apiVersion: v1 kind: ConfigMap metadata: name: robocar data: # Broker configuration MQTT_BROKER_HOST: "nats-server.nats.svc.cluster.local" #MQTT_BROKER: "tcp://mqtt.robocar.svc.cluster.local:1883" MQTT_BROKER: "tcp://nats-server.nats.svc.cluster.local:1883" # Camera MQTT_TOPIC_CAMERA: "car/satanas/part/camera/color" MQTT_TOPIC_CAMERA_OAK_COLOR: "car/satanas/part/camera/color" MQTT_TOPIC_CAMERA_DISPARITY: "car/satanas/part/camera/disparity" # Objects detection MQTT_TOPIC_OBJECTS: car/satanas/part/objects # Radio command MQTT_TOPIC_RC_THROTTLE: car/satanas/part/rc/throttle MQTT_TOPIC_RC_STEERING: car/satanas/part/rc/steering MQTT_TOPIC_RC_SWITCH_RECORD: car/satanas/part/rc/switch_record MQTT_TOPIC_RC_DRIVE_MODE: car/satanas/part/rc/drive_mode MQTT_TOPIC_MAX_THROTTLE_CTRL: car/satanas/part/rc/max_throttle MQTT_TOPIC_TF_STEERING: car/satanas/part/tflite/steering # Values to apply MQTT_TOPIC_THROTTLE: car/satanas/part/throttle MQTT_TOPIC_STEERING: car/satanas/part/steering MQTT_TOPIC_SPEED_ZONE: car/satanas/part/speed_zone # Road detection MQTT_TOPIC_ROAD: car/satanas/part/road # Records topic MQTT_TOPIC_RECORDS: car/satanas/part/records # Feedbacks MQTT_TOPIC_THROTTLE_FEEDBACK: car/satanas/part/feedback/throttle --- apiVersion: v1 kind: ConfigMap metadata: name: robocar-throttle data: ############ # Throttle # ############ ## For manual driving ##################### # THROTTLE_MIN: "0.10" # THROTTLE_MAX: "0.12" ## Slow auto-pilot #################### #THROTTLE_MIN: "0.10" #THROTTLE_MAX: "0.10" ## Secure auto-pilot #################### #THROTTLE_MIN: "0.11" #THROTTLE_MAX: "0.12" ## bump auto-pilot #################### THROTTLE_MIN: "0.11" THROTTLE_MAX: "0.11" ## bump speed auto-pilot #################### #THROTTLE_MIN: "0.12" #THROTTLE_MAX: "0.18" ## Speed auto-pilot ################### #THROTTLE_MIN: "0.11" #THROTTLE_MAX: "0.13" ## Speed race auto-pilot ################### #THROTTLE_MIN: "0.11" #THROTTLE_MAX: "0.15" # Throttle acceleration boost ############################# THROTTLE_ACCELERATOR_FACTOR: "1.2" --- apiVersion: v1 kind: ConfigMap metadata: name: robocar-steering-pwm data: ################ # STEERING PWM # ################ STEERING_LEFT_PWM: "1004" STEERING_RIGHT_PWM: "2048" STEERING_CENTER_PWM: "1514" ############################ # STEERING PWM - SECOND RC # ############################ STEERING_SECONDARY_LEFT_PWM: "1119" STEERING_SECONDARY_RIGHT_PWM: "2141" STEERING_SECONDARY_CENTER_PWM: "1641" ################################# # OLD RADIO-COMAND STEERING PWM # ################################# #STEERING_LEFT_PWM: "1000" #STEERING_RIGHT_PWM: "1985" #STEERING_CENTER_PWM: "1492" --- apiVersion: v1 kind: ConfigMap metadata: name: robocar-throttle-pwm data: ################ # THROTTLE PWM # ################ THROTTLE_MIN_PWM: "980" THROTTLE_MAX_PWM: "2046" THROTTLE_ZERO_PWM: "1509" ########################### # THROTTLE PWM - SECOND RC # ############################ THROTTLE_SECONDARY_MIN_PWM: "994" THROTTLE_SECONDARY_MAX_PWM: "1975" THROTTLE_SECONDARY_ZERO_PWM: "1506" #################### # OLD THROTTLE PWM # #################### # THROTTLE_MIN_PWM: "994" # THROTTLE_MAX_PWM: "1979" # THROTTLE_ZERO_PWM: "1484" ############################ # MAX THROTTLE CONTROL PWM # ############################ CTRL_THROTTLE_MIN_PWM: "1000" CTRL_THROTTLE_MAX_PWM: "2000" --- apiVersion: v1 kind: ConfigMap metadata: name: robocar-camera data: ########## # Camera # ########## 2CAMERA_WIDTH: "160" 2CAMERA_HEIGHT: "128" CAMERA_WIDTH: "160" CAMERA_HEIGHT: "120" CAMERA_FPS: "35" MQTT_CAMERA_PUB_FREQUENCY: "35" --- apiVersion: v1 kind: ConfigMap metadata: name: robocar-models data: # model to use for steering #MODEL_STEERING: model_categorical_160x120h0_edgetpu.tflite MODEL_STEERING: "model_linear_160x120h0_edgetpu.tflite" #OCI_IMAGE_MODEL: "git.cyrilix.bzh/robocars/model-steering:v20230429.0945-edgetpu" #OCI_IMAGE_MODEL: "docker.io/cyrilix/model-steering:v20230429.0945-edgetpu" #OCI_IMAGE_MODEL: "docker.io/cyrilix/model-steering:v0.1.0-edgetpu" OCI_IMAGE_MODEL_REGISTRY: "registry.registry:5000" OCI_IMAGE_MODEL_REPOSITORY: "robocars/model-steering" # OCI_IMAGE_MODEL_TAG: "v20230602.2041-edgetpu" # vibreurs seuls ou v20230601.2338-edgetpu #OCI_IMAGE_MODEL_TAG: "v20230602.2058-edgetpu" # vibreurs + toutes les sessions bump #OCI_IMAGE_MODEL_TAG: "v20230603.1130-edgetpu" # clean1 #OCI_IMAGE_MODEL_TAG: "v20230603.1144-edgetpu" # clean1 #OCI_IMAGE_MODEL_TAG: "v20230617.0938-edgetpu" #OCI_IMAGE_MODEL_TAG: "v20230617.0946-edgetpu" # bad #OCI_IMAGE_MODEL_TAG: "v20230617.1010-edgetpu" # rd + vt not exist #OCI_IMAGE_MODEL_TAG: "v20230429.0945-edgetpu" # All + bump #OCI_IMAGE_MODEL_TAG: "v20230617.1058-edgetpu" # clean3 #OCI_IMAGE_MODEL_TAG: "v20230617.1312-edgetpu" # clean10 OCI_IMAGE_MODEL_TAG: "v20230603.1157-edgetpu" # clean1 # Model RD good #OCI_IMAGE_MODEL_TAG: "v20231215.1955-tflite" # Model RD good + plots #OCI_IMAGE_MODEL_TAG: "v20231215.2002-tflite" # Model RD good + plots + brightness 0.5 + contrast 0.5 #OCI_IMAGE_MODEL_TAG: "v20231013.2034-edgetpu" # clean3, light + contrast #OCI_IMAGE_MODEL_TAG: "v20230617.1327-edgetpu" # clean10 #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" HORIZON: "20" --- apiVersion: v1 kind: ConfigMap 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, 0.5, 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], "data": [ [ 0, 0, 0, 0, 0, 0], [ 0, 0, 0, 0, 0, 0], [ 0, 0, 0.75, -0.75, 0, 0], [ 0, 0.75, 1, -1, -0.75, 0], [ 0.75, 1, 1, -1, -1, -0.75] ] } "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: robocar-objects data: OBJECTS_THRESHOLD: "0.2" # To delete? 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 ] } --- apiVersion: v1 kind: ConfigMap metadata: name: throttle data: brake2.json: | { "delta_steps": [ 0.05, 0.1, 0.2, 0.3, 0.5 ], "data": [ -0.1, -0.2, -0.3, -0.6, -1.0 ] } brake.json3: | { "delta_steps": [ 0.005, 0.1, 0.2, 0.3, 0.5 ], "data": [ -0.26, -0.4, -0.7, -0.8, -1.0 ] } brake.json: | { "delta_steps": [ 0.005, 0.05, 0.1, 0.2, 0.5 ], "data": [ -0.26, -0.4, -0.7, -0.8, -1.0 ] } # 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], "throttle_steps": [0.14, 0.13, 0.12, 0.11] } lcustom_steering.json: | { "steering_values": [0.0, 0.20, 0.50, 0.70], "throttle_steps": [0.16, 0.15, 0.14, 0.12] } 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] } bcustom_steering.json: | { "steering_values": [0.0, 0.20, 0.50, 0.70], "throttle_steps": [0.18, 0.15, 0.14, 0.13] } slow_custom_steering.json: | { "steering_values": [0.0, 0.20, 0.50, 0.70], "throttle_steps": [0.12, 0.115, 0.112, 0.11] }