new moels

rogeriobonatti · Jun 1, 2022 · 198fda6 · 198fda6
1 parent c25b8b8
commit 198fda6
Show file tree

Hide file tree

Showing 6 changed files with 1,290 additions and 18 deletions.
diff --git a/mushr_rhc_ros/config/nips.rviz b/mushr_rhc_ros/config/nips.rviz
@@ -0,0 +1,376 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Status1
+        - /Map1/Orientation1
+        - /LaserScan1
+        - /Marker1
+        - /Marker2
+        - /Marker3
+        - /Marker4
+        - /Marker4/Namespaces1
+        - /MarkerArray1
+        - /MarkerArray1/Namespaces1
+        - /PoseArray1
+        - /Marker5
+        - /Marker5/Status1
+        - /Marker5/Namespaces1
+        - /Marker6
+        - /Marker7
+        - /Marker8
+        - /Marker9
+      Splitter Ratio: 0.5
+    Tree Height: 846
+  - Class: rviz/Selection
+    Name: Selection
+  - Class: rviz/Tool Properties
+    Expanded:
+      - /2D Pose Estimate1
+      - /2D Nav Goal1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: LaserScan
+Preferences:
+  PromptSaveOnExit: true
+Toolbars:
+  toolButtonStyle: 2
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 0.5
+      Class: rviz/Grid
+      Color: 54; 205; 196
+      Enabled: false
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 400
+      Reference Frame: <Fixed Frame>
+      Value: false
+    - Alpha: 0.30000001192092896
+      Class: rviz/Map
+      Color Scheme: map
+      Draw Behind: true
+      Enabled: true
+      Name: Map
+      Topic: /map
+      Unreliable: false
+      Use Timestamp: false
+      Value: true
+    - Alpha: 1
+      Class: rviz/RobotModel
+      Collision Enabled: false
+      Enabled: true
+      Links:
+        All Links Enabled: true
+        Expand Joint Details: false
+        Expand Link Details: false
+        Expand Tree: false
+        Link Tree Style: Links in Alphabetic Order
+        back_left/wheel_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        back_right/wheel_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        base_footprint:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        base_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        camera_bottom_screw_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        camera_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        front_left/wheel_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        front_left/wheel_steer_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        front_right/wheel_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        front_right/wheel_steer_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        insets_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        laser_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        platform_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+      Name: RobotModel
+      Robot Description: car/robot_description
+      TF Prefix: car
+      Update Interval: 0
+      Value: true
+      Visual Enabled: true
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 10
+        Min Value: -10
+        Value: true
+      Axis: Z
+      Channel Name: intensity
+      Class: rviz/LaserScan
+      Color: 255; 0; 0
+      Color Transformer: FlatColor
+      Decay Time: 0
+      Enabled: true
+      Invert Rainbow: false
+      Max Color: 255; 22; 144
+      Min Color: 255; 22; 144
+      Name: LaserScan
+      Position Transformer: XYZ
+      Queue Size: 10
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.029999999329447746
+      Style: Points
+      Topic: /car/scan
+      Unreliable: false
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: true
+    - Class: rviz/Marker
+      Enabled: false
+      Marker Topic: /car/rhcontroller/goal
+      Name: Marker
+      Namespaces:
+        {}
+      Queue Size: 100
+      Value: false
+    - Class: rviz/Marker
+      Enabled: false
+      Marker Topic: /car/rhcontroller/markers
+      Name: Marker
+      Namespaces:
+        {}
+      Queue Size: 100
+      Value: false
+    - Class: rviz/Marker
+      Enabled: false
+      Marker Topic: /car/rhcontroller/markers_zero_cost
+      Name: Marker
+      Namespaces:
+        {}
+      Queue Size: 100
+      Value: false
+    - Class: rviz/Marker
+      Enabled: false
+      Marker Topic: /car/rhcontroller/traj_chosen
+      Name: Marker
+      Namespaces:
+        {}
+      Queue Size: 100
+      Value: false
+    - Class: rviz/MarkerArray
+      Enabled: false
+      Marker Topic: /car/rhcontroller/debug/viz_rollouts
+      Name: MarkerArray
+      Namespaces:
+        {}
+      Queue Size: 100
+      Value: false
+    - Alpha: 1
+      Arrow Length: 0.5
+      Axes Length: 0.30000001192092896
+      Axes Radius: 0.009999999776482582
+      Class: rviz/PoseArray
+      Color: 255; 25; 0
+      Enabled: false
+      Head Length: 0.07000000029802322
+      Head Radius: 0.029999999329447746
+      Name: PoseArray
+      Shaft Length: 0.23000000417232513
+      Shaft Radius: 0.009999999776482582
+      Shape: Arrow (Flat)
+      Topic: /car/particle_filter/particles
+      Unreliable: false
+      Value: false
+    - Alpha: 1
+      Axes Length: 1
+      Axes Radius: 0.10000000149011612
+      Class: rviz/Pose
+      Color: 255; 25; 0
+      Enabled: false
+      Head Length: 0.30000001192092896
+      Head Radius: 0.10000000149011612
+      Name: Pose
+      Shaft Length: 1
+      Shaft Radius: 0.05000000074505806
+      Shape: Arrow
+      Topic: /car/particle_filter/inferred_pose
+      Unreliable: false
+      Value: false
+    - Class: rviz/Marker
+      Enabled: false
+      Marker Topic: /model_action_marker
+      Name: Marker
+      Namespaces:
+        {}
+      Queue Size: 1
+      Value: false
+    - Class: rviz/Marker
+      Enabled: true
+      Marker Topic: /pose_marker
+      Name: Marker
+      Namespaces:
+        "": true
+      Queue Size: 100
+      Value: true
+    - Class: rviz/Marker
+      Enabled: true
+      Marker Topic: /map_marker
+      Name: Marker
+      Namespaces:
+        "": true
+      Queue Size: 100
+      Value: true
+    - Class: rviz/Marker
+      Enabled: true
+      Marker Topic: /loc_anchor_pose_marker
+      Name: Marker
+      Namespaces:
+        "": true
+      Queue Size: 100
+      Value: true
+    - Class: rviz/Marker
+      Enabled: true
+      Marker Topic: /loc_current_pose_marker
+      Name: Marker
+      Namespaces:
+        "": true
+      Queue Size: 100
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 255; 255; 255
+    Default Light: true
+    Fixed Frame: map
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz/Interact
+      Hide Inactive Objects: true
+    - Class: rviz/MoveCamera
+    - Class: rviz/Select
+    - Class: rviz/FocusCamera
+    - Class: rviz/Measure
+    - Class: rviz/SetInitialPose
+      Theta std deviation: 0.2617993950843811
+      Topic: /initialpose
+      X std deviation: 0.5
+      Y std deviation: 0.5
+    - Class: rviz/SetGoal
+      Topic: /move_base_simple/goal
+    - Class: rviz/PublishPoint
+      Single click: true
+      Topic: /clicked_point
+  Value: true
+  Views:
+    Current:
+      Class: rviz/ThirdPersonFollower
+      Distance: 31.76079750061035
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: -1.7538962364196777
+        Y: -1.0337154865264893
+        Z: -9.77955642156303e-6
+      Focal Shape Fixed Size: false
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.42539840936660767
+      Target Frame: car/base_link
+      Value: ThirdPersonFollower (rviz)
+      Yaw: 3.4404006004333496
+    Saved:
+      - Angle: 0
+        Class: rviz/TopDownOrtho
+        Enable Stereo Rendering:
+          Stereo Eye Separation: 0.05999999865889549
+          Stereo Focal Distance: 1
+          Swap Stereo Eyes: false
+          Value: false
+        Invert Z Axis: false
+        Name: TopDownOrtho
+        Near Clip Distance: 0.009999999776482582
+        Scale: 206.59109497070312
+        Target Frame: base_link
+        Value: TopDownOrtho (rviz)
+        X: 0
+        Y: 0
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 1137
+  Hide Left Dock: false
+  Hide Right Dock: false
+  QMainWindow State: 000000ff00000000fd00000004000000000000020f000003d7fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b000003d7000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d0061006700650000000000ffffffff0000000000000000000000010000010f000003d7fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003b000003d7000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007800000003efc0100000002fb0000000800540069006d00650100000000000007800000024400fffffffb0000000800540069006d0065010000000000000450000000000000000000000456000003d700000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1920
+  X: 0
+  Y: 617
diff --git a/mushr_rhc_ros/launch/sim/sim_server_eval.launch b/mushr_rhc_ros/launch/sim/sim_server_eval.launch
@@ -22,15 +22,15 @@
 
