3.54 17 | model_name: NUC2 18 | mu: 1.0 19 | tau_steer: 0.15779476 20 | tire_model: linear 21 | -------------------------------------------------------------------------------- /stack_master/config/NUC2/car_model.yaml: -------------------------------------------------------------------------------- 1 | m: 3.54 2 | Iz: 0.05797 3 | lf: 0.162 4 | lr: 0.145 5 | wheelbase: 0.307 6 | h_cg: 0.014 7 | a_max: 3 8 | a_min: -3 9 | v_max: 10.0 10 | v_min: -5.0 11 | 12 | C_0d: 0.48 13 | C_d: -1.1 14 | C_acc: 8.29 15 | C_dec: 5.77 16 | C_R: 2.03 17 | C_0v: 100 18 | C_v: 20 19 | 20 | tau_steer: 0.15779476 21 | max_steering_angle: 0.4189 22 | max_steering_velocity: 3.2 23 | racecar_version: NUC2 24 | -------------------------------------------------------------------------------- /stack_master/config/NUC2/joy_teleop.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | -------------------------------------------------------------------------------- /stack_master/config/NUC2/pacejka/dubi/archive/0401_pacejka.yaml: -------------------------------------------------------------------------------- 1 | Bf: 5.5405 2 | Br: 6.6014 3 | Cf: 0.4182 4 | Cr: 0.5624 5 | Df: 1.8635 6 | Dr: 1.7327 7 | Ef: 0.3722 8 | Er: 1.0648 9 | floor: dubi 10 | friction_coeff: 1.0 11 | -------------------------------------------------------------------------------- /stack_master/config/NUC2/pacejka/dubi/default.yaml: -------------------------------------------------------------------------------- 1 | ./archive/0401_pacejka.yaml -------------------------------------------------------------------------------- /stack_master/config/NUC2/sensors.yaml: 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-------------------------------------------------------------------------------- /stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker4/marker0/model-1_5.sdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | true 5 | 6 | 7 | 8 | 9 | model://marker0/meshes/Marker0.dae 10 | 11 | 12 | 13 | 14 | 15 | 16 | -------------------------------------------------------------------------------- /stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker4/materials/textures/Marker4.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ForzaETH/race_stack/2552aa664f66caabdcc3282945cd8843e546f337/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker4/materials/textures/Marker4.png -------------------------------------------------------------------------------- /stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker4/model.sdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | true 4 | 5 | 6 | 7 | 8 | model://racecar_description/models/ar_tags/marker4/meshes/Marker4.dae 9 | 0.1 0.1 0.1 10 | 11 | 12 | 13 | 14 | -------------------------------------------------------------------------------- /stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker5/marker0/marker0/model-1_5.sdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | true 5 | 6 | 7 | 8 | 9 | model://marker0/meshes/Marker0.dae 10 | 11 | 12 | 13 | 14 | 15 | 16 | -------------------------------------------------------------------------------- /stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker5/marker0/model-1_5.sdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | true 5 | 6 | 7 | 8 | 9 | model://marker0/meshes/Marker0.dae 10 | 11 | 12 | 13 | 14 | 15 | 16 | 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/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker6/marker0/marker0/model-1_5.sdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | true 5 | 6 | 7 | 8 | 9 | model://marker0/meshes/Marker0.dae 10 | 11 | 12 | 13 | 14 | 15 | 16 | -------------------------------------------------------------------------------- /stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker6/marker0/model-1_5.sdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | true 5 | 6 | 7 | 8 | 9 | model://marker0/meshes/Marker0.dae 10 | 11 | 12 | 13 | 14 | 15 | 16 | -------------------------------------------------------------------------------- /stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker6/materials/textures/Marker6.png: -------------------------------------------------------------------------------- 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-------------------------------------------------------------------------------- /stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker7/marker0/model-1_5.sdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | true 5 | 6 | 7 | 8 | 9 | model://marker0/meshes/Marker0.dae 10 | 11 | 12 | 13 | 14 | 15 | 16 | -------------------------------------------------------------------------------- /stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker7/materials/textures/Marker7.