fix: revert accel_brake_map_calibrator

vehicle/accel_brake_map_calibrator/CMakeLists.txt

@@ -0,0 +1,36 @@
+cmake_minimum_required(VERSION 3.14)
+project(accel_brake_map_calibrator)
+
+find_package(autoware_cmake REQUIRED)
+autoware_package()
+
+ament_auto_add_executable(accel_brake_map_calibrator
+  src/accel_brake_map_calibrator_node.cpp
+  src/main.cpp
+)
+ament_target_dependencies(accel_brake_map_calibrator)
+
+install(
+  PROGRAMS
+  scripts/__init__.py
+  scripts/actuation_cmd_publisher.py
+  scripts/accel_tester.py
+  scripts/brake_tester.py
+  scripts/config.py
+  scripts/delay_estimator.py
+  scripts/plotter.py
+  scripts/view_statistics.py
+  scripts/calc_utils.py
+  scripts/csv_reader.py
+  scripts/log_analyzer.py
+  scripts/view_plot.py
+  scripts/new_accel_brake_map_server.py
+  test/plot_csv_client_node.py
+  test/sim_actuation_status_publisher.py
+  DESTINATION lib/${PROJECT_NAME}
+)
+
+ament_auto_package(INSTALL_TO_SHARE
+  launch
+  config
+  rviz)

vehicle/accel_brake_map_calibrator/config/accel_brake_map_calibrator.param.yaml

@@ -0,0 +1,20 @@
+/**:
+  ros__parameters:
+    update_hz: 10.0
+    initial_covariance: 0.05
+    velocity_min_threshold: 0.1
+    velocity_diff_threshold: 0.556
+    pedal_diff_threshold: 0.03
+    max_steer_threshold: 0.2
+    max_pitch_threshold: 0.02
+    max_jerk_threshold: 0.7
+    pedal_velocity_thresh: 0.15
+    pedal_to_accel_delay: 0.3
+    max_accel: 5.0
+    min_accel: -5.0
+    max_data_count: 100
+    precision: 3
+    update_method: "update_offset_four_cell_around" # or "update_offset_each_cell", "update_offset_total", "update_offset_four_cell_around"
+    update_suggest_thresh: 0.7 # threshold of rmse rate that update suggest flag becomes true. ( rmse_rate: [rmse of update map] / [rmse of original map] )
+    progress_file_output: false # flag to output log file
+    accel_brake_value_source: "status" # "status" or "command"

vehicle/accel_brake_map_calibrator/data/accel_map.csv

@@ -0,0 +1,7 @@
+default,0.0, 1.39, 2.78, 4.17, 5.56, 6.94, 8.33, 9.72, 11.11, 12.50, 13.89
+0,0.3,-0.05,-0.3,-0.39,-0.4,-0.41,-0.42,-0.44,-0.46,-0.48,-0.5
+0.1,0.6,0.42,0.24,0.18,0.12,0.05,-0.08,-0.16,-0.2,-0.24,-0.28
+0.2,1.15,0.98,0.78,0.6,0.48,0.34,0.26,0.2,0.1,0.05,-0.03
+0.3,1.75,1.6,1.42,1.3,1.14,1,0.9,0.8,0.72,0.64,0.58
+0.4,2.65,2.48,2.3,2.13,1.95,1.75,1.58,1.45,1.32,1.2,1.1
+0.5,3.3,3.25,3.12,2.92,2.68,2.35,2.17,1.98,1.88,1.73,1.61

