Devel lukas

.gitignore

@@ -65,3 +65,9 @@ controller.py
 Dator/db.sqlite3
 workspace/src/barc/rosbag/
 *.ropeproject/
+.DS_Store
+
+# recordings and images
+images/
+recordings/
+predictions/

README.md

@@ -1,63 +1,52 @@
-# Berkeley Autonomous Race Car (barc) Repo
+# Learning Model Predictive Control (LMPC) for Multi-Agent Competitive Autonomous Car Racing
 
-The Berkeley Autonomous Race Car is a development platform for autonomous driving to achieve complex maneuvers such as drifting, lane changes, and obstacle avoidance. A 1/10 scale RC car and an embedded Linux computer make up the hardware platform of the project. This project aims to be fully open-source. The data collection process is cloud-based and brings new dimensions to the Vehicle Dynamics and Control Theory teaching and research world.
+This repository implements learning model predictive controllers for racing multiple agents competitively on a given race track in simulation or on the Berkeley Autonomus Race Car platform (BARC). 
 
-This site is home to the repository. The main site for the project is [here](http://www.barc-project.com/).
-
-## Organization
-The primary folders in this repository include
-* docs
-  * Overview about the mechanical, electrical, and software deign of the vehicle. Descriptions of the vehicle models used for some control algorithms
-* CAD
-  * DWX files for fabricating the deck and side brackets for the chassis, and STL files for fabricating the sensor mounts (e.g. hall effect sensor, camera, ultrasound) and the cover for the odroid.
-* Dator
-  * Web server for cloud robotics. Provides a standard way to record data and events from one or more local computers for later analysis. Based on [this repo](https://github.com/bwootton/Dator) from Bruce Wooton
-* arduino
-  * Files to program the arduino to (1) send commands to the electronic speed control (ESC) unit and the servo, and to (2) acquire measurements from the encoders and ultrasound sensors</span></li>
-* scripts
-  * Bash programs that set up environment variables and launch the local server upon boot
-* MATLAB
-  * Useful MATLAB scripts for processing ROS bag file. The bag files store all the message data (time stamped sensor measurements, actuator commands, etc) during an experiment
-* workspace
-  * **Robotic Operating System (ROS)** workspace that contains the barc package. This package holds the source code to control the vehicle using the ROS framework
-
-All software to control the vehicle resides in the *Arduino* and *Workspace* folders.
-
-
-## Getting started
-1. Get the parts, [list](https://github.com/BARCproject/barc/blob/master/docs/BillofMaterials.md)
-2. Flash the odroid, [instructions](https://github.com/BARCproject/barc/blob/master/docs/FlashingEMMC.md) 
-3. Assemble the car, [instructions](https://docs.google.com/document/d/1T8O4JhUlw09ALUGPSX7DlSO7Hc7vcKl_ahBeHncMguE/edit?usp=sharing)
-4. Charge the battery, [instructions](https://github.com/BARCproject/barc/blob/master/docs/ChargingBattery.md)
-5. Connect to the RC remotely, [instructions](https://github.com/BARCproject/barc/blob/master/docs/ConnectingToOdroid.md)
-
-You can also scroll through the material under our docs section to find other useful information
+## Installing dependencies
+After installing python and ROS, go ahead an install julia version 0.4. This package has only been tested using ROS kinetic and julia version 0.4.7. Older julia versions can be found [here](https://julialang.org/downloads/oldreleases.html). This package requires a couple of packages, which can be installed with the following command: 
+```
+julia <path_to_barc>/dependencies.jl
+```
 
-## Useful resources
+### Troubleshooting
+Build Errors in the Gtk-package while installing the ProfileView-package can be resolved by running the following line in a separate terminal
+```
+sudo apt-get install libgtk-3-dev
+```
+followed by 
+```
+Pkg.build("Gtk")
+```
+in the julia shell.
 