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ForzaETH/race_stack/2552aa664f66caabdcc3282945cd8843e546f337/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker7/materials/textures/Marker7.png -------------------------------------------------------------------------------- /stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker7/model.sdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | true 4 | 5 | 6 | 7 | 8 | model://racecar_description/models/ar_tags/marker7/meshes/Marker7.dae 9 | 0.1 0.1 0.1 10 | 11 | 12 | 13 | 14 | -------------------------------------------------------------------------------- /stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker8/marker0/marker0/model-1_5.sdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | true 5 | 6 | 7 | 8 | 9 | model://marker0/meshes/Marker0.dae 10 | 11 | 12 | 13 | 14 | 15 | 16 | -------------------------------------------------------------------------------- /stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker8/marker0/model-1_5.sdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | true 5 | 6 | 7 | 8 | 9 | model://marker0/meshes/Marker0.dae 10 | 11 | 12 | 13 | 14 | 15 | 16 | -------------------------------------------------------------------------------- /stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker8/materials/textures/Marker8.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ForzaETH/race_stack/2552aa664f66caabdcc3282945cd8843e546f337/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker8/materials/textures/Marker8.png -------------------------------------------------------------------------------- /stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker8/model.sdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | true 4 | 5 | 6 | 7 | 8 | model://racecar_description/models/ar_tags/marker8/meshes/Marker8.dae 9 | 0.1 0.1 0.1 10 | 11 | 12 | 13 | 14 | -------------------------------------------------------------------------------- /stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker9/marker0/marker0/model-1_5.sdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | true 5 | 6 | 7 | 8 | 9 | model://marker0/meshes/Marker0.dae 10 | 11 | 12 | 13 | 14 | 15 | 16 | -------------------------------------------------------------------------------- /stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker9/marker0/model-1_5.sdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | true 5 | 6 | 7 | 8 | 9 | model://marker0/meshes/Marker0.dae 10 | 11 | 12 | 13 | 14 | 15 | 16 | -------------------------------------------------------------------------------- /stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker9/materials/textures/Marker9.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ForzaETH/race_stack/2552aa664f66caabdcc3282945cd8843e546f337/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker9/materials/textures/Marker9.png -------------------------------------------------------------------------------- /stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker9/model.sdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | true 4 | 5 | 6 | 7 | 8 | model://racecar_description/models/ar_tags/marker9/meshes/Marker9.dae 9 | 0.1 0.1 0.1 10 | 11 | 12 | 13 | 14 | -------------------------------------------------------------------------------- /stack_master/config/NUC2/slam/f110_description/models/cone/model.config: -------------------------------------------------------------------------------- 1 | 2 | 3 | cone 4 | 1.0 5 | model.sdf 6 | A bright orange cone 7 | 8 | -------------------------------------------------------------------------------- /stack_master/config/NUC2/slam/f110_description/models/parking_1/model.config: -------------------------------------------------------------------------------- 1 | 2 | 3 | walker_racecourse 4 | 1.0 5 | model.sdf 6 | 7 | Owen Guldner 8 | owen.guldner@ll.mit.edu 9 | 10 | 11 | -------------------------------------------------------------------------------- /stack_master/config/NUC2/slam/f110_description/models/walker_racecourse/model.config: -------------------------------------------------------------------------------- 1 | 2 | 3 | walker_racecourse 4 | 1.0 5 | model.sdf 6 | 7 | Owen Guldner 8 | owen.guldner@ll.mit.edu 9 | 10 | 11 | -------------------------------------------------------------------------------- /stack_master/config/NUC2/trailing_params.yaml: -------------------------------------------------------------------------------- 1 | ## Trailing Controller Parameters 2 | allow_accel_trailing: False 3 | trailing_mode: True #True = Distance, False = Time 4 | prioritize_dyn: True 5 | 6 | trailing_gap: 2.0 # Distance in meters or gap in seconds, depending on mode 7 | trailing_p_gain: 1.0 8 | trailing_i_gain: 0.0 9 | trailing_d_gain: 0.2 10 | blind_trailing_speed: 1.5 -------------------------------------------------------------------------------- /stack_master/config/gb_optimizer/veh_dyn_info/ggv.csv: -------------------------------------------------------------------------------- 1 | # v_mps,ax_max_mps2,ay_max_mps2 2 | 0.0,12.0,12.0 3 | 4.0,12.0,12.0 4 | 8.0,12.0,12.0 5 | 12.0,12.0,12.0 6 | 16.0,12.0,12.0 7 | 20.0,12.0,12.0 8 | 24.0,12.0,12.0 9 | 28.0,12.0,12.0 10 | 32.0,12.0,12.0 11 | 36.0,12.0,12.0 12 | 40.0,12.0,12.0 13 | 44.0,12.0,12.0 14 | 48.0,12.0,12.0 15 | 52.0,12.0,12.0 16 | 56.0,12.0,12.0 17 | 60.0,12.0,12.0 18 | 66.0,12.0,12.0 19 | 72.0,12.0,12.0 20 | -------------------------------------------------------------------------------- /stack_master/config/global_planner_params.yaml: -------------------------------------------------------------------------------- 1 | # Parameters for global planner 2 | rate: 10 # [hz] 3 | test_on_car: True # also set True if using on a bag 4 | required_laps: 1 # how many laps to drive until calculating global waypoints 5 | safety_width: 0.7 # [m] including the width of the car 6 | safety_width_sp: 0.7 # [m] including the width of the car for shortest path optimization 7 | occupancy_grid_threshold: 10 8 | 9 | show_plots: False 10 | -------------------------------------------------------------------------------- /stack_master/maps/.gitignore: -------------------------------------------------------------------------------- 1 | # I assume most maps in stack_master/.../ are not going to be uploaded to Github. 2 | # This gitignore exists for that purpose. 3 | **.yaml 4 | **.png 5 | **.pbstream 6 | **.data 7 | **.posegraph 8 | **.pgm -------------------------------------------------------------------------------- /stack_master/maps/JFR_racingv5/JFR_racingv5.pbstream: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ForzaETH/race_stack/2552aa664f66caabdcc3282945cd8843e546f337/stack_master/maps/JFR_racingv5/JFR_racingv5.pbstream -------------------------------------------------------------------------------- /stack_master/maps/JFR_racingv5/JFR_racingv5.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ForzaETH/race_stack/2552aa664f66caabdcc3282945cd8843e546f337/stack_master/maps/JFR_racingv5/JFR_racingv5.png -------------------------------------------------------------------------------- /stack_master/maps/JFR_racingv5/JFR_racingv5.yaml: -------------------------------------------------------------------------------- 1 | free_thresh: 0.196 2 | image: JFR_racingv5.png 3 | negate: 0 4 | occupied_thresh: 0.65 5 | origin: 6 | - -7.748979949951172 7 | - -6.321185302734375 8 | - 0 9 | resolution: 0.05000000074505806 10 | -------------------------------------------------------------------------------- /stack_master/maps/JFR_racingv5/JFR_racingv5_backup.