robocars/robocar-setup
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new car config

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This commit is contained in:
Cyrille Nofficial 2022-09-04 18:05:32 +02:00
parent 6759304b25
commit e446025e76
6 changed files with 170 additions and 87 deletions
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20
ansible/roles/microservices/files/robocar/car/configmap.yaml Normal file
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@ -0,0 +1,20 @@
---
apiVersion: v1
kind: ConfigMap
metadata:
name: robocar-pca9685-pwm
data:
############################
# STEERING PWM - PCA9685 #
############################
STEERING_PCA9685_LEFT_PWM: "995"
STEERING_PCA9685_RIGHT_PWM: "2017"
STEERING_PCA9685_CENTER_PWM: "1440"
###########################
# THROTTLE PWM - PCA9685 #
############################
THROTTLE_PCA9685_MIN_PWM: "994"
THROTTLE_PCA9685_MAX_PWM: "1975"
THROTTLE_PCA9685_ZERO_PWM: "1420"

58
ansible/roles/microservices/files/robocar/car/deployments.yaml
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@ -107,6 +107,7 @@ spec:
args:
- "--image-width=$(CAMERA_WIDTH)"
- "--image-height=$(CAMERA_HEIGHT)"
- "--objects-threshold=$(THRESHOLD_OBJECTS)"
securityContext:
runAsUser: 1234
privileged: true
@ -135,6 +136,16 @@ spec:
configMapKeyRef:
key: MQTT_TOPIC_CAMERA_OAK_COLOR
name: robocar
- name: MQTT_TOPIC_OBJECTS
valueFrom:
configMapKeyRef:
key: MQTT_TOPIC_OBJECTS
name: robocar
- name: THRESHOLD_OBJECTS
valueFrom:
configMapKeyRef:
key: THRESHOLD
name: robocar-objects
- name: CAMERA_WIDTH
valueFrom:
configMapKeyRef:
@ -186,13 +197,13 @@ spec:
- "--mqtt-retain=false"
- "--throttle-channel=15"
- "--steering-channel=14"
- "--throttle-zero-pwm=$(THROTTLE_ZERO_PWM)"
- "--throttle-min-pwm=$(THROTTLE_MIN_PWM)"
- "--throttle-max-pwm=$(THROTTLE_MAX_PWM)"
- "--steering-left-pwm=$(STEERING_LEFT_PWM)"
- "--steering-right-pwm=$(STEERING_RIGHT_PWM)"
- "--steering-center-pwm=$(STEERING_CENTER_PWM)"
- "--pwm-freq=60"
- "--throttle-zero-pwm=$(THROTTLE_PCA9685_ZERO_PWM)"
- "--throttle-min-pwm=$(THROTTLE_PCA9685_MIN_PWM)"
- "--throttle-max-pwm=$(THROTTLE_PCA9685_MAX_PWM)"
- "--steering-left-pwm=$(STEERING_PCA9685_LEFT_PWM)"
- "--steering-right-pwm=$(STEERING_PCA9685_RIGHT_PWM)"
- "--steering-center-pwm=$(STEERING_PCA9685_CENTER_PWM)"
- "--pwm-freq=50"
- "--update-pwm-frequency=25"
- "--log=info"
securityContext:
@ -202,6 +213,9 @@ spec:
volumeMounts:
- mountPath: /dev/i2c-1
name: i2c
envFrom:
- configMapRef:
name: robocar-pca9685-pwm
env:
- name: MQTT_BROKER
valueFrom:
@ -232,36 +246,6 @@ spec:
name: robocar
- name: MQTT_QOS
value: "0"
- name: STEERING_LEFT_PWM
valueFrom:
configMapKeyRef:
name: robocar-steering-pwm
key: STEERING_LEFT_PWM
- name: STEERING_RIGHT_PWM
valueFrom:
configMapKeyRef:
name: robocar-steering-pwm
key: STEERING_RIGHT_PWM
- name: STEERING_CENTER_PWM
valueFrom:
configMapKeyRef:
name: robocar-steering-pwm
key: STEERING_CENTER_PWM
- name: THROTTLE_MIN_PWM
valueFrom:
configMapKeyRef:
name: robocar-throttle-pwm
key: THROTTLE_MIN_PWM
- name: THROTTLE_MAX_PWM
valueFrom:
configMapKeyRef:
name: robocar-throttle-pwm
key: THROTTLE_MAX_PWM
- name: THROTTLE_ZERO_PWM
valueFrom:
configMapKeyRef:
name: robocar-throttle-pwm
key: THROTTLE_ZERO_PWM
- name: TZ
value: "Europe/Paris"
volumes:

3
ansible/roles/microservices/files/robocar/car/kustomization.yaml
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@ -7,6 +7,7 @@ namespace: robocar
resources:
- ../common
- deployments.yaml
- configmap.yaml
images:
- name: docker.io/cyrilix/robocar-camera
@ -16,4 +17,4 @@ images:
newTag: v0.6.4
- name: docker.io/cyrilix/robocar-oak-camera
newTag: v0.1.0
newTag: v0.1.0-2-g52c3808

88
ansible/roles/microservices/files/robocar/common/configmap.yaml
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@ -11,6 +11,8 @@ data:
MQTT_TOPIC_CAMERA: car/satanas/part/camera/color
MQTT_TOPIC_CAMERA_OAK_COLOR: car/satanas/part/camera/color
# Objects detection
MQTT_TOPIC_OBJECTS: car/satanas/part/objects
# Radio command
MQTT_TOPIC_RC_THROTTLE: car/satanas/part/rc/throttle
@ -31,6 +33,9 @@ data:
# Records topic
MQTT_TOPIC_RECORDS: car/satanas/part/records
# Feedbacks
MQTT_TOPIC_THROTTLE_FEEDBACK: car/satanas/part/feedback/throttle
---
apiVersion: v1
kind: ConfigMap
@ -40,13 +45,8 @@ data:
############
# Throttle #
############
# Min value to start is 0.12
# Good value for manual: 0.15
#THROTTLE_MIN: "0.15"
#THROTTLE_MAX: "0.15"
THROTTLE_MIN: "0.19"
THROTTLE_MAX: "0.19"
THROTTLE_MIN: "0.2"
THROTTLE_MAX: "0.3"
---
@ -58,9 +58,17 @@ data:
################
# STEERING PWM #
################
STEERING_LEFT_PWM: "1002"
STEERING_LEFT_PWM: "1000"
STEERING_RIGHT_PWM: "1985"
STEERING_CENTER_PWM: "1491"
STEERING_CENTER_PWM: "1492"
############################
# STEERING PWM - SECOND RC #
############################
STEERING_SECONDARY_LEFT_PWM: "1119"
STEERING_SECONDARY_RIGHT_PWM: "2141"
STEERING_SECONDARY_CENTER_PWM: "1641"
---
apiVersion: v1
kind: ConfigMap
@ -70,12 +78,17 @@ data:
################
# THROTTLE PWM #
################
#THROTTLE_MIN_PWM: "1092"
#THROTTLE_MAX_PWM: "1986"
#THROTTLE_ZERO_PWM: "1583"
THROTTLE_MIN_PWM: "960"
THROTTLE_MAX_PWM: "1949"
THROTTLE_ZERO_PWM: "1452"
THROTTLE_MIN_PWM: "994"
THROTTLE_MAX_PWM: "1979"
THROTTLE_ZERO_PWM: "1484"
###########################
# THROTTLE PWM - SECOND RC #
############################
THROTTLE_SECONDARY_MIN_PWM: "994"
THROTTLE_SECONDARY_MAX_PWM: "1975"
THROTTLE_SECONDARY_ZERO_PWM: "1506"
---
apiVersion: v1
kind: ConfigMap
@ -123,3 +136,48 @@ 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, 0.25, -0.25, 0, 0],
[ 0, 0.25, 0.5, -0.5, -0.25, 0],
[ 0.25, 0.5, 1, -1, -0.5, -0.25]
]
}
"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: android
data:
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 ]
}

