rename files and write v2 of map_converter

CL2-UWaterloo · Mar 10, 2023 · d960bb0 · d960bb0
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Showing 14 changed files with 6,576 additions and 2,198 deletions.
diff --git a/inputs/tracks/e7_floor5.csv b/inputs/tracks/e7_floor5.csv
diff --git a/inputs/tracks/e7_floor5_biggest.csv b/inputs/tracks/e7_floor5_biggest.csv
diff --git a/inputs/tracks/pingpong_clean.csv b/inputs/tracks/pingpong_clean.csv
@@ -0,0 +1,139 @@
+# x_m,y_m,w_tr_right_m,w_tr_left_m
+-2.8000,0.8400,1.0705,1.0705
+-2.7000,0.9400,1.0705,1.0705
+-2.5000,1.1400,1.0705,1.0705
+-2.4000,1.2400,1.0705,1.0705
+-2.3000,1.4400,1.0705,1.0705
+-2.2000,1.5400,1.0705,1.0705
+-2.0000,1.6400,1.0705,1.0705
+-1.9000,1.7400,1.0705,1.0705
+-1.7000,1.7400,1.0705,1.0705
+-1.6000,1.8400,1.0705,1.0705
+-1.4000,2.0400,1.0705,1.0705
+-1.3000,2.1400,1.0705,1.0705
+-1.1000,2.2400,1.0705,1.0705
+-0.9000,2.3400,1.0705,1.0705
+-0.8000,2.3400,1.0705,1.0705
+-0.6000,2.4400,1.0705,1.0705
+-0.5000,2.5400,1.0705,1.0705
+-0.3000,2.5400,1.0705,1.0705
+-0.2000,2.6400,1.0705,1.0705
+0.0000,2.6400,1.0705,1.0705
+0.1000,2.7400,1.0705,1.0705
+0.3000,2.6400,1.0705,1.0705
+0.4000,2.5400,1.0705,1.0705
+0.5000,2.4400,1.0705,1.0705
+0.6000,2.3400,1.0705,1.0705
+0.7000,2.3400,1.0705,1.0705
+0.8000,2.2400,1.0705,1.0705
+0.9000,2.2400,1.0705,1.0705
+1.0000,2.0400,1.0705,1.0705
+1.1000,1.9400,1.0705,1.0705
+1.2000,1.7400,1.0705,1.0705
+1.3000,1.6400,1.0705,1.0705
+1.4000,1.4400,1.0705,1.0705
+1.5000,1.4400,1.0705,1.0705
+1.5000,1.2400,1.0705,1.0705
+1.6000,1.0400,1.0705,1.0705
+1.7000,0.9400,1.0705,1.0705
+1.7000,0.7400,1.0705,1.0705
+1.8000,0.6400,1.0705,1.0705
+1.9000,0.4400,1.0705,1.0705
+1.9000,0.3400,1.0705,1.0705
+1.7000,0.1400,1.0705,1.0705
+1.7000,0.0400,1.0705,1.0705
+1.6000,-0.1600,1.0705,1.0705
+1.6000,-0.2600,1.0705,1.0705
+1.5000,-0.4600,1.0705,1.0705
+1.4000,-0.6600,1.0705,1.0705
+1.4000,-0.7600,1.0705,1.0705
+1.4000,-0.9600,1.0705,1.0705
+1.4000,-1.0600,1.0705,1.0705
+1.3000,-1.2600,1.0705,1.0705
+1.3000,-1.3600,1.0705,1.0705
+1.1000,-1.5600,1.0705,1.0705
+1.1000,-1.6600,1.0705,1.0705
+0.9000,-1.8600,1.0705,1.0705
+0.9000,-1.9600,1.0705,1.0705
+0.8000,-2.1600,1.0705,1.0705
+0.8000,-2.2600,1.0705,1.0705
+0.7000,-2.4600,1.0705,1.0705
+0.6000,-2.6600,1.0705,1.0705
+0.6000,-2.7600,1.0705,1.0705
+0.4000,-2.9600,1.0705,1.0705
+0.3000,-2.9600,1.0705,1.0705
+0.2000,-3.1600,1.0705,1.0705
+0.1000,-3.2600,1.0705,1.0705
+0.0000,-3.4600,1.0705,1.0705
+-0.1000,-3.5600,1.0705,1.0705
+-0.3000,-3.7600,1.0705,1.0705
+-0.3000,-3.7600,1.0705,1.0705
+-0.5000,-3.9600,1.0705,1.0705
+-0.6000,-4.1600,1.0705,1.0705
+-0.7000,-4.2600,1.0705,1.0705
+-0.9000,-4.3600,1.0705,1.0705
+-1.0000,-4.4600,1.0705,1.0705
+-1.2000,-4.6600,1.0705,1.0705
+-1.3000,-4.7600,1.0705,1.0705
+-1.5000,-4.8600,1.0705,1.0705
+-1.6000,-4.9600,1.0705,1.0705
+-1.7000,-5.0600,1.0705,1.0705
+-1.8000,-5.1600,1.0705,1.0705
+-2.0000,-5.2600,1.0705,1.0705
+-2.2000,-5.3600,1.0705,1.0705
+-2.2000,-5.3600,1.0705,1.0705
+-2.4000,-5.3600,1.0705,1.0705
+-2.5000,-5.4600,1.0705,1.0705
+-2.7000,-5.4600,1.0705,1.0705
+-2.8000,-5.4600,1.0705,1.0705
+-3.0000,-5.3600,1.0705,1.0705
+-3.1000,-5.4600,1.0705,1.0705
+-3.3000,-5.4600,1.0705,1.0705
+-3.4000,-5.4600,1.0705,1.0705
+-3.6000,-5.3600,1.0705,1.0705
+-3.8000,-5.2600,1.0705,1.0705
+-3.9000,-5.2600,1.0705,1.0705
+-4.1000,-5.1600,1.0705,1.0705
+-4.2000,-5.1600,1.0705,1.0705
+-4.3000,-5.0600,1.0705,1.0705
+-4.4000,-5.0600,1.0705,1.0705
+-4.5000,-4.9600,1.0705,1.0705
+-4.6000,-4.8600,1.0705,1.0705
+-4.7000,-4.6600,1.0705,1.0705
+-4.8000,-4.5600,1.0705,1.0705
+-4.9000,-4.4600,1.0705,1.0705
+-5.0000,-4.3600,1.0705,1.0705
+-5.1000,-4.1600,1.0705,1.0705
+-5.1000,-3.9600,1.0705,1.0705
+-5.2000,-3.8600,1.0705,1.0705
+-5.2000,-3.6600,1.0705,1.0705
+-5.3000,-3.5600,1.0705,1.0705
+-5.3000,-3.4600,1.0705,1.0705
+-5.4000,-3.3600,1.0705,1.0705
+-5.4000,-3.1600,1.0705,1.0705
+-5.5000,-3.0600,1.0705,1.0705
+-5.4000,-2.8600,1.0705,1.0705
+-5.4000,-2.7600,1.0705,1.0705
+-5.3000,-2.5600,1.0705,1.0705
+-5.2000,-2.3600,1.0705,1.0705
+-5.2000,-2.2600,1.0705,1.0705
+-5.1000,-2.0600,1.0705,1.0705
+-5.1000,-1.9600,1.0705,1.0705
+-4.9000,-1.7600,1.0705,1.0705
+-4.9000,-1.6600,1.0705,1.0705
+-4.8000,-1.5600,1.0705,1.0705
+-4.7000,-1.4600,1.0705,1.0705
+-4.5000,-1.2600,1.0705,1.0705
+-4.5000,-1.1600,1.0705,1.0705
+-4.3000,-0.9600,1.0705,1.0705
+-4.1000,-0.7600,1.0705,1.0705
+-4.0000,-0.6600,1.0705,1.0705
+-3.8000,-0.4600,1.0705,1.0705
+-3.8000,-0.3600,1.0705,1.0705
+-3.7000,-0.1600,1.0705,1.0705
+-3.6000,-0.0600,1.0705,1.0705
+-3.4000,0.1400,1.0705,1.0705
+-3.3000,0.2400,1.0705,1.0705
+-3.2000,0.4400,1.0705,1.0705
+-3.1000,0.5400,1.0705,1.0705
+-2.9000,0.7400,1.0705,1.0705
diff --git a/main_globaltraj_f110.py b/main_globaltraj_f110.py
@@ -24,7 +24,7 @@
 This script has to be executed to generate an optimal trajectory based on a given reference track. Adapted for
 F1TENTH ROS code.
 """
-MAP_NAME = "e7_floor5"
+MAP_NAME = "pingpong_clean"
 # MAP_NAME = "Spielberg_map"
 