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ForzaETH/race_stack/2552aa664f66caabdcc3282945cd8843e546f337/stack_master/maps/JFR_racingv5/JFR_racingv5_backup.png -------------------------------------------------------------------------------- /stack_master/maps/JFR_racingv5/ot_sectors.yaml: -------------------------------------------------------------------------------- 1 | n_sectors: 1 2 | yeet_factor: 1.25 3 | spline_len: 30 4 | ot_sector_begin: 0.5 5 | Overtaking_sector0: 6 | start: 0 7 | end: 491 8 | ot_flag: false 9 | -------------------------------------------------------------------------------- /stack_master/maps/JFR_racingv5/pf_map.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ForzaETH/race_stack/2552aa664f66caabdcc3282945cd8843e546f337/stack_master/maps/JFR_racingv5/pf_map.png -------------------------------------------------------------------------------- /stack_master/maps/JFR_racingv5/pf_map.yaml: -------------------------------------------------------------------------------- 1 | free_thresh: 0.196 2 | image: pf_map.png 3 | negate: 0 4 | occupied_thresh: 0.65 5 | origin: 6 | - -7.748979949951172 7 | - -6.321185302734375 8 | - 0 9 | resolution: 0.05000000074505806 10 | -------------------------------------------------------------------------------- /stack_master/maps/JFR_racingv5/speed_scaling.yaml: -------------------------------------------------------------------------------- 1 | global_limit: 0.5 2 | n_sectors: 1 3 | Sector0: 4 | start: 0 5 | end: 491 6 | scaling: 0.5 7 | only_FTG: false 8 | no_FTG: false 9 | -------------------------------------------------------------------------------- /stack_master/maps/JFR_racingv6/JFR_racingv5_backup.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ForzaETH/race_stack/2552aa664f66caabdcc3282945cd8843e546f337/stack_master/maps/JFR_racingv6/JFR_racingv5_backup.png -------------------------------------------------------------------------------- /stack_master/maps/JFR_racingv6/JFR_racingv6.pbstream: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ForzaETH/race_stack/2552aa664f66caabdcc3282945cd8843e546f337/stack_master/maps/JFR_racingv6/JFR_racingv6.pbstream -------------------------------------------------------------------------------- /stack_master/maps/JFR_racingv6/JFR_racingv6.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ForzaETH/race_stack/2552aa664f66caabdcc3282945cd8843e546f337/stack_master/maps/JFR_racingv6/JFR_racingv6.png -------------------------------------------------------------------------------- /stack_master/maps/JFR_racingv6/JFR_racingv6.yaml: -------------------------------------------------------------------------------- 1 | free_thresh: 0.196 2 | image: JFR_racingv6.png 3 | negate: 0 4 | occupied_thresh: 0.65 5 | origin: 6 | - -7.748979949951172 7 | - -6.321185302734375 8 | - 0 9 | resolution: 0.05000000074505806 10 | -------------------------------------------------------------------------------- /stack_master/maps/JFR_racingv6/ot_sectors.yaml: -------------------------------------------------------------------------------- 1 | n_sectors: 1 2 | yeet_factor: 1.25 3 | spline_len: 30 4 | ot_sector_begin: 0.5 5 | Overtaking_sector0: 6 | start: 0 7 | end: 343 8 | ot_flag: false 9 | -------------------------------------------------------------------------------- /stack_master/maps/JFR_racingv6/pf_map.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ForzaETH/race_stack/2552aa664f66caabdcc3282945cd8843e546f337/stack_master/maps/JFR_racingv6/pf_map.png -------------------------------------------------------------------------------- /stack_master/maps/JFR_racingv6/pf_map.yaml: -------------------------------------------------------------------------------- 1 | free_thresh: 0.196 2 | image: pf_map.png 3 | negate: 0 4 | occupied_thresh: 0.65 5 | origin: 6 | - -7.748979949951172 7 | - -6.321185302734375 8 | - 0 9 | resolution: 0.05000000074505806 10 | -------------------------------------------------------------------------------- /stack_master/maps/JFR_racingv6/speed_scaling.yaml: -------------------------------------------------------------------------------- 1 | global_limit: 0.5 2 | n_sectors: 1 3 | Sector0: 4 | start: 0 5 | end: 343 6 | scaling: 0.5 7 | only_FTG: false 8 | no_FTG: false 9 | -------------------------------------------------------------------------------- /stack_master/maps/f/.gitignore: -------------------------------------------------------------------------------- 1 | *.bin 2 | -------------------------------------------------------------------------------- /stack_master/maps/f/f.