-Recommended reading and resources
-+ [A Gentle Introduction to ROS](https://cse.sc.edu/~jokane/agitr/), by Jason M. O'Kane, and this [basic tutorial](http://wiki.ros.org/ROS/Tutorials/WritingPublisherSubscriber%28python%29) for writing ROS nodes in python
-+ [Julia JuMP](https://jump.readthedocs.io/en/latest/), Mathematical Programming using the Julia programming language
-+ [Git - the simple guide](http://rogerdudler.github.io/git-guide/), or for a more in-depth reading, consider [this](https://www.atlassian.com/git/tutorials/ ) tutorial by Atlassian
-+ [Electronic Speed Control (ESC) manual](http://propeleris.lt/failai/wp-s10c-rtr_manual.pdf), which details how to calibrate and program the ESC
-+ [Open source ESC](http://vedder.se/2015/01/vesc-open-source-esc/), for building your own ESC
-+ [Pulse Wide Modulation (PWM)](http://www.egr.msu.edu/classes/ece480/capstone/fall14/group07/PDFs/PWM_Application_Note.pdf), notes from Michigan State ECE480 class, explaining the concept of PWM and its usage in an arduino.
-+ [Arduino Servo Library](http://makezine.com/2014/04/23/arduinos-servo-library-angles-microseconds-and-optional-command-parameters/), article by Make magazine, clarifying the usage of some functions within the library
-+ [Mass moment of inertia calculation](http://www.mathworks.com/company/newsletters/articles/improving-mass-moment-of-inertia-measurements.html), a MATLAB newsletter explaining how to estimate the mass moment of inertia
-+ [Computer Vision lecture series](https://www.youtube.com/watch?v=N_a6IP6KUSE), from Professor Peter Corke aat Queensland University of Technology
+## Configuration
+### Add HOME_DIR environment variable
+Create the environment variable HOME_DIR, which is a string which points to your home directory/the directory which includes the barc folder. Create a julia configuration file, if you do not have one already:
+```
+cd
+vim .juliarc.jl
+```
+and add the following line: 
+```
+ENV["HOME_DIR"] = <path_to_your_home_folder>
+```
 
-## Student projects
-+ [Lane Keeping and Obstacle Avoidance](https://github.com/ych09041/me131lane), with [ demo](https://www.youtube.com/watch?v=5HKu7AaSsoM), by Tony Abdo, Hohyun Song, Cheng Hao Yuan, UC Berkeley ME 131, Spring 2016
+### Config file
+The config.yaml file allows for multiple different settings. 
+* mode: One of ["path_following", "learning", "racing"]
+* initialization: One of ["inner", "center", "outer"]
+* track_name: One of ["oval", "l_shape"]
 
-## Potential issues
-### Bad IMU magnetometer readings
-The magnetic field around car, perhaps from the motor or aluminum deck, may interfere with the magnetometer readings, meaning the roll, pitch, yaw measurements may be off
+### Launch file
+The parameters delay_df and delay_a specifiy the delay for the steering and the acceleration in the controller and in the estimator. For the controller they are given in time steps (value="1") and for the estimator in seconds (value="0.1"). The parameters time_offset specify how long after the initialization the agent should wait before applying control inputs. This allows the two agents to start at different times. 
 
-### Wrong internal clock time / date
-The time and date settings on the odroid may be incorrect. This may be because the [Real Time Clock (RTC) battery](http://www.hardkernel.com/main/products/prdt_info.php?g_code=G137508214939) is not connected or has a loose connection. To update the date / time settings, ensure the RTC battery is firmly connected, and ensure you are connected to the Internet via wifi or ethernet. Next, open a terminal and run the following network time protocol (ntp) commands
+## Running the code
+### Simulation Agent
+To run agent 1 in simulation execute the following command:
+```
+roslaunch barc sim_agent_1.launch
+```
+For path following MPC set MODE to "path_following" and for learning set MODE to "learning". This runs the agent on the track and records the data. Notice that you have to run the command first in the path following mode to collect data for LMPC. To run agent 2 in simulation run the following command: 
 ```
-sudo service ntp stop
-sudo ntpdate -s time.nist.gov
-sudo service ntp start
+roslaunch barc sim_agent_2.launch
 ```
-If you have a "no server suitable for synchronization found", your hosting provider may be blocking ntp packets. Refer to [this](http://askubuntu.com/questions/429306/ntpdate-no-server-suitable-for-synchronization-found) community question for more information