behavioral cloning research results added

This should improve the accuracy of steering and speed estimation.
sigmaai · Aug 4, 2018 · 1c407ea · 1c407ea
1 parent 425cbc3
commit 1c407ea
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Showing 49 changed files with 3,040 additions and 1,705 deletions.
diff --git a/.gitignore b/.gitignore
@@ -1 +1,2 @@
 src/steering_control/scripts/v3
+*.h5
diff --git a/.idea/misc.xml b/.idea/misc.xml
diff --git a/.idea/self-driving-golf-cart.iml b/.idea/self-driving-golf-cart.iml
diff --git a/.idea/workspace.xml b/.idea/workspace.xml
diff --git a/ros/build/CMakeCache.txt b/ros/build/CMakeCache.txt
@@ -733,7 +733,7 @@ CMAKE_MODULE_LINKER_FLAGS_RELWITHDEBINFO-ADVANCED:INTERNAL=1
 //ADVANCED property for variable: CMAKE_NM
 CMAKE_NM-ADVANCED:INTERNAL=1
 //number of local generators
-CMAKE_NUMBER_OF_MAKEFILES:INTERNAL=17
+CMAKE_NUMBER_OF_MAKEFILES:INTERNAL=16
 //ADVANCED property for variable: CMAKE_OBJCOPY
 CMAKE_OBJCOPY-ADVANCED:INTERNAL=1
 //ADVANCED property for variable: CMAKE_OBJDUMP

