robocars/robocar-setup
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base: robocars:debug/bad_steering
Branches Tags
robocars:master robocars:feat/mqtt_service robocars:debug/bad_steering robocars:fix/pca9686-steering
robocars:viva_tech_2022 robocars:viva_tech_preparation
..
compare: robocars:viva_tech_2022
Branches Tags
robocars:master robocars:feat/mqtt_service robocars:debug/bad_steering robocars:fix/pca9686-steering
robocars:viva_tech_2022 robocars:viva_tech_preparation

19 Commits
debug/bad_ ... viva_tech_

Author SHA1 Message Date
Cyrille Nofficial
6759304b25 config: config used for vivatech 2022 2022-08-16 08:46:20 +02:00
Cyrille Nofficial
3f6ff95dc0 fix(steering): reverse direction 2022-06-16 16:02:57 +02:00
Cyrille Nofficial
6562036b05 fix: configure slow drive 2022-06-16 12:30:03 +02:00
Cyrille Nofficial
8b6ee0cc06 disable debug logs 2022-06-10 16:09:47 +02:00
Cyrille Nofficial
140e3509be disable road microservice 2022-06-10 16:09:30 +02:00
Cyrille Nofficial
c915e2b957 feat: add linear models and autodetect models configuration 2022-06-10 16:09:03 +02:00
Cyrille Nofficial
1123071750 tune: fix PWM and min/max throttke 2022-06-10 16:07:51 +02:00
Cyrille Nofficial
1bfb3d1930 fix: bad camera topic 2022-06-10 16:07:17 +02:00
Cyrille Nofficial
4663a545df chore: bump robocar-simulator to v0.4.1 
refs robocars/robocar-setup#3
 2022-06-09 18:16:02 +02:00
Cyrille Nofficial
94773908e6 chore: bump robocar-road to v0.2.0 
refs robocars/robocar-setup#3
 2022-06-09 17:54:41 +02:00
Cyrille Nofficial
48b2abd99b chore: bump robocar-pca9685 to v0.6.1 
refs robocars/robocar-setup#3
 2022-06-09 16:34:37 +02:00
Cyrille Nofficial
4eb2084ce6 chore: bump robocar-steering to v0.5.1 
refs robocars/robocar-setup#3
 2022-06-09 16:12:45 +02:00
Cyrille Nofficial
c25fa4b13b chore: bump robocar-recorder-store to v0.2.1 
refs robocars/robocar-setup#3
 2022-06-08 21:10:13 +02:00
Cyrille Nofficial
1fdd3932d6 chore: bump robocar-record to v0.5.1 
refs robocars/robocar-setup#3
 2022-06-08 20:53:14 +02:00
Cyrille Nofficial
aa9443c7ff chore: bump robocar-throttle to v0.4.2 
refs robocars/robocar-setup#3
 2022-06-08 20:42:26 +02:00
Cyrille Nofficial
300ed78b2a chore: bump robocar-steering-tflite-edgetpu to v0.5.1 
refs robocars/robocar-setup#3
 2022-06-08 20:27:48 +02:00
Cyrille Nofficial
2eb1fe3b10 chore: bump robocar-led to v0.5.1 
refs robocars/robocar-setup#3
 2022-06-07 23:56:17 +02:00
Cyrille Nofficial
8d259c3311 chore: bump robocar-arduino to v0.7.1 
refs robocars/robocar-setup#3
 2022-06-07 19:54:10 +02:00
Cyrille Nofficial
3c80b4a970 feat(k8s): use mqtt service endpoint url 
closes #1
 2022-06-07 19:13:38 +02:00
7 changed files with 66 additions and 36 deletions
Expand all files Collapse all files

6
ansible/roles/microservices/files/robocar/car/deployments.yaml
View File

@ -117,10 +117,7 @@ spec:
mountPath: /dev
env:
- name: MQTT_BROKER
valueFrom:
configMapKeyRef:
key: MQTT_BROKER_HOST
name: robocar
value: localhost # because use host network
- name: MQTT_USERNAME
valueFrom:
secretKeyRef:
@ -195,6 +192,7 @@ spec:
- "--steering-left-pwm=$(STEERING_LEFT_PWM)"
- "--steering-right-pwm=$(STEERING_RIGHT_PWM)"
- "--steering-center-pwm=$(STEERING_CENTER_PWM)"
- "--pwm-freq=60"
- "--update-pwm-frequency=25"
- "--log=info"
securityContext:

2
ansible/roles/microservices/files/robocar/car/kustomization.yaml
View File

@ -13,7 +13,7 @@ images:
newTag: v0.3.0
- name: docker.io/cyrilix/robocar-pca9685
newTag: v0.6.0
newTag: v0.6.4
- name: docker.io/cyrilix/robocar-oak-camera
newTag: v0.1.0

