conda activate capac
pip install pyserial
pip install pynmea2
pip install canlib
pip install keyboard==0.13.5
pip install pynput==1.7.6
sudo apt install ros-melodic-can-msgs- run rtk only (with ROS publish)
python driver/rtk.py- run imu only (with ROS publish)
python driver/imu.py- run can with keyboard (without ROS publish)
python run_keyboard.py- run rtk and can (with ROS publish)
python run_driver.py- roscore
roscore- step 1: keyboard backup
python run_keyboard.py- step 2: pid control
- rtk
python run_argi.py pid- visual
# python run_argi.py pid-visual --pseudo
python run_argi.py pid-visual- step 3: record data
rosbag record -apip install osqp==0.6.2.post0python -m carla_utils.config -x /home/ff/github/zdk/tractor-control/envs/drift_map/train.xodrrtk:
sudo chown zdk:zdk /dev/ttyUSB0
python rtk_driver/rtk_driver.pylatitude: 30.258824339333334 longitude: 119.72750057183333
D. front: 1.49 left 0.5 up 2.33
E. -90
F. front: 0.09 left: 0.46 up: 1.3
1.17 wheelbase 1.07
rosrun rviz rviz -d ~/github/zdk/tractor-control/envs/agri.rvizdead zone: -12.0 19.0
rwfb:
metric: error path, max: 0.1227, min: 0.0, mean: 0.0043, last: 0.0001, ratio: 94.76 %
rwfb real:
metric: error path, max: 0.1567, min: 0.0, mean: 0.0066, last: 0.0002, ratio: 92.08 %
pid:
metric: error path, max: 0.1135, min: 0.0, mean: 0.0055, last: 0.0001, ratio: 91.32000000000001 %
pid real:
metric: error path, max: 0.1392, min: 0.0, mean: 0.0116, last: 0.0111, ratio: 81.6 %
pid new param, one-order delay 0.95:
metric: error path, max: 0.1174, min: 0.0, mean: 0.0057, last: 0.0001, ratio: 92.84 %
pid new param, one-order delay 0.95, real:
metric: error path, max: 0.1659, min: 0.0, mean: 0.0089, last: 0.0002, ratio: 91.47999999999999 %
pid new param, one-order delay 0.95, zero-order delay 10:
metric: error path, max: 0.3154, min: 0.0, mean: 0.0144, last: 0.0001, ratio: 89.44 %
metric: error path, max: 0.5259, min: 0.0, mean: 0.0506, last: 0.0476, ratio: 57.04 %
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