 # ----------------------------------------------------------------------------------------------------------------------

diff --git a/map_converter.ipynb b/map_converter.ipynb
diff --git a/map_converterv2.ipynb b/map_converterv2.ipynb
diff --git a/maps/e7_floor5_biggest.pgm b/maps/e7_floor5_biggest.pgm
diff --git a/maps/e7_floor5_biggest.yaml b/maps/e7_floor5_biggest.yaml
@@ -0,0 +1,7 @@
+image: e7_floor3_biggest.pgm
+mode: trinary
+resolution: 0.05
+origin: [-50.1, -27.3, 0]
+negate: 0
+occupied_thresh: 0.65
+free_thresh: 0.25
diff --git a/maps/e7_floor5.pgm → maps/e7_floor5_square.pgm b/maps/e7_floor5.pgm → maps/e7_floor5_square.pgm
diff --git a/maps/e7_floor5.yaml → maps/e7_floor5_square.yaml b/maps/e7_floor5.yaml → maps/e7_floor5_square.yaml
@@ -1,4 +1,4 @@
-image: e7_floor5.pgm
+image: e7_floor5_square.pgm
 mode: trinary
 resolution: 0.05
 origin: [-18.8, -34.1, 0]

diff --git a/maps/map_converter.ipynb b/maps/map_converter.ipynb
diff --git a/maps/sanity_check.ipynb b/maps/sanity_check.ipynb
diff --git a/sanity_check.ipynb b/sanity_check.ipynb
diff --git a/visualize_raceline.ipynb b/visualize_raceline.ipynb
@@ -360,7 +360,7 @@
    "name": "python",
    "nbconvert_exporter": "python",
    "pygments_lexer": "ipython3",
-   "version": "3.8.10"
+   "version": "3.9.16"
   },
   "orig_nbformat": 4,
   "vscode": {