84
ansible/roles/microservices/files/robocar/common/deployments.yaml
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@ -28,17 +28,31 @@ spec:
- "--steering-left-pwm=$(STEERING_LEFT_PWM)"
- "--steering-right-pwm=$(STEERING_RIGHT_PWM)"
- "--steering-center-pwm=$(STEERING_CENTER_PWM)"
- "--throttle-zero-pwm=$(THROTTLE_ZERO_PWM)"
- "--steering-secondary-left-pwm=$(STEERING_SECONDARY_LEFT_PWM)"
- "--steering-secondary-right-pwm=$(STEERING_SECONDARY_RIGHT_PWM)"
- "--steering-secondary-center-pwm=$(STEERING_SECONDARY_CENTER_PWM)"
- "--throttle-min-pwm=$(THROTTLE_MIN_PWM)"
- "--throttle-max-pwm=$(THROTTLE_MAX_PWM)"
- "--throttle-center-pwm=$(THROTTLE_ZERO_PWM)"
- "--throttle-secondary-min-pwm=$(THROTTLE_SECONDARY_MIN_PWM)"
- "--throttle-secondary-max-pwm=$(THROTTLE_SECONDARY_MAX_PWM)"
- "--throttle-secondary-center-pwm=$(THROTTLE_SECONDARY_ZERO_PWM)"
- '--throttle-feedback-config=/etc/robocar/thresholds.json'
- "-log=info"
volumeMounts:
- mountPath: "/dev/ttyAMA0"
name: serial
- mountPath: "/etc/robocar"
name: robocar
securityContext:
privileged: true
runAsUser: 1234
runAsGroup: 20 # Set 20/dialout group to access to serial device
envFrom:
- configMapRef:
name: robocar-throttle-pwm
- configMapRef:
name: robocar-steering-pwm
env:
- name: MQTT_BROKER
valueFrom:
@ -77,39 +91,13 @@ spec:
configMapKeyRef:
key: MQTT_TOPIC_RC_SWITCH_RECORD
name: robocar
- name: MQTT_TOPIC_THROTTLE_FEEDBACK
valueFrom:
configMapKeyRef:
name: robocar
key: MQTT_TOPIC_THROTTLE_FEEDBACK
- name: MQTT_QOS
value: "0"
- name: STEERING_LEFT_PWM
valueFrom:
configMapKeyRef:
name: robocar-steering-pwm
key: STEERING_LEFT_PWM
- name: STEERING_RIGHT_PWM
valueFrom:
configMapKeyRef:
name: robocar-steering-pwm
key: STEERING_RIGHT_PWM
- name: STEERING_CENTER_PWM
valueFrom:
configMapKeyRef:
name: robocar-steering-pwm
key: STEERING_CENTER_PWM
- name: THROTTLE_MIN_PWM
valueFrom:
configMapKeyRef:
name: robocar-throttle-pwm
key: THROTTLE_MIN_PWM
- name: THROTTLE_MAX_PWM
valueFrom:
configMapKeyRef:
name: robocar-throttle-pwm
key: THROTTLE_MAX_PWM
- name: THROTTLE_ZERO_PWM
valueFrom:
configMapKeyRef:
name: robocar-throttle-pwm
key: THROTTLE_ZERO_PWM
- name: TZ
value: "Europe/Paris"
volumes:
@ -117,6 +105,9 @@ spec:
hostPath:
path: /dev/ttyAMA0
type: CharDevice
- name: robocar
configMap:
name: android
---
apiVersion: apps/v1
@ -328,6 +319,13 @@ spec:
image: docker.io/cyrilix/robocar-steering
args:
- "-mqtt-retain=false"
- "--image-width=$(IMAGE_WIDTH)"
- "--image-height=$(IMAGE_HEIGHT)"
- "--enable-objects-correction=true"
- "--enable-objects-correction-user=false"
- "--grid-map-config=/etc/robocar/grid.json"
- "--objects-move-factors-config=/etc/robocar/omf.json"
- "--delta-middle=0.1"
- "-log=info"
securityContext:
runAsUser: 1234
@ -370,10 +368,32 @@ spec:
configMapKeyRef:
key: MQTT_TOPIC_RC_DRIVE_MODE
name: robocar
- name: MQTT_TOPIC_OBJECTS
valueFrom:
configMapKeyRef:
key: MQTT_TOPIC_OBJECTS
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"
volumeMounts:
- mountPath: /etc/robocar
name: robocar-configs
volumes:
- name: robocar-configs
configMap:
name: steering
---
apiVersion: apps/v1
kind: Deployment

4
ansible/roles/microservices/files/robocar/common/kustomization.yaml
View File

@ -10,7 +10,7 @@ resources:
images:
- name: docker.io/cyrilix/robocar-arduino
newTag: v0.8.0
newTag: v0.8.0-6-gadb38c3
- name: docker.io/cyrilix/robocar-led
newTag: v0.5.1
@ -29,7 +29,7 @@ images:
newTag: v0.2.1
- name: docker.io/cyrilix/robocar-steering
newTag: v0.5.1
newTag: v0.5.1-24-g424b697
- name: docker.io/cyrilix/robocar-road
newTag: v0.2.0