robocar-setup/ansible/roles/microservices/files/robocar/common/configmap.yaml

apiVersion: v1
kind: ConfigMap
metadata:
  name: robocar
data:
  # Broker configuration
  MQTT_BROKER_HOST: "nats-server.nats.svc.cluster.local"
  #MQTT_BROKER: "tcp://mqtt.robocar.svc.cluster.local:1883"
  MQTT_BROKER: "tcp://nats-server.nats.svc.cluster.local:1883"

  # Camera
  MQTT_TOPIC_CAMERA: "car/satanas/part/camera/color"
  MQTT_TOPIC_CAMERA_OAK_COLOR: "car/satanas/part/camera/color"
  MQTT_TOPIC_CAMERA_DISPARITY: "car/satanas/part/camera/disparity"

  # Objects detection
  MQTT_TOPIC_OBJECTS: "car/satanas/part/objects/raw"
  MQTT_TOPIC_OBJECTS_CLEAN: "car/satanas/part/objects/clean"

  # Radio command
  MQTT_TOPIC_RC_THROTTLE: car/satanas/part/rc/throttle
  MQTT_TOPIC_RC_STEERING: car/satanas/part/rc/steering
  MQTT_TOPIC_RC_SWITCH_RECORD: car/satanas/part/rc/switch_record
  MQTT_TOPIC_RC_DRIVE_MODE: car/satanas/part/rc/drive_mode
  MQTT_TOPIC_MAX_THROTTLE_CTRL: car/satanas/part/rc/max_throttle

  MQTT_TOPIC_TF_STEERING: car/satanas/part/tflite/steering

  # Values to apply
  MQTT_TOPIC_THROTTLE: car/satanas/part/throttle
  MQTT_TOPIC_STEERING: car/satanas/part/steering

  MQTT_TOPIC_SPEED_ZONE: car/satanas/part/speed_zone

  # Road detection
  MQTT_TOPIC_ROAD: car/satanas/part/road

  # Records topic
  MQTT_TOPIC_RECORDS: car/satanas/part/records

  # Feedbacks
  MQTT_TOPIC_THROTTLE_FEEDBACK: car/satanas/part/feedback/throttle

---
apiVersion: v1
kind: ConfigMap
metadata:
  name: robocar-throttle
data:
  ############
  # Throttle #
  ############

  ## For manual driving
  #####################
  # THROTTLE_MIN: "0.10"
  # THROTTLE_MAX: "0.12"

  ## Slow auto-pilot
  ####################
  #THROTTLE_MIN: "0.10"
  #THROTTLE_MAX: "0.10"

  ## Secure auto-pilot
  ####################
  #THROTTLE_MIN: "0.11"
  #THROTTLE_MAX: "0.12"

  ## bump auto-pilot
  ####################
  THROTTLE_MIN: "0.11"
  THROTTLE_MAX: "0.11"

  ## bump speed auto-pilot
  ####################
  #THROTTLE_MIN: "0.12"
  #THROTTLE_MAX: "0.18"

  ## Speed auto-pilot
  ###################
  #THROTTLE_MIN: "0.11"
  #THROTTLE_MAX: "0.13"

  ## Speed race auto-pilot
  ###################
  #THROTTLE_MIN: "0.11"
  #THROTTLE_MAX: "0.15"

  # Throttle acceleration boost
  #############################
  THROTTLE_ACCELERATOR_FACTOR: "1.2"

---
apiVersion: v1
kind: ConfigMap
metadata:
  name: robocar-steering-pwm
data:

  ################
  # STEERING PWM #
  ################
  STEERING_LEFT_PWM: "1004"
  STEERING_RIGHT_PWM: "2048"
  STEERING_CENTER_PWM: "1514"

  ############################
  # STEERING PWM - SECOND RC #
  ############################
  STEERING_SECONDARY_LEFT_PWM: "1119"
  STEERING_SECONDARY_RIGHT_PWM: "2141"
  STEERING_SECONDARY_CENTER_PWM: "1641"

  #################################
  # OLD RADIO-COMAND STEERING PWM #
  #################################
  #STEERING_LEFT_PWM: "1000"
  #STEERING_RIGHT_PWM: "1985"
  #STEERING_CENTER_PWM: "1492"

---
apiVersion: v1
kind: ConfigMap
metadata:
  name: robocar-throttle-pwm
data:

  ################
  # THROTTLE PWM #
  ################
  THROTTLE_MIN_PWM: "980"
  THROTTLE_MAX_PWM: "2046"
  THROTTLE_ZERO_PWM: "1509"

  ###########################
  # THROTTLE PWM - SECOND RC #
  ############################
  THROTTLE_SECONDARY_MIN_PWM: "994"
  THROTTLE_SECONDARY_MAX_PWM: "1975"
  THROTTLE_SECONDARY_ZERO_PWM: "1506"

