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enrique committed Sep 27, 2023
2 parents 0ccac91 + 86171a1 commit fcbf5d3
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4 changes: 4 additions & 0 deletions README.md
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Expand Up @@ -84,4 +84,8 @@ The robot controller (brain folder) is the main controller of the ego vehicle.

Behavior Metrics uses a publish/subscribe design to communicate with the simulator

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![alt text](./assets/behavior_metrics_publish_subscribe.png)
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![alt text](./assets/behavior_metrics_publish_subscribe.png)
>>>>>>> upstream/noetic-devel
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161 changes: 161 additions & 0 deletions behavior_metrics/configs/CARLA/CARLA_launch_files/CARLA_object_files/main_car.json
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{
"objects":
[
{
"type": "sensor.pseudo.traffic_lights",
"id": "traffic_lights"
},
{
"type": "sensor.pseudo.objects",
"id": "objects"
},
{
"type": "sensor.pseudo.actor_list",
"id": "actor_list"
},
{
"type": "sensor.pseudo.markers",
"id": "markers"
},
{
"type": "sensor.pseudo.opendrive_map",
"id": "map"
},
{
"type": "vehicle.tesla.model3",
"id": "ego_vehicle",
"sensors":
[
{
"type": "sensor.camera.rgb",
"id": "rgb_front",
"spawn_point": {"x": 2.5, "y": 0.0, "z": 0.8, "roll": 0.0, "pitch": 0.0, "yaw": 0.0},
"image_size_x": 640,
"image_size_y": 480
},
{
"type": "sensor.camera.rgb",
"id": "rgb_view",
"spawn_point": {"x": -4.5, "y": 0.0, "z": 2.8, "roll": 0.0, "pitch": 20.0, "yaw": 0.0},
"image_size_x": 800,
"image_size_y": 600,
"fov": 90.0,
"attached_objects":
[
{
"type": "actor.pseudo.control",
"id": "control"
}
]
},
{
"type": "sensor.lidar.ray_cast",
"id": "lidar",
"spawn_point": {"x": 0.0, "y": 0.0, "z": 2.4, "roll": 0.0, "pitch": 0.0, "yaw": 0.0},
"range": 50,
"channels": 32,
"points_per_second": 320000,
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"lower_fov": -26.8,
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"noise_stddev": 0.0
},
{
"type": "sensor.lidar.ray_cast_semantic",
"id": "semantic_lidar",
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"rotation_frequency": 20
},
{
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},
{
"type": "sensor.camera.semantic_segmentation",
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},
{
"type": "sensor.camera.depth",
"id": "depth_front",
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"image_size_y": 70
},
{
"type": "sensor.camera.dvs",
"id": "dvs_front",
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"fov": 90.0,
"image_size_x": 400,
"image_size_y": 70,
"positive_threshold": 0.3,
"negative_threshold": 0.3,
"sigma_positive_threshold": 0.0,
"sigma_negative_threshold": 0.0,
"use_log": true,
"log_eps": 0.001
},
{
"type": "sensor.other.gnss",
"id": "gnss",
"spawn_point": {"x": 1.0, "y": 0.0, "z": 2.0},
"noise_alt_stddev": 0.0, "noise_lat_stddev": 0.0, "noise_lon_stddev": 0.0,
"noise_alt_bias": 0.0, "noise_lat_bias": 0.0, "noise_lon_bias": 0.0
},
{
"type": "sensor.other.imu",
"id": "imu",
"spawn_point": {"x": 2.0, "y": 0.0, "z": 2.0, "roll": 0.0, "pitch": 0.0, "yaw": 0.0},
"noise_accel_stddev_x": 0.0, "noise_accel_stddev_y": 0.0, "noise_accel_stddev_z": 0.0,
"noise_gyro_stddev_x": 0.0, "noise_gyro_stddev_y": 0.0, "noise_gyro_stddev_z": 0.0,
"noise_gyro_bias_x": 0.0, "noise_gyro_bias_y": 0.0, "noise_gyro_bias_z": 0.0
},
{
"type": "sensor.other.collision",
"id": "collision",
"spawn_point": {"x": 0.0, "y": 0.0, "z": 0.0}
},
{
"type": "sensor.other.lane_invasion",
