Plot acceleration and jerk

[davidpilop]

No description provided.

[volkodava]

Looks good to me @davidpilop , but I'm unable to run it from my local machine. I've got next stacktrace:

2018-03-11 11:49:55.550724: W tensorflow/core/platform/cpu_feature_guard.cc:45] The TensorFlow library wasn't compiled to use SSE4.1 instructions, but these are available on your machine and could speed u
p CPU computations.
2018-03-11 11:49:55.550750: W tensorflow/core/platform/cpu_feature_guard.cc:45] The TensorFlow library wasn't compiled to use SSE4.2 instructions, but these are available on your machine and could speed u
p CPU computations.
2018-03-11 11:49:55.550756: W tensorflow/core/platform/cpu_feature_guard.cc:45] The TensorFlow library wasn't compiled to use AVX instructions, but these are available on your machine and could speed up C
PU computations.
(6456) accepted ('127.0.0.1', 59772)
Exception in Tkinter callback
Traceback (most recent call last):
  File "/usr/lib/python2.7/lib-tk/Tkinter.py", line 1540, in __call__
    return self.func(*args)
  File "/usr/lib/python2.7/lib-tk/Tkinter.py", line 590, in callit
    func(*args)
  File "/usr/lib/python2.7/dist-packages/matplotlib/backends/backend_tkagg.py", line 373, in idle_draw
    self.draw()
  File "/usr/lib/python2.7/dist-packages/matplotlib/backends/backend_tkagg.py", line 354, in draw
    FigureCanvasAgg.draw(self)
  File "/usr/lib/python2.7/dist-packages/matplotlib/backends/backend_agg.py", line 474, in draw
    self.figure.draw(self.renderer)
  File "/usr/lib/python2.7/dist-packages/matplotlib/artist.py", line 61, in draw_wrapper
    draw(artist, renderer, *args, **kwargs)
  File "/usr/lib/python2.7/dist-packages/matplotlib/figure.py", line 1159, in draw
    func(*args)
  File "/usr/lib/python2.7/dist-packages/matplotlib/artist.py", line 61, in draw_wrapper
    draw(artist, renderer, *args, **kwargs)
  File "/usr/lib/python2.7/dist-packages/matplotlib/axes/_base.py", line 2324, in draw
    a.draw(renderer)
  File "/usr/lib/python2.7/dist-packages/matplotlib/artist.py", line 61, in draw_wrapper
    draw(artist, renderer, *args, **kwargs)
  File "/usr/lib/python2.7/dist-packages/matplotlib/lines.py", line 712, in draw
    self.recache()
  File "/usr/lib/python2.7/dist-packages/matplotlib/lines.py", line 632, in recache
    raise RuntimeError('xdata and ydata must be the same length')
RuntimeError: xdata and ydata must be the same length
Exception in Tkinter callback
Traceback (most recent call last):
  File "/usr/lib/python2.7/lib-tk/Tkinter.py", line 1540, in __call__
    return self.func(*args)
  File "/usr/lib/python2.7/lib-tk/Tkinter.py", line 590, in callit
    func(*args)
  File "/usr/lib/python2.7/dist-packages/matplotlib/backends/backend_tkagg.py", line 373, in idle_draw
    self.draw()
  File "/usr/lib/python2.7/dist-packages/matplotlib/backends/backend_tkagg.py", line 354, in draw
    FigureCanvasAgg.draw(self)
  File "/usr/lib/python2.7/dist-packages/matplotlib/backends/backend_agg.py", line 474, in draw

Seems like you have something similar to this: https://stackoverflow.com/a/38445459/1274904

Did you try to run it on your laptop?

My setup:

• VM provided by Udacity (https://classroom.udacity.com/nanodegrees/nd013/parts/6047fe34-d93c-4f50-8336-b70ef10cb4b2/modules/e1a23b06-329a-4684-a717-ad476f0d8dff/lessons/7e3627d7-14f7-4a33-9dbf-75c98a6e411b/concepts/8c742938-8436-4d3d-9939-31e40284e7a6)
• configured VM using instructions from the Dockerfile
• configured SSHD to permit root login (https://access.redhat.com/documentation/en-us/red_hat_enterprise_linux/6/html/v2v_guide/preparation_before_the_p2v_migration-enable_root_login_over_ssh)
• ssh -g -L 4567:localhost:4567 -f -N root@192.168.99.100 to map port 4567 of VM host (192.168.99.100) to my MacOS machine (localhost) where I do run carla simulator
• launched carla simulator from my MacOS

[subhash]

@davidpilop The plot works for me. It pops up right from the beginning and keeps updating as the velocity changes.

But there's an issue. The system is slowed down and the car moves with an extremely slow velocity (<2 mph). When I comment out plt.show(block=True), this error is rectified but obviously, the plot is a blank. I suspect blocking the UI thread does not allow the other parts of the system to function.

Though a live plot looks very cool, a simpler solution would be just to accumulate 2000-3000 sample velocities, acc etc and just popping them up as one plot

[volkodava]

@davidpilop Yep looks good to me, but If I am correct when @subhash suggested

Though a live plot looks very cool, a simpler solution would be just to accumulate 2000-3000 sample velocities, acc etc and just popping them up as one plot

he meant that once you handled 2000-3000 calls (up to you, in your case you decided to go with 2000 seems like) you should just execute the logic within this if condition statement and exit. So in here instead of checking for every 2000 calls with if i % 2000 == 0:, you should probably check for the first 2000 calls only, so you should replace if i % 2000 == 0: to if i == 2000: and also after you show statistics in line 160 (https://github.com/subhash/CarND-Capstone/pull/14/files#diff-7fdad75c966f68bdd51946534578bb1fR160) with plt.show() call you should exit by executing next instructionexit(0).

@subhash could you have a look?

[subhash]

@volkodava @davidpilop The condition is fine for now, we can always quit ROS altogether once we get the plot.

Good job on getting the plot, but something is not right about the values.

We cannot be introducing acc or jerk at this level! Can you investigate. Otherwise, I can look at it tomorrow

[subhash]

I think something of this sort is required:

        if i>0:
            self.acceleration_plot.append((self.velocity_plot[i] - self.velocity_plot[i-1])/diff_time)
        if i>1:
            self.jerk_plot.append((self.acceleration_plot[i-1] - self.acceleration_plot[i-2])/diff_time)

Still, we are not great on the jerk front ..

[subhash]

The main part of the run

[volkodava]

Still, we are not great on the jerk front ..

@subhash could you try to run the test with uncommented https://github.com/subhash/CarND-Capstone/blob/master/ros/src/waypoint_updater/waypoint_updater.py#L78 and commented out https://github.com/subhash/CarND-Capstone/blob/master/ros/src/waypoint_updater/waypoint_updater.py#L79 to verify if it helps with jerk?

[subhash]

@davidpilop I think this looks good. The problem is that this PR includes other unrelated commits already in the repo. Could you rebase on top of current master (or start from the current master and just apply your change) and resubmit the PR with only the plot code?