195 lines
4.1 KiB
YAML
195 lines
4.1 KiB
YAML
apiVersion: v1
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kind: ConfigMap
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metadata:
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name: robocar
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data:
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# Broker configuration
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MQTT_BROKER_HOST: nats-server.nats.svc.cluster.local
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#MQTT_BROKER: "tcp://mqtt.robocar.svc.cluster.local:1883"
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MQTT_BROKER: "tcp://nats-server.nats.svc.cluster.local:1883"
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# Camera
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MQTT_TOPIC_CAMERA: car/satanas/part/camera/color
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MQTT_TOPIC_CAMERA_OAK_COLOR: car/satanas/part/camera/color
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# Objects detection
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MQTT_TOPIC_OBJECTS: car/satanas/part/objects
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# Radio command
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MQTT_TOPIC_RC_THROTTLE: car/satanas/part/rc/throttle
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MQTT_TOPIC_RC_STEERING: car/satanas/part/rc/steering
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MQTT_TOPIC_RC_SWITCH_RECORD: car/satanas/part/rc/switch_record
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MQTT_TOPIC_RC_DRIVE_MODE: car/satanas/part/rc/drive_mode
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MQTT_TOPIC_TF_STEERING: car/satanas/part/tflite/steering
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# Values to apply
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MQTT_TOPIC_THROTTLE: car/satanas/part/throttle
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MQTT_TOPIC_STEERING: car/satanas/part/steering
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# Road detection
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MQTT_TOPIC_ROAD: car/satanas/part/road
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# Records topic
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MQTT_TOPIC_RECORDS: car/satanas/part/records
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# Feedbacks
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MQTT_TOPIC_THROTTLE_FEEDBACK: car/satanas/part/feedback/throttle
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---
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apiVersion: v1
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kind: ConfigMap
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metadata:
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name: robocar-throttle
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data:
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############
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# Throttle #
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############
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THROTTLE_MIN: "0.2"
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THROTTLE_MAX: "0.3"
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---
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apiVersion: v1
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kind: ConfigMap
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metadata:
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name: robocar-steering-pwm
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data:
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################
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# STEERING PWM #
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################
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STEERING_LEFT_PWM: "1000"
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STEERING_RIGHT_PWM: "1985"
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STEERING_CENTER_PWM: "1492"
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############################
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# STEERING PWM - SECOND RC #
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############################
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STEERING_SECONDARY_LEFT_PWM: "1119"
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STEERING_SECONDARY_RIGHT_PWM: "2141"
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STEERING_SECONDARY_CENTER_PWM: "1641"
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---
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apiVersion: v1
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kind: ConfigMap
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metadata:
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name: robocar-throttle-pwm
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data:
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################
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# THROTTLE PWM #
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################
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THROTTLE_MIN_PWM: "994"
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THROTTLE_MAX_PWM: "1979"
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THROTTLE_ZERO_PWM: "1484"
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###########################
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# THROTTLE PWM - SECOND RC #
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############################
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THROTTLE_SECONDARY_MIN_PWM: "994"
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THROTTLE_SECONDARY_MAX_PWM: "1975"
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THROTTLE_SECONDARY_ZERO_PWM: "1506"
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---
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apiVersion: v1
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kind: ConfigMap
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metadata:
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name: robocar-camera
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data:
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##########
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# Camera #
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##########
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2CAMERA_WIDTH: "160"
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2CAMERA_HEIGHT: "128"
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CAMERA_WIDTH: "160"
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CAMERA_HEIGHT: "120"
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MQTT_CAMERA_PUB_FREQUENCY: "30"
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---
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apiVersion: v1
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kind: ConfigMap
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metadata:
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name: robocar-models
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data:
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# model to use for steering
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MODEL_STEERING: model_categorical_160x120h0_edgetpu.tflite
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#MODEL_STEERING: model_linear_160x120h40_edgetpu.tflite
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#MODEL_STEERING: model_linear_160x120h20_edgetpu.tflite
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#MODEL_STEERING: model_categorical_160x120h20_edgetpu.tflite
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#MODEL_STEERING: model_linear_160x120h50_edgetpu.tflite
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MODEL_IMAGE_WIDTH: "160"
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MODEL_IMAGE_HEIGHT: "120"
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HORIZON: "20"
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---
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apiVersion: v1
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kind: ConfigMap
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metadata:
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name: robocar-road
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data:
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HORIZON: "20"
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---
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apiVersion: v1
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kind: ConfigMap
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metadata:
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name: steering
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data:
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grid.json: |
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{
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"steering_steps": [ -1, -0.66, -0.33, 0, 0.33, 0.66, 1],
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"distance_steps": [ 0, 0.3, 0.4, 0.5, 0.8, 1],
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"data": [
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[ 0, 0, 0, 0, 0, 0],
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[ 0, 0, 0, 0, 0, 0],
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[ 0, 0, 0.25, -0.25, 0, 0],
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[ 0, 0.25, 0.5, -0.5, -0.25, 0],
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[ 0.25, 0.5, 1, -1, -0.5, -0.25]
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]
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}
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"omf.json": |
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{
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"steering_steps":[-1, -0.66, -0.33, 0, 0.33, 0.66, 1],
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"distance_steps": [0, 0.2, 0.4, 0.6, 0.8, 1],
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"data": [
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[0, 0, 0, 0, 0, 0],
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[0, 0, 0, 0, 0, 0],
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[0, 0, 0, 0, 0, 0],
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[0, 0.25, 0, 0, -0.25, 0],
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[0.5, 0.25, 0, 0, -0.5, -0.25]
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]
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}
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---
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apiVersion: v1
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kind: ConfigMap
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metadata:
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name: android
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data:
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thresholds.json: |
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{
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"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 ],
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"min_valid": 500,
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"data": [ 8700, 4800, 3500, 2550, 1850, 1387, 992, 840, 750, 700, 655, 620, 590, 570, 553, 549, 548 ]
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}
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---
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apiVersion: v1
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kind: ConfigMap
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metadata:
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name: throttle
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data:
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brake.json: |
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{
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"delta_steps": [ 0.05, 0.3, 0.5 ],
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"data": [ -0.1, -0.5, -1.0 ]
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}
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