vehicle/accel_brake_map_calibrator/data/accel_map_double_res.csv

@@ -0,0 +1,12 @@
+default,0,0.695,1.39,2.085,2.78,3.475,4.17,4.865,5.56,6.255,6.95,7.645,8.34,9.035,9.73,10.425,11.12,11.815,12.51,13.205,13.9
+0,0.3,0.125,-0.05,-0.175,-0.3,-0.345,-0.39,-0.395,-0.4,-0.405,-0.41,-0.415,-0.42,-0.43,-0.44,-0.45,-0.46,-0.47,-0.48,-0.49,-0.5
+0.05,0.45,0.3175,0.185,0.0775,-0.03,-0.0675,-0.105,-0.1225,-0.14,-0.16,-0.18,-0.215,-0.25,-0.275,-0.3,-0.315,-0.33,-0.345,-0.36,-0.375,-0.39
+0.1,0.6,0.51,0.42,0.33,0.24,0.21,0.18,0.15,0.12,0.085,0.05,-0.015,-0.08,-0.12,-0.16,-0.18,-0.2,-0.22,-0.24,-0.26,-0.28
+0.15,0.875,0.7875,0.7,0.605,0.51,0.45,0.39,0.345,0.3,0.2475,0.195,0.1425,0.09,0.055,0.02,-0.015,-0.05,-0.0725,-0.095,-0.125,-0.155
+0.2,1.15,1.065,0.98,0.88,0.78,0.69,0.6,0.54,0.48,0.41,0.34,0.3,0.26,0.23,0.2,0.15,0.1,0.075,0.05,0.01,-0.03
+0.25,1.45,1.37,1.29,1.195,1.1,1.025,0.95,0.88,0.81,0.74,0.67,0.625,0.58,0.54,0.5,0.455,0.41,0.3775,0.345,0.31,0.275
+0.3,1.75,1.675,1.6,1.51,1.42,1.36,1.3,1.22,1.14,1.07,1,0.95,0.9,0.85,0.8,0.76,0.72,0.68,0.64,0.61,0.58
+0.35,2.2,2.12,2.04,1.95,1.86,1.7875,1.715,1.63,1.545,1.46,1.375,1.3075,1.24,1.1825,1.125,1.0725,1.02,0.97,0.92,0.88,0.84
+0.4,2.65,2.565,2.48,2.39,2.3,2.215,2.13,2.04,1.95,1.85,1.75,1.665,1.58,1.515,1.45,1.385,1.32,1.26,1.2,1.15,1.1
+0.45,2.975,2.92,2.865,2.7875,2.71,2.6175,2.525,2.42,2.315,2.1825,2.05,1.9625,1.875,1.795,1.715,1.6575,1.6,1.5325,1.465,1.41,1.355
+0.5,3.3,3.275,3.25,3.185,3.12,3.02,2.92,2.8,2.68,2.515,2.35,2.26,2.17,2.075,1.98,1.93,1.88,1.805,1.73,1.67,1.61

vehicle/accel_brake_map_calibrator/data/brake_map.csv

@@ -0,0 +1,10 @@
+default,0.0, 1.39, 2.78, 4.17, 5.56, 6.94, 8.33, 9.72, 11.11, 12.50, 13.89
+0,0.3,-0.05,-0.3,-0.39,-0.4,-0.41,-0.42,-0.44,-0.46,-0.48,-0.5
+0.1,0.29,-0.06,-0.31,-0.4,-0.41,-0.42,-0.43,-0.45,-0.47,-0.49,-0.51
+0.2,-0.38,-0.4,-0.72,-0.8,-0.82,-0.85,-0.87,-0.89,-0.91,-0.94,-0.96
+0.3,-1,-1.04,-1.48,-1.55,-1.57,-1.59,-1.61,-1.63,-1.631,-1.632,-1.633
+0.4,-1.48,-1.5,-1.85,-2.05,-2.1,-2.101,-2.102,-2.103,-2.104,-2.105,-2.106
+0.5,-1.49,-1.51,-1.86,-2.06,-2.11,-2.111,-2.112,-2.113,-2.114,-2.115,-2.116
+0.6,-1.5,-1.52,-1.87,-2.07,-2.12,-2.121,-2.122,-2.123,-2.124,-2.125,-2.126
+0.7,-1.51,-1.53,-1.88,-2.08,-2.13,-2.131,-2.132,-2.133,-2.134,-2.135,-2.136
+0.8,-2.18,-2.2,-2.7,-2.8,-2.9,-2.95,-2.951,-2.952,-2.953,-2.954,-2.955