"id": "lane_invasion",
"spawn_point": {"x": 0.0, "y": 0.0, "z": 0.0}
},
{
"type": "sensor.pseudo.tf",
"id": "tf"
},
{
"type": "sensor.pseudo.objects",
"id": "objects"
},
{
"type": "sensor.pseudo.odom",
"id": "odometry"
},
{
"type": "sensor.pseudo.speedometer",
"id": "speedometer"
},
{
"type": "actor.pseudo.control",
"id": "control"
}
]
}
]
}
170 changes: 170 additions & 0 deletions ..._metrics/configs/CARLA/CARLA_launch_files/CARLA_object_files/parked_bike_car_objects.json
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{
"objects":
[
{
"type": "sensor.pseudo.traffic_lights",
"id": "traffic_lights"
},
{
"type": "sensor.pseudo.objects",
"id": "objects"
},
{
"type": "sensor.pseudo.actor_list",
"id": "actor_list"
},
{
"type": "sensor.pseudo.markers",
"id": "markers"
},
{
"type": "sensor.pseudo.opendrive_map",
"id": "map"
},
{
"type": "vehicle.tesla.model3",
"id": "ego_vehicle",
"sensors":
[
{
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"id": "rgb_front",
"spawn_point": {"x": 2.0, "y": 0.0, "z": 2.0, "roll": 0.0, "pitch": 0.0, "yaw": 0.0},
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},
{
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"attached_objects":
[
{
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}
]
},
{
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"range": 50,
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},
{
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},
{
"type": "sensor.other.radar",
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"horizontal_fov": 30.0,
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"points_per_second": 1500,
"range": 100.0
},
{
"type": "sensor.camera.semantic_segmentation",
"id": "semantic_segmentation_front",
"spawn_point": {"x": 2.0, "y": 0.0, "z": 2.0, "roll": 0.0, "pitch": 0.0, "yaw": 0.0},
"fov": 90.0,
"image_size_x": 400,
"image_size_y": 70
},
{
"type": "sensor.camera.depth",
"id": "depth_front",
"spawn_point": {"x": 2.0, "y": 0.0, "z": 2.0, "roll": 0.0, "pitch": 0.0, "yaw": 0.0},
"fov": 90.0,
"image_size_x": 400,
"image_size_y": 70
},
{
"type": "sensor.camera.dvs",
"id": "dvs_front",
"spawn_point": {"x": 2.0, "y": 0.0, "z": 2.0, "roll": 0.0, "pitch": 0.0, "yaw": 0.0},
"fov": 90.0,
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"positive_threshold": 0.3,
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"use_log": true,
"log_eps": 0.001
},
{
"type": "sensor.other.gnss",
"id": "gnss",
"spawn_point": {"x": 1.0, "y": 0.0, "z": 2.0},
"noise_alt_stddev": 0.0, "noise_lat_stddev": 0.0, "noise_lon_stddev": 0.0,
"noise_alt_bias": 0.0, "noise_lat_bias": 0.0, "noise_lon_bias": 0.0
},
{
"type": "sensor.other.imu",
"id": "imu",
"spawn_point": {"x": 2.0, "y": 0.0, "z": 2.0, "roll": 0.0, "pitch": 0.0, "yaw": 0.0},
"noise_accel_stddev_x": 0.0, "noise_accel_stddev_y": 0.0, "noise_accel_stddev_z": 0.0,
"noise_gyro_stddev_x": 0.0, "noise_gyro_stddev_y": 0.0, "noise_gyro_stddev_z": 0.0,
"noise_gyro_bias_x": 0.0, "noise_gyro_bias_y": 0.0, "noise_gyro_bias_z": 0.0
},
{
"type": "sensor.other.collision",
"id": "collision",
"spawn_point": {"x": 0.0, "y": 0.0, "z": 0.0}
},
{
"type": "sensor.other.lane_invasion",
"id": "lane_invasion",
"spawn_point": {"x": 0.0, "y": 0.0, "z": 0.0}
},
{
"type": "sensor.pseudo.tf",
"id": "tf"
},
{
"type": "sensor.pseudo.objects",
"id": "objects"
},
{
"type": "sensor.pseudo.odom",
"id": "odometry"
},
{
"type": "sensor.pseudo.speedometer",
"id": "speedometer"
},
{
"type": "actor.pseudo.control",
"id": "control"
}
]
},
{
"type": "vehicle.yamaha.yzf",
"id": "parked_bike"
},
{
"type": "vehicle.audi.a2",
"id": "parked_car"
}
]
}
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