new steering node works

1. be aware of image publisher name bug. 2. perhaps write in more warning
sigmaai · Aug 5, 2018 · 367d8a2 · 367d8a2
1 parent 1c407ea
commit 367d8a2
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Showing 28 changed files with 478 additions and 1,025 deletions.
diff --git a/.idea/workspace.xml b/.idea/workspace.xml
diff --git a/ros/build/catkin_generated/installspace/_setup_util.py b/ros/build/catkin_generated/installspace/_setup_util.py
@@ -262,7 +262,7 @@ def _parse_arguments(args=None):
             sys.exit(1)
 
         # environment at generation time
-        CMAKE_PREFIX_PATH = '/home/neil/Workspace/self-driving-golf-cart/devel;/opt/ros/kinetic'.split(';')
+        CMAKE_PREFIX_PATH = '/opt/ros/kinetic'.split(';')
         # prepend current workspace if not already part of CPP
         base_path = os.path.dirname(__file__)
         if base_path not in CMAKE_PREFIX_PATH:

diff --git a/ros/build/catkin_generated/setup_cached.sh b/ros/build/catkin_generated/setup_cached.sh
@@ -7,10 +7,10 @@
 # new environment variables
 
 # modified environment variables
-export CMAKE_PREFIX_PATH="/home/neil/Workspace/self-driving-golf-cart/ros/devel:/opt/ros/kinetic"
+export CMAKE_PREFIX_PATH="/home/neil/Workspace/self-driving-golf-cart/ros/devel:$CMAKE_PREFIX_PATH"
 export LD_LIBRARY_PATH="/home/neil/Workspace/self-driving-golf-cart/ros/devel/lib:/opt/ros/kinetic/lib:/opt/ros/kinetic/lib/x86_64-linux-gnu:/usr/local/cuda-9.0/lib64"
-export PKG_CONFIG_PATH="/home/neil/Workspace/self-driving-golf-cart/ros/devel/lib/pkgconfig:/opt/ros/kinetic/lib/pkgconfig:/opt/ros/kinetic/lib/x86_64-linux-gnu/pkgconfig"
+export PKG_CONFIG_PATH="/home/neil/Workspace/self-driving-golf-cart/ros/devel/lib/pkgconfig:$PKG_CONFIG_PATH"
 export PWD="/home/neil/Workspace/self-driving-golf-cart/ros/build"
-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 PYTHONPATH="/home/neil/Workspace/self-driving-golf-cart/ros/devel/lib/python2.7/dist-packages:$PYTHONPATH"
 export ROSLISP_PACKAGE_DIRECTORIES="/home/neil/Workspace/self-driving-golf-cart/ros/devel/share/common-lisp"
-export ROS_PACKAGE_PATH="/home/neil/Workspace/self-driving-golf-cart/ros/src:/opt/ros/kinetic/share"
+export ROS_PACKAGE_PATH="/home/neil/Workspace/self-driving-golf-cart/ros/src:$ROS_PACKAGE_PATH"
diff --git a/ros/build/catkin_generated/stamps/Project/_setup_util.py.stamp b/ros/build/catkin_generated/stamps/Project/_setup_util.py.stamp
@@ -262,7 +262,7 @@ if __name__ == '__main__':
             sys.exit(1)
 
         # environment at generation time
-        CMAKE_PREFIX_PATH = '/home/neil/Workspace/self-driving-golf-cart/devel;/opt/ros/kinetic'.split(';')
+        CMAKE_PREFIX_PATH = '/opt/ros/kinetic'.split(';')
         # prepend current workspace if not already part of CPP
         base_path = os.path.dirname(__file__)
         if base_path not in CMAKE_PREFIX_PATH:

diff --git a/ros/build/steering_control/catkin_generated/installspace/steering_controlConfig.cmake b/ros/build/steering_control/catkin_generated/installspace/steering_controlConfig.cmake
@@ -99,7 +99,7 @@ if(NOT " " STREQUAL " ")
   elseif(NOT " " STREQUAL " ")
     set(_report "Check the website '' for information and consider reporting the problem.")
   else()
-    set(_report "Report the problem to the maintainer 'yongyang <yongyang@todo.todo>' and request to fix the problem.")
+    set(_report "Report the problem to the maintainer 'yongyang <yongyang.nie@gmail.com>' and request to fix the problem.")
   endif()
   foreach(idir ${_include_dirs})
     if(IS_ABSOLUTE ${idir} AND IS_DIRECTORY ${idir})

diff --git a/ros/build/steering_control/catkin_generated/package.cmake b/ros/build/steering_control/catkin_generated/package.cmake
@@ -1,6 +1,6 @@
 set(_CATKIN_CURRENT_PACKAGE "steering_control")
 set(steering_control_VERSION "0.0.0")
-set(steering_control_MAINTAINER "yongyang <yongyang@todo.todo>")
+set(steering_control_MAINTAINER "yongyang <yongyang.nie@gmail.com>")
 set(steering_control_PACKAGE_FORMAT "2")
 set(steering_control_BUILD_DEPENDS "roscpp" "rospy" "rosserial_client" "rosserial_msgs" "rosserial_python" "std_msgs")
 set(steering_control_BUILD_EXPORT_DEPENDS "roscpp" "rospy" "rosserial_client" "rosserial_msgs" "rosserial_python" "std_msgs")

diff --git a/ros/build/steering_control/catkin_generated/stamps/steering_control/package.xml.stamp b/ros/build/steering_control/catkin_generated/stamps/steering_control/package.xml.stamp
@@ -7,7 +7,7 @@
   <!-- One maintainer tag required, multiple allowed, one person per tag -->
   <!-- Example:  -->
   <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
-  <maintainer email="yongyang@todo.todo">yongyang</maintainer>
+  <maintainer email="yongyang.nie@gmail.com">yongyang</maintainer>
 