     <!-- current model! -->
     <arg name="out_path" default="/home/rb/hackathon_data_premium/e2e_eval/model_test" />
-    <arg name="model_path" default="/home/rb/hackathon_data_premium/aml_outputs/log_output/pretrain_scratch_0/GPTcorl_scratch_trainm_e2e_statet_pointnet_traini_0.3_nla_12_nhe_8_statel_0.01_2022-05-23_1653348722.8446546_2022-05-23_1653348722.844666/model/epoch29.pth.tar" />
+    <arg name="model_path" default="/home/rb/hackathon_data_premium/aml_outputs/log_output/pretrain_new_0/GPTcorl_scratch_trainm_e2e_statet_pointnet_traini_1_nla_12_nhe_8_statel_0.01_2022-05-31_1654007043.7606997_2022-05-31_1654007043.760718/model/epoch14.pth.tar" />
     <!-- <arg name="model_path" default="/home/rb/hackathon_data_premium/aml_outputs/log_output/pretrain_scratch_0/GPTcorl_scratch_trainm_e2e_statet_pointnet_traini_1_nla_6_nhe_8_statel_0.01_2022-05-23_1653348711.3057182_2022-05-23_1653348711.3057299/model/epoch12.pth.tar" /> -->
 
     <group if="$(arg map_server)">
 	<include file="$(find mushr_rhc_ros)/launch/map_server.launch" />
     </group>
 
     <group ns="$(arg car_name)">
-        <node pkg="mushr_rhc_ros" type="rhcnode_network_pcl.py" name="rhcontroller" output="screen">
+        <node pkg="mushr_rhc_ros" type="rhcnode_network_pcl_new.py" name="rhcontroller" output="screen">
             <env name="RHC_USE_CUDA" value="0" />
 
             <param name="out_path" value="$(arg out_path)" />