diff --git a/ros/build/CMakeFiles/Makefile.cmake b/ros/build/CMakeFiles/Makefile.cmake
@@ -10,8 +10,6 @@ set(CMAKE_MAKEFILE_DEPENDS
   "CMakeFiles/3.5.1/CMakeCCompiler.cmake"
   "CMakeFiles/3.5.1/CMakeCXXCompiler.cmake"
   "CMakeFiles/3.5.1/CMakeSystem.cmake"
-  "CMakeFiles/feature_tests.c"
-  "CMakeFiles/feature_tests.cxx"
   "catkin/catkin_generated/version/package.cmake"
   "catkin_generated/installspace/_setup_util.py"
   "catkin_generated/order_packages.cmake"
@@ -26,8 +24,6 @@ set(CMAKE_MAKEFILE_DEPENDS
   "detection/object_detection/catkin_generated/ordered_paths.cmake"
   "detection/object_detection/catkin_generated/package.cmake"
   "detection/object_detection/cmake/object_detection-genmsg.cmake"
-  "detection/tl_detection/catkin_generated/ordered_paths.cmake"
-  "detection/tl_detection/catkin_generated/package.cmake"
   "driver/catkin_generated/ordered_paths.cmake"
   "driver/catkin_generated/package.cmake"
   "localization/catkin_generated/ordered_paths.cmake"
@@ -57,8 +53,6 @@ set(CMAKE_MAKEFILE_DEPENDS
   "/home/neil/Workspace/self-driving-golf-cart/ros/src/detection/lane_detection/package.xml"
   "/home/neil/Workspace/self-driving-golf-cart/ros/src/detection/object_detection/CMakeLists.txt"
   "/home/neil/Workspace/self-driving-golf-cart/ros/src/detection/object_detection/package.xml"
-  "/home/neil/Workspace/self-driving-golf-cart/ros/src/detection/tl_detection/CMakeLists.txt"
-  "/home/neil/Workspace/self-driving-golf-cart/ros/src/detection/tl_detection/package.xml"
   "/home/neil/Workspace/self-driving-golf-cart/ros/src/driver/CMakeLists.txt"
   "/home/neil/Workspace/self-driving-golf-cart/ros/src/driver/package.xml"
   "/home/neil/Workspace/self-driving-golf-cart/ros/src/localization/CMakeLists.txt"
@@ -287,92 +281,27 @@ set(CMAKE_MAKEFILE_DEPENDS
   "/opt/ros/kinetic/share/xmlrpcpp/cmake/xmlrpcpp-extras.cmake"
   "/opt/ros/kinetic/share/xmlrpcpp/cmake/xmlrpcppConfig-version.cmake"
   "/opt/ros/kinetic/share/xmlrpcpp/cmake/xmlrpcppConfig.cmake"
-  "/usr/share/cmake-3.5/Modules/CMakeCCompiler.cmake.in"
-  "/usr/share/cmake-3.5/Modules/CMakeCCompilerABI.c"
   "/usr/share/cmake-3.5/Modules/CMakeCInformation.cmake"
-  "/usr/share/cmake-3.5/Modules/CMakeCXXCompiler.cmake.in"
-  "/usr/share/cmake-3.5/Modules/CMakeCXXCompilerABI.cpp"
   "/usr/share/cmake-3.5/Modules/CMakeCXXInformation.cmake"
   "/usr/share/cmake-3.5/Modules/CMakeCommonLanguageInclude.cmake"
-  "/usr/share/cmake-3.5/Modules/CMakeCompilerIdDetection.cmake"
-  "/usr/share/cmake-3.5/Modules/CMakeConfigurableFile.in"
-  "/usr/share/cmake-3.5/Modules/CMakeDetermineCCompiler.cmake"
-  "/usr/share/cmake-3.5/Modules/CMakeDetermineCXXCompiler.cmake"
-  "/usr/share/cmake-3.5/Modules/CMakeDetermineCompileFeatures.cmake"
-  "/usr/share/cmake-3.5/Modules/CMakeDetermineCompiler.cmake"
-  "/usr/share/cmake-3.5/Modules/CMakeDetermineCompilerABI.cmake"
-  "/usr/share/cmake-3.5/Modules/CMakeDetermineCompilerId.cmake"
-  "/usr/share/cmake-3.5/Modules/CMakeDetermineSystem.cmake"
-  "/usr/share/cmake-3.5/Modules/CMakeFindBinUtils.cmake"
   "/usr/share/cmake-3.5/Modules/CMakeFindDependencyMacro.cmake"
   "/usr/share/cmake-3.5/Modules/CMakeGenericSystem.cmake"
   "/usr/share/cmake-3.5/Modules/CMakeLanguageInformation.cmake"
   "/usr/share/cmake-3.5/Modules/CMakeParseArguments.cmake"
-  "/usr/share/cmake-3.5/Modules/CMakeParseImplicitLinkInfo.cmake"
-  "/usr/share/cmake-3.5/Modules/CMakeSystem.cmake.in"
   "/usr/share/cmake-3.5/Modules/CMakeSystemSpecificInformation.cmake"
   "/usr/share/cmake-3.5/Modules/CMakeSystemSpecificInitialize.cmake"
-  "/usr/share/cmake-3.5/Modules/CMakeTestCCompiler.cmake"
-  "/usr/share/cmake-3.5/Modules/CMakeTestCXXCompiler.cmake"
-  "/usr/share/cmake-3.5/Modules/CMakeTestCompilerCommon.cmake"
-  "/usr/share/cmake-3.5/Modules/CMakeUnixFindMake.cmake"
-  "/usr/share/cmake-3.5/Modules/CheckFunctionExists.c"
-  "/usr/share/cmake-3.5/Modules/CheckIncludeFile.c.in"
   "/usr/share/cmake-3.5/Modules/CheckIncludeFile.cmake"