 
   <!-- One license tag required, multiple allowed, one license per tag -->

diff --git a/ros/devel/_setup_util.py b/ros/devel/_setup_util.py
@@ -262,7 +262,7 @@ def _parse_arguments(args=None):
             sys.exit(1)
 
         # environment at generation time
-        CMAKE_PREFIX_PATH = '/home/neil/Workspace/self-driving-golf-cart/devel;/opt/ros/kinetic'.split(';')
+        CMAKE_PREFIX_PATH = '/opt/ros/kinetic'.split(';')
         # prepend current workspace if not already part of CPP
         base_path = os.path.dirname(__file__)
         if base_path not in CMAKE_PREFIX_PATH:

diff --git a/ros/devel/share/steering_control/cmake/steering_controlConfig.cmake b/ros/devel/share/steering_control/cmake/steering_controlConfig.cmake
@@ -99,7 +99,7 @@ if(NOT " " STREQUAL " ")
   elseif(NOT " " STREQUAL " ")
     set(_report "Check the website '' for information and consider reporting the problem.")
   else()
-    set(_report "Report the problem to the maintainer 'yongyang <yongyang@todo.todo>' and request to fix the problem.")
+    set(_report "Report the problem to the maintainer 'yongyang <yongyang.nie@gmail.com>' and request to fix the problem.")
   endif()
   foreach(idir ${_include_dirs})
     if(IS_ABSOLUTE ${idir} AND IS_DIRECTORY ${idir})

diff --git a/ros/src/driver/launch/drive.launch b/ros/src/driver/launch/drive.launch
@@ -1,3 +1,18 @@
+<!--
+##################################################
+This is the master launch file for the program.
+if you are looking for a way to run the system
+as a whole, you are at the right place. Currently,
+rviz and rosbag are running as default. No random
+changes accepted
+
+(c) Yongyang Nie, 2018
+All Rights Reserved.
+
+##################################################
+-->
+
+
 <launch>
 
 	<!--open up the camera -->
@@ -8,6 +23,7 @@
     	<param name="port" value="/dev/ttyACM0" />
     </node>
 
+    <!-- launch steering node -->
     <include file="$(find steering_control)/launch/steering_control.launch"/>
 
     <!-- open rviz launch -->

diff --git a/ros/src/simulation/scripts/camera_sim b/ros/src/simulation/scripts/camera_sim
@@ -2,7 +2,7 @@
 
 """
 publish the frames of the dataset
-under the topic of: /cv_camera_node/image_sim
+under the topic of: /cv_camera/image_sim
 
 (c) Neil Nie, 2018
 All Rights Reserved
@@ -16,6 +16,8 @@ import rospy
 from sensor_msgs.msg import Image
 from cv_bridge import CvBridge, CvBridgeError
 
+# TODO: waiting to be completed
+
 
 class CameraSim():
 
@@ -24,7 +26,7 @@ class CameraSim():
         rospy.init_node('cv_camera_sim')
         self.bridge = CvBridge()
 
-        self.camera_pub = rospy.Publisher('/cv_camera_node/image_sim', Image, queue_size=10)
+        self.camera_pub = rospy.Publisher('/cv_camera/image_sim', Image, queue_size=10)
         self.rate = rospy.Rate(15)
 
         self.frame_path = rospy.get_param("/simulation/frame_path")

diff --git a/ros/src/steering_control/launch/steering.launch b/ros/src/steering_control/launch/steering.launch
@@ -0,0 +1,9 @@
+<launch>
+
+    <node name="steering_node" type="steering_node" pkg="steering_control">
+    	<param name="/model_path" value="$(find steering_control)/scripts/weights/i3d_rgb_64_8.h5" />
+    	<param name="length" value="64" />
+    	<param name="scale_factor" value='30' />
+  	</node>
+
+</launch>
diff --git a/ros/src/steering_control/launch/steering_control.launch b/ros/src/steering_control/launch/steering_control.launch
@@ -1,11 +1,6 @@
 <launch>
 
-    <node name="steering_controller" type="steering_controller" pkg="steering_control">
-    	<param name="/model_path" value="/home/neil/Workspace/self-driving-golf-cart/src/steering_control/scripts/weights/own/trained-cai-v6.h5" />
-    	<param name="image_height" value="480" />
-    	<param name="image_width" value="640" />
-        <param name="scale_factor" value="20" />
-  	</node>
+    <include file="$(find steering_control)/launch/steering.launch"> </include>
 