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ForzaETH/race_stack/2552aa664f66caabdcc3282945cd8843e546f337/stack_master/maps/f/f.png -------------------------------------------------------------------------------- /stack_master/maps/f/f.yaml: -------------------------------------------------------------------------------- 1 | free_thresh: 0.196 2 | image: f.png 3 | negate: 0 4 | occupied_thresh: 0.65 5 | origin: 6 | - -11.60654 7 | - -26.520793 8 | - 0 9 | resolution: 0.05000000074505806 10 | -------------------------------------------------------------------------------- /stack_master/maps/f/ot_sectors.yaml: -------------------------------------------------------------------------------- 1 | n_sectors: 2 2 | yeet_factor: 1.25 3 | spline_len: 30 4 | ot_sector_begin: 0.5 5 | Overtaking_sector0: 6 | start: 0 7 | end: 408 8 | ot_flag: false 9 | Overtaking_sector1: 10 | start: 409 11 | end: 766 12 | ot_flag: false 13 | -------------------------------------------------------------------------------- /stack_master/maps/f/speed_scaling.yaml: -------------------------------------------------------------------------------- 1 | global_limit: 0.5 2 | n_sectors: 1 3 | Sector0: 4 | start: 0 5 | end: 766 6 | scaling: 0.5 7 | only_FTG: false 8 | no_FTG: false 9 | -------------------------------------------------------------------------------- /stack_master/maps/test_map/ot_sectors.yaml: -------------------------------------------------------------------------------- 1 | n_sectors: 1 2 | yeet_factor: 1.25 3 | spline_len: 30 4 | ot_sector_begin: 0.5 5 | Overtaking_sector0: 6 | start: 0 7 | end: 770 8 | ot_flag: false 9 | -------------------------------------------------------------------------------- /stack_master/maps/test_map/speed_scaling.yaml: -------------------------------------------------------------------------------- 1 | global_limit: 0.5 2 | n_sectors: 1 3 | Sector0: 4 | start: 0 5 | end: 770 6 | scaling: 0.5 7 | only_FTG: false 8 | no_FTG: false 9 | -------------------------------------------------------------------------------- /stack_master/maps/test_map/test_map.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ForzaETH/race_stack/2552aa664f66caabdcc3282945cd8843e546f337/stack_master/maps/test_map/test_map.png -------------------------------------------------------------------------------- /stack_master/maps/test_map/test_map.yaml: -------------------------------------------------------------------------------- 1 | free_thresh: 0.196 2 | image: test_map.png 3 | negate: 0 4 | occupied_thresh: 0.65 5 | origin: 6 | - -11.60654 7 | - -26.520793 8 | - 0 9 | resolution: 0.05000000074505806 10 | -------------------------------------------------------------------------------- /stack_master/pbl_config/autocompletion.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ForzaETH/race_stack/2552aa664f66caabdcc3282945cd8843e546f337/stack_master/pbl_config/autocompletion.png -------------------------------------------------------------------------------- /stack_master/pbl_config/include/CppWrapper/Config.h: -------------------------------------------------------------------------------- 1 | #ifndef CONFIG_H 2 | #define CONFIG_H 3 | #include 4 | // Everything needed for embedding 5 | #include 6 | 7 | class Config 8 | { 9 | public: 10 | Config() { 11 | 12 | }; 13 | ~Config() {}; 14 | virtual void load_config(std::string racecar_version) = 0; 15 | }; 16 | #endif // CONFIG_H -------------------------------------------------------------------------------- /stack_master/scripts/run_docker.sh: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | 3 | echo "Go to docker folder" 4 | cd /home/icra_crew/catkin_ws/src/icra_f110_stack/noetic_docker 5 | echo "Build docker..." 6 | docker build -t "ros-docker-f110" . 7 | echo "Run planner..." 