From bb3d17f83f0c4063659a65e09e464806c2bb7b4f Mon Sep 17 00:00:00 2001 From: Yangge Li Date: Fri, 6 Dec 2024 22:54:52 -0600 Subject: [PATCH] more data from more scenarios --- .../extracted_0/_minihawk_pose.csv | 650 +++++++ .../extracted_0/_target_pose.csv | 1017 +++++++++++ .../extracted_1/_minihawk_pose.csv | 697 ++++++++ .../extracted_1/_target_pose.csv | 1073 +++++++++++ .../extracted_2/_minihawk_pose.csv | 561 ++++++ .../extracted_2/_target_pose.csv | 908 ++++++++++ .../extracted_3/_minihawk_pose.csv | 649 +++++++ .../extracted_3/_target_pose.csv | 1013 +++++++++++ .../extracted_4/_minihawk_pose.csv | 633 +++++++ .../extracted_4/_target_pose.csv | 992 +++++++++++ .../extracted_5/_minihawk_pose.csv | 657 +++++++ .../extracted_5/_target_pose.csv | 1024 +++++++++++ .../extracted_6/_minihawk_pose.csv | 660 +++++++ .../extracted_6/_target_pose.csv | 1029 +++++++++++ .../extracted_7/_minihawk_pose.csv | 665 +++++++ .../extracted_7/_target_pose.csv | 1035 +++++++++++ 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.../_yolo_node_yolo_pred_frame.csv | 1 + .../_yolo_node_yolo_predictions.csv | 1 + .../extracted_8/_minihawk_pose.csv | 721 ++++++++ .../Scenario-03/extracted_8/_target_pose.csv | 1105 ++++++++++++ .../_yolo_node_yolo_pred_frame.csv | 1 + .../_yolo_node_yolo_predictions.csv | 1 + .../extracted_9/_minihawk_pose.csv | 880 +++++++++ .../Scenario-03/extracted_9/_target_pose.csv | 1304 ++++++++++++++ .../_yolo_node_yolo_pred_frame.csv | 1 + .../_yolo_node_yolo_predictions.csv | 1 + minihawk/Scenario-03/vnv_scitech.yml | 203 +++ minihawk/minihawk_agent.py | 10 +- minihawk/minihawk_scenario.py | 90 +- minihawk/read_ros_data.py | 35 +- minihawk/reindex_bags.sh | 21 + minihawk/visualize_result.py | 45 +- minihawk/visualize_result2.py | 125 ++ 173 files changed, 88869 insertions(+), 63 deletions(-) create mode 100644 minihawk/MiniHawk_Obstacles-None_Landing-Rooftop_Uncertainty-Uniform-5m/extracted_0/_minihawk_pose.csv create mode 100644 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/dev/null +++ b/minihawk/Scenario-01/extracted_1/_yolo_node_yolo_pred_frame.csv @@ -0,0 +1 @@ + diff --git a/minihawk/Scenario-01/extracted_1/_yolo_node_yolo_predictions.csv b/minihawk/Scenario-01/extracted_1/_yolo_node_yolo_predictions.csv new file mode 100644 index 00000000..8b137891 --- /dev/null +++ b/minihawk/Scenario-01/extracted_1/_yolo_node_yolo_predictions.csv @@ -0,0 +1 @@ + diff --git a/minihawk/Scenario-01/extracted_10/_minihawk_pose.csv b/minihawk/Scenario-01/extracted_10/_minihawk_pose.csv new file mode 100644 index 00000000..963bebd2 --- /dev/null +++ b/minihawk/Scenario-01/extracted_10/_minihawk_pose.csv @@ -0,0 +1,777 @@ +timestamp,tx,ty,tz,rx,ry,rz,rw +19549.04,-81.1845932006836,74.61701965332031,72.37999725341797,0.0009931203621734695,-0.03810796500907947,-9.954190298603603e-05,-0.9992731292325547 +19549.2875,-81.1845932006836,74.61701965332031,72.31999969482422,0.0011358033468574756,-0.03748964672758615,-9.914838214846026e-05,-0.9992963657036867 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a/minihawk/Scenario-01/extracted_2/_yolo_node_yolo_predictions.csv b/minihawk/Scenario-01/extracted_2/_yolo_node_yolo_predictions.csv new file mode 100644 index 00000000..8b137891 --- /dev/null +++ b/minihawk/Scenario-01/extracted_2/_yolo_node_yolo_predictions.csv @@ -0,0 +1 @@ + diff --git a/minihawk/Scenario-01/extracted_3/_minihawk_pose.csv b/minihawk/Scenario-01/extracted_3/_minihawk_pose.csv new file mode 100644 index 00000000..4e8ac6bf --- /dev/null +++ b/minihawk/Scenario-01/extracted_3/_minihawk_pose.csv @@ -0,0 +1,794 @@ +timestamp,tx,ty,tz,rx,ry,rz,rw +19915.885,-79.4234619140625,73.71533966064453,73.33000183105469,0.0011490885612234192,-0.03716674567342408,0.00011003620482378947,-0.9993084111041792 +19915.8875,-79.4234619140625,73.71533966064453,73.33000183105469,0.0011490885612234192,-0.03716674567342408,0.00011003620482378947,-0.9993084111041792 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a/minihawk/Scenario-01/extracted_3/_yolo_node_yolo_pred_frame.csv b/minihawk/Scenario-01/extracted_3/_yolo_node_yolo_pred_frame.csv new file mode 100644 index 00000000..8b137891 --- /dev/null +++ b/minihawk/Scenario-01/extracted_3/_yolo_node_yolo_pred_frame.csv @@ -0,0 +1 @@ + diff --git a/minihawk/Scenario-01/extracted_3/_yolo_node_yolo_predictions.csv b/minihawk/Scenario-01/extracted_3/_yolo_node_yolo_predictions.csv new file mode 100644 index 00000000..8b137891 --- /dev/null +++ b/minihawk/Scenario-01/extracted_3/_yolo_node_yolo_predictions.csv @@ -0,0 +1 @@ + diff --git a/minihawk/Scenario-01/extracted_4/_minihawk_pose.csv b/minihawk/Scenario-01/extracted_4/_minihawk_pose.csv new file mode 100644 index 00000000..e3ec783e --- /dev/null +++ b/minihawk/Scenario-01/extracted_4/_minihawk_pose.csv @@ -0,0 +1,826 @@ +timestamp,tx,ty,tz,rx,ry,rz,rw 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b/minihawk/Scenario-01/extracted_9/_yolo_node_yolo_pred_frame.csv