From fbe341df03097c11d0dcdcec234165e4e0144772 Mon Sep 17 00:00:00 2001 From: Michael Wu Date: Wed, 19 Jan 2022 14:47:07 -0800 Subject: [PATCH] point cloud recording agent added into ROAR open sourced repo --- .../special_agents/pointcloud_recording_agent.py | 2 +- runner_ios.py | 12 ++---------- 2 files changed, 3 insertions(+), 11 deletions(-) diff --git a/ROAR/agent_module/special_agents/pointcloud_recording_agent.py b/ROAR/agent_module/special_agents/pointcloud_recording_agent.py index 455adb65..3610ae36 100644 --- a/ROAR/agent_module/special_agents/pointcloud_recording_agent.py +++ b/ROAR/agent_module/special_agents/pointcloud_recording_agent.py @@ -24,7 +24,7 @@ def __init__(self, vehicle: Vehicle, agent_settings: AgentConfig, **kwargs): super().__init__(vehicle, agent_settings, **kwargs) self.prev_steerings: deque = deque(maxlen=10) self.agent_settings.pid_config_file_path = (Path(self.agent_settings.pid_config_file_path).parent / - "iOS_image_pid_config.json").as_posix() + "iOS_pid_config.json").as_posix() self.controller = ImageBasedPIDController(agent=self) # START LOC diff --git a/runner_ios.py b/runner_ios.py index f08b9693..d25ac987 100644 --- a/runner_ios.py +++ b/runner_ios.py @@ -4,15 +4,7 @@ from ROAR.configurations.configuration import Configuration as AgentConfig from ROAR_iOS.config_model import iOSConfig from ROAR_Unity.unity_runner import iOSUnityRunner -# from ROAR.agent_module.ios_agent import iOSAgent -# from ROAR.agent_module.free_space_auto_agent import FreeSpaceAutoAgent -from ROAR.agent_module.occupancy_map_agent import OccupancyMapAgent -from ROAR.agent_module.line_following_agent_2 import LineFollowingAgent -from ROAR.agent_module.special_agents.recording_agent import RecordingAgent -from ROAR.agent_module.traffic_light_detector_agent import TrafficLightDectectorAgent -from ROAR.agent_module.aruco_following_agent import ArucoFollowingAgent -from ROAR.agent_module.udp_multicast_agent import UDPMultiCastAgent -from ROAR.agent_module.forward_only_agent import ForwardOnlyAgent +from ROAR.agent_module.special_agents.pointcloud_recording_agent import PointcloudRecordingAgent from ROAR.agent_module.cs249_agent import CS249Agent from ROAR.utilities_module.vehicle_models import Vehicle import logging @@ -152,7 +144,7 @@ def is_glove_online(host, port): json.dump(ios_config.dict(), ios_config_file_path.open('w'), indent=4) time.sleep(2) if success or args.reconnect is False: - agent = CS249Agent(vehicle=Vehicle(), agent_settings=agent_config, should_init_default_cam=True) + agent = PointcloudRecordingAgent(vehicle=Vehicle(), agent_settings=agent_config, should_init_default_cam=True) runner = iOSUnityRunner(agent=agent, ios_config=ios_config, is_unity=args.use_unity) runner.start_game_loop(auto_pilot=args.auto) except Exception as e: