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

@@ -8,7 +8,7 @@ data:
   MQTT_BROKER: "tcp://mqtt.robocar.svc.cluster.local:1883"
 
   # Camera
-  MQTT_TOPIC_CAMERA: car/satanas/part/camera/color
+  MQTT_TOPIC_CAMERA: car/satanas/part/camera/camera/color
   MQTT_TOPIC_CAMERA_OAK_COLOR: car/satanas/part/camera/color
 
 
@@ -40,7 +40,7 @@ data:
   ############
   # Throttle #
   ############
-  THROTTLE_MIN: "0.25"
+  THROTTLE_MIN: "0.3"
   THROTTLE_MAX: "0.4"
 ---
 apiVersion: v1
@@ -63,12 +63,9 @@ data:
   ################
   # THROTTLE PWM #
   ################
-  #THROTTLE_MIN_PWM: "1092"
-  #THROTTLE_MAX_PWM: "1986"
-  #THROTTLE_ZERO_PWM: "1583"
-  THROTTLE_MIN_PWM: "967"
-  THROTTLE_MAX_PWM: "1966"
-  THROTTLE_ZERO_PWM: "1460"
+  THROTTLE_MIN_PWM: "1092"
+  THROTTLE_MAX_PWM: "1986"
+  THROTTLE_ZERO_PWM: "1583"
 ---
 apiVersion: v1
 kind: ConfigMap
@@ -93,9 +90,7 @@ metadata:
   name: robocar-models
 data:
   # model to use for steering
-  #MODEL_STEERING: model_categorical_160x120h20_edgetpu.tflite
-  MODEL_STEERING: model_linear_160x120h20_edgetpu.tflite
-  MODEL_STEERING5: model_160x120h0_edgetpu.tflite
+  MODEL_STEERING: model_160x120h0_edgetpu.tflite
   MODEL_STEERING3: model_edgetpu.tflite
   MODEL_STEERING4: model_160x120h20_edgetpu.tflite
   MODEL_STEERING2: model-sim-bigimg_edgetpu.tflite

ansible/roles/microservices/files/robocar/common/deployments.yaml

@@ -207,6 +207,9 @@ spec:
         args:
         - "--model=/model/$(MODEL_STEERING)"
         - "--edge-verbosity=0"
+        - "--img-width=$(MODEL_IMAGE_WIDTH)"
+        - "--img-height=$(MODEL_IMAGE_HEIGHT)"
+        - "--horizon=$(HORIZON)"
         - "--log=info"
         securityContext:
           runAsUser: 0
@@ -240,7 +243,7 @@ spec:
         - name: MQTT_TOPIC_CAMERA
           valueFrom:
             configMapKeyRef:
-              key: MQTT_TOPIC_CAMERA_OAK_COLOR
+              key: MQTT_TOPIC_CAMERA
               name: robocar
         - name: MQTT_TOPIC_STEERING
           valueFrom:
@@ -522,7 +525,7 @@ spec:
         image: docker.io/cyrilix/robocar-record
         args:
         - "-mqtt-retain=true"
-        - "-debug=false"
+        - "-debug=true"
         securityContext:
           runAsUser: 1234
           runAsGroup: 1234
@@ -577,7 +580,7 @@ metadata:
     reloader.stakater.com/auto: "true"
 spec:
   revisionHistoryLimit: 0
-  replicas: 0
+  replicas: 1
   strategy:
     type: Recreate
   selector:

ansible/roles/microservices/files/robocar/common/kustomization.yaml

@@ -16,7 +16,7 @@ images:
     newTag: v0.5.1
 
   - name: docker.io/cyrilix/robocar-steering-tflite-edgetpu
-    newTag: v0.5.0
+    newTag: v0.4.1
 
   - name: docker.io/cyrilix/robocar-throttle
     newTag: v0.4.2