new file mode 100644 index 00000000..8b137891 --- /dev/null +++ b/minihawk/Scenario-01/extracted_9/_yolo_node_yolo_pred_frame.csv @@ -0,0 +1 @@ + diff --git a/minihawk/Scenario-01/extracted_9/_yolo_node_yolo_predictions.csv b/minihawk/Scenario-01/extracted_9/_yolo_node_yolo_predictions.csv new file mode 100644 index 00000000..8b137891 --- /dev/null +++ b/minihawk/Scenario-01/extracted_9/_yolo_node_yolo_predictions.csv @@ -0,0 +1 @@ + diff --git a/minihawk/Scenario-01/vnv_scitech.yml b/minihawk/Scenario-01/vnv_scitech.yml new file mode 100644 index 00000000..bcdb7670 --- /dev/null +++ b/minihawk/Scenario-01/vnv_scitech.yml @@ -0,0 +1,203 @@ +# Global +loglevel: DEBUG # One of ["TRACE", "DEBUG", "INFO", "SUCCESS", "WARNING", "ERROR", "CRITICAL"] + +# The topics recorded are defined in sim_control/script/node_recorder.py +# Final rosbag is in utils/tmp +record_rosbag: true +record_persistent: true + +# Simulation modes +# simple: run the simulator and let it run until user stops it via ctrl+c +# integer value: run simulator for value number of iterations +simulation_mode: 7 + +landing_threshold: 3.5 # in meters + +# Order of services here is also the order in which services are started +services: + carla: + include: services/carla.yml + env_sim: + include: services/env_sim.yml + # jaxguam: + # include: services/jaxguam.yml + minihawk: + include: services/minihawk.yml + ground_station: + include: services/ground_station.yml + yolov5: + include: services/yolov5.yml + sim_control: + include: services/sim_control.yml + # verifiable_od: + # include: services/verifiable_od.yml + + +# Test +map: Town02_Opt +spectator_follows_ego_vehicle: False + +# Vehicle +ego_vehicle: + reference_topic: /target/pose + planner_topic: /target/waypoint + perception_vel_topic: /controller_node/vel_cmd + perception_control_topic: /controller_node/tgt_box_rcvd + # planner_topic: /controller_node/vel_cmd + planner: + type: a_star # One of ["simple", "a_star"] + distance_threshold: 3.5 # distance threshold to the current waypoint + speed_threshold: 1.0 # minimum speed required when moving between intermediate points + speed_check_time: 0.5 # time period in s to check the speed + # include: ego_vehicle/jaxguam.yml + include: ego_vehicle/minihawk.yml + debug: false + location: + x: -80 + y: 75 + z: 75 + # x: -80 + # y: 75 + # z: 75 + velocity: + x: 0 + y: 0 + z: 0 + +# Adversarial objects +adv_objects: + enabled: False # One of ["True", "False"] + objects: + - pose: + type: absolute # One of ["absolute", "relative"]. If "relative", then relative to the starting pose of the ego vehicle. + location: + x: -80 + y: 75 + z: 65 + rotation: + roll: 0 + pitch: 0 + yaw: 0 + velocity: + x: 0 + y: 0 + z: 0 + model: uli_cora + # - pose: + # type: relative # One of ["absolute", "relative"]. If "relative", then relative to the starting pose of the ego vehicle. + # location: + # x: 10 + # y: -5 + # z: -49.5 + # rotation: + # roll: 0 + # pitch: 0 + # yaw: 0 + # velocity: + # x: 0 + # y: 0 + # z: 2 + # model: uli_cora + # - pose: + # type: relative # One of ["absolute", "relative"]. If "relative", then relative to the starting pose of the ego vehicle. + # location: + # x: -20 + # y: -20 + # z: 0 + # rotation: + # roll: 0 + # pitch: 0 + # yaw: 180 + # velocity: + # x: 0 + # y: 0 + # z: 0 + # model: uli_cora + # - pose: + # type: relative # One of ["absolute", "relative"]. If "relative", then relative to the starting pose of the ego vehicle. + # location: + # x: -10 + # y: -10 + # z: -40 + # rotation: + # roll: 0 + # pitch: 0 + # yaw: 180 + # velocity: + # x: 0 + # y: 0 + # z: 0 + # model: vehicle.bmw.grandtourer + # - pose: + # type: relative # One of ["absolute", "relative"]. If "relative", then relative to the starting pose of the ego vehicle. + # location: + # x: -4 + # y: -28 + # z: -45 + # rotation: + # roll: 0 + # pitch: 0 + # yaw: 90 + # velocity: + # x: 0 + # y: 3 + # z: 0 + # model: vehicle.dodge.charger_police + # - pose: + # type: relative # One of ["absolute", "relative"]. If "relative", then relative to the starting pose of the ego vehicle. + # location: + # x: 7 + # y: 7 + # z: -25 + # rotation: + # roll: 0 + # pitch: 0 + # yaw: 0 + # velocity: + # x: 0 + # y: 0 + # z: 0 + # model: vehicle.nissan.patrol + # - pose: + # type: relative # One of ["absolute", "relative"]. If "relative", then relative to the starting pose of the ego vehicle. + # location: + # x: -8 + # y: 12 + # z: -17 + # rotation: + # roll: 0 + # pitch: 0 + # yaw: 0 + # velocity: + # x: 0 + # y: 0 + # z: 0 + # model: vehicle.tesla.cybertruck + # - pose: + # type: relative # One of ["absolute", "relative"]. If "relative", then relative to the starting pose of the ego vehicle. + # location: + # x: -20 + # y: 15 + # z: -34 + # rotation: + # roll: 0 + # pitch: 0 + # yaw: 0 + # velocity: + # x: 0 + # y: 0 + # z: 0 + # model: vehicle.mercedes.sprinter + +# Target point +target: + type: