[roadrunner] rndf_rndf_file ~/sci/workspace/hgdriving/param/rndfs/milestone4_rndf.txt rndf_mdf_file ~/sci/workspace/hgdriving/param/rndfs/milestone4_mdf.txt rndf_coordinate_offset_lat 0 rndf_coordinate_offset_lon 0 rndf_utm_zone 10S tracker_show_gls on tracker_filter_rndf on tracker_filter_static on segmentation_min_points 10 # min number of cells to identify object segmentation_max_points 500 # max number of cells to identify object segmentation_min_height 0.3 # minimum height to consder obstacles segmentation_kernel_size 9 # kernel size for connected component analysis segmentation_gls_output on # send segmentation over gls perception_rerun on # toggle to re-run perception loop imagery_tile 1 imagery_root ~/imagery imagery_gloverlay none imagery_darpa_x_offset 2.25 imagery_darpa_y_offset -1.5 imagery_google_x_offset 0.0 imagery_google_y_offset 0.0 transform_sick_laser1 ~/sci/workspace/hgdriving/param/tfm/laser1.tfm transform_sick_laser2 ~/sci/workspace/hgdriving/param/tfm/laser2.tfm transform_sick_laser3 ~/sci/workspace/hgdriving/param/tfm/laser3.tfm transform_radar1 ~/sci/workspace/hgdriving/param/tfm/radar1.tfm transform_radar2 ~/sci/workspace/hgdriving/param/tfm/radar2.tfm transform_radar3 ~/sci/workspace/hgdriving/param/tfm/radar3.tfm transform_radar4 ~/sci/workspace/hgdriving/param/tfm/radar4.tfm transform_radar5 ~/sci/workspace/hgdriving/param/tfm/radar5.tfm transform_radar6 ~/sci/workspace/hgdriving/param/tfm/radar6.tfm transform_riegl_laser1 ~/sci/workspace/hgdriving/param/tfm/riegl1.tfm transform_velodyne ~/sci/workspace/hgdriving/param/tfm/velodyne.tfm transform_ibeo_laser1 ~/sci/workspace/hgdriving/param/tfm/ibeo1.tfm transform_ibeo_laser2 ~/sci/workspace/hgdriving/param/tfm/ibeo2.tfm transform_ldlrs_laser1 ~/sci/workspace/hgdriving/param/tfm/ldlrs1.tfm transform_ldlrs_laser2 ~/sci/workspace/hgdriving/param/tfm/ldlrs2.tfm transform_ladybug ~/sci/workspace/hgdriving/param/tfm/ladybug.tfm transform_bosch_camera ~/sci/workspace/hgdriving/param/boschcam.tfm transform_cog ~/sci/workspace/hgdriving/param/cog.tfm estop_use_siren on estop_run on estop_device /dev/ttyS2 laser_laser1_device usb(0x0403:0x6001:FTCC062U) laser_laser1_resolution 1.0 laser_laser1_baudrate 500000 laser_laser1_intensity on laser_laser2_device usb(0x0403:0x6001:FTBRWXN0) laser_laser2_resolution 1.0 laser_laser2_baudrate 500000 laser_laser2_intensity on laser_laser3_device usb(0x0403:0x6001:FTCC05YV) laser_laser3_resolution 1.0 laser_laser3_baudrate 500000 laser_laser3_intensity on ibeo_ibeo1_host 10.152.10.180 ibeo_ibeo1_port 12000 ibeo_ibeo1_id1 101 ibeo_ibeo1_id2 104 ibeo_ibeo1_timeout 4 ldlrs_ldlrs1_host 192.168.1.70 ldlrs_ldlrs1_port 49152 ldlrs_ldlrs1_motor_speed 10 ldlrs_ldlrs1_start_angle 20.0 ldlrs_ldlrs1_end_angle 290.0 ldlrs_ldlrs1_resolution 0.25 ldlrs_ldlrs1_intensity off ldlrs_ldlrs1_timeout 4 ldlrs_ldlrs1_power_cycle on ldlrs_ldlrs2_host 192.168.1.71 ldlrs_ldlrs2_port 49152 ldlrs_ldlrs2_motor_speed 10 ldlrs_ldlrs2_start_angle 70.0 ldlrs_ldlrs2_end_angle 340.0 ldlrs_ldlrs2_resolution 0.25 ldlrs_ldlrs2_intensity off ldlrs_ldlrs2_timeout 4 ldlrs_ldlrs2_power_cycle on radar_audi_version off radar_radar1_dev usb(0x0403:0xf9b8:FTOVOINC) radar_radar1_use_can off radar_radar2_dev usb(0x0403:0xf9b8:FTOVU0IC) radar_radar2_use_can off radar_radar3_dev usb(0x0403:0xf9b8:FTOVOJ44) radar_radar3_use_can