v1.1.0

Fourth Release of the FSFEUP 01 System

This release marks a significant milestone. It features a fully functional autonomous driving pipeline capable of completing a full lap in simulation, utilizing the LiDAR-based perception pipeline. The first iteration of perception, state estimation, and path planning tests with real-world data has also been implemented.

Key updates include:

• Inspection Script Improvements: Debugging capabilities for real-life testing have been improved.
• Perception Improvements: New heuristics, based on Z-Score analysis and minimum height filtering, have been introduced for more robust object detection.
• Path Planning Enhancements: A memory feature for storing previous iterations has been added, and there is now an option to activate or deactivate outlier removal during planning.
• Control System Updates: The control system can now handle tracks with variable velocity, adapting to different conditions.
• State Estimation: The Extended Kalman Filter (EKF) now boasts improved execution time for faster and more efficient processing.

What's Changed

• FSF-4434 | feat(perception): Standard Devitation and Z-Score Heuristics and FoV trimming update by @Davide64-dev in #335
• FSF-4065 ref: uniformized READMEs structure by @marhcouto in #336
• FSF-4430 tracks with variable speed, tuned pacsim by @yvesb04 in #337
• FSF-4427 feat(planning): optional outlier removal and path smoothing by @lourenco31 in #338
• Se refactor by @Davide64-dev in #345
• Eval flag FSF-4518 by @BrunoDias201907828 in #344
• FSF-4515 Planning evaluation implementation by @lourenco31 in #340
• FSF-4522 Evaluator documentation by @lourenco31 in #346
• FSF-4517 | test(evaluator): created tests for all data association and format functions by @Davide64-dev in #348
• Testing setup by @Davide64-dev in #341
• FSF-4897 feat(ekf_state_est): new state estimation documentation by @lourenco31 in #349
• FSF-4437 Bayesian optimization for Cone Coloring by @lourenco31 in #347
• Autocross by @Davide64-dev in #353
• FSF-4942 | 1/5 of trackdrive by @lourenco31 in #354

Full Changelog: 1.0.0...v1.1.0

v1.0.0

Third release of the FSFEUP 01 system. Features complete and functional autonomous pipeline with full lap in simulation:

• Advancements in the evaluation pipeline, with generation of reports and upload to the cloud
• Path planning deep code refactoring and tuning
• EKF implementation of new data association method using mahalanobis distance (takes covariance into account)
• Control further tuning and smooth lookahead point calculation
• Perception tuning with real data
  The pipeline is capable of going around a track multiple times. Improvements need to be made in reliability of state estimation, which renders the pipeline unstable and still not too functional without using simulated perception

What's Changed

• FSF-3621 FSF-3963 Control Refactoring + documentation by @yvesb04 in #312
• FSF-4037: Refactor all adapters to use child nodes instead of adapters by @yvesb04 in #318
• FSF-3367 | fix(perception): Perception Tune + launch file refactoring + Perception fix on evaluator node by @Davide64-dev in #301
• FSF-3925 feat: ci-based analysis first try by @marhcouto in #315
• FSF-3959 feat(mocker_node): path visualization in mocker_node by @andrelds11 in #317
• FSF-3932 | fix: solved control metrics calculation + execution time by @Davide64-dev in #319
• FSF-3935 Pacsim update by @marhcouto in #320
• Dashboard power log FSF-4264 by @BrunoDias201907828 in #326
• FSF-4251 & FSF-4319 | Perception Testing by @Davide64-dev in #325
• FSF-3922 fix(planning): refactored cone coloring, outlier removal and smoothin… by @lourenco31 in #316
• FSF-3928 fix(planning): updated planning diagrams by @lourenco31 in #322
• FSF-3964: Testing_control by @yvesb04 in #324
• FSF-4265 | Fix-feat/evaluator by @Davide64-dev in #327
• Fix/perception tests by @Davide64-dev in #329
• FSF-4429 | System testing by @marhcouto in #333

Full Changelog: v0.3.0...1.0.0

v0.3.0

Second release of the FSFEUP 01 system. Features complete and functional autonomous pipeline:

• EKF refactored and bug free
• Perception improved with stronger cone validation and grid Ransac for ground removal
• Path planning with path coloring, map spline matching, delaunay and smoothing
• Pure Pursuit controller added
• Evaluation tools developed
• EUFS and Pacsim simulators set-up
• Robust code evaluation tools set-up
  The pipeline has been shown to work overall, being able to conduct the vehicle in a track. Even so, it is still buggy and many improvement can be made.

