352 lines
8.5 KiB
YAML
352 lines
8.5 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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MQTT_TOPIC_CAMERA_DISPARITY: "car/satanas/part/camera/disparity"
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# Objects detection
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MQTT_TOPIC_OBJECTS: "car/satanas/part/objects/raw"
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MQTT_TOPIC_OBJECTS_CLEAN: "car/satanas/part/objects/clean"
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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_MAX_THROTTLE_CTRL: car/satanas/part/rc/max_throttle
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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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MQTT_TOPIC_SPEED_ZONE: car/satanas/part/speed_zone
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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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## For manual driving
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#####################
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# THROTTLE_MIN: "0.10"
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# THROTTLE_MAX: "0.12"
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## Slow auto-pilot
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####################
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#THROTTLE_MIN: "0.10"
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#THROTTLE_MAX: "0.10"
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## Secure auto-pilot
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####################
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#THROTTLE_MIN: "0.11"
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#THROTTLE_MAX: "0.12"
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## bump auto-pilot
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####################
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THROTTLE_MIN: "0.11"
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THROTTLE_MAX: "0.11"
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## bump speed auto-pilot
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####################
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#THROTTLE_MIN: "0.12"
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#THROTTLE_MAX: "0.18"
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## Speed auto-pilot
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###################
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#THROTTLE_MIN: "0.11"
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#THROTTLE_MAX: "0.13"
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## Speed race auto-pilot
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###################
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#THROTTLE_MIN: "0.11"
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#THROTTLE_MAX: "0.15"
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# Throttle acceleration boost
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#############################
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THROTTLE_ACCELERATOR_FACTOR: "1.2"
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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: "1004"
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STEERING_RIGHT_PWM: "2048"
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STEERING_CENTER_PWM: "1514"
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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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# OLD RADIO-COMAND 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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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: "980"
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THROTTLE_MAX_PWM: "2046"
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THROTTLE_ZERO_PWM: "1509"
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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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# OLD 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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# MAX THROTTLE CONTROL PWM #
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############################
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CTRL_THROTTLE_MIN_PWM: "1000"
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CTRL_THROTTLE_MAX_PWM: "2000"
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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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CAMERA_FPS: "35"
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MQTT_CAMERA_PUB_FREQUENCY: "35"
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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_160x120h0_edgetpu.tflite"
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#OCI_IMAGE_MODEL: "git.cyrilix.bzh/robocars/model-steering:v20230429.0945-edgetpu"
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#OCI_IMAGE_MODEL: "docker.io/cyrilix/model-steering:v20230429.0945-edgetpu"
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#OCI_IMAGE_MODEL: "docker.io/cyrilix/model-steering:v0.1.0-edgetpu"
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OCI_IMAGE_MODEL_REGISTRY: "registry.registry:5000"
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OCI_IMAGE_MODEL_REPOSITORY: "robocars/model-steering"
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# OCI_IMAGE_MODEL_TAG: "v20230602.2041-edgetpu" # vibreurs seuls ou v20230601.2338-edgetpu
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#OCI_IMAGE_MODEL_TAG: "v20230602.2058-edgetpu" # vibreurs + toutes les sessions bump
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#OCI_IMAGE_MODEL_TAG: "v20230603.1130-edgetpu" # clean1
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#OCI_IMAGE_MODEL_TAG: "v20230603.1144-edgetpu" # clean1
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#OCI_IMAGE_MODEL_TAG: "v20230617.0938-edgetpu"
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#OCI_IMAGE_MODEL_TAG: "v20230617.0946-edgetpu" # bad
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#OCI_IMAGE_MODEL_TAG: "v20230617.1010-edgetpu" # rd + vt not exist
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#OCI_IMAGE_MODEL_TAG: "v20230429.0945-edgetpu" # All + bump
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#OCI_IMAGE_MODEL_TAG: "v20230617.1058-edgetpu" # clean3
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#OCI_IMAGE_MODEL_TAG: "v20230617.1312-edgetpu" # clean10
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OCI_IMAGE_MODEL_TAG: "v20230603.1157-edgetpu" # clean1 # Model RD good
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#OCI_IMAGE_MODEL_TAG: "v20231215.1955-tflite" # Model RD good + plots
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#OCI_IMAGE_MODEL_TAG: "v20231215.2002-tflite" # Model RD good + plots + brightness 0.5 + contrast 0.5
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#OCI_IMAGE_MODEL_TAG: "v20231013.2034-edgetpu" # clean3, light + contrast
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#OCI_IMAGE_MODEL_TAG: "v20230617.1327-edgetpu" # clean10
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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, 0.5, 0.75, -0.75, 0.5, 0],
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[ 0.5, 0.75, 1, -1, -0.75, 0.5],
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[ 0.75, 1, 1, -1, -1, -0.75]
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]
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}
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grid2.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, 0.75, -0.75, 0, 0],
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[ 0, 0.75, 1, -1, -0.75, 0],
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[ 0.75, 1, 1, -1, -1, -0.75]
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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: robocar-objects
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data:
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OBJECTS_THRESHOLD: "0.2"
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# To delete?
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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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brake2.json: |
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{
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"delta_steps": [ 0.05, 0.1, 0.2, 0.3, 0.5 ],
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"data": [ -0.1, -0.2, -0.3, -0.6, -1.0 ]
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}
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brake.json3: |
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{
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"delta_steps": [ 0.005, 0.1, 0.2, 0.3, 0.5 ],
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"data": [ -0.26, -0.4, -0.7, -0.8, -1.0 ]
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}
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brake.json: |
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{
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"delta_steps": [ 0.005, 0.05, 0.1, 0.2, 0.5 ],
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"data": [ -0.26, -0.4, -0.7, -0.8, -1.0 ]
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}
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# speed_custom
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custom_steering.json: |
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{
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"steering_values": [0.0, 0.20, 0.50, 0.70],
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"throttle_steps": [0.17, 0.16, 0.15, 0.13]
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}
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# good_custom_steering
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good_custom_steering.json: |
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{
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"steering_values": [0.0, 0.20, 0.50, 0.70],
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"throttle_steps": [0.14, 0.13, 0.12, 0.11]
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}
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lcustom_steering.json: |
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{
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"steering_values": [0.0, 0.20, 0.50, 0.70],
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"throttle_steps": [0.16, 0.15, 0.14, 0.12]
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}
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very_speed_custom_steering.json: |
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{
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"steering_values": [0.0, 0.20, 0.50, 0.70],
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"throttle_steps": [0.21, 0.17, 0.15, 0.12]
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}
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bcustom_steering.json: |
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{
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"steering_values": [0.0, 0.20, 0.50, 0.70],
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"throttle_steps": [0.18, 0.15, 0.14, 0.13]
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}
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slow_custom_steering.json: |
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{
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"steering_values": [0.0, 0.20, 0.50, 0.70],
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"throttle_steps": [0.12, 0.115, 0.112, 0.11]
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}
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