on radar_radar4_dev usb(0x0403:0xf9b8:FTOVOB58) radar_radar4_use_can off radar_radar5_dev usb(0x0403:0xf9b8:FTOVO9GX) radar_radar5_use_can off can_device /dev/ttyS0 can_host 192.168.0.113 can_port 4952 can_new_version on applanix_ip_address 192.168.1.9 applanix_remote_port 5602 applanix_logging_port 5603 applanix_publish_dmi off applanix_network_panic_in_seconds .2 applanix_pose_panic_in_seconds .2 applanix_rms_panic_in_seconds 3 applanix_gps_panic_in_seconds 3 applanix_time_panic_in_seconds 3 applanix_gams_panic_in_seconds 10 applanix_dmi_panic_in_seconds .2 riegl_num 1 riegl_laser1_host 192.168.1.14 riegl_laser1_start_angle 50.0 riegl_laser1_resolution 0.25 riegl_laser1_num_readings 280 riegl_laser1_intensity on riegl_laser1_angle on riegl_laser1_quality on riegl_laser1_timestamp on passat_device /dev/ttyS1 passat_host 192.168.1.101 passat_port 4952 passat_steering_control on passat_brake_control on passat_throttle_control on passat_max_throttle 0.5 passat_max_brake 100.0 passat_max_steering 450.0 passat_max_torque 0.35 passat_use_state_machine on passat_estop_brake 50.0 passat_idle_brake 30.0 passat_idle_throttle 0.0 passat_torque_control on passat_steering_auto on logger_max_seconds_per_log 1800 logger_default_filename /data/logs/driving sensorview_draw_passat on sensorview_show_yukwarning on joystick_max_throttle 0.3 joystick_max_brake 0.6 joystick_max_steering 540 joystick_type wingman joystick_max_lateral_accel 2.5 joystick_device /dev/js0 joystick_deadzone 0.1 sim_vehicle_color_red 1.0 sim_vehicle_color_green 0.0 sim_vehicle_color_blue 0.0 sim_vehicle_start_theta 1.5 #2.571946 sim_vehicle_start_velocity 0.0 sim_config_file config.sim sim_trajectory_playback off sim_trajectory_record off sim_trajectory_filename mytest.traj sim_bicycle_model off sim_obstacle_map noname sim_sim_laser off sim_laser_max_range 50.0 sim_track_max_range 30.0 sim_radar_max_range 50.0 sim_fake_perception on sim_traffic_light_state_duration 10. sim_traffic_light_yellow_duration 3. sim_crosswalk_max_wait_time 30. sim_crosswalk_min_pedestrian_speed 1. sim_crosswalk_max_pedestrian_speed 5. fakeplanner_hz 10.0 fakeplanner_num_waypoints 100 controller_hz 20.0 controller_constant_velocity off controller_velocity_setpoint_mph 30.0 controller_torque_control on controller_lambda 0.4 controller_headway 2.0 controller_stop_decel 1.0 controller_estimate_yaw_rate off vehiclesim_torque_mode off lasertrack_useGls off lasertrack_useCombined off lasertrack_displayIbeo1 on lasertrack_displayIbeo2 on lasertrack_displayVelodyne on lasertrack_displayLdlrs1 on lasertrack_displayLdlrs2 on lasertrack_showScans off lasertrack_showAngleGrid on lasertrack_displayAllCars off lasertrack_displayInter on lasertrack_showObstacles on lasertrack_showRndfMask off lasertrack_showCircles on veloscan_useGls off veloscan_showScan on veloscan_showGaps on veloscan_showLogic off planner_hz 10.0 planner_curvature_decel 1.5 planner_debug off planner_max_steering_rate 800.0 planner_max_lateral_accel 1.5 planner_kp_cross_track 0.4 planner_holdpath_k 0.1 planner_backpath_distance 2.0 planner_num_waypoints 200 planner_waypoint_dist 0.25 planner_velocity_cap_mph 30.0 planner_max_accel 1.3 planner_min_nudge 0.15 planner_num_nudges 11 planner_undercar_dist 0.3 planner_undercar_stop_threshold 3.0 planner_nearcar_dist 