   "/usr/share/cmake-3.5/Modules/CheckLibraryExists.cmake"
   "/usr/share/cmake-3.5/Modules/CheckSymbolExists.cmake"
-  "/usr/share/cmake-3.5/Modules/Compiler/ADSP-DetermineCompiler.cmake"
-  "/usr/share/cmake-3.5/Modules/Compiler/ARMCC-DetermineCompiler.cmake"
-  "/usr/share/cmake-3.5/Modules/Compiler/AppleClang-DetermineCompiler.cmake"
-  "/usr/share/cmake-3.5/Modules/Compiler/Borland-DetermineCompiler.cmake"
-  "/usr/share/cmake-3.5/Modules/Compiler/Clang-DetermineCompiler.cmake"
-  "/usr/share/cmake-3.5/Modules/Compiler/Clang-DetermineCompilerInternal.cmake"
-  "/usr/share/cmake-3.5/Modules/Compiler/Comeau-CXX-DetermineCompiler.cmake"
-  "/usr/share/cmake-3.5/Modules/Compiler/Compaq-C-DetermineCompiler.cmake"
-  "/usr/share/cmake-3.5/Modules/Compiler/Compaq-CXX-DetermineCompiler.cmake"
-  "/usr/share/cmake-3.5/Modules/Compiler/Cray-DetermineCompiler.cmake"
-  "/usr/share/cmake-3.5/Modules/Compiler/Embarcadero-DetermineCompiler.cmake"
-  "/usr/share/cmake-3.5/Modules/Compiler/Fujitsu-DetermineCompiler.cmake"
-  "/usr/share/cmake-3.5/Modules/Compiler/GHS-DetermineCompiler.cmake"
-  "/usr/share/cmake-3.5/Modules/Compiler/GNU-C-FeatureTests.cmake"
   "/usr/share/cmake-3.5/Modules/Compiler/GNU-C.cmake"
-  "/usr/share/cmake-3.5/Modules/Compiler/GNU-CXX-FeatureTests.cmake"
   "/usr/share/cmake-3.5/Modules/Compiler/GNU-CXX.cmake"
-  "/usr/share/cmake-3.5/Modules/Compiler/GNU-DetermineCompiler.cmake"
   "/usr/share/cmake-3.5/Modules/Compiler/GNU.cmake"
-  "/usr/share/cmake-3.5/Modules/Compiler/HP-C-DetermineCompiler.cmake"
-  "/usr/share/cmake-3.5/Modules/Compiler/HP-CXX-DetermineCompiler.cmake"
-  "/usr/share/cmake-3.5/Modules/Compiler/IAR-DetermineCompiler.cmake"
-  "/usr/share/cmake-3.5/Modules/Compiler/IBMCPP-C-DetermineVersionInternal.cmake"
-  "/usr/share/cmake-3.5/Modules/Compiler/IBMCPP-CXX-DetermineVersionInternal.cmake"
-  "/usr/share/cmake-3.5/Modules/Compiler/Intel-DetermineCompiler.cmake"
-  "/usr/share/cmake-3.5/Modules/Compiler/MIPSpro-DetermineCompiler.cmake"
-  "/usr/share/cmake-3.5/Modules/Compiler/MSVC-DetermineCompiler.cmake"
-  "/usr/share/cmake-3.5/Modules/Compiler/OpenWatcom-DetermineCompiler.cmake"
-  "/usr/share/cmake-3.5/Modules/Compiler/PGI-DetermineCompiler.cmake"
-  "/usr/share/cmake-3.5/Modules/Compiler/PathScale-DetermineCompiler.cmake"
-  "/usr/share/cmake-3.5/Modules/Compiler/SCO-DetermineCompiler.cmake"
-  "/usr/share/cmake-3.5/Modules/Compiler/SDCC-C-DetermineCompiler.cmake"
-  "/usr/share/cmake-3.5/Modules/Compiler/SunPro-C-DetermineCompiler.cmake"
-  "/usr/share/cmake-3.5/Modules/Compiler/SunPro-CXX-DetermineCompiler.cmake"
-  "/usr/share/cmake-3.5/Modules/Compiler/TI-DetermineCompiler.cmake"
-  "/usr/share/cmake-3.5/Modules/Compiler/TinyCC-C-DetermineCompiler.cmake"
-  "/usr/share/cmake-3.5/Modules/Compiler/VisualAge-C-DetermineCompiler.cmake"
-  "/usr/share/cmake-3.5/Modules/Compiler/VisualAge-CXX-DetermineCompiler.cmake"
-  "/usr/share/cmake-3.5/Modules/Compiler/Watcom-DetermineCompiler.cmake"
-  "/usr/share/cmake-3.5/Modules/Compiler/XL-C-DetermineCompiler.cmake"
-  "/usr/share/cmake-3.5/Modules/Compiler/XL-CXX-DetermineCompiler.cmake"
-  "/usr/share/cmake-3.5/Modules/Compiler/zOS-C-DetermineCompiler.cmake"
-  "/usr/share/cmake-3.5/Modules/Compiler/zOS-CXX-DetermineCompiler.cmake"
   "/usr/share/cmake-3.5/Modules/FindBoost.cmake"
   "/usr/share/cmake-3.5/Modules/FindGTest.cmake"
   "/usr/share/cmake-3.5/Modules/FindPackageHandleStandardArgs.cmake"
   "/usr/share/cmake-3.5/Modules/FindPackageMessage.cmake"
   "/usr/share/cmake-3.5/Modules/FindPythonInterp.cmake"
   "/usr/share/cmake-3.5/Modules/FindThreads.cmake"
-  "/usr/share/cmake-3.5/Modules/Internal/FeatureTesting.cmake"
-  "/usr/share/cmake-3.5/Modules/MultiArchCross.cmake"
-  "/usr/share/cmake-3.5/Modules/Platform/Linux-CXX.cmake"
   "/usr/share/cmake-3.5/Modules/Platform/Linux-GNU-C.cmake"
   "/usr/share/cmake-3.5/Modules/Platform/Linux-GNU-CXX.cmake"
   "/usr/share/cmake-3.5/Modules/Platform/Linux-GNU.cmake"
@@ -391,11 +320,6 @@ set(CMAKE_MAKEFILE_OUTPUTS
 
