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usdot-fhwa-stol / carma-platform

CARMA Platform is built on robot operating system (ROS) and utilizes open source software (OSS) that enables Cooperative Driving Automation (CDA) features to allow Automated Driving Systems to interact and cooperate with infrastructure and other vehicles through communication. Doxygen Source Code Documentation :
https://usdot-fhwa-stol.github.io/documentation/carma-platform/
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Rear-facing cameras are aimed too high #428

Open TonysCousin opened 4 years ago

TonysCousin commented 4 years ago

Types of Issue

Descriptive summary

During acceptance testing of the red truck at AStuff it was noted that the two rear-facing cameras on the cab and the one on top of the trailer were aimed too high. The road surface only appears near the very bottom of the video frames. Since the purpose of these cameras is for detection of nearby objects for collision avoidance, they need to see as much of the nearby pavement as possible. They need to be mounted with a more downward angle.

Expected behavior

Can view vehicles or other objects near the truck.

Software version this applies to

n/a

Actual behavior

The only objects that can be seen on the roadway are at least 10 m away.

Steps to reproduce the behavior

Related work

Link to related tickets or prior related work here.

maefromm commented 4 years ago

@TonysCousin Kyle and I saw it was pointed down but have not validated how it shows on RVIZ, should validate while it's at TFHRC. Not sure if Ben sent you pics to prove that it shows what you need or if you still want us to validate this.

maefromm commented 4 years ago

@TonysCousin, during the 1/27 ATEF integration testing, @msmcconnell noticed that the cameras has an angled view after it was adjusted. https://drive.google.com/open?id=1wA69dv8HsUVZyfDvONAa0jd731-3LGsV. Need to discuss on how to fix this and what specs we should expect for the rest of the 3 trucks:

1) How far down and how far out on the side should the camera view be? Currently the red truck will probably not see the vehicle in the next lane depending on how far it is. 2) In addition, we need to figure out during the next acceptance testing of the the cameras:

TonysCousin commented 4 years ago

Calling this sev 4 now, since Carma doesn't have the capability to use the rear camera. But once that capability is in place, this should increase to sev 3 if still open.