From c3ed6e6a9d738b4a376b4bb172b64e2d840abf31 Mon Sep 17 00:00:00 2001 From: Cyrille Nofficial Date: Fri, 26 Jan 2024 12:25:36 +0100 Subject: [PATCH] race 2024-01 --- .../files/robocar/car/deployments.yaml | 4 +++ .../files/robocar/car/kustomization.yaml | 2 +- .../files/robocar/common/configmap.yaml | 26 ++++++++++++++++--- .../files/robocar/common/deployments.yaml | 10 +++++-- .../files/robocar/common/kustomization.yaml | 4 +-- 5 files changed, 37 insertions(+), 9 deletions(-) diff --git a/ansible/roles/microservices/files/robocar/car/deployments.yaml b/ansible/roles/microservices/files/robocar/car/deployments.yaml index 571b20e..9c6dede 100644 --- a/ansible/roles/microservices/files/robocar/car/deployments.yaml +++ b/ansible/roles/microservices/files/robocar/car/deployments.yaml @@ -110,6 +110,8 @@ spec: - "--objects-threshold=$(THRESHOLD_OBJECTS)" - "--camera-fps=$(CAMERA_FPS)" - "--log=info" + - "--camera-tuning-exposition=8300us" + #- "--camera-tuning-exposition=500us" securityContext: runAsUser: 0 privileged: true @@ -167,6 +169,8 @@ spec: name: robocar-camera - name: MQTT_QOS value: "0" + #- name: DEPTHAI_LEVEL + # value: debug - name: TZ value: "Europe/Paris" hostNetwork: true diff --git a/ansible/roles/microservices/files/robocar/car/kustomization.yaml b/ansible/roles/microservices/files/robocar/car/kustomization.yaml index b9c7dc6..cb6bebd 100644 --- a/ansible/roles/microservices/files/robocar/car/kustomization.yaml +++ b/ansible/roles/microservices/files/robocar/car/kustomization.yaml @@ -17,4 +17,4 @@ images: newTag: v0.6.4 - name: git.cyrilix.bzh/robocars/robocar-oak-camera - newTag: v0.4.0 + newTag: v0.5.0 diff --git a/ansible/roles/microservices/files/robocar/common/configmap.yaml b/ansible/roles/microservices/files/robocar/common/configmap.yaml index 8a72980..a2e9120 100644 --- a/ansible/roles/microservices/files/robocar/common/configmap.yaml +++ b/ansible/roles/microservices/files/robocar/common/configmap.yaml @@ -84,6 +84,10 @@ data: #THROTTLE_MIN: "0.11" #THROTTLE_MAX: "0.15" + # Throttle acceleration boost + ############################# + THROTTLE_ACCELERATOR_FACTOR: "1.2" + --- apiVersion: v1 kind: ConfigMap @@ -160,9 +164,9 @@ data: CAMERA_WIDTH: "160" CAMERA_HEIGHT: "120" - CAMERA_FPS: "40" + CAMERA_FPS: "35" - MQTT_CAMERA_PUB_FREQUENCY: "40" + MQTT_CAMERA_PUB_FREQUENCY: "35" --- apiVersion: v1 @@ -229,6 +233,18 @@ 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], @@ -291,12 +307,14 @@ data: "data": [ -0.26, -0.4, -0.7, -0.8, -1.0 ] } - speed_custom_steering.json: | + # speed_custom + custom_steering.json: | { "steering_values": [0.0, 0.20, 0.50, 0.70], "throttle_steps": [0.17, 0.16, 0.15, 0.13] } + # good_custom_steering good_custom_steering.json: | { "steering_values": [0.0, 0.20, 0.50, 0.70], @@ -309,7 +327,7 @@ data: "throttle_steps": [0.16, 0.15, 0.14, 0.12] } - custom_steering.json: | + 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] diff --git a/ansible/roles/microservices/files/robocar/common/deployments.yaml b/ansible/roles/microservices/files/robocar/common/deployments.yaml index 7092a68..8761bfa 100644 --- a/ansible/roles/microservices/files/robocar/common/deployments.yaml +++ b/ansible/roles/microservices/files/robocar/common/deployments.yaml @@ -25,8 +25,8 @@ spec: - "-mqtt-retain=false" - "--image-width=$(IMAGE_WIDTH)" - "--image-height=$(IMAGE_HEIGHT)" - - "--enable-objects-correction=false" - - "--enable-objects-correction-user=false" + - "--enable-objects-correction=true" + - "--enable-objects-correction-user=true" - "--grid-map-config=/etc/robocar/grid.json" - "--objects-move-factors-config=/etc/robocar/omf.json" - "--delta-middle=0.1" @@ -127,6 +127,7 @@ spec: - "--brake-configuration=/etc/robocar/brake.json" - "--enable-custom-steering-processor=true" - "--custom-steering-processor-config=/etc/robocar/custom_steering.json" + - "--accelerator-factor=$(THROTTLE_ACCELERATOR_FACTOR)" - "--log=info" securityContext: runAsUser: 1234 @@ -194,6 +195,11 @@ spec: configMapKeyRef: key: THROTTLE_MAX name: robocar-throttle + - name: THROTTLE_ACCELERATOR_FACTOR + valueFrom: + configMapKeyRef: + name: robocar-throttle + key: THROTTLE_ACCELERATOR_FACTOR - name: MQTT_QOS value: "0" - name: TZ diff --git a/ansible/roles/microservices/files/robocar/common/kustomization.yaml b/ansible/roles/microservices/files/robocar/common/kustomization.yaml index 864669f..2f9866c 100644 --- a/ansible/roles/microservices/files/robocar/common/kustomization.yaml +++ b/ansible/roles/microservices/files/robocar/common/kustomization.yaml @@ -11,7 +11,7 @@ resources: images: - name: docker.io/cyrilix/robocar-throttle - newTag: v0.8.0 + newTag: v0.9.0 - name: docker.io/cyrilix/robocar-record newTag: v0.6.0 @@ -20,7 +20,7 @@ images: newTag: v0.3.0 - name: docker.io/cyrilix/robocar-steering - newTag: v0.6.0-4-gf97c9cf + newTag: v0.7.1 - name: docker.io/cyrilix/robocar-road newTag: v0.2.0