 # Byproducts of CMake generate step:
 set(CMAKE_MAKEFILE_PRODUCTS
-  "CMakeFiles/3.5.1/CMakeSystem.cmake"
-  "CMakeFiles/3.5.1/CMakeCCompiler.cmake"
-  "CMakeFiles/3.5.1/CMakeCXXCompiler.cmake"
-  "CMakeFiles/3.5.1/CMakeCCompiler.cmake"
-  "CMakeFiles/3.5.1/CMakeCXXCompiler.cmake"
   "catkin_generated/stamps/Project/package.xml.stamp"
   "catkin_generated/installspace/_setup_util.py"
   "catkin_generated/stamps/Project/_setup_util.py.stamp"
@@ -424,7 +348,6 @@ set(CMAKE_MAKEFILE_PRODUCTS
   "localization/CMakeFiles/CMakeDirectoryInformation.cmake"
   "path_planning/CMakeFiles/CMakeDirectoryInformation.cmake"
   "steering_control/CMakeFiles/CMakeDirectoryInformation.cmake"
-  "detection/tl_detection/CMakeFiles/CMakeDirectoryInformation.cmake"
   "osm/CMakeFiles/CMakeDirectoryInformation.cmake"
   )
 

diff --git a/ros/build/CMakeFiles/Makefile2 b/ros/build/CMakeFiles/Makefile2
@@ -3916,24 +3916,6 @@ steering_control/preinstall:
 
 .PHONY : steering_control/preinstall
 
-#=============================================================================
-# Directory level rules for directory detection/tl_detection
-
-# Convenience name for "all" pass in the directory.
-detection/tl_detection/all:
-
-.PHONY : detection/tl_detection/all
-
-# Convenience name for "clean" pass in the directory.
-detection/tl_detection/clean:
-
-.PHONY : detection/tl_detection/clean
-
-# Convenience name for "preinstall" pass in the directory.
-detection/tl_detection/preinstall:
-
-.PHONY : detection/tl_detection/preinstall
-
 #=============================================================================
 # Directory level rules for directory osm
 