  ####################
  # OLD THROTTLE PWM #
  ####################
  # THROTTLE_MIN_PWM: "994"
  # THROTTLE_MAX_PWM: "1979"
  # THROTTLE_ZERO_PWM: "1484"

  ############################
  # MAX THROTTLE CONTROL PWM #
  ############################
  CTRL_THROTTLE_MIN_PWM: "1000"
  CTRL_THROTTLE_MAX_PWM: "2000"
---
apiVersion: v1
kind: ConfigMap
metadata:
  name: robocar-camera
data:
  ##########
  # Camera #
  ##########
  2CAMERA_WIDTH: "160"
  2CAMERA_HEIGHT: "128"

  CAMERA_WIDTH: "160"
  CAMERA_HEIGHT: "120"

  CAMERA_FPS: "35"

  MQTT_CAMERA_PUB_FREQUENCY: "35"

---
apiVersion: v1
kind: ConfigMap
metadata:
  name: robocar-models
data:
  # model to use for steering
  #MODEL_STEERING: model_categorical_160x120h0_edgetpu.tflite
  MODEL_STEERING: "model_linear_160x120h0_edgetpu.tflite"
  #OCI_IMAGE_MODEL: "git.cyrilix.bzh/robocars/model-steering:v20230429.0945-edgetpu"
  #OCI_IMAGE_MODEL: "docker.io/cyrilix/model-steering:v20230429.0945-edgetpu"
  #OCI_IMAGE_MODEL: "docker.io/cyrilix/model-steering:v0.1.0-edgetpu"
  OCI_IMAGE_MODEL_REGISTRY: "registry.registry:5000"
  OCI_IMAGE_MODEL_REPOSITORY: "robocars/model-steering"


  # OCI_IMAGE_MODEL_TAG: "v20230602.2041-edgetpu" # vibreurs seuls  ou v20230601.2338-edgetpu
  #OCI_IMAGE_MODEL_TAG: "v20230602.2058-edgetpu" # vibreurs + toutes les sessions bump
  #OCI_IMAGE_MODEL_TAG: "v20230603.1130-edgetpu" # clean1
  #OCI_IMAGE_MODEL_TAG: "v20230603.1144-edgetpu" # clean1


  #OCI_IMAGE_MODEL_TAG: "v20230617.0938-edgetpu"
  #OCI_IMAGE_MODEL_TAG: "v20230617.0946-edgetpu" # bad
  #OCI_IMAGE_MODEL_TAG: "v20230617.1010-edgetpu"  # rd + vt not exist

  #OCI_IMAGE_MODEL_TAG: "v20230429.0945-edgetpu" # All + bump
  #OCI_IMAGE_MODEL_TAG: "v20230617.1058-edgetpu"  # clean3

  #OCI_IMAGE_MODEL_TAG: "v20230617.1312-edgetpu"  # clean10

  OCI_IMAGE_MODEL_TAG: "v20230603.1157-edgetpu" # clean1  # Model RD good
  #OCI_IMAGE_MODEL_TAG: "v20231215.1955-tflite" # Model RD good + plots
  #OCI_IMAGE_MODEL_TAG: "v20231215.2002-tflite" # Model RD good + plots + brightness 0.5 + contrast 0.5

  #OCI_IMAGE_MODEL_TAG: "v20231013.2034-edgetpu"  # clean3, light + contrast
  #OCI_IMAGE_MODEL_TAG: "v20230617.1327-edgetpu"  # clean10

  #MODEL_STEERING: model_linear_160x120h40_edgetpu.tflite


  #MODEL_STEERING: model_linear_160x120h20_edgetpu.tflite
  #MODEL_STEERING: model_categorical_160x120h20_edgetpu.tflite


  #MODEL_STEERING: model_linear_160x120h50_edgetpu.tflite

  MODEL_IMAGE_WIDTH: "160"
  MODEL_IMAGE_HEIGHT: "120"
  HORIZON: "20"
---
apiVersion: v1
kind: ConfigMap
metadata:
  name: robocar-road
data:
  HORIZON: "20"

---
apiVersion: v1
kind: ConfigMap
metadata:
  name: steering
data:
  grid.json: |
    {
      "steering_steps": [ -1, -0.66, -0.33, 0, 0.33, 0.66, 1],
      "distance_steps": [ 0, 0.3, 0.4, 0.5, 0.8, 1],
      "data": [
        [ 0, 0, 0, 0, 0, 0],
        [ 0, 0, 0, 0, 0, 0],
        [ 0, 0.5, 0.75, -0.75, 0.5, 0],
        [ 0.5, 0.75, 1, -1, -0.75, 0.5],
        [ 0.75, 1, 1, -1, -1, -0.75]
      ]
    }
  grid2.json: |
    {
      "steering_steps": [ -1, -0.66, -0.33, 0, 0.33, 0.66, 1],
      "distance_steps": [ 0, 0.3, 0.4, 0.5, 0.8, 1],
      "data": [
        [ 0, 0, 0, 0, 0, 0],
        [ 0, 0, 0, 0, 0, 0],
        [ 0, 0, 0.75, -0.75, 0, 0],
        [ 0, 0.75, 1, -1, -0.75, 0],
        [ 0.75, 1, 1, -1, -1, -0.75]
      ]
    }