0.5 planner_nearcar_stop_threshold 6.0 planner_merge_stop_threshold 8.0 planner_intersection_blocked_threshold 10.0 planner_intersection_moving_threshold 10.0 planner_cross_divider_timeout 15.0 planner_cross_divider_abort_uturn_timeout 20.0 planner_cross_divider_uturn_timeout 10.0 planner_uturn_timeout 45.0 planner_stop_sign_wait_timeout 10.0 planner_traffic_jam_timeout 60.0 planner_escape_timeout 180.0 planner_static_int_blockage_timeout 5.0 planner_bt_bonus_timeout 5.0 planner_cross_divider_rear_dist 5.0 planner_cross_divider_front_dist 12.0 planner_min_boundary_dist -0.25 planner_uturn_penalty 10.0 planner_lanechange_penalty 10.0 planner_merge_penalty 20.0 planner_crossing_penalty 20.0 planner_cross_parking_penalty 200.0 planner_road_blockage_penalty 10000.0 planner_lanechange_prob 0.1 planner_static_match_dist 0.6 planner_dynamic_match_dist 0.6 planner_radar_match_dist 1.0 planner_static_bt_check_dist 45.0 planner_dynamic_bt_check_dist 45.0 planner_radar_bt_check_dist 45.0 gpp_planner_hz 4.0 gpp_obstacle_map_size 160.0 gpp_obstacle_map_resolution 0.15 gpp_astar_xy_resolution 1.0 gpp_astar_grid_size 180.0 gpp_astar_goal_window_deg 4.0 gpp_max_steer_deg 360.0 gpp_allow_reverse on gpp_reverse_direction_penalty 10.0 gpp_reverse_travel_penalty 3.0 gpp_cg_smoothness_gain 200.0 gpp_cg_obstacle_gain 2.0 gpp_cg_max_obstacle_dist 5.0 gpp_cg_midpoint_anchor_gain 1.0 gpp_cg_curvature_gain 1000.0 gpp_cg_max_curvature 0.2 gpp_max_vel_mph 5.0 gpp_forward_accel 0.5 gpp_lateral_accel 0.5 gpp_astar_width_buffer 0.5 gpp_astar_length_buffer 1.0 gpp_pathcheck_width_buffer 0.3 gpp_pathcheck_length_buffer 0.3 gpp_use_rndf_perimeter on gpp_use_goal_fence on gpp_use_gridmap on gpp_heuristic_file ~/sci/workspace/hgdriving/param/data/160-1-heuristic.dat perception_gls_output on perception_map_resolution 0.10 perception_map_size_x 150.0 perception_map_size_y 150.0 perception_velodyne_threshold_factor 0.002 perception_publish_map_rle on perception_publish_map_diff on velodyne_port 2368 velodyne_cal_file ~/sci/workspace/hgdriving/param/cal/S1plus.cal velodyne_int_file ~/sci/workspace/hgdriving/param/cal/S1.ical velodyne_calibrate_intensities 1 power_device /dev/ttyS0 power_channel00 RIEGL power_channel02 SIREN power_channel03 LIGHT power_channel05 IBEO power_channel06 RADAR power_channel07 VELODYNE power_channel08 LMS1 power_channel09 LMS2 power_channel10 GPS power_channel12 LDLRS2 power_channel13 LDLRS1 timesync_server kalman hci_sounddir ~/sci/workspace/hgdriving/param/sounds healthmon_healthmon1_dev usb(0x0403:0x6001:A5002A55) healthmon_healthmon1_hdd /dev/sda healthmon_healthmon2_dev usb(0x0403:0x6001:A5002ADV) healthmon_healthmon2_hdd /dev/sda ladybug_config_file ~/sci/workspace/hgdriving/param/ladybug.conf tracker_min_car_width 1.0 # minimum width for an obstacle to track (default: 1.5) tracker_min_car_length 2.0 # minimum length for an obstacle to track (default: 3.5) tracker_filter_rndf_max_distance 5.0 # obstacles farther away then this threshold are kicked out in any case tracker_merge_distance 5.0 # distance of obstacles to be merged, but only in driving direction tracker_lateral_merge_dist 0.75 # lateral distance of obstacles to be merged tracker_predictive_clustering on # used predicted obstacles positions to aid in segmentation tracker_default_loc_stddev 1.0 tracker_default_vel_stddev 