race 2024-01

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

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

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]

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

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