absolute # One of ["absolute", "relative"]. Absolute -- absolute in CARLA's global coordinate frame. Relative -- relative to the vehicle's starting location. + x: -80 + y: 75 + z: 29 + # x: -45 + # y: 35 + # z: 0 + +optional_features: + include: optional_features/static_obstacles_record.yml \ No newline at end of file diff --git a/minihawk/Scenario-02/extracted_0/_minihawk_pose.csv b/minihawk/Scenario-02/extracted_0/_minihawk_pose.csv new file mode 100644 index 00000000..f9476eee --- /dev/null +++ b/minihawk/Scenario-02/extracted_0/_minihawk_pose.csv @@ -0,0 +1,677 @@ +timestamp,tx,ty,tz,rx,ry,rz,rw +23049.4425,-76.80899047851562,75.2070083618164,79.05000305175781,0.00010584507819660684,-0.03783053862952157,0.0027097089663643535,-0.999280489462862 +23049.6825,-76.84529876708984,75.21814727783203,79.04000091552734,-0.0009931472295088312,-0.044723559722833914,-0.0016914142633444088,-0.9989974754633206 +23049.6825,-76.84529876708984,75.21814727783203,79.04000091552734,-0.0009931472295088312,-0.044723559722833914,-0.0016914142633444088,-0.9989974754633206 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a/minihawk/Scenario-02/extracted_1/_yolo_node_yolo_pred_frame.csv b/minihawk/Scenario-02/extracted_1/_yolo_node_yolo_pred_frame.csv new file mode 100644 index 00000000..8b137891 --- /dev/null +++ b/minihawk/Scenario-02/extracted_1/_yolo_node_yolo_pred_frame.csv @@ -0,0 +1 @@ + diff --git a/minihawk/Scenario-02/extracted_1/_yolo_node_yolo_predictions.csv b/minihawk/Scenario-02/extracted_1/_yolo_node_yolo_predictions.csv new file mode 100644 index 00000000..8b137891 --- /dev/null +++ b/minihawk/Scenario-02/extracted_1/_yolo_node_yolo_predictions.csv @@ -0,0 +1 @@ + diff --git a/minihawk/Scenario-02/extracted_10/_minihawk_pose.csv b/minihawk/Scenario-02/extracted_10/_minihawk_pose.csv new file mode 100644 index 00000000..a5b6e1b7 --- /dev/null +++ b/minihawk/Scenario-02/extracted_10/_minihawk_pose.csv @@ -0,0 +1,863 @@ +timestamp,tx,ty,tz,rx,ry,rz,rw 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@@ -0,0 +1 @@ + diff --git a/minihawk/Scenario-02/extracted_9/_yolo_node_yolo_predictions.csv b/minihawk/Scenario-02/extracted_9/_yolo_node_yolo_predictions.csv new file mode 100644 index 00000000..8b137891 --- /dev/null +++ b/minihawk/Scenario-02/extracted_9/_yolo_node_yolo_predictions.csv @@ -0,0 +1 @@ + diff --git a/minihawk/Scenario-02/vnv_scitech.yml b/minihawk/Scenario-02/vnv_scitech.yml new file mode 100644 index 00000000..f4cf217d --- /dev/null +++ b/minihawk/Scenario-02/vnv_scitech.yml @@ -0,0 +1,203 @@ +# Global +loglevel: DEBUG # One of ["TRACE", "DEBUG", "INFO", "SUCCESS", "WARNING", "ERROR", "CRITICAL"] + +# The topics recorded are defined in sim_control/script/node_recorder.py +# Final rosbag is in utils/tmp +record_rosbag: true +record_persistent: true + +# Simulation modes +# simple: run the simulator and let it run until user stops it via ctrl+c +# integer value: run simulator for value number of iterations +simulation_mode: 11 + +landing_threshold: 3.5 # in meters + +# Order of services here is also the order in which services are started +services: + carla: + include: services/carla.yml + env_sim: + include: services/env_sim.yml + # jaxguam: + # include: services/jaxguam.yml + minihawk: + include: services/minihawk.yml + ground_station: + include: services/ground_station.yml + yolov5: + include: services/yolov5.yml + sim_control: + include: services/sim_control.yml + # verifiable_od: + # include: services/verifiable_od.yml + + +# Test +map: Town02_Opt +spectator_follows_ego_vehicle: False + +# Vehicle +ego_vehicle: + reference_topic: /target/pose + planner_topic: /target/waypoint + perception_vel_topic: /controller_node/vel_cmd + perception_control_topic: /controller_node/tgt_box_rcvd + # planner_topic: /controller_node/vel_cmd + planner: + type: a_star # One of ["simple", "a_star"] + distance_threshold: 3.5 # distance threshold to the current waypoint + speed_threshold: 1.0 # minimum speed required when moving between intermediate points + speed_check_time: 0.5 # time period in s to check the speed + # include: ego_vehicle/jaxguam.yml + include: ego_vehicle/minihawk.yml + debug: false + location: + x: -80 + y: 75 + z: 75 + # x: -80 + # y: 75 + # z: 75 + velocity: + x: 0 + y: 0 + z: 0 + +# Adversarial objects +adv_objects: + enabled: False # One of ["True", "False"] + objects: + - pose: + type: absolute # One of ["absolute", "relative"]. If "relative", then relative to the starting pose of the ego vehicle. + location: + x: -80 + y: 75 + z: 65 + rotation: + roll: 0 + pitch: 0 + yaw: 0 + velocity: + x: 0 + y: 0 + z: 0 + model: uli_cora + # - pose: + # type: relative # One of ["absolute", "relative"]. If "relative", then relative to the starting pose of the ego vehicle. + # location: + # x: 10 + # y: -5 + # z: -49.5 + # rotation: + # roll: 0 + # pitch: 0 + # yaw: 0 + # velocity: + # x: 0 + # y: 0 + # z: 2 + # model: uli_cora + # - pose: + # type: relative # One of ["absolute", "relative"]. If "relative", then relative to the starting pose of the ego vehicle. + # location: + # x: -20 + # y: -20 + # z: 0 + # rotation: + # roll: 0 + # pitch: 0 + # yaw: 180 + # velocity: + # x: 0 + # y: 0 + # z: 0 + # model: uli_cora + # - pose: + # type: relative # One of ["absolute", "relative"]. If "relative", then relative to the starting pose of the ego vehicle. + # location: + # x: -10 + # y: -10 + # z: -40 + # rotation: + # roll: 0 + # pitch: 0 + # yaw: 180 + # velocity: + # x: 0 + # y: 0 + # z: 0 + # model: vehicle.bmw.grandtourer + # - pose: + # type: relative # One of ["absolute", "relative"]. If "relative", then relative to the starting pose of the ego vehicle. + # location: + # x: -4 + # y: -28 + # z: -45 + # rotation: + # roll: 0 + # pitch: 0 + # yaw: 90 + # velocity: + # x: 0 + # y: 3 + # z: 0 + # model: vehicle.dodge.charger_police + # - pose: + # type: relative # One of ["absolute", "relative"]. If "relative", then relative to the starting pose of the ego vehicle. + # location: + # x: 7 + # y: 7 + # z: -25 + # rotation: + # roll: 0 + # pitch: 0 + # yaw: 0 + # velocity: + # x: 0 + # y: 0 + # z: 0 + # model: vehicle.nissan.patrol + # - pose: + # type: relative # One of ["absolute", "relative"]. If "relative", then relative to the starting pose of the ego vehicle. + # location: + # x: -8 + # y: 12 + # z: -17 + # rotation: + # roll: 0 + # pitch: 0 + # yaw: 0 + # velocity: + # x: 0 + # y: 0 + # z: 0 + # model: vehicle.tesla.cybertruck + # - pose: + # type: relative # One of ["absolute", "relative"]. If "relative", then relative to the starting pose of the ego vehicle. + # location: + # x: -20 + # y: 15 + # z: -34 + # rotation: + # roll: 0 + # pitch: 0 + # yaw: 0 + # velocity: + # x: 0 + # y: 0 + # z: 0 + # model: vehicle.mercedes.sprinter + +# Target point +target: + type: absolute # One of ["absolute", "relative"]. Absolute -- absolute in CARLA's global coordinate frame. Relative -- relative to the vehicle's starting location. + x: -80 + y: 75 + z: 29 + # x: -45 + # y: 35 + # z: 0 + +optional_features: + include: optional_features/static_obstacles_record.yml \ No newline at end of file diff --git a/minihawk/Scenario-03/extracted_0/_minihawk_pose.csv b/minihawk/Scenario-03/extracted_0/_minihawk_pose.csv new file mode 100644 index 00000000..b925571d --- /dev/null +++ b/minihawk/Scenario-03/extracted_0/_minihawk_pose.csv @@ -0,0 +1,692 @@ +timestamp,tx,ty,tz,rx,ry,rz,rw +26550.8325,-82.36474609375,71.43330383300781,73.72000122070312,-0.014510873717310748,-0.015844797808537484,0.016736750420978014,-0.99962906025771 +26550.8325,-82.36474609375,71.43330383300781,73.72000122070312,-0.014510873717310748,-0.015844797808537484,0.016736750420978014,-0.99962906025771 +26551.085,-82.40105438232422,71.24406433105469,74.2300033569336,-0.00965161085801891,-0.012529694502860522,0.019845140549438717,-0.9996779599251366 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a/minihawk/Scenario-03/extracted_5/_yolo_node_yolo_pred_frame.csv b/minihawk/Scenario-03/extracted_5/_yolo_node_yolo_pred_frame.csv new file mode 100644 index 00000000..8b137891 --- /dev/null +++ b/minihawk/Scenario-03/extracted_5/_yolo_node_yolo_pred_frame.csv @@ -0,0 +1 @@ + diff --git a/minihawk/Scenario-03/extracted_5/_yolo_node_yolo_predictions.csv b/minihawk/Scenario-03/extracted_5/_yolo_node_yolo_predictions.csv new file mode 100644 index 00000000..8b137891 --- /dev/null +++ b/minihawk/Scenario-03/extracted_5/_yolo_node_yolo_predictions.csv @@ -0,0 +1 @@ + diff --git a/minihawk/Scenario-03/extracted_6/_minihawk_pose.csv b/minihawk/Scenario-03/extracted_6/_minihawk_pose.csv new file mode 100644 index 00000000..bb04ed58 --- /dev/null +++ b/minihawk/Scenario-03/extracted_6/_minihawk_pose.csv @@ -0,0 +1,865 @@ +timestamp,tx,ty,tz,rx,ry,rz,rw 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a/minihawk/Scenario-03/extracted_7/_yolo_node_yolo_pred_frame.csv b/minihawk/Scenario-03/extracted_7/_yolo_node_yolo_pred_frame.csv new file mode 100644 index 00000000..8b137891 --- /dev/null +++ b/minihawk/Scenario-03/extracted_7/_yolo_node_yolo_pred_frame.csv @@ -0,0 +1 @@ + diff --git a/minihawk/Scenario-03/extracted_7/_yolo_node_yolo_predictions.csv b/minihawk/Scenario-03/extracted_7/_yolo_node_yolo_predictions.csv new file mode 100644 index 00000000..8b137891 --- /dev/null +++ b/minihawk/Scenario-03/extracted_7/_yolo_node_yolo_predictions.csv @@ -0,0 +1 @@ + diff --git a/minihawk/Scenario-03/extracted_8/_minihawk_pose.csv b/minihawk/Scenario-03/extracted_8/_minihawk_pose.csv new file mode 100644 index 00000000..a28d3569 --- /dev/null +++ b/minihawk/Scenario-03/extracted_8/_minihawk_pose.csv @@ -0,0 +1,721 @@ +timestamp,tx,ty,tz,rx,ry,rz,rw 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+26331.88,-79.97950427541403,73.17680250508617,29.0,0.0,0.0,0.0 +26331.98,-79.97950427541403,73.17680250508617,29.0,0.0,0.0,0.0 +26332.08,-79.97950427541403,73.17680250508617,29.0,0.0,0.0,0.0 +26332.18,-79.97950427541403,73.17680250508617,29.0,0.0,0.0,0.0 +26332.28,-79.97950427541403,73.17680250508617,29.0,0.0,0.0,0.0 diff --git a/minihawk/Scenario-03/extracted_9/_yolo_node_yolo_pred_frame.csv b/minihawk/Scenario-03/extracted_9/_yolo_node_yolo_pred_frame.csv new file mode 100644 index 00000000..8b137891 --- /dev/null +++ b/minihawk/Scenario-03/extracted_9/_yolo_node_yolo_pred_frame.csv @@ -0,0 +1 @@ + diff --git a/minihawk/Scenario-03/extracted_9/_yolo_node_yolo_predictions.csv b/minihawk/Scenario-03/extracted_9/_yolo_node_yolo_predictions.csv new file mode 100644 index 00000000..8b137891 --- /dev/null +++ b/minihawk/Scenario-03/extracted_9/_yolo_node_yolo_predictions.csv @@ -0,0 +1 @@ + diff --git a/minihawk/Scenario-03/vnv_scitech.yml b/minihawk/Scenario-03/vnv_scitech.yml new file mode 100644 index 00000000..e0250d3c --- /dev/null +++ b/minihawk/Scenario-03/vnv_scitech.yml @@ -0,0 +1,203 @@ +# Global +loglevel: DEBUG # One of ["TRACE", "DEBUG", "INFO", "SUCCESS", "WARNING", "ERROR", "CRITICAL"] + +# The topics recorded are defined in sim_control/script/node_recorder.py +# Final rosbag is in utils/tmp +record_rosbag: true +record_persistent: true + +# Simulation modes +# simple: run the simulator and let it run until user stops it via ctrl+c +# integer value: run simulator for value number of iterations +simulation_mode: 6 + +landing_threshold: 3.5 # in meters + +# Order of services here is also the order in which services are started +services: + carla: + include: services/carla.yml + env_sim: + include: services/env_sim.yml + # jaxguam: + # include: services/jaxguam.yml + minihawk: + include: services/minihawk.yml + ground_station: + include: services/ground_station.yml + yolov5: + include: services/yolov5.yml + sim_control: + include: services/sim_control.yml + # verifiable_od: + # include: services/verifiable_od.yml + + +# Test +map: Town02_Opt +spectator_follows_ego_vehicle: False + +# Vehicle +ego_vehicle: + reference_topic: /target/pose + planner_topic: /target/waypoint + perception_vel_topic: /controller_node/vel_cmd + perception_control_topic: /controller_node/tgt_box_rcvd + # planner_topic: /controller_node/vel_cmd + planner: + type: a_star # One of ["simple", "a_star"] + distance_threshold: 3.5 # distance threshold to the current waypoint + speed_threshold: 1.0 # minimum speed required when moving between intermediate points + speed_check_time: 0.5 # time period in s to check the speed + # include: ego_vehicle/jaxguam.yml + include: ego_vehicle/minihawk.yml + debug: false + location: + x: -80 + y: 75 + z: 75 + # x: -80 + # y: 75 + # z: 75 + velocity: + x: 0 + y: 0 + z: 0 + +# Adversarial objects +adv_objects: + enabled: True # One of ["True", "False"] + objects: + - pose: + type: absolute # One of ["absolute", "relative"]. If "relative", then relative to the starting pose of the ego vehicle. + location: + x: -80 + y: 75 + z: 65 + rotation: + roll: 0 + pitch: 0 + yaw: 0 + velocity: + x: 0 + y: 0 + z: 0 + model: uli_cora + # - pose: + # type: relative # One of ["absolute", "relative"]. If "relative", then relative to the starting pose of the ego vehicle. + # location: + # x: 10 + # y: -5 + # z: -49.5 + # rotation: + # roll: 0 + # pitch: 0 + # yaw: 0 + # velocity: + # x: 0 + # y: 0 + # z: 2 + # model: uli_cora + # - pose: + # type: relative # One of ["absolute", "relative"]. If "relative", then relative to the starting pose of the ego vehicle. + # location: + # x: -20 + # y: -20 + # z: 0 + # rotation: + # roll: 0 + # pitch: 0 + # yaw: 180 + # velocity: + # x: 0 + # y: 0 + # z: 0 + # model: uli_cora + # - pose: + # type: relative # One of ["absolute", "relative"]. If "relative", then relative to the starting pose of the ego vehicle. + # location: + # x: -10 + # y: -10 + # z: -40 + # rotation: + # roll: 0 + # pitch: 0 + # yaw: 180 + # velocity: + # x: 0 + # y: 0 + # z: 0 + # model: vehicle.bmw.grandtourer + # - pose: + # type: relative # One of ["absolute", "relative"]. If "relative", then relative to the starting pose of the ego vehicle. + # location: + # x: -4 + # y: -28 + # z: -45 + # rotation: + # roll: 0 + # pitch: 0 + # yaw: 90 + # velocity: + # x: 0 + # y: 3 + # z: 0 + # model: vehicle.dodge.charger_police + # - pose: + # type: relative # One of ["absolute", "relative"]. If "relative", then relative to the starting pose of the ego vehicle. + # location: + # x: 7 + # y: 7 + # z: -25 + # rotation: + # roll: 0 + # pitch: 0 + # yaw: 0 + # velocity: + # x: 0 + # y: 0 + # z: 0 + # model: vehicle.nissan.patrol + # - pose: + # type: relative # One of ["absolute", "relative"]. If "relative", then relative to the starting pose of the ego vehicle. + # location: + # x: -8 + # y: 12 + # z: -17 + # rotation: + # roll: 0 + # pitch: 0 + # yaw: 0 + # velocity: + # x: 0 + # y: 0 + # z: 0 + # model: vehicle.tesla.cybertruck + # - pose: + # type: relative # One of ["absolute", "relative"]. If "relative", then relative to the starting pose of the ego vehicle. + # location: + # x: -20 + # y: 15 + # z: -34 + # rotation: + # roll: 0 + # pitch: 0 + # yaw: 0 + # velocity: + # x: 0 + # y: 0 + # z: 0 + # model: vehicle.mercedes.sprinter + +# Target point +target: + type: absolute # One of ["absolute", "relative"]. Absolute -- absolute in CARLA's global coordinate frame. Relative -- relative to the vehicle's starting location. + x: -80 + y: 75 + z: 29 + # x: -45 + # y: 35 + # z: 0 + +optional_features: + include: optional_features/static_obstacles_record.yml \ No newline at end of file diff --git a/minihawk/minihawk_agent.py b/minihawk/minihawk_agent.py index 2e27511d..2b372737 100644 --- a/minihawk/minihawk_agent.py +++ b/minihawk/minihawk_agent.py @@ -15,15 +15,17 @@ script_dir = os.path.dirname(os.path.realpath(__file__)) class MiniHawkAgent(BaseAgent): - def __init__(self, id, code=None, file_name=None): + def __init__(self, id, code=None, file_name=None, folder_name = './MiniHawk_Obstacles-None_Landing-Rooftop_Uncertainty-Uniform-5m'): # Calling the constructor of tha base class # super().__init__(id, code, file_name) self.id = id + output_dir = folder_name self.traces_list = [] - for i in range(4): - df = pd.read_csv(os.path.join(script_dir, f'extracted_{i}','./_minihawk_pose.csv')) - self.traces_list.append(df) + for i, name in enumerate(os.listdir(output_dir)): + if name.startswith('extracted'): + df = pd.read_csv(os.path.join(output_dir, name, './_minihawk_pose.csv')) + self.traces_list.append(df) self.decision_logic: ControllerIR = ControllerIR.empty() self.process_traces() diff --git a/minihawk/minihawk_scenario.py b/minihawk/minihawk_scenario.py index af3eb2c2..cb73d454 100644 --- a/minihawk/minihawk_scenario.py +++ b/minihawk/minihawk_scenario.py @@ -7,6 +7,10 @@ import os script_dir = os.path.dirname(os.path.realpath(__file__)) import numpy as np +import sys +import matplotlib.pyplot as plt +import yaml +import pandas as pd def plot_polytope_3d(A, b, ax=None, color="red", trans=0.2, edge=True): if ax is None: @@ -37,13 +41,21 @@ class AgentMode(Enum): if __name__ == "__main__": scenario = Scenario(ScenarioConfig(parallel=False)) - quad = MiniHawkAgent('quad') + data_dir = os.path.join(script_dir, sys.argv[1]) + with open(os.path.join(data_dir, 'vnv_scitech.yml'), 'r') as f: + config = yaml.full_load(f) + + init_x = config['ego_vehicle']['location']['x'] + init_y = config['ego_vehicle']['location']['y'] + init_z = config['ego_vehicle']['location']['z'] + + quad = MiniHawkAgent('quad', folder_name=data_dir) scenario.add_agent(quad) scenario.set_init( [ - [[0-5.0, 75-5.0, 75-5.0, 0.0, 0.0, 0.0], - [0+5.0, 75+5.0, 75+5.0, 0.0, 0.0, 0.0]] + [[init_x-5.0, init_y-5.0, init_z-5.0, 0.0, 0.0, 0.0], + [init_x+5.0, init_y+5.0, init_z+5.0, 0.0, 0.0, 0.0]] ], [ (AgentMode.Default, ) @@ -52,6 +64,39 @@ class AgentMode(Enum): traces = scenario.verify(100, 0.25) + # for i, name in enumerate(os.listdir(data_dir)): + # if name.startswith('extracted'): + # df = pd.read_csv(os.path.join(data_dir, name,'./_minihawk_pose.csv')) + # tx = np.array(df['tx']) + # ty = np.array(df['ty']) + # tz = np.array(df['tz']) + # pos = np.zeros((tx.shape[0], 3)) + # pos[:,0] = tx + # pos[:,1] = ty + # pos[:,2] = tz + + for i in range(quad.all_traces.shape[0]): + plt.figure(0) + plt.plot(quad.all_traces[i,:,0],quad.all_traces[i,:,1],'b') + plt.figure(1) + plt.plot(quad.all_traces[i,:,0],quad.all_traces[i,:,2],'b') + plt.figure(2) + plt.plot(quad.all_traces[i,:,0],quad.all_traces[i,:,3],'b') + + trace = np.array(traces.nodes[0].trace['quad']) + plt.figure(0) + plt.plot(trace[::2,0], trace[::2,1], 'b') + plt.plot(trace[1::2,0], trace[1::2,1], 'b') + plt.title('x') + plt.figure(1) + plt.plot(trace[::2,0], trace[::2,2], 'b') + plt.plot(trace[1::2,0], trace[1::2,2], 'b') + plt.title('y') + plt.figure(2) + plt.plot(trace[::2,0], trace[::2,3], 'b') + plt.plot(trace[1::2,0], trace[1::2,3], 'b') + plt.title('z') + plt.show() plotter = pv.Plotter() trace = traces.nodes[0].trace['quad'] @@ -60,25 +105,26 @@ class AgentMode(Enum): ub = trace[i+1][1:4] plot3dRect(lb, ub, plotter, color='blue') - with open(os.path.join(script_dir, 'static_obstacles.json'), 'r') as f: + data_dir = os.path.join(script_dir, sys.argv[1]) + with open(os.path.join(data_dir, 'static_obstacles.json'), 'r') as f: obstacle_data = json.load(f) total = 0 - for i in range(0, len(obstacle_data)): - rect = obstacle_data[i] - lb = np.array([rect['x_min'], -rect['y_max'], rect['z_min']]) - ub = np.array([rect['x_max'], -rect['y_min'], rect['z_max']]) - # dist_lb = np.linalg.norm(lb - pos, axis=1) - # dist_ub = np.linalg.norm(ub - pos, axis=1) - # if np.all(dist_lb> 100) and np.all(dist_ub>100): - # continue - if ub[2]<-75: - continue - if (not np.max((ub-lb))>1): - continue - print(i) - lb[2] += 77.01757264137268 - ub[2] += 77.01757264137268 - plot3dRect(lb, ub, plotter, color='black', edge=True, trans=0.5) - total+=1 - print(total) + # for i in range(0, len(obstacle_data)): + # rect = obstacle_data[i] + # lb = np.array([rect['x_min'], rect['y_min'], rect['z_min']]) + # ub = np.array([rect['x_max'], rect['y_max'], rect['z_max']]) + # # dist_lb = np.linalg.norm(lb - pos, axis=1) + # # dist_ub = np.linalg.norm(ub - pos, axis=1) + # # if np.all(dist_lb> 100) and np.all(dist_ub>100): + # # continue + # if ub[2]<-75: + # continue + # if lb[2]<-75: + # continue + # if (not np.max((ub-lb))>0.5): + # continue + # print(i) + # plot3dRect(lb, ub, plotter, color='gray', edge=True, trans=1) + # total+=1 + # print(total) plotter.show() \ No newline at end of file diff --git a/minihawk/read_ros_data.py b/minihawk/read_ros_data.py index 7d7a7e35..45931229 100644 --- a/minihawk/read_ros_data.py +++ b/minihawk/read_ros_data.py @@ -4,6 +4,7 @@ import os import numpy as np import cv2 +import sys def rosbag_to_csv(bag_file, output_dir): # Open the bag file @@ -82,6 +83,7 @@ def rosbag_to_csv(bag_file, output_dir): msg_dict['rvz'] = msg.angular.z messages.append(msg_dict) else: + continue # Convert ROS message to dictionary msg_dict = {} for slot in msg.__slots__: @@ -102,18 +104,25 @@ def rosbag_to_csv(bag_file, output_dir): script_dir = os.path.dirname(os.path.realpath(__file__)) -fn_list = [ - "20241204153116", - "20241204153536", - "20241204154010", - "20241204154352", - # "20241204154828", -] +# fn_list = [ +# "20241205213753", +# "20241205214208", +# # "20241204154010", +# # "20241204154352", +# # "20241204154828", +# ] if __name__ == "__main__": - for i in range(4): - fn = os.path.join(script_dir, './MiniHawk_Runs-5', fn_list[i], './tmp/recorded_topics.bag') - # img_dir = os.path.join(script_dir, './pi_images/') - # if not os.path.exists(img_dir): - # os.mkdir(img_dir) - rosbag_to_csv(fn, os.path.join(script_dir, f'./extracted_{i}/')) + output_folder = sys.argv[1] + output_folder = os.path.join(script_dir, output_folder) + for i, name in enumerate(os.listdir(output_folder)): + if name.startswith('2024'): + fn = os.path.join(output_folder, name, './tmp/recorded_topics.bag') + print(fn) + rosbag_to_csv(fn, os.path.join(output_folder, f'./extracted_{i}/')) + # for i in range(2): + # fn = os.path.join(output_folder, fn_list[i], './tmp/recorded_topics.bag') + # # img_dir = os.path.join(script_dir, './pi_images/') + # # if not os.path.exists(img_dir): + # # os.mkdir(img_dir) + # rosbag_to_csv(fn, os.path.join(output_folder, f'./extracted_{i}/')) diff --git a/minihawk/reindex_bags.sh b/minihawk/reindex_bags.sh new file mode 100644 index 00000000..efabe70e --- /dev/null +++ b/minihawk/reindex_bags.sh @@ -0,0 +1,21 @@ +#!/usr/bin/env bash + +# Check if the user provided the parent directory +if [ $# -lt 1 ]; then + echo "Usage: $0 PARENT_DIR" + exit 1 +fi + +parent_dir="$1" + +# Loop through each subdirectory under parent_dir +for d in "$parent_dir"/*; do + tmp_dir="$d/tmp" + bag_file="$tmp_dir/recorded_topics.bag" + + # Check if tmp directory and bag file exist + if [ -d "$tmp_dir" ] && [ -f "$bag_file" ]; then + echo "Reindexing: $bag_file" + rosbag reindex "$bag_file" + fi +done \ No newline at end of file diff --git a/minihawk/visualize_result.py b/minihawk/visualize_result.py index eebf0dfc..bed4964f 100644 --- a/minihawk/visualize_result.py +++ b/minihawk/visualize_result.py @@ -6,6 +6,7 @@ import json script_dir = os.path.dirname(os.path.realpath(__file__)) import polytope as pc +import sys def plot_polytope_3d(A, b, ax=None, color="red", trans=0.2, edge=True): if ax is None: @@ -21,41 +22,37 @@ def plot_polytope_3d(A, b, ax=None, color="red", trans=0.2, edge=True): ax.add_mesh(shell, opacity=trans, color=color) if edge: edges = shell.extract_feature_edges(20) - ax.add_mesh(edges, color="k", line_width=0.1, opacity=0.5) + ax.add_mesh(edges, color="k", line_width=0.1, opacity=trans) return ax -def plot3dRect(lb, ub, ax, color, edge=True): +def plot3dRect(lb, ub, ax, color, edge=True, trans=0.2): box = [lb, ub] poly = pc.box2poly(np.array(box).T) - ax = plot_polytope_3d(poly.A, poly.b, ax=ax, color=color, edge=edge) + ax = plot_polytope_3d(poly.A, poly.b, ax=ax, color=color, edge=edge, trans=trans) return ax -with open(os.path.join(script_dir, 'static_obstacles.json'), 'r') as f: +with open(os.path.join(script_dir, 'static_obstacles_GUAM_below.json'), 'r') as f: obstacle_data = json.load(f) plotter = pv.Plotter() -for i in range(4): - df = pd.read_csv(os.path.join(script_dir, f'extracted_{i}','./_minihawk_pose.csv')) - tx = np.array(df['tx']) - ty = np.array(df['ty']) - tz = np.array(df['tz']) - pos = np.zeros((tx.shape[0], 3)) - pos[:,0] = tx - pos[:,1] = ty - pos[:,2] = tz +output_folder = sys.argv[1] +output_folder = os.path.join(script_dir, output_folder) - # print(df['tx'].shape, df['ty'].shape) - # plt.plot(tx, ty) - # plt.show() +for i, name in enumerate(os.listdir(output_folder)): + if name.startswith('extracted'): + df = pd.read_csv(os.path.join(output_folder, name,'./_minihawk_pose.csv')) + tx = np.array(df['tx']) + ty = np.array(df['ty']) + tz = np.array(df['tz']) + pos = np.zeros((tx.shape[0], 3)) + pos[:,0] = tx + pos[:,1] = ty + pos[:,2] = tz - # for i in range(tx.shape[0]-1): - # start = np.array([tx[i], ty[i], tz[i]]) - # end = np.array([tx[i+1], ty[i+1], tz[i+1]]) - # line = pv.Line(start, end) - # plotter.add_mesh(line, color='blue', line_width=2) - trajectory = pv.lines_from_points(pos) - plotter.add_mesh(trajectory, color='blue', line_width=3) + trajectory = pv.lines_from_points(pos) + plotter.add_mesh(trajectory, color='blue', line_width=3) + min_ub = np.inf for i in range(0, len(obstacle_data)): @@ -75,6 +72,6 @@ def plot3dRect(lb, ub, ax, color, edge=True): print(i) lb[2] += 77.01757264137268 ub[2] += 77.01757264137268 - plot3dRect(lb, ub, plotter, 'r', edge=True) + plot3dRect(lb, ub, plotter, 'gray', edge=True, trans=1) print(min_ub) plotter.show() \ No newline at end of file diff --git a/minihawk/visualize_result2.py b/minihawk/visualize_result2.py new file mode 100644 index 00000000..1fbab64a --- /dev/null +++ b/minihawk/visualize_result2.py @@ -0,0 +1,125 @@ +import numpy as np +import matplotlib.pyplot as plt +import pandas as pd +import os +import pyvista as pv +import json +script_dir = os.path.dirname(os.path.realpath(__file__)) +import polytope as pc +import sys + +def plot_polytope_3d(A, b, ax=None, color="red", trans=0.2, edge=True): + if ax is None: + ax = pv.Plotter() + + poly = pc.Polytope(A=A, b=b) + vertices = pc.extreme(poly) + cloud = pv.PolyData(vertices) + volume = cloud.delaunay_3d() + shell = volume.extract_geometry() + if len(shell.points) <= 0: + return ax + ax.add_mesh(shell, opacity=trans, color=color) + if edge: + edges = shell.extract_feature_edges(20) + ax.add_mesh(edges, color="k", line_width=0.1, opacity=trans) + return ax + +def plot3dRect(lb, ub, ax, color, edge=True, trans=0.2): + box = [lb, ub] + poly = pc.box2poly(np.array(box).T) + ax = plot_polytope_3d(poly.A, poly.b, ax=ax, color=color, edge=edge, trans=trans) + return ax + +# output_folder = sys.argv[1] +output_folder = 'Scenario-02/' +output_folder = os.path.join(script_dir, output_folder) + +with open(os.path.join(script_dir, 'static_obstacles_GUAM_below.json'), 'r') as f: + obstacle_data = json.load(f) + +tmp = [] +for i in range(0, len(obstacle_data)): + rect = obstacle_data[i] + lb = np.array([rect['x_min'], rect['y_min'], rect['z_min']]) + ub = np.array([rect['x_max'], rect['y_max'], rect['z_max']]) + # if ub[2]<0: + # continue + if lb[0] < -1000: + continue + # if (not np.max((ub-lb))>0.5): + # continue + tmp.append(obstacle_data[i]) +obstacle_data_removed = tmp + +obs_lb = np.zeros((len(obstacle_data_removed), 3)) +obs_ub = np.zeros((len(obstacle_data_removed), 3)) +for i, obs in enumerate(obstacle_data_removed): + obs_lb[i,:] = np.array([obs['x_min'],obs['y_min'],obs['z_min']]) + obs_ub[i,:] = np.array([obs['x_max'],obs['y_max'],obs['z_max']]) + +plotter = pv.Plotter() +obs_intersect = np.zeros(len(obstacle_data_removed)) +for i, name in enumerate(os.listdir(output_folder)): + if name.startswith('extracted'): + df = pd.read_csv(os.path.join(output_folder, name,'./_minihawk_pose.csv')) + tx = np.array(df['tx']) + ty = np.array(df['ty']) + tz = np.array(df['tz']) + pos = np.zeros((tx.shape[0], 3)) + pos[:,0] = tx + pos[:,1] = ty + pos[:,2] = tz + idx_start= 0 + prev_intersect = False + for j in range(pos.shape[0]): + # if j>620: + # print("stop") + if np.any(np.all(obs_lb<=pos[j,:],axis=1) & np.all(pos[j,:]<=obs_ub, axis=1)): + obs_idx = np.where(np.all(obs_lb<=pos[j,:],axis=1) & np.all(pos[j,:]<=obs_ub, axis=1))[0] + # print(f"unsafe: {obs_idx}") + obs_intersect[obs_idx] = 1 + if prev_intersect == False: + trajectory = pv.lines_from_points(pos[idx_start:j]) + plotter.add_mesh(trajectory, color='blue', line_width=3) + idx_start = j-1 + prev_intersect = True + else: + if prev_intersect == True: + trajectory = pv.lines_from_points(pos[idx_start:j]) + plotter.add_mesh(trajectory, color='red', line_width=3) + idx_start = j-1 + prev_intersect = False + + if idx_start < pos.shape[0]: + color = 'red' if prev_intersect else 'blue' + trajectory = pv.lines_from_points(pos[idx_start:]) + if prev_intersect: + plotter.add_mesh(trajectory, color='red', line_width=3) + else: + plotter.add_mesh(trajectory, color='blue', line_width=3) + +min_ub = np.inf +for i in range(0, len(obstacle_data_removed)): + rect = obstacle_data_removed[i] + lb = np.array([rect['x_min'], rect['y_min'], rect['z_min']]) + ub = np.array([rect['x_max'], rect['y_max'], rect['z_max']]) + dist_lb = np.linalg.norm(lb - pos, axis=1) + dist_ub = np.linalg.norm(ub - pos, axis=1) + # if np.all(dist_lb> 100) and np.all(dist_ub>100): + # continue + # if ub[2]<0: + # continue + if (not np.max((ub-lb))>0.5): + continue + if ub[2]0.5,:],obs_ub[obs_intersect>0.5,:]) +plotter.show() \ No newline at end of file