44
ansible/roles/microservices/files/robocar/common/configmap.yaml
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@ -4,14 +4,11 @@ metadata:
name: robocar
data:
# Broker configuration
#MQTT_BROKER_HOST: 192.168.217.19
#MQTT_BROKER: "tcp://192.168.217.19:1883"
MQTT_BROKER_HOST: 192.168.2.221
MQTT_BROKER: "tcp://192.168.2.221:1883"
#MQTT_BROKER: "tcp://mqtt.robocar.svc.cluster.local:1883"
MQTT_BROKER_HOST: mqtt.robocar.svc.cluster.local
MQTT_BROKER: "tcp://mqtt.robocar.svc.cluster.local:1883"
# Camera
MQTT_TOPIC_CAMERA: car/satanas/part/camera/camera/color
MQTT_TOPIC_CAMERA: car/satanas/part/camera/color
MQTT_TOPIC_CAMERA_OAK_COLOR: car/satanas/part/camera/color
@ -43,8 +40,15 @@ data:
############
# Throttle #
############
THROTTLE_MIN: "0.3"
THROTTLE_MAX: "0.4"
# 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"
---
apiVersion: v1
kind: ConfigMap
@ -66,9 +70,12 @@ data:
################
# THROTTLE PWM #
################
THROTTLE_MIN_PWM: "1092"
THROTTLE_MAX_PWM: "1986"
THROTTLE_ZERO_PWM: "1583"
#THROTTLE_MIN_PWM: "1092"
#THROTTLE_MAX_PWM: "1986"
#THROTTLE_ZERO_PWM: "1583"
THROTTLE_MIN_PWM: "960"
THROTTLE_MAX_PWM: "1949"
THROTTLE_ZERO_PWM: "1452"
---
apiVersion: v1
kind: ConfigMap
@ -93,10 +100,17 @@ metadata:
name: robocar-models
data:
# model to use for steering
MODEL_STEERING: model_160x120h0_edgetpu.tflite
MODEL_STEERING3: model_edgetpu.tflite
MODEL_STEERING4: model_160x120h20_edgetpu.tflite
MODEL_STEERING2: model-sim-bigimg_edgetpu.tflite
MODEL_STEERING: model_categorical_160x120h0_edgetpu.tflite
#MODEL_STEERING: model_categorical_160x120h0_edgetpu.tflite
#MODEL_STEERING: model_linear_160x120h40_edgetpu.tflite
#MODEL_STEERING: model_linear_160x120h20_edgetpu.tflite
#MODEL_STEERING: model_categorical_160x120h20_edgetpu.tflite
#MODEL_STEERING: model_linear_160x120h50_edgetpu.tflite
MODEL_IMAGE_WIDTH: "160"
MODEL_IMAGE_HEIGHT: "120"

30
ansible/roles/microservices/files/robocar/common/deployments.yaml
View File

@ -28,6 +28,9 @@ 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)"
- "--throttle-min-pwm=$(THROTTLE_MIN_PWM)"
- "--throttle-max-pwm=$(THROTTLE_MAX_PWM)"
- "-log=info"
volumeMounts:
- mountPath: "/dev/ttyAMA0"
@ -91,6 +94,22 @@ spec:
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:
@ -207,9 +226,6 @@ 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
@ -243,7 +259,7 @@ spec:
- name: MQTT_TOPIC_CAMERA
valueFrom:
configMapKeyRef:
key: MQTT_TOPIC_CAMERA
key: MQTT_TOPIC_CAMERA_OAK_COLOR
name: robocar
- name: MQTT_TOPIC_STEERING
valueFrom:
@ -383,7 +399,7 @@ spec:
image: docker.io/cyrilix/robocar-throttle
args:
- "-mqtt-retain=false"
- "-debug=false"
- "-log=info"
securityContext:
runAsUser: 1234
runAsGroup: 1234
@ -525,7 +541,7 @@ spec:
image: docker.io/cyrilix/robocar-record
args:
- "-mqtt-retain=true"
- "-debug=true"
- "-debug=false"
securityContext:
runAsUser: 1234
runAsGroup: 1234
@ -580,7 +596,7 @@ metadata:
reloader.stakater.com/auto: "true"
spec:
revisionHistoryLimit: 0
replicas: 1
replicas: 0
strategy:
type: Recreate
selector:

1
ansible/roles/microservices/files/robocar/common/endpoints.yaml
View File

@ -8,5 +8,6 @@ metadata:
subsets:
- addresses:
- ip: 192.168.2.221
# - ip: 192.168.217.19
ports:
- port: 1883

17
ansible/roles/microservices/files/robocar/common/kustomization.yaml
View File

@ -10,25 +10,26 @@ resources:
images:
- name: docker.io/cyrilix/robocar-arduino
newTag: v0.7.0
newTag: v0.8.0
- name: docker.io/cyrilix/robocar-led
newTag: v0.5.0
newTag: v0.5.1
- name: docker.io/cyrilix/robocar-steering-tflite-edgetpu
newTag: v0.4.0
#newTag: v0.5.0
newTag: v0.5.0-1-gbc90193
- name: docker.io/cyrilix/robocar-throttle
newTag: v0.4.1
newTag: v0.5.0
- name: docker.io/cyrilix/robocar-record
newTag: v0.5.0
newTag: v0.5.1
- name: docker.io/cyrilix/robocar-recorder-store
newTag: v0.2.0
newTag: v0.2.1
- name: docker.io/cyrilix/robocar-steering
newTag: v0.5.0
newTag: v0.5.1
- name: docker.io/cyrilix/robocar-road
newTag: v0.1.0-5-gdc6e465
newTag: v0.2.0

2
ansible/roles/microservices/files/robocar/simulator/kustomization.yaml
View File

@ -11,4 +11,4 @@ resources:
images:
- name: docker.io/cyrilix/robocar-simulator
newTag: v0.4.0
newTag: v0.4.1