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3.0 3.0 2.0 313.9 MB

Fork of the Udacity project to complete the System Integration task, for the "total-recall-dryvers"

CMake 28.23% Python 52.37% Shell 0.82% C++ 18.57%

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kkweon krishtof-korda

carnd-capstone's Issues

Vehicle Stops Too Late / Cross Red Light

The vehicle stops after the line.

or sometimes it cross the red light
when it happens, the log looks like this.

ros_1  | Resize to (300, 300)
ros_1  | ('Boxes: ', array([[   0.        ,  145.37561035,   84.40847778,  178.70265198],
ros_1  |        [   0.        ,    2.73541284,   79.72753906,   21.94922447]], dtype=float32))
ros_1  | ('Boxes Ascending: ', [array([  0.        ,   2.73541284,  79.72753906,  21.94922447], dtype=float32), array([   0.        ,  145.37561035,   84.40847778,  178.70265198], dtype=float32)])
ros_1  | Raw predictions: [[  1.81863399e-10   3.07246239e-07   1.89774555e-15   9.99999642e-01
ros_1  |     5.03174995e-08   1.02036132e-07   1.94836357e-19   5.46941789e-12
ros_1  |     1.68915478e-12]]
ros_1  | +++ Accepting size:2772 - Prediction: Red
ros_1  | ('Timing: ', 144, 3)
ros_1  | [INFO] [1514514276.035685]: TL_DETECTOR: NNState: 0
ros_1  | Resize to (300, 300)
ros_1  | [INFO] [1514514276.193153]: TL_DETECTOR: NNState: -1
ros_1  | [INFO] [1514514276.193812]: TL_DETECTOR: Unknown State from classifier
ros_1  | Resize to (300, 300)
ros_1  | [INFO] [1514514276.353685]: TL_DETECTOR: NNState: -1
ros_1  | [INFO] [1514514276.353926]: TL_DETECTOR: Unknown State from classifier
ros_1  | Resize to (300, 300)
ros_1  | [INFO] [1514514276.513682]: TL_DETECTOR: NNState: -1
ros_1  | [INFO] [1514514276.513927]: TL_DETECTOR: Unknown State from classifier
ros_1  | Resize to (300, 300)
ros_1  | [INFO] [1514514276.673223]: TL_DETECTOR: NNState: -1
ros_1  | [INFO] [1514514276.673486]: TL_DETECTOR: Unknown State from classifier
ros_1  | Resize to (300, 300)
ros_1  | [INFO] [1514514276.831196]: TL_DETECTOR: NNState: -1
ros_1  | [INFO] [1514514276.831454]: TL_DETECTOR: Unknown State from classifier
ros_1  | Resize to (300, 300)

Remove `enum` dependencies

Summary

Python 2 doesn't have enum which was added in Python 3.4 source: Python Official Doc.
It killed the tl_detector process

Possible solutions

Remove enum from ros/src/tl_detector/infer.py

Notes

I am surprised that I thought I was running Python 2 until now.
If it ran without an issue on my computer, it must be Python 3. I'm confused 😕

[WARNING: disk usage in log directory [/home/udacity/.ros/log] is over 1GB.
It's recommended that you use the 'rosclean' command.
Using TensorFlow backend.
Python: 2.7.6 (default, Oct 26 2016, 20:30:19) 
[GCC 4.8.4]

TensorFlow:1.3.0
Traceback (most recent call last):
  File "/media/udacity/yousuf/carnd_cap_autogradr/submissions/951262/ros/src/tl_detector/tl_detector.py", line 9, in <module>
    from light_classification.tl_classifier import TLClassifier
  File "/media/udacity/yousuf/carnd_cap_autogradr/submissions/951262/ros/src/tl_detector/light_classification/tl_classifier.py", line 2, in <module>
    from infer import LightDetectionAndClassification, Detection_Model
  File "/media/udacity/yousuf/carnd_cap_autogradr/submissions/951262/ros/src/tl_detector/infer.py", line 25, in <module>
    from enum import Enum
ImportError: No module named enum
[tl_detector-5] process has died [pid 16792, exit code 1, cmd 
/media/udacity/yousuf/carnd_cap_autogradr/submissions/951262/ros/src/tl_detector/tl_detector.py __name:=tl_detector __log:=/home/udacity/.ros/log/d78fa4da-f57b-11e7-9e04-38d547191b51/tl_detector-5.log].

Remove "jerky" acceleration

Summary

The acceleration is not constant, but it's "pumping" according to the reviewer
Still needs to investigate what causing it

Remove unnecessary files

This should be our final step, but I will leave it anyway so we don't forget later.
The current repository currently contains many files that are not necessary.

.idea/inspectionProfiles
ros/src/tl_detector/???

Remove NNState -1 log message

Summary

Like you can see, there are too many log messages that are not as helpful
Can we remove these log messages

[INFO] [1515609334.302657]: TL_DETECTOR: NNState: -1
[INFO] [1515609334.302897]: TL_DETECTOR: Unknown State from classifier
Resize to (300, 300)
[INFO] [1515609334.402097]: TL_DETECTOR: NNState: -1
[INFO] [1515609334.402459]: TL_DETECTOR: Unknown State from classifier
Resize to (300, 300)
[INFO] [1515609334.504098]: TL_DETECTOR: NNState: -1
[INFO] [1515609334.504333]: TL_DETECTOR: Unknown State from classifier
Resize to (300, 300)

Vehicle does not follow the speed limit?

Current Behavior

The speed limit is set to 40 kph(≈ 24.8548 mph) in this file
The vehicle drives over the limit
But it seems it's already implemented in here. Not sure why it's happening. 🤔
The vehicle only drove above the speed limit when running the red light (related issue #14) After that, it slows down to the speed limit. It might indicate there is a problem with the initial launch.

Expected Behavior

The vehicle follows the parameter written in waypoint_loader.launch

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