10/4 Rolls by rk012 · Pull Request #63 · CMU-Robotics-Club/robobuggy-software

rk012 · 2025-10-04T13:45:09Z

10/4 Rolls

Summary of changes

Made turns far less harp #61
- hotfix on SC for StampedFloat64 message usage
- TODO -- fix pylint lol
Added Covariance Singularity Check #59
Added control latency reporting on software side #55
Preliminary NAND Detection + Camera Recording #60
Added calculation of cross track error stats in util files #53

Rolls Results

No improvement in control latency on NAND from switching to Ubuntu Server
UKF did not explode (vacuously true, did not get to actually test)
Ran buggyvision node, appears to be working (read: not crashing)
NAND UKF heading issues - wrong initialization logic, negative velocity+180 deg off
- firmware issue, also this issue has occured before
- initial heading check causes auton to not start
Camera is in BGR - created new issue, Reverse Camera (BGR/RGB) #64
SC auton not working on stack startup, need to test at mock rolls
- TKTKTK root cause, determine after debug
New path was pathing, need to make more shallow -- will revert to original raceline

Co-authored-by: nuc@short-circut <officers@roboclub.org>

rk012 · 2025-10-06T22:06:26Z

(unmerged for this week)

Co-authored-by: Rishi Kumar <rishikumar@cmu.edu> Co-authored-by: root <root@Ospr3y.localdomain>

Co-authored-by: Rishi Kumar <rishikumar@cmu.edu>

Co-authored-by: Saransh Agrawal <saransh323@gmail.com> Co-authored-by: AnthonyHoneine <anthonyhoneine@hotmail.com>

…ect yaw rate computation (#83) Co-authored-by: copilot-swe-agent[bot] <198982749+Copilot@users.noreply.github.com> Co-authored-by: saransh323 <24824351+saransh323@users.noreply.github.com>

Co-authored-by: Saransh Agrawal <saransh323@gmail.com>

Co-authored-by: Rishi Kumar <rishikumar@cmu.edu> Co-authored-by: Mehul Goel <mehulgoel873@gmail.com> Co-authored-by: Saransh Agrawal <saransh323@gmail.com> Co-authored-by: nuc@short-circut <officers@roboclub.org> Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com> Co-authored-by: Harshal <hpuranik@andrew.cmu.edu> Co-authored-by: TiaSinghania <samanvita.singhania@gmail.com>

+
+from util.constants import Constants
+
+from ukf_utils import *


Co-authored-by: Evan <evan@brucemcrooster.dev> Co-authored-by: monkeymango55 <90772792+sophizhao@users.noreply.github.com> Co-authored-by: Mehul Goel <mehulgoel873@gmail.com> Co-authored-by: Saransh Agrawal <saransh323@gmail.com> Co-authored-by: ShortCircuit <officers@roboclub.org> Co-authored-by: Jessica Cai <115125748+JessCai06@users.noreply.github.com> Co-authored-by: Rishi Kumar <rishikumar@cmu.edu>

+    # if opt.mode < 2 and not opt.output_avi_file.endswith(".avi"):
+    #     print("--output_avi_file parameter should be a .avi file but is not : ",opt.output_avi_file,"Exit program.")
+    #     exit()


Co-authored-by: Copilot Autofix powered by AI <175728472+Copilot@users.noreply.github.com>

Co-authored-by: Saransh Agrawal <saransh323@gmail.com>

…1, disable detector node by default, adjust threshold for steer offset variance check

Co-authored-by: Harshal <hpuranik@andrew.cmu.edu> Co-authored-by: Saransh Agrawal <saransh323@gmail.com>

This reverts commit 8b81bd0.

This reverts commit 7c68c11.