2.5 tracker_transition_stddev 1.6 tracker_velodyne_stddev 2.0 tracker_velodyne_max_range 60 tracker_radar_stddev 2.0 tracker_radar_max_range 200.0 tracker_max_dist_correspondence 5.0 tracker_confidence_increment_obs 1.0 tracker_confidence_increment_unobs -1.0 tracker_confidence_decay -2.2 # confidence decay per second tracker_confidence_max 50.0 # max confidence tracker_confidence_min -50.0 # min confidence tracker_confidence_initial_max 1.0 # initial max confidence tracker_confidence_initial_min -1.0 # initial min confidence tracker_confidence_track_min -10.0 # min confidence to track obstacle tracker_confidence_publish_min 3.0 # min confidence to publish obstacle tracker_pedestrian_classifier ~/sci/workspace/hgdriving/param/data/pedestrians.dat tracker_filter_rndf_max_pedestrian_distance 50 lqrcontroller_hz 20.0 lqrcontroller_horizon 20 lqrcontroller_torque_mode off lqrcontroller_cost_lon 100.0 lqrcontroller_cost_lat 100.0 lqrcontroller_cost_theta 1.0 lqrcontroller_cost_vx 40.0 lqrcontroller_cost_vy 1.0 lqrcontroller_cost_theta_dot 1.0 lqrcontroller_cost_accel 10.0 lqrcontroller_cost_steer 20.0 lqrcontroller_cost_delta_accel 100.0 lqrcontroller_cost_delta_steer 300.0 lqrcontroller_vel_smooth 0.8 lqrcontroller_int_decay 0.9 lqrcontroller_k_throttle -5.0 lqrcontroller_d_throttle -0.5 lqrcontroller_i_throttle 0.0 lqrcontroller_ff_throttle 0.0 lqrcontroller_k_torque -15.0 lqrcontroller_d_torque -3.0 lqrcontroller_i_torque 0.0 lqrcontroller_ff_torque 0.0 lqrcontroller_throttle_smooth 0.0 lqrcontroller_torque_smooth 0.0 [expert] controller_p_cte 2.5 controller_d_cte 0.0268 controller_k_aggressive 0.0111 controller_k_yawrate 0.2 controller_yr_lookahead 0.1674 controller_k1_reverse 3.0 controller_k2_reverse 1.0 controller_k_cruise_int 0.3 controller_vel_int_cap 3.0 controller_k_accel 0.4 controller_k_decel 0.5 controller_kp_torque 0.1 controller_kd_torque 0.012 controller_ki_torque 0.0 controller_steering_int_cap 0.0 controller_k_align 0.007 localize_smoothness 0.9 localize_gps_err 1.55 localize_show_GLS off localize_camera_undistort on localize_camera_custom off localize_camera_x 2.11 localize_camera_y -0.11 localize_camera_z -0.2 localize_camera_yaw -0.9 localize_camera_pitch 2.6 localize_camera_roll 0.0 perception_hz 10.0 perception_clear_sensor_data off perception_max_sensor_delay 0.4 perception_overpass_height 1.5 perception_map_cell_threshold 0.6 // 0.3 perception_map_cell_increase 5 perception_map_cell_min_hits 3 perception_map_ray_tracing on perception_show_ray_tracing on perception_extract_dynamic on perception_show_virtual_scan off perception_virtual_scan_resolution 2.5 perception_use_ldlrs1 on perception_use_ldlrs2 on perception_ldlrs_min_distance 0.2 perception_ldlrs_max_distance 5.0 perception_use_ibeo1 off perception_use_ibeo2 off perception_ibeo_min_angle -80.0 perception_ibeo_max_angle 80.0 perception_ibeo_min_distance 0.5 perception_ibeo_max_distance 5.0 perception_use_ibeo_only_for_parking on perception_use_velodyne on perception_velodyne_max_range 80.0 perception_velodyne_min_beam_diff 0.40 perception_velodyne_sync on perception_stop_zone_dist_before_line 1.50 perception_stop_zone_dist_behind_line 5.00 perception_stop_zone_width 3.25 perception_stop_zone_min_height 0.40 perception_stop_zone_detect_distance 70.0 perception_stop_zone_side_shift 0.4