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erdos-project / pylot

Modular autonomous driving platform running on the CARLA simulator and real-world vehicles.
https://pylot.readthedocs.io/
Apache License 2.0
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Implement without Carla #246

Open yuanhaorannnnnn opened 2 years ago

yuanhaorannnnnn commented 2 years ago

Hello community, According to the introduction, pylot is suitable for Carla and real-world, so I wonder how to run pylot app without Carla simulator. For example, I get all the inputs from the various sensors and then put them into models to get some detections results, can anyone herer tell me where I can find some code example for this? Thanks!

pschafhalter commented 2 years ago

Hi,

We used the lincoln.py file along with the lincoln configs to run Pylot on a Lincoln MKZ autonomous vehicle. We also provide drivers for the Linocln MKZ vehicle in pylot/pylot/drivers (for example, grasshopper3_driver_operator.py interacts with the camera).

yuanhaorannnnnn commented 2 years ago

Hi,

We used the lincoln.py file along with the lincoln configs to run Pylot on a Lincoln MKZ autonomous vehicle. We also provide drivers for the Linocln MKZ vehicle in pylot/pylot/drivers (for example, grasshopper3_driver_operator.py interacts with the camera).

Thanks very much for your reply!

yuanhaorannnnnn commented 2 years ago

Hi,

We used the lincoln.py file along with the lincoln configs to run Pylot on a Lincoln MKZ autonomous vehicle. We also provide drivers for the Linocln MKZ vehicle in pylot/pylot/drivers (for example, grasshopper3_driver_operator.py interacts with the camera).

Sorry for re-opening this issue. I have one more question, in the lincoln.py, we have to import rospy, does it mean we have to install all the ROS package and python bindings? Cause I didn't find relevent packages inrequirements.txt Thanks

pschafhalter commented 2 years ago

Yes, the Lincoln setup relied on a full ROS installation for the drivers to interact with the sensors.

yuanhaorannnnnn commented 2 years ago

Yes, the Lincoln setup relied on a full ROS installation for the drivers to interact with the sensors.

Thanks for your explanation, and now I have two small doubts.

  1. a full ROS installation means I have to install ros desktop-full package or just a subset for exmaple ros-base? Besides, does pylot program have a distro version requirement for ros?
  2. Today I've read the paper about this amazing project, I'd appreciate if you could help me verify my understanding: If I decide not to use Carla, do I must use ROS to complete the communications between nodes? Because ERDOS can not replace the ROS, am I right?

Thanks for your time and further help.

pschafhalter commented 2 years ago
  1. The full ROS installation is only needed to interface with certain sensors that require ROS to receive data. The Lincoln MKZ came with a computer that was pre-configured with ROS for interacting with the vehicle. Our provided drivers forward data between ROS topics and ERDOS streams.
  2. No, ROS is not required to run Pylot. The ROS dependency is an artifact of our specific Lincoln MKZ implementation, as it allowed us to quickly port Pylot to the vehicle. A more efficient configuration that does not depend on ROS might use I/O devices to interact with the vehicle.
yuanhaorannnnnn commented 2 years ago

Sorry for re-opening this issue because I am stuck by a problem with lincoln implementation. Now I can get lincoln.py script running with a real usb-camera and a hd-map data input. I'm sure you guys are very familiar with the code, so I just put my problem straight forward. At the end of the lincoln pipeline, there is a operator named DriveByWireOperator, I just found this operator is successfullly connected but not running acutally, I've double-checked the dataflow connection and confirmed the input of DriveByWireOperator: control_stream has sent the control message in the operator PIDControlOperator. Any insight and comment? Thanks for this project and team again!

sukritkalra commented 2 years ago

Hi @yuanhaorannnnnn!

Just for further clarification, could you let us know where exactly the DriveByWireOperator fails in your setup? Does it fail to initialize, or does it not seem to be receiving messages in the loop? A few simple tests to check this would be:

  1. Do a rostopic list to see if the topics listed here by the DriveByWireOperator are actually initialized?
  2. Check if the debug statement inserted here is observed in your logs.
  3. You can also rostopic echo /vehicle/steering_cmd to see if the commands are actually sent and if the issue is with your CAN bus' subscriber instead.
yuanhaorannnnnn commented 2 years ago

Hi @yuanhaorannnnnn!

Just for further clarification, could you let us know where exactly the DriveByWireOperator fails in your setup? Does it fail to initialize, or does it not seem to be receiving messages in the loop? A few simple tests to check this would be:

  1. Do a rostopic list to see if the topics listed here by the DriveByWireOperator are actually initialized?
  2. Check if the debug statement inserted here is observed in your logs.
  3. You can also rostopic echo /vehicle/steering_cmd to see if the commands are actually sent and if the issue is with your CAN bus' subscriber instead.

Hi @sukritkalra By inserting some debug statements in the DriveByWireOperator, I'm sure __ init __ and connect function is runnnig well while run function is not. For your advices, here are some feedbacks

  1. rostopic list image
  2. I didn't find this debug info because run function is not running
  3. rostopic echo /vehicle/steering_cmd image

From my ponit, the ros setup is ok so I guess there is some issues with ERDOS connection, but I'm not sure. Thanks for your further help!

sukritkalra commented 2 years ago

Looks like the run method is executing fine since the topics seem to be actually created, and it seems to be publishing data on /vehicle/steering_cmd too since rostopic echo actually shows the data.

However, these seem to be the default values which means that no control_message was probably received from the PID Controller. Could you please attach the relevant log file so I can look at what's happening in the execution?

yuanhaorannnnnn commented 2 years ago

Looks like the run method is executing fine since the topics seem to be actually created, and it seems to be publishing data on /vehicle/steering_cmd too since rostopic echo actually shows the data.

However, these seem to be the default values which means that no control_message was probably received from the PID Controller. Could you please attach the relevant log file so I can look at what's happening in the execution?

Thanks for your reply @sukritkalra ,here are my debug statement code at the PID Controller, I just set value manually for convenience. image and you can find a attach of log file. Many thanks. lincoln.log