Co-authored-by: Saransh Agrawal <saransh323@gmail.com>

…#100) Co-authored-by: Harshal <hpuranik@andrew.cmu.edu> Co-authored-by: Saransh Agrawal <saransh323@gmail.com>

Co-authored-by: Rishi Kumar <rishikumar@cmu.edu> Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com>

+from rclpy.callback_groups import MutuallyExclusiveCallbackGroup
+from rclpy.executors import MultiThreadedExecutor

+from host_comm import *


Co-authored-by: Saransh Agrawal <saransh323@gmail.com> Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com>

…er topic

…y-software into rolls

mehulgoel873 and others added 7 commits September 29, 2025 23:04

Added calculation of cross track error stats in util files (#53)

d9f7309

Merge branch 'main' into rolls

9134df9

Preliminary NAND Detection + Camera Recording (#60)

4c876f3

Co-authored-by: nuc@short-circut <officers@roboclub.org>

Added control latency reporting on software side (#55)

5f4632d

Co-authored-by: nuc@short-circut <officers@roboclub.org>

Added Covariance Singularity Check (#59)

2380772

Made turns less sharp, start turning earlier in chute (#61)

f918946

hotfix (stampedpose)

46c1ba0

rk012 self-assigned this Oct 4, 2025

rk012 changed the title ~~10/4 Rolls~~ [unmerged] 10/4 Rolls Oct 6, 2025

rk012 changed the title ~~[unmerged] 10/4 Rolls~~ 10/4 Rolls Oct 6, 2025

rk012 marked this pull request as draft October 8, 2025 21:23

Fixed ukf_node.py and pylint with bad StampedFloat64

fe3c3d4

TiaSinghania mentioned this pull request Oct 26, 2025

Fixed Camera Format (BGR to RGB) #72

Merged

3 tasks

Fixed Camera Format (BGR to RGB) (#72)

12a68fe

Co-authored-by: Rishi Kumar <rishikumar@cmu.edu> Co-authored-by: root <root@Ospr3y.localdomain>

hpuranik mentioned this pull request Oct 29, 2025

Added documentation comments to ros_to_bnyahaj #73

Closed

1 task

TiaSinghania mentioned this pull request Oct 29, 2025

Put the old lines for SC and NAND back (pre paved line) #74

Merged

3 tasks

saransh323 mentioned this pull request Oct 29, 2025

Reduced subscriber/publisher QoS queue length to 1 #75

Merged

3 tasks

saransh323 and others added 4 commits November 13, 2025 13:17

Reduced subscriber/publisher QoS queue length to 1 (#75)

407047e

Put the old lines for SC and NAND back (pre paved line) (#74)

c5db71a

Co-authored-by: Rishi Kumar <rishikumar@cmu.edu>

Steering offset ukf (#81)

6ec49a1

Co-authored-by: Saransh Agrawal <saransh323@gmail.com> Co-authored-by: AnthonyHoneine <anthonyhoneine@hotmail.com>

Fix Stanley Controller: use front axle for cross-track error and corr…

4fbb8ea

…ect yaw rate computation (#83) Co-authored-by: copilot-swe-agent[bot] <198982749+Copilot@users.noreply.github.com> Co-authored-by: saransh323 <24824351+saransh323@users.noreply.github.com>

github-code-quality Bot found potential problems Jan 14, 2026

View reviewed changes

Comment thread rb_ws/src/buggy/scripts/estimation/nand_estimator.py Fixed

TiaSinghania and others added 2 commits February 11, 2026 19:27

Lidar setup (#85)

c6320d5

Co-authored-by: Saransh Agrawal <saransh323@gmail.com>

github-code-quality Bot found potential problems Feb 21, 2026

View reviewed changes

Comment thread rb_ws/src/buggy/scripts/estimation/nand_estimator.py

from util.constants import Constants

from ukf_utils import *

github-code-quality Bot found potential problems Mar 10, 2026

View reviewed changes

Comment thread rb_ws/src/buggy/scripts/vision/convert.py

Comment on lines +244 to +246

# if opt.mode < 2 and not opt.output_avi_file.endswith(".avi"):

# print("--output_avi_file parameter should be a .avi file but is not : ",opt.output_avi_file,"Exit program.")

# exit()

saransh323 and others added 2 commits March 14, 2026 06:04

Ros2b Optimizations (#88)

