website updated

ROAR/control_module/pid_controller.py

@@ -125,6 +125,7 @@ def run_in_series(self, next_waypoint: Transform, **kwargs) -> float:
         w_vec_normed = w_vec / np.linalg.norm(w_vec)
         error = np.arccos(v_vec_normed @ w_vec_normed.T)
         _cross = np.cross(v_vec_normed, w_vec_normed)
+
         if _cross[1] > 0:
             error *= -1
         self._error_buffer.append(error)
@@ -140,9 +141,4 @@ def run_in_series(self, next_waypoint: Transform, **kwargs) -> float:
         lat_control = float(
             np.clip((k_p * error) + (k_d * _de) + (k_i * _ie), self.steering_boundary[0], self.steering_boundary[1])
         )
-        # print(f"v_vec_normed: {v_vec_normed} | w_vec_normed = {w_vec_normed}")
-        # print("v_vec_normed @ w_vec_normed.T:", v_vec_normed @ w_vec_normed.T)
-        # print(f"Curr: {self.agent.vehicle.transform.location}, waypoint: {next_waypoint}")
-        # print(f"lat_control: {round(lat_control, 3)} | error: {error} ")
-        # print()
         return lat_control

docs/competition_instruction.md

@@ -1,6 +1,4 @@
 # Competition Instruction
 
-1. modify the `agent_class` in the `runner_competition_evaluator.py` such that it links to your agent
-2. zip up the entire folder
-3. email it to ???. We will respond with a confirmation.
+Please visit [http://roar.berkeley.edu/](http://roar.berkeley.edu/)
 

docs/faq.md

@@ -0,0 +1,9 @@
+# FAQ
+1. I did `git pull origin main`, no updates were made, why?
+
+Remember that we are using submodules. If you are trying to update `ROAR_Sim`/`ROAR_Jetson`/`ROAR_Gym`, please understand that they are submodules, 
+and refer to this [stackoverflow post](https://stackoverflow.com/questions/4611512/is-there-a-way-to-make-git-pull-automatically-update-submodules)
+
+Also check if `origin` is actually pointing to `http://www.github.com/YOURUSERNAME` if you intended to update your own github
+Please checkout this document to understand git remotes: [https://www.atlassian.com/git/tutorials/syncing](https://www.atlassian.com/git/tutorials/syncing)
+

docs/quickstart.md

@@ -35,3 +35,5 @@
     - For physical car
         - `python runner_jetson.py` or `python3 runner_jetson.py`
 
+
+

mkdocs.yml

@@ -6,7 +6,6 @@ nav:
       - Architecture: architecture.md
       - Coordinate: coordinate.md
     - Quick Start: quickstart.md
-    - Competition Instruction: competition_instruction.md
     - Code Documentations:
         - Bridges:
             - Bridge: code_documentations/Bridges/bridges.md
@@ -24,14 +23,16 @@ nav:
             - Carla Client:
                 - Carla Runner: code_documentations/ROAR_Sim/carla_client.md
                 - Util:
-                  - Camera Manager: code_documentations/ROAR_Sim/camera.md
-                  - Hud: code_documentations/ROAR_Sim/hud.md
-                  - Keyboard Controls: code_documentations/ROAR_Sim/kbc.md
-                  - Sensors: code_documentations/ROAR_Sim/sensors.md
-                  - Utilities: code_documentations/ROAR_Sim/util.md
-                  - World: code_documentations/ROAR_Sim/world.md
+                    - Camera Manager: code_documentations/ROAR_Sim/camera.md
+                    - Hud: code_documentations/ROAR_Sim/hud.md
+                    - Keyboard Controls: code_documentations/ROAR_Sim/kbc.md
+                    - Sensors: code_documentations/ROAR_Sim/sensors.md
+                    - Utilities: code_documentations/ROAR_Sim/util.md
+                    - World: code_documentations/ROAR_Sim/world.md
             - Configurations: code_documentations/ROAR_Sim/conf.md
         - Runner Sim: code_documentations/runner_sim.md
+    - Competition Instruction: competition_instruction.md
+    - FAQ: faq.md
 
 
 markdown_extensions:

readme.md

@@ -11,4 +11,3 @@ For quick start documentation, please visit our documentation site: [https://aug
 
 ### Enter the Competition
 Visit [https://augcog.github.io/ROAR/competition_instruction/](https://augcog.github.io/ROAR/competition_instruction/)
-

runner_sim.py

@@ -5,6 +5,7 @@
 from ROAR.agent_module.pure_pursuit_agent import PurePursuitAgent
 from ROAR.configurations.configuration import Configuration as AgentConfig
 from ROAR.agent_module.special_agents.recording_agent import RecordingAgent
+from ROAR.agent_module.occupancy_map_agent import OccupancyMapAgent
 from ROAR.agent_module.pid_agent import PIDAgent
 from ROAR.agent_module.occu_map_demo_driving_agent import OccuMapDemoDrivingAgent
 
@@ -19,7 +20,7 @@ def main():
                                npc_agent_class=PurePursuitAgent)
     try:
         my_vehicle = carla_runner.set_carla_world()
-        agent = RecordingAgent(vehicle=my_vehicle, agent_settings=agent_config)
+        agent = OccupancyMapAgent(vehicle=my_vehicle, agent_settings=agent_config)
         carla_runner.start_game_loop(agent=agent, use_manual_control=True)
     except Exception as e:
         logging.error(f"Something bad happened during initialization: {e}")