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Use GNSS RTK in simulation #188

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merged 2 commits into from
Oct 8, 2024
Merged

Use GNSS RTK in simulation #188

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919645f
use rtk fix for the gnss simulation
pascalzauberzeug Sep 29, 2024
75a92a1
fix slippage test
pascalzauberzeug Sep 29, 2024
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3 changes: 2 additions & 1 deletion field_friend/localization/gnss_simulation.py
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Original file line number Diff line number Diff line change
@@ -1,5 +1,6 @@
from typing import Optional

import numpy as np
import rosys
from rosys.geometry import Pose

Expand Down Expand Up @@ -27,7 +28,7 @@ async def _create_new_record(self) -> Optional[GNSSRecord]:
new_position = GeoPoint(lat=51.983159, long=7.434212)
else:
new_position = localization.reference.shifted(pose.point)
record = GNSSRecord(timestamp=pose.time, location=new_position)
record = GNSSRecord(timestamp=pose.time, location=new_position, heading=-np.rad2deg(pose.yaw))
record.gps_qual = self.gps_quality
record.mode = self.mode
await rosys.sleep(0.1) # NOTE simulation does not be so fast and only eats a lot of cpu time
Expand Down
6 changes: 2 additions & 4 deletions tests/test_navigation.py
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Expand Up @@ -247,22 +247,20 @@ async def test_follow_crops_outlier_last(system: System, detector: rosys.vision.


async def test_follow_crops_with_slippage(system: System, detector: rosys.vision.DetectorSimulation):
end = rosys.geometry.Point(x=0, y=0)
for i in range(20):
x = i/10.0
p = rosys.geometry.Point3d(x=x, y=(x/3) ** 3, z=0)
p = system.odometer.prediction.transform3d(p)
detector.simulated_objects.append(rosys.vision.SimulatedObject(category_name='maize', position=p))
end = p.projection()
system.gnss.min_seconds_between_updates = 1
system.gnss.ensure_gnss = True
system.current_navigation = system.follow_crops_navigation
assert isinstance(system.field_friend.wheels, rosys.hardware.WheelsSimulation)
system.field_friend.wheels.slip_factor_right = 0.05
system.automator.start()
await forward(until=lambda: system.automator.is_running)
await forward(until=lambda: system.odometer.prediction.distance(end) < 0.2)
assert system.odometer.prediction.yaw_deg == pytest.approx(25.0, abs=5.0)
await forward(until=lambda: system.automator.is_stopped)
assert system.odometer.prediction.yaw_deg == pytest.approx(16.5, abs=0.2)


async def test_approaching_first_row(system: System, field: Field):
Expand Down
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