What's Changed

• FSF-2206 Fixed static analysis and workflows by @marhcouto in #258
• Docs(Simulation and Infrastructure): added foxglove tutorial FSF-2167 by @BrunoDias201907828 in #259
• fix(LongControl): Fixing PID Unit Test erros by @PedromLBarros in #261
• FSF-2542 FSF-2143 FSF-2163 inspection script by @lourenco31 in #257
• FSF-2752 FSF-2770 Cylinder Validation by @Davide64-dev in #260
• FSF-2598 - Ros 2 can by @PedroRomao3 in #263
• ref(docker-dev): updated docker-dev container files to work on any pc by @marhcouto in #270
• FSF-2975: Python linters by @marhcouto in #272
• FSF-2769-Ekf slam doc by @PedroRomao3 in #267
• FSF-2925 build and test workflow by @marhcouto in #271
• FSF-2597 - Ros node by @PedromLBarros in #262
• FSF-2949 Linter change - sonarcloud by @marhcouto in #275
• FSF-2956 Feat/cone heuristic by @Davide64-dev in #273
• FSF-3213 feat(ros_can): Alive msg by @PedromLBarros in #277
• FSF-2936 feat(mocker_node): node created by @lourenco31 in #268
• FSF-2929 | feat(sim): Created evaluator node with some subscriptions by @Davide64-dev in #265
• FSF-3540 Inspection fix by @lourenco31 in #281
• pc_setup_computer FSF-2924 by @BrunoDias201907828 in #280
• FSF-2926 PacSim tutorial and submodule by @marhcouto in #276
• FSF-2948 Feature/execution time by @Davide64-dev in #269
• Refactor code EVERYWHEREEE by @yvesb04 in #284
• FSF-2928 updated full diagram to include EUFS topics by @lourenco31 in #283
• Refact-long-control by @yvesb04 in #285
• FSF-3352 | Feat/sync inspection by @Davide64-dev in #282
• FSF-3618 refact(control-node): Cache Message Filter by @yvesb04 in #289
• FSF-3583 feat: created launch files package by @marhcouto in #290
• FSF-2970 FSF-3414 - major state estimation refactors by @marhcouto in #287
• FSF-3353 FSF-3354 feat(planning): cone coloring by @lourenco31 in #279
• FSF-2941 feat(evaluator): planning evaluation metrics by @andrelds11 in #292
• FSF-3722 | feat(sim_infr): created adapters for other simulators by @Davide64-dev in #295
• FSF-2938 FSF-3620 State Estimation adapters and evaluation by @marhcouto in #293
• FSF-3814 Mocker node tracks by @andrelds11 in #296
• FSF-3720 beginning of planing adapters by @lourenco31 in #294
• FSF-3411 Power test by @marhcouto in #297
• FSF-3093 & FSF-3367 | feat(perception): added center calculation by @Davide64-dev in #286
• Update installing_wsl.md by @PedromLBarros in #300
• Se simulation testing by @marhcouto in #298
• Create env.example by @PedromLBarros in #303
• Iron trial by @marhcouto in #302
• FSF-3628 Planning fixes after subsystem meeting by @lourenco31 in #304
• FSF-2945 | feat(perception): first iteration of grid ransac finished by @Davide64-dev in #288
• FSF-3912 Update launchfiles; Planning eufs adapter publisher visualization msg by @lourenco31 in #306
• FSF-3585 feat(control):PupePursuit by @PedromLBarros in #291
• FSF-3912 Full system EUFS test by @marhcouto in #308
• FSF-3623 | doc(perception): update documentation by @Davide64-dev in #309
• FSF-3622 State est docs by @marhcouto in #310
• FSF-2943 docs(evaluation): documented evaluator node and other small details by @marhcouto in #311
• FSF-3356 feat(docs): planning documentation updates phase2 by @andrelds11 in #313
• Delaunay distance threshold by @andrelds11 in #307
• FSF-3621 control doc by @yvesb04 in #314

