From 79906e50570a9fb16f408296414bd7bc702596a3 Mon Sep 17 00:00:00 2001 From: Tim Dreier Date: Tue, 21 Mar 2023 19:43:14 +0100 Subject: [PATCH 1/5] feat(#211): Change lidar rotation --- code/agent/config/dev_objects.json | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/code/agent/config/dev_objects.json b/code/agent/config/dev_objects.json index 09995008..d8eeb6db 100644 --- a/code/agent/config/dev_objects.json +++ b/code/agent/config/dev_objects.json @@ -109,7 +109,7 @@ "z": 1.60, "roll": 0.0, "pitch": 0.0, - "yaw": -45.0 + "yaw": 0 }, "range": 85, "rotation_frequency": 10, From 1b072204de9444aabd7ae2bc5a250c48d66b1ff0 Mon Sep 17 00:00:00 2001 From: Tim Dreier Date: Tue, 21 Mar 2023 19:50:58 +0100 Subject: [PATCH 2/5] feat(#211): Fix lidar position --- code/agent/config/dev_objects.json | 2 +- code/agent/src/agent/agent.py | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/code/agent/config/dev_objects.json b/code/agent/config/dev_objects.json index d8eeb6db..d65936e6 100644 --- a/code/agent/config/dev_objects.json +++ b/code/agent/config/dev_objects.json @@ -109,7 +109,7 @@ "z": 1.60, "roll": 0.0, "pitch": 0.0, - "yaw": 0 + "yaw": 0.0 }, "range": 85, "rotation_frequency": 10, diff --git a/code/agent/src/agent/agent.py b/code/agent/src/agent/agent.py index 46d06855..3af8628c 100755 --- a/code/agent/src/agent/agent.py +++ b/code/agent/src/agent/agent.py @@ -27,7 +27,7 @@ def sensors(self): 'yaw': 0.0, 'width': 300, 'height': 200, 'fov': 100}, {'type': 'sensor.lidar.ray_cast', 'id': 'LIDAR', 'x': 0.7, 'y': -0.4, 'z': 1.60, 'roll': 0.0, 'pitch': 0.0, - 'yaw': -45.0}, + 'yaw': 0.0}, {'type': 'sensor.other.radar', 'id': 'RADAR', 'x': 0.7, 'y': -0.4, 'z': 1.60, 'roll': 0.0, 'pitch': 0.0, 'yaw': -45.0, 'horizontal_fov': 30, 'vertical_fov': 30}, From 81e3fd5b0e53a2cfbee659d6c4592ba02973bd1e Mon Sep 17 00:00:00 2001 From: Tim Dreier Date: Wed, 22 Mar 2023 14:39:55 +0100 Subject: [PATCH 3/5] feat(#211): Fix markdown lint --- doc/06_perception/02_lidar_distance_utility.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/doc/06_perception/02_lidar_distance_utility.md b/doc/06_perception/02_lidar_distance_utility.md index 42ddda8d..843c7999 100644 --- a/doc/06_perception/02_lidar_distance_utility.md +++ b/doc/06_perception/02_lidar_distance_utility.md @@ -52,7 +52,7 @@ starting from 20cm above the ground you have to set min_z = -1.5. The meaning of the x and y values is described by the following image: -![](../00_assets/lidar_filter.png) +![Parameters in relation to car](../00_assets/lidar_filter.png) ### Example From d30cc62cff336e1167f339ba2cd73ef206e434f0 Mon Sep 17 00:00:00 2001 From: Tim Dreier Date: Wed, 22 Mar 2023 14:59:07 +0100 Subject: [PATCH 4/5] feat(#211): fix imu in agent --- code/agent/src/agent/agent.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/code/agent/src/agent/agent.py b/code/agent/src/agent/agent.py index 3af8628c..e2732f00 100755 --- a/code/agent/src/agent/agent.py +++ b/code/agent/src/agent/agent.py @@ -35,7 +35,7 @@ def sensors(self): 'x': 0.7, 'y': -0.4, 'z': 1.60}, {'type': 'sensor.other.imu', 'id': 'IMU', 'x': 0.7, 'y': -0.4, 'z': 1.60, 'roll': 0.0, 'pitch': 0.0, - 'yaw': -45.0}, + 'yaw': 0.0}, {'type': 'sensor.opendrive_map', 'id': 'OpenDRIVE', 'reading_frequency': 1}, {'type': 'sensor.speedometer', 'id': 'Speed'}, From 81068f22dd902759da3d3ca8b7c9cabd9ac7c8e6 Mon Sep 17 00:00:00 2001 From: Tim Dreier Date: Wed, 22 Mar 2023 16:01:26 +0100 Subject: [PATCH 5/5] feat(#211): Limit to one channel --- code/agent/src/agent/agent.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/code/agent/src/agent/agent.py b/code/agent/src/agent/agent.py index e2732f00..48fefbc2 100755 --- a/code/agent/src/agent/agent.py +++ b/code/agent/src/agent/agent.py @@ -27,7 +27,7 @@ def sensors(self): 'yaw': 0.0, 'width': 300, 'height': 200, 'fov': 100}, {'type': 'sensor.lidar.ray_cast', 'id': 'LIDAR', 'x': 0.7, 'y': -0.4, 'z': 1.60, 'roll': 0.0, 'pitch': 0.0, - 'yaw': 0.0}, + 'yaw': 0.0, "channels": 1}, {'type': 'sensor.other.radar', 'id': 'RADAR', 'x': 0.7, 'y': -0.4, 'z': 1.60, 'roll': 0.0, 'pitch': 0.0, 'yaw': -45.0, 'horizontal_fov': 30, 'vertical_fov': 30},