  "omf.json": | 
    {
      "steering_steps":[-1, -0.66, -0.33, 0, 0.33, 0.66, 1],
      "distance_steps": [0, 0.2, 0.4, 0.6, 0.8, 1],
      "data": [
        [0, 0, 0, 0, 0, 0],
        [0, 0, 0, 0, 0, 0],
        [0, 0, 0, 0, 0, 0],
        [0, 0.25, 0, 0, -0.25, 0],
        [0.5, 0.25, 0, 0, -0.5, -0.25]
      ]
    }

---
apiVersion: v1
kind: ConfigMap
metadata:
  name: robocar-objects
data:
  OBJECTS_THRESHOLD: "0.2"

  # To delete?
  thresholds.json: |
    {
      "threshold_steps": [ 0.07, 0.08, 0.09, 0.1, 0.125, 0.15, 0.2, 0.25, 0.3, 0.35, 0.4, 0.5, 0.6, 0.7, 0.8, 0.9, 1.0 ],
      "min_valid": 500,
      "data": [ 8700, 4800, 3500, 2550, 1850, 1387, 992, 840, 750, 700, 655, 620, 590, 570, 553, 549, 548 ]
    }
---
apiVersion: v1
kind: ConfigMap
metadata:
  name: throttle
data:
  brake2.json: |
    {
      "delta_steps": [ 0.05, 0.1, 0.2, 0.3, 0.5 ],
      "data": [ -0.1, -0.2,  -0.3, -0.6, -1.0 ]
    }
  brake.json3: |
    {
      "delta_steps": [ 0.005, 0.1, 0.2, 0.3, 0.5 ],
      "data": [ -0.26, -0.4,  -0.7, -0.8, -1.0 ]
    }
  brake.json: |
    {
      "delta_steps": [ 0.005, 0.05, 0.1, 0.2, 0.5 ],
      "data": [ -0.26, -0.4,  -0.7, -0.8, -1.0 ]
    }

  # speed_custom
  speed_steering.json: |
    {
      "steering_values": [0.0, 0.20, 0.50, 0.70],
      "throttle_steps": [0.17, 0.16, 0.15, 0.13]
    }

  # speed_custom
  speed_steering_2.json: |
    {
      "steering_values": [0.0, 0.20, 0.50, 0.70],
      "throttle_steps": [0.18, 0.16, 0.15, 0.13]
    }

  # speed_custom
  speed_steering_3.json: |
    {
      "steering_values": [0.0, 0.20, 0.50, 0.70],
      "throttle_steps": [0.18, 0.17, 0.16, 0.14]
    }

  speed_steering_4.json: |
    {
      "steering_values": [0.0, 0.20, 0.50, 0.70],
      "throttle_steps": [0.19, 0.18, 0.16, 0.14]
    }
  # good_custom_steering
  safe_steering.json: |
    {
      "steering_values": [0.0, 0.20, 0.50, 0.70],
      "throttle_steps": [0.14, 0.13, 0.12, 0.11]
    }

  # little_speeed_custom_steering
  ls_custom_steering.json: |
    {
      "steering_values": [0.0, 0.20, 0.50, 0.70],
      "throttle_steps": [0.16, 0.15, 0.14, 0.12]
    }

  very_speed_custom_steering.json: |
    {
      "steering_values": [0.0, 0.20, 0.50, 0.70],
      "throttle_steps": [0.21, 0.17, 0.15, 0.12]
    }

  bcustom_steering.json: |
    {
      "steering_values": [0.0, 0.20, 0.50, 0.70],
      "throttle_steps": [0.18, 0.15, 0.14, 0.13]
    }

    
    

  slow_custom_steering.json: |
    {
      "steering_values": [0.0, 0.20, 0.50, 0.70],
      "throttle_steps": [0.12, 0.115, 0.112, 0.11]
    }


---
apiVersion: v1
kind: ConfigMap
metadata:
  name: robocar-profiles
data:
  #throttle_from_steering: "slow_custom_steering.json"
  #throttle_from_steering: "safe_steering.json"
  #throttle_from_steering: "ls_custom_steering.json"   # little_speeed_custom_steering
  #throttle_from_steering: "speed_steering.json"
  throttle_from_steering: "speed_steering_2.json"
  #throttle_from_steering: "speed_steering_3.json"
  #throttle_from_steering: "speed_steering_4.json"
  #throttle_from_steering: "very_speed_custom_steering.json"

  detection_objects: "false"
  #detection_objects: "true"