robocars/robocar-setup
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This commit is contained in:
Cyrille Nofficial
2024-05-13 19:50:35 +02:00
parent affd0568cb
commit 09df2bb0a7
6 changed files with 99 additions and 20 deletions
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1
ansible/roles/microservices/files/robocar/car/deployments.yaml
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@@ -113,6 +113,7 @@ spec:
- "--camera-tuning-exposition=8300us"
#- "--camera-tuning-exposition=500us"
- "--disable-disparity"
- "--stereo-mode-lr-check" # remove incorrectly calculated disparity pixels due to occlusions at object borders
- "--stereo-mode-extended-disparity" # allows detecting closer distance objects for the given baseline. This increases the maximum disparity search from 96 to 191, meaning the range is now: [ 0..190 ]
- "--stereo-mode-subpixel" # improves the precision and is especially useful for long range measurements

4
ansible/roles/microservices/files/robocar/car/kustomization.yaml
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@@ -17,6 +17,4 @@ images:
newTag: v0.6.4
- name: git.cyrilix.bzh/robocars/robocar-oak-camera
#newTag: v0.5.0-2-gfb5b351 # Enable disparity
newTag: v0.5.0-6-g01e2c8c # disparity filters
#newTag: v0.5.0
newTag: v0.6.1

1
ansible/roles/microservices/files/robocar/common-car/kustomization.yaml
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@@ -17,5 +17,4 @@ images:
newTag: v0.7.0
- name: docker.io/cyrilix/robocar-steering-tflite-edgetpu
#newTag: v0.5.3
newTag: v0.6.1

45
ansible/roles/microservices/files/robocar/common/configmap.yaml
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@@ -310,20 +310,40 @@ data:
}
# speed_custom
custom_steering.json: |
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
good_custom_steering.json: |
safe_steering.json: |
{
"steering_values": [0.0, 0.20, 0.50, 0.70],
"throttle_steps": [0.14, 0.13, 0.12, 0.11]
}
lcustom_steering.json: |
# 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]
@@ -349,3 +369,22 @@ data:
"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"

62
ansible/roles/microservices/files/robocar/common/deployments.yaml
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@@ -19,17 +19,26 @@ spec:
component: objects-detection
spec:
containers:
- name: steering
- name: objects-detection
image: docker.io/cyrilix/robocar-objects-detection
args:
- "-mqtt-retain=false"
- "--image-width=$(IMAGE_WIDTH)"
- "--image-height=$(IMAGE_HEIGHT)"
- "--object-size-threshold=0.75"
- "-log=info"
- "--object-size-threshold=0.50"
- "--enable-big-objects-remove=true"
- "--enable-group-objects=false" # to debug/test
- "--enable-bottom-filter=false" # don't work
- "--enable-nearest-filter=true"
- "--object-bottom-limit=0.90"
- "--log=info"
securityContext:
runAsUser: 1234
runAsGroup: 1234
resources:
limits:
memory: 100Mi
env:
- name: MQTT_BROKER
valueFrom:
@@ -61,7 +70,7 @@ spec:
- name: MQTT_TOPIC_DISPARITY
valueFrom:
configMapKeyRef:
key: MQTT_TOPIC_DISPARITY
key: MQTT_TOPIC_CAMERA_DISPARITY
name: robocar
- name: MQTT_QOS
value: "0"
@@ -102,10 +111,8 @@ spec:
image: docker.io/cyrilix/robocar-steering
args:
- "-mqtt-retain=false"
- "--image-width=$(IMAGE_WIDTH)"
- "--image-height=$(IMAGE_HEIGHT)"
- "--enable-objects-correction=true"
- "--enable-objects-correction-user=true"
- "--enable-objects-correction=$(DETECTION_OBJECTS)"
- "--enable-objects-correction-user=$(DETECTION_OBJECTS)"
- "--grid-map-config=/etc/robocar/grid.json"
- "--objects-move-factors-config=/etc/robocar/omf.json"
- "--delta-middle=0.1"
@@ -154,7 +161,7 @@ spec:
- name: MQTT_TOPIC_OBJECTS
valueFrom:
configMapKeyRef:
key: MQTT_TOPIC_OBJECTS
key: MQTT_TOPIC_OBJECTS_CLEAN
name: robocar
- name: MQTT_QOS
value: "0"
@@ -170,6 +177,11 @@ spec:
name: robocar-camera
- name: TZ
value: "Europe/Paris"
- name: DETECTION_OBJECTS
valueFrom:
configMapKeyRef:
key: detection_objects
name: robocar-profiles
volumeMounts:
- mountPath: /etc/robocar
name: robocar-configs
@@ -205,7 +217,7 @@ spec:
- "--enable-brake-feature=true"
- "--brake-configuration=/etc/robocar/brake.json"
- "--enable-custom-steering-processor=true"
- "--custom-steering-processor-config=/etc/robocar/custom_steering.json"
- "--custom-steering-processor-config=/etc/robocar/$(THROTTLE_STEERING_CONFIG)"
- "--accelerator-factor=$(THROTTLE_ACCELERATOR_FACTOR)"
- "--log=info"
securityContext:
@@ -279,6 +291,11 @@ spec:
configMapKeyRef:
name: robocar-throttle
key: THROTTLE_ACCELERATOR_FACTOR
- name: THROTTLE_STEERING_CONFIG
valueFrom:
configMapKeyRef:
key: throttle_from_steering
name: robocar-profiles
- name: MQTT_QOS
value: "0"
- name: TZ
@@ -462,10 +479,25 @@ spec:
image: docker.io/cyrilix/robocar-road
args:
- "-mqtt-retain=false"
- "-image-width=$(IMAGE_WIDTH)"
- "-image-height=$(IMAGE_HEIGHT)"
- "-white-threshold-low=20"
- "-white-threshold-high=255"
- "-canny-threshold-low=100"
- "-canny-threshold-high=250"
- "-hough-lines-rho=2" # distance resolution in pixels of the Hough grid")
#- "-hough-lines-theta", 1*math.Pi/180, "angular resolution in radians of the Hough grid, default Pi/180")
- "-hough-lines-threshold=15" # minimum number of votes (intersections in Hough grid cell)
- "-hough-lines-min-line-length=10" # minimum number of pixels making up a line
- "-hough-lines-max-lines-gap=20" # maximum gap in pixels between connectable line segments
- "--log=info"
securityContext:
runAsUser: 1234
runAsGroup: 1234
resources:
limits:
memory: 100Mi
cpu: 500m
env:
- name: MQTT_BROKER
valueFrom:
@@ -496,5 +528,15 @@ spec:
name: robocar
- name: MQTT_QOS
value: "0"
- name: IMAGE_WIDTH
valueFrom:
configMapKeyRef:
key: CAMERA_WIDTH
name: robocar-camera
- name: IMAGE_HEIGHT
valueFrom:
configMapKeyRef:
key: CAMERA_HEIGHT
name: robocar-camera
- name: TZ
value: "Europe/Paris"

6
ansible/roles/microservices/files/robocar/common/kustomization.yaml
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@@ -20,10 +20,10 @@ images:
newTag: v0.3.0
- name: docker.io/cyrilix/robocar-steering
newTag: v0.7.1
newTag: v0.8.0
- name: docker.io/cyrilix/robocar-road
newTag: v0.2.0
newTag: v0.3.0
- name: docker.io/cyrilix/robocar-objects-detection
newTag: v0.1.0
newTag: v0.2.0