vehicle/accel_brake_map_calibrator/data/brake_map_double_res.csv

@@ -0,0 +1,18 @@
+default,0,0.695,1.39,2.085,2.78,3.475,4.17,4.865,5.56,6.25,6.94,7.635,8.33,9.025,9.72,10.415,11.11,11.805,12.5,13.195,13.89
+0,0.3,0.125,-0.05,-0.175,-0.3,-0.345,-0.39,-0.395,-0.4,-0.405,-0.41,-0.415,-0.42,-0.43,-0.44,-0.45,-0.46,-0.47,-0.48,-0.49,-0.5
+0.05,0.295,0.12,-0.055,-0.18,-0.305,-0.35,-0.395,-0.4,-0.405,-0.41,-0.415,-0.42,-0.425,-0.435,-0.445,-0.455,-0.465,-0.475,-0.485,-0.495,-0.505
+0.1,0.29,0.115,-0.06,-0.185,-0.31,-0.355,-0.4,-0.405,-0.41,-0.415,-0.42,-0.425,-0.43,-0.44,-0.45,-0.46,-0.47,-0.48,-0.49,-0.5,-0.51
+0.15,-0.045,-0.1375,-0.23,-0.3725,-0.515,-0.5575,-0.6,-0.6075,-0.615,-0.625,-0.635,-0.6425,-0.65,-0.66,-0.67,-0.68,-0.69,-0.7025,-0.715,-0.725,-0.735
+0.2,-0.38,-0.39,-0.4,-0.56,-0.72,-0.76,-0.8,-0.81,-0.82,-0.835,-0.85,-0.86,-0.87,-0.88,-0.89,-0.9,-0.91,-0.925,-0.94,-0.95,-0.96
+0.25,-0.69,-0.705,-0.72,-0.91,-1.1,-1.1375,-1.175,-1.185,-1.195,-1.2075,-1.22,-1.23,-1.24,-1.25,-1.26,-1.26525,-1.2705,-1.27825,-1.286,-1.29125,-1.2965
+0.3,-1,-1.02,-1.04,-1.26,-1.48,-1.515,-1.55,-1.56,-1.57,-1.58,-1.59,-1.6,-1.61,-1.62,-1.63,-1.6305,-1.631,-1.6315,-1.632,-1.6325,-1.633
+0.35,-1.24,-1.255,-1.27,-1.4675,-1.665,-1.7325,-1.8,-1.8175,-1.835,-1.84025,-1.8455,-1.85075,-1.856,-1.86125,-1.8665,-1.867,-1.8675,-1.868,-1.8685,-1.869,-1.8695
+0.4,-1.48,-1.49,-1.5,-1.675,-1.85,-1.95,-2.05,-2.075,-2.1,-2.1005,-2.101,-2.1015,-2.102,-2.1025,-2.103,-2.1035,-2.104,-2.1045,-2.105,-2.1055,-2.106
+0.45,-1.485,-1.495,-1.505,-1.68,-1.855,-1.955,-2.055,-2.08,-2.105,-2.1055,-2.106,-2.1065,-2.107,-2.1075,-2.108,-2.1085,-2.109,-2.1095,-2.11,-2.1105,-2.111
+0.5,-1.49,-1.5,-1.51,-1.685,-1.86,-1.96,-2.06,-2.085,-2.11,-2.1105,-2.111,-2.1115,-2.112,-2.1125,-2.113,-2.1135,-2.114,-2.1145,-2.115,-2.1155,-2.116
+0.55,-1.495,-1.505,-1.515,-1.69,-1.865,-1.965,-2.065,-2.09,-2.115,-2.1155,-2.116,-2.1165,-2.117,-2.1175,-2.118,-2.1185,-2.119,-2.1195,-2.12,-2.1205,-2.121
+0.6,-1.5,-1.51,-1.52,-1.695,-1.87,-1.97,-2.07,-2.095,-2.12,-2.1205,-2.121,-2.1215,-2.122,-2.1225,-2.123,-2.1235,-2.124,-2.1245,-2.125,-2.1255,-2.126
+0.65,-1.505,-1.515,-1.525,-1.7,-1.875,-1.975,-2.075,-2.1,-2.125,-2.1255,-2.126,-2.1265,-2.127,-2.1275,-2.128,-2.1285,-2.129,-2.1295,-2.13,-2.1305,-2.131
+0.7,-1.51,-1.52,-1.53,-1.705,-1.88,-1.98,-2.08,-2.105,-2.13,-2.1305,-2.131,-2.1315,-2.132,-2.1325,-2.133,-2.1335,-2.134,-2.1345,-2.135,-2.1355,-2.136
+0.75,-1.845,-1.855,-1.865,-2.0775,-2.29,-2.365,-2.44,-2.4775,-2.515,-2.52775,-2.5405,-2.541,-2.5415,-2.542,-2.5425,-2.543,-2.5435,-2.544,-2.5445,-2.545,-2.5455
+0.8,-2.18,-2.19,-2.2,-2.45,-2.7,-2.75,-2.8,-2.85,-2.9,-2.925,-2.95,-2.9505,-2.951,-2.9515,-2.952,-2.9525,-2.953,-2.9535,-2.954,-2.9545,-2.955