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GryphonRacingAI / gra

ROS + Docker code for University of Leeds Gryphon Racing AI team 2023-24
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False Finish Line Crossing for Acceleration #43

Open ugsfume opened 2 months ago

ugsfume commented 2 months ago

A finish line crossing method has been implemented by using the first two large orange cones that were detected as finish line indicator. However, there are pairs of large orange cones at both the starting line and finish line on the Acceleration track. As the cones at the start were picked up by the sensors, they were misidentified as the finish line cones as evident by F24 silverstone Acceleration runs. To avoid this, the distance between the large orange cones and the car's starting position should be compared such that those under a certain threshold will be ignored.

ugsfume commented 2 months ago

The threshold detection can done in the lap counter for acceleration: ros/fsai_mission/scripts/acceleration_finish.py Prior to registering first_cone and second_cone