   	<node name="steering_visualization" type="visualization.py" pkg="steering_control" />
 

diff --git a/ros/src/steering_control/launch/steering_so.launch b/ros/src/steering_control/launch/steering_so.launch
diff --git a/ros/src/steering_control/launch/steering_stand_alone.launch b/ros/src/steering_control/launch/steering_stand_alone.launch
@@ -0,0 +1,13 @@
+<launch>
+
+	<!--open up the camera -->
+	<node name="cv_camera_node" pkg="cv_camera" type="cv_camera_node" />
+
+    <!-- setup the Arduino serial -->
+    <node name="serial_node" pkg="rosserial_python" type="serial_node.py">
+    	<param name="port" value="/dev/ttyACM0" />
+    </node>
+
+    <include file="$(find steering_control)/launch/steering_control.launch"/>
+
+</launch>
diff --git a/ros/src/steering_control/package.xml b/ros/src/steering_control/package.xml
@@ -7,7 +7,7 @@
   <!-- One maintainer tag required, multiple allowed, one person per tag -->
   <!-- Example:  -->
   <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
-  <maintainer email="yongyang@todo.todo">yongyang</maintainer>
+  <maintainer email="yongyang.nie@gmail.com">yongyang</maintainer>
 
 
   <!-- One license tag required, multiple allowed, one license per tag -->

diff --git a/ros/src/steering_control/scripts/models/configs.py b/ros/src/steering_control/scripts/models/configs.py
@@ -8,7 +8,6 @@
 dir = "/Volumes/Personal_Drive/Datasets/udacity-driving/dataset-2/"
 dir3 = "/Volumes/Personal_Drive/Datasets/udacity-driving/dataset-3/"
 dir2 = "/Volumes/Personal_Drive/Datasets/udacity-driving/dataset-1/"
-# val_dir = "/Volumes/Personal_Drive/Datasets/udacity-driving/steering_validation/"
 # ---------------------------------------------------------------------------------
 
 dataset_dirs = ["/home/neil/dataset/steering/train/part-1",
@@ -21,17 +20,7 @@
 
 # ---------------------------------------------------------------------------------
 
-# TRAINING
-image_width = 320
-image_height = 160
-load_weights = True
-
 model_path = './str-cai-self-v3.h5'
-# model_path = "./weights/own/trained-cai-v6.h5"
-# model_path = "/Users/yongyangnie/Developer/self-driving-golf-cart/steering/weights/own/trained-cai-v6.h5"
-# model_path = "./steering/weights/training/str-cai-self-v2.h5"
-
-train_model_path = "./str-cai-self-v1.h5"
 
 BLACK = (  0,   0,   0)
 WHITE = (255, 255, 255)
@@ -41,37 +30,14 @@
 
 # -----------------------------------------
 
-# define some constants
-
-# RNNs are typically trained using (truncated) backprop through time. SEQ_LEN here is the length of BPTT.
-# Batch size specifies the number of sequence fragments used in a sigle optimization step.
-# (Actually we can use variable SEQ_LEN and BATCH_SIZE, they are set to constants only for simplicity).
-# LEFT_CONTEXT is the number of extra frames from the past that we append to the left of our input sequence.
-# We need to do it because 3D convolution with "VALID" padding "eats" frames from the left, decreasing
-# the sequence length.One should be careful here to maintain the model's causality.
-
-SEQ_LEN = 10
-BATCH_SIZE = 4
-LEFT_CONTEXT = 5
-
-# These are the input image parameters.
-HEIGHT = 480
-WIDTH = 640
+IMG_WIDTH = 224
+IMG_HEIGHT = 224
 CHANNELS = 3
+LENGTH = 64
 
-# The parameters of the LSTM that keeps the model state.
-RNN_SIZE = 32
-RNN_PROJ = 32
-
-KEEP_PROB_TRAIN = 0.25
-
-NUM_EPOCHS = 2
+VAL_DIR = '/home/neil/dataset/steering/test/'
+CC_VAL_DIR = '/home/neil/dataset/udacity/'
 
-CSV_HEADER = "index, timestamp, width, height, frame_id, filename, angle, torque, speed, lat, long, alt".split(",")
-OUTPUTS = CSV_HEADER[-6:-3]  # angle,torque,speed
-OUTPUT_DIM = len(OUTPUTS)  # predict all features: steering angle, torque and vehicle speed
+MODEL_PATH = ""
 
-DS_PATH = "/home/neil/dataset/udacity/"
-TRAIN_DS_PATH = "/home/neil/dataset/udacity/main.csv"
-TEST_DS_PATH = "/home/neil/dataset/udacity/test.csv"
-VAL_DIR = "/home/neil/dataset/steering/test/"
+LOG_PATH = './logs/64_rgb'
diff --git a/ros/src/steering_control/scripts/models/configs.pyc b/ros/src/steering_control/scripts/models/configs.pyc
diff --git a/ros/src/steering_control/scripts/models/helper.pyc b/ros/src/steering_control/scripts/models/helper.pyc
diff --git a/ros/src/steering_control/scripts/models/i3d.pyc b/ros/src/steering_control/scripts/models/i3d.pyc