8 | docker run -it --network=host --mount source="/home/icra_crew/catkin_ws/src/icra_f110_stack/stack_master/maps",type=bind,target=/maps ros-docker-f110:latest roslaunch f110_planner global_planner.launch 9 | -------------------------------------------------------------------------------- /stack_master/setup.py: -------------------------------------------------------------------------------- 1 | ## ! DO NOT MANUALLY INVOKE THIS setup.py, USE CATKIN INSTEAD 2 | 3 | from setuptools import setup 4 | from catkin_pkg.python_setup import generate_distutils_setup 5 | 6 | # fetch values from package.xml 7 | setup_args = generate_distutils_setup( 8 | packages=['pbl_config'], 9 | package_dir={'': 'pbl_config/src'}) 10 | 11 | 12 | setup(**setup_args) 13 | -------------------------------------------------------------------------------- /stack_master/test/artifacts/foo.md: -------------------------------------------------------------------------------- 1 | empty 2 | -------------------------------------------------------------------------------- /stack_master/test/templates/time_trials.md: -------------------------------------------------------------------------------- 1 | # F110 @ PBL - test report 2 | 3 | ## time-trials report 4 | -------------------------------------------------------------------------------- /state_estimation/misc/state_estimation_arch.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ForzaETH/race_stack/2552aa664f66caabdcc3282945cd8843e546f337/state_estimation/misc/state_estimation_arch.png -------------------------------------------------------------------------------- /state_machine/misc/state_machine.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ForzaETH/race_stack/2552aa664f66caabdcc3282945cd8843e546f337/state_machine/misc/state_machine.png -------------------------------------------------------------------------------- /state_machine/src/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ForzaETH/race_stack/2552aa664f66caabdcc3282945cd8843e546f337/state_machine/src/__init__.py -------------------------------------------------------------------------------- /state_machine/src/states_types.py: -------------------------------------------------------------------------------- 1 | import enum 2 | 3 | class StateType(enum.Enum): 4 | GB_TRACK = 'GB_TRACK' 5 | TRAILING = 'TRAILING' 6 | OVERTAKE = 'OVERTAKE' 7 | FTGONLY = 'FTGONLY' 8 | -------------------------------------------------------------------------------- /system_identification/id_analyser/.gitignore: -------------------------------------------------------------------------------- 1 | .venv 2 | *.pyc 3 | *.vscode 4 | *.json 5 | -------------------------------------------------------------------------------- /system_identification/id_analyser/data/.gitkeep: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ForzaETH/race_stack/2552aa664f66caabdcc3282945cd8843e546f337/system_identification/id_analyser/data/.gitkeep -------------------------------------------------------------------------------- /system_identification/id_analyser/helpers/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ForzaETH/race_stack/2552aa664f66caabdcc3282945cd8843e546f337/system_identification/id_analyser/helpers/__init__.py -------------------------------------------------------------------------------- /system_identification/id_analyser/models/NUC1/NUC1_linear.txt: -------------------------------------------------------------------------------- 1 | C_0d: 0.4769777665344132 2 | C_R: 3.693303119695026 3 | C_Sf: 3.70776089172916 4 | C_Sr: 14.917278165744078 5 | C_acc: 7.135521073243542 6 | C_d: -0.8555709456247437 7 | C_dec: 0.555393889733246 8 | I_z: 0.05797 9 | a_max: 3 10 | a_min: -3 11 | h_cg: 0.014 12 | l_f: 0.162 13 | l_r: 0.145 14 | l_wb: 0.307 15 | m: 3.54 16 | model_name: NUC1 17 | mu: 1 18 | tau_steer: 0.15779476 19 | tire_model: linear 20 | -------------------------------------------------------------------------------- /system_identification/id_analyser/models/NUC2/NUC2_linear.txt: -------------------------------------------------------------------------------- 1 | C_0d: 0.48 2 | C_0v: 100 3 | C_Sf: 5.035741752330491 4 | C_Sr: 9.618871913816136 5 | C_acc: 3.2 6 | C_d: -1.1 7 | C_dec: 3.2 8 | C_v: 20 9 | I_z: 0.05797 10 | a_max: 3 11 | a_min: -3 12 | h_cg: 0.014 13 | l_f: 0.162 14 | l_r: 0.145 15 | l_wb: 0.307 16 | m: 3.54 17 | model_name: NUC2 18 | mu: 1.0 19 | tau_steer: 0.15779476 20 | tire_model: linear 21 | -------------------------------------------------------------------------------- /system_identification/id_analyser/models/SIM/SIM_linear.txt: -------------------------------------------------------------------------------- 1 | C_0d: 0.5 2 | C_0v: -5 3 | C_Sf: 5.05669687015877 4 | C_Sr: 6.646267749931554 5 | C_acc: 3.2 6 | C_d: -1.11 7 | C_dec: 3.2 8 | C_v: 4280.088180163426 9 | I_z: 0.0627 10 | a_max: 3 11 | a_min: -3 12 | h_cg: 0.02 13 | l_f: 0.174 14 | l_r: 0.151 15 | l_wb: 0.325 16 | m: 3.56 17 | model_name: NUC5 18 | mu: 1.0 19 | tau_steer: 0.15779476 20 | tire_model: linear 21 | -------------------------------------------------------------------------------- /system_identification/id_analyser/models/SIM1/SIM1_linear.txt: -------------------------------------------------------------------------------- 1 | C_0d: 0.02 2 | C_0v: 0.0 3 | C_Sf: 4.718 4 | C_Sr: 5.4562 5 | C_acc: 3.2 6 | C_d: 1.1 7 | C_dec: 3.2 8 | C_v: 3500.0 9 | I_z: 0.04712 10 | a_max: 3 11 | a_min: -3 12 | h_cg: 0.074 13 | l_f: 0.15875 14 | l_r: 0.17145 15 | l_wb: 0.3302 16 | m: 3.47 17 | model_name: SIM1 18 | mu: 0.523 19 | tire_model: linear 20 | -------------------------------------------------------------------------------- /system_identification/id_analyser/print_model.py: -------------------------------------------------------------------------------- 1 | from helpers.load_model import get_dotdict 2 | 3 | model_name = "NUC1_linear" #name + tire model name 4 | 5 | print(f"Loading model {model_name}...") 6 | model = get_dotdict(model_name) 7 | for name, value in model.items(): 8 | print(str(name) + ": " + str(value)) 9 | -------------------------------------------------------------------------------- /system_identification/id_controller/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 3.0.2) 2 | project(id_controller) 3 | 4 | find_package(catkin REQUIRED COMPONENTS 5 | geometry_msgs 6 | rospy 7 | std_msgs 8 | f110_msgs 9 | ) 10 | 11 | catkin_python_setup() 12 | -------------------------------------------------------------------------------- /system_identification/id_controller/setup.py: -------------------------------------------------------------------------------- 1 | ## ! DO NOT MANUALLY INVOKE THIS setup.py, USE CATKIN INSTEAD 2 | 3 | from distutils.core import setup 4 | from catkin_pkg.python_setup import generate_distutils_setup 5 | 6 | # fetch values from package.xml 7 | setup_args = generate_distutils_setup( 8 | packages=['id_controller'], 9 | package_dir={'': 'src'}, 10 | ) 11 | 12 | setup(**setup_args) 13 | -------------------------------------------------------------------------------- /system_identification/steering_lookup/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 3.0.2) 2 | project(steering_lookup) 3 | 4 | find_package(catkin) 5 | 6 | catkin_python_setup() 7 | -------------------------------------------------------------------------------- /system_identification/steering_lookup/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | steering_lookup 4 | 1.0.0 5 | The steering_lookup library 6 | 7 | Jonathan Becker 8 | 9 | MIT 10 | 11 | catkin 12 | 13 | 14 | 15 | 16 | 17 | -------------------------------------------------------------------------------- /system_identification/steering_lookup/setup.py: -------------------------------------------------------------------------------- 1 | ## ! DO NOT MANUALLY INVOKE THIS setup.py, USE CATKIN INSTEAD 2 | 3 | from distutils.core import setup 4 | from catkin_pkg.python_setup import generate_distutils_setup 5 | 6 | # fetch values from package.xml 7 | setup_args = generate_distutils_setup( 8 | packages=['steering_lookup'], 9 | package_dir={'': 'src'}, 10 | ) 11 | 12 | setup(**setup_args) -------------------------------------------------------------------------------- /system_identification/steering_lookup/src/steering_lookup/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ForzaETH/race_stack/2552aa664f66caabdcc3282945cd8843e546f337/system_identification/steering_lookup/src/steering_lookup/__init__.py --------------------------------------------------------------------------------