diff --git a/ros/build/CMakeFiles/TargetDirectories.txt b/ros/build/CMakeFiles/TargetDirectories.txt
@@ -211,13 +211,6 @@
 /home/neil/Workspace/self-driving-golf-cart/ros/build/steering_control/CMakeFiles/install/local.dir
 /home/neil/Workspace/self-driving-golf-cart/ros/build/steering_control/CMakeFiles/test.dir
 /home/neil/Workspace/self-driving-golf-cart/ros/build/steering_control/CMakeFiles/edit_cache.dir
-/home/neil/Workspace/self-driving-golf-cart/ros/build/detection/tl_detection/CMakeFiles/list_install_components.dir
-/home/neil/Workspace/self-driving-golf-cart/ros/build/detection/tl_detection/CMakeFiles/install.dir
-/home/neil/Workspace/self-driving-golf-cart/ros/build/detection/tl_detection/CMakeFiles/rebuild_cache.dir
-/home/neil/Workspace/self-driving-golf-cart/ros/build/detection/tl_detection/CMakeFiles/install/strip.dir
-/home/neil/Workspace/self-driving-golf-cart/ros/build/detection/tl_detection/CMakeFiles/install/local.dir
-/home/neil/Workspace/self-driving-golf-cart/ros/build/detection/tl_detection/CMakeFiles/test.dir
-/home/neil/Workspace/self-driving-golf-cart/ros/build/detection/tl_detection/CMakeFiles/edit_cache.dir
 /home/neil/Workspace/self-driving-golf-cart/ros/build/osm/CMakeFiles/install.dir
 /home/neil/Workspace/self-driving-golf-cart/ros/build/osm/CMakeFiles/rebuild_cache.dir
 /home/neil/Workspace/self-driving-golf-cart/ros/build/osm/CMakeFiles/test.dir

diff --git a/ros/build/CTestTestfile.cmake b/ros/build/CTestTestfile.cmake
@@ -17,5 +17,4 @@ subdirs(driver)
 subdirs(localization)
 subdirs(path_planning)
 subdirs(steering_control)
-subdirs(detection/tl_detection)
 subdirs(osm)
diff --git a/ros/build/catkin_generated/order_packages.cmake b/ros/build/catkin_generated/order_packages.cmake
@@ -52,10 +52,6 @@ list(APPEND CATKIN_ORDERED_PACKAGES "steering_control")
 list(APPEND CATKIN_ORDERED_PACKAGE_PATHS "steering_control")
 list(APPEND CATKIN_ORDERED_PACKAGES_IS_META "False")
 list(APPEND CATKIN_ORDERED_PACKAGES_BUILD_TYPE "catkin")
-list(APPEND CATKIN_ORDERED_PACKAGES "tl_detection")
-list(APPEND CATKIN_ORDERED_PACKAGE_PATHS "detection/tl_detection")
-list(APPEND CATKIN_ORDERED_PACKAGES_IS_META "False")
-list(APPEND CATKIN_ORDERED_PACKAGES_BUILD_TYPE "catkin")
 list(APPEND CATKIN_ORDERED_PACKAGES "osm_cartography")
 list(APPEND CATKIN_ORDERED_PACKAGE_PATHS "osm")
 list(APPEND CATKIN_ORDERED_PACKAGES_IS_META "False")

diff --git a/ros/build/catkin_generated/setup_cached.sh b/ros/build/catkin_generated/setup_cached.sh
@@ -8,9 +8,9 @@
 