9570bca

Switch rolls lines back to safe (#89)

6fac83c

mehulgoel873 and others added 18 commits March 18, 2026 18:49

Move telematics into buggy_state_converter (#95)

040ed89

Co-authored-by: Copilot Autofix powered by AI <175728472+Copilot@users.noreply.github.com>

remove watchdog (#96)

dca5b83

Co-authored-by: Saransh Agrawal <saransh323@gmail.com>

set useSteerOffset true on roll configs, set filter time constant to …

7496029

…1, disable detector node by default, adjust threshold for steer offset variance check

Synced raw gps packet with firmware, added rtk fix and siv packet

8a35e1d

Draw safer racelines, update config files

65987f1

Better topic names for controller (#98)

8b81bd0

Co-authored-by: Harshal <hpuranik@andrew.cmu.edu> Co-authored-by: Saransh Agrawal <saransh323@gmail.com>

Increase init state covariance for steering offset UKF

e86c21f

Made chute turn safer, subdivided backhills

427d559

Revert "Better topic names for controller (#98)"

7c68c11

This reverts commit 8b81bd0.

encoder_speed

fff8533

Mockroll fixes nand

14ac246

Change NAND default back to roll.yaml

2866b01

Reapply "Better topic names for controller (#98)"

50f4565

This reverts commit 7c68c11.

Ros publishing bugs (#97)

cee3b54

Co-authored-by: Saransh Agrawal <saransh323@gmail.com>

Edited buggy course for NAND & SC (Hill1, freeroll, chute, backhills) (…

3ee58c1

…#100) Co-authored-by: Harshal <hpuranik@andrew.cmu.edu> Co-authored-by: Saransh Agrawal <saransh323@gmail.com>

Increase passing distance from 2.5m to 4m

ddf4649

updated encoder debugging

49f19cc

Multithread ros_to_bnyahaj, read & write to serial concurrently (#102)

3f44c29

Co-authored-by: Rishi Kumar <rishikumar@cmu.edu> Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com>

github-code-quality Bot found potential problems Apr 8, 2026

View reviewed changes

Comment thread rb_ws/src/buggy/scripts/serial/ros_to_bnyahaj.py

from rclpy.callback_groups import MutuallyExclusiveCallbackGroup

from rclpy.executors import MultiThreadedExecutor

from host_comm import *

SachetK and others added 11 commits April 7, 2026 23:36

Patch UKFs to reset filter if UKF covariances explodes (#99)

71e41ad

Co-authored-by: Saransh Agrawal <saransh323@gmail.com> Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com>

Fix convergence check np.all in nand_estimator

80d607a

Shifted Hill1 course lines based on mock roll observations

54fe34d

Comment out LiDAR (broken) for raceday

019c701

put passing distance back to 2.5m

1f89534

added controller name

491e6b8

Add k_speed term to stanley controller; fix cross track error publish…

19e52bb

…er topic

Increase passing distance from 2.5m to 3m

c214ae7

Add rx_rssi to Radio packetand; add publisher for SCRadioNANDMsg

ab4c044

Merge branch 'rolls' of https://github.com/CMU-Robotics-Club/robobugg…

dcac78b

…y-software into rolls

added messaget o cmakelists

0b6cc01

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10/4 Rolls#63

10/4 Rolls#63
rk012 wants to merge 52 commits into
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rk012 commented Oct 4, 2025 •

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rk012 commented Oct 6, 2025

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rk012 commented Oct 4, 2025 • edited Loading Uh oh! There was an error while loading. Please reload this page.

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10/4 Rolls

Summary of changes

Rolls Results

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rk012 commented Oct 6, 2025

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rk012 commented Oct 4, 2025 •

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