Full Changelog: v0.2.0...v0.3.0

v0.2.0

First release of the FSFEUP 01 system. Big developments, but the release does not contain a fully functional system yet. Major differences:

• EKF improved with sparse matrixes and Eigen multi-thread
• LiDAR Perception complete untuned pipeline
• Path Planning bugs corrections and smoothing applied
• PI-D velocity controller implementation untested
• KISS ICP set up
• Adapter refactor

What's Changed

• Create ros2_docker_vscode_coding_environment.md by @yvesb04 in #233
• Setup fixes by @marhcouto in #239
• feat(perception): Perception node created by @Davide64-dev in #236
• feat (longitudinal control): added new node by @lourenco31 in #237
• Update docs by @marhcouto in #245
• feat(lateral_control): package and node created by @PedromLBarros in #240
• Planning node refactoring/Adding velocity to path points by @lourenco31 in #243
• Added Kiss-ICP and tutorial by @BrunoDias201907828 in #241
• Feature/ground removal by @Davide64-dev in #242
• docs: added simulator tutorial by @marhcouto in #244
• Feature/rs driver by @Davide64-dev in #247
• Feature/clustering by @Davide64-dev in #249
• fix(loc_map): solved Eigen dependencies by @Davide64-dev in #246
• Feature/cone differentiation by @Davide64-dev in #250
• docs(planning):Comments about Delaunay triangulaiton by @PedromLBarros in #254
• Adapters Refactor by @andrelds11 in #252
• Loc map refactor by @PedroRomao3 in #256
• [ FSF-238 ] Pid longi by @PedromLBarros in #253
• ref(planning): refactor outlier removal by @lourenco31 in #248

New Contributors

• @yvesb04 made their first contribution in #233
• @lourenco31 made their first contribution in #237
• @PedromLBarros made their first contribution in #240
• @BrunoDias201907828 made their first contribution in #241

Full Changelog: v0.1.1...v0.2

End of System 0 (22-23 FSFEUP Driverless)

Final release of the first system (System 0). This system contained a full implementation of an AD system. It was however very faulty. It used:

• Camera based perception with ZED2 stereo camera and YOLOv5m6
• EKF SLAM with odometry based localisation
• Delaunay Triangulations middle-path planning
• PID or MPC based control
• EUFS SIM and CAN control

The system competed in FSUK-AI 2023, having managed to complete all inspections, dynamic and static. Despite not having competed in any dynamic event and a mediocre performance overall, the team won the first place for te FS-AI Business Plan presentation.

System developed by the Formula Student FEUP team's Driverless department of 2022-2023:

• @diogohalmeida - Perception
• @TsarkFC - Department Leader
• @andrelds11 - Planning
• @JoaoAMarinho - Control
• @marhcouto - Localisation and Mapping
• @Leonor2004 - Planning
• @vjardimb - Control
• @tomascadete - Perception
• @PedroRomao3 - Recruit / Localisation and Mapping
• @Davide64-dev - Recruit / Perception
• @beamiranda07 - Recruit

System Integration

• First release containing the all the different components integrated

Sprint #3

Contains the code that resulted from the end of the third sprint

• Uses the stereo camera virtualization present in the EUFS simulator
• Cone detection model integrated in the simulator
• Improvements in the PID algorithm (considering acceleration changes)

Sprint #2

First release, containing the code that resulted from the end of the second sprint

• Contains initial repository structure
• Defined automation workflows (testing, code verifications)
• Path planning finding the middle path of a race track
• Control communicating with EUFS simulator