 # modified environment variables
 export CMAKE_PREFIX_PATH="/home/neil/Workspace/self-driving-golf-cart/ros/devel:/opt/ros/kinetic"
-export LD_LIBRARY_PATH="/opt/ros/kinetic/lib:/opt/ros/kinetic/lib/x86_64-linux-gnu:/usr/local/cuda-9.0/lib64"
-export PKG_CONFIG_PATH="/opt/ros/kinetic/lib/pkgconfig:/opt/ros/kinetic/lib/x86_64-linux-gnu/pkgconfig"
+export LD_LIBRARY_PATH="/home/neil/Workspace/self-driving-golf-cart/ros/devel/lib:/opt/ros/kinetic/lib:/opt/ros/kinetic/lib/x86_64-linux-gnu:/usr/local/cuda-9.0/lib64"
+export PKG_CONFIG_PATH="/home/neil/Workspace/self-driving-golf-cart/ros/devel/lib/pkgconfig:/opt/ros/kinetic/lib/pkgconfig:/opt/ros/kinetic/lib/x86_64-linux-gnu/pkgconfig"
 export PWD="/home/neil/Workspace/self-driving-golf-cart/ros/build"
-export PYTHONPATH="/opt/ros/kinetic/lib/python2.7/dist-packages"
+export PYTHONPATH="/home/neil/Workspace/self-driving-golf-cart/ros/devel/lib/python2.7/dist-packages:/opt/ros/kinetic/lib/python2.7/dist-packages"
 export ROSLISP_PACKAGE_DIRECTORIES="/home/neil/Workspace/self-driving-golf-cart/ros/devel/share/common-lisp"
 export ROS_PACKAGE_PATH="/home/neil/Workspace/self-driving-golf-cart/ros/src:/opt/ros/kinetic/share"
diff --git a/ros/build/catkin_make.cache b/ros/build/catkin_make.cache
@@ -1,2 +1,2 @@
-cruise_control:data_logger:detection/lane_detection:detection/object_detection:detection/tl_detection:driver:localization:osm:path_planning:segmentation:sensors/cv_camera:sensors/gps:simulation:steering_control
+cruise_control:data_logger:detection/lane_detection:detection/object_detection:driver:localization:osm:path_planning:segmentation:sensors/cv_camera:sensors/gps:simulation:steering_control
 -DCATKIN_DEVEL_PREFIX=/home/neil/Workspace/self-driving-golf-cart/ros/devel -DCMAKE_INSTALL_PREFIX=/home/neil/Workspace/self-driving-golf-cart/ros/install -G Unix Makefiles
diff --git a/ros/build/cmake_install.cmake b/ros/build/cmake_install.cmake
@@ -129,7 +129,6 @@ if(NOT CMAKE_INSTALL_LOCAL_ONLY)
   include("/home/neil/Workspace/self-driving-golf-cart/ros/build/localization/cmake_install.cmake")
   include("/home/neil/Workspace/self-driving-golf-cart/ros/build/path_planning/cmake_install.cmake")
   include("/home/neil/Workspace/self-driving-golf-cart/ros/build/steering_control/cmake_install.cmake")
-  include("/home/neil/Workspace/self-driving-golf-cart/ros/build/detection/tl_detection/cmake_install.cmake")
   include("/home/neil/Workspace/self-driving-golf-cart/ros/build/osm/cmake_install.cmake")
 
 endif()

diff --git a/ros/devel/lib/python2.7/dist-packages/libnmea_navsat_driver/__init__.pyc b/ros/devel/lib/python2.7/dist-packages/libnmea_navsat_driver/__init__.pyc
diff --git a/ros/devel/lib/python2.7/dist-packages/osm_cartography/__init__.pyc b/ros/devel/lib/python2.7/dist-packages/osm_cartography/__init__.pyc
diff --git a/ros/devel/lib/python2.7/dist-packages/osm_cartography/cfg/VizOSMConfig.pyc b/ros/devel/lib/python2.7/dist-packages/osm_cartography/cfg/VizOSMConfig.pyc
diff --git a/ros/devel/lib/python2.7/dist-packages/osm_cartography/cfg/__init__.pyc b/ros/devel/lib/python2.7/dist-packages/osm_cartography/cfg/__init__.pyc
diff --git a/ros/run.sh b/ros/run.sh
diff --git a/...c/cruise_control/scripts/cruise_predictor → ros/src/cruise_control/scripts/cruise_node b/...c/cruise_control/scripts/cruise_predictor → ros/src/cruise_control/scripts/cruise_node
@@ -16,7 +16,7 @@ from std_msgs.msg import Image
 from std_msgs.msg import Float32
 from cv_bridge import CvBridge, CvBridgeError
 
-class CruisePredictor:
+class CruiseNode:
 
     def __init__(self):