Fix cfg Cases

[JordenGershenson]

Hello!

Thanks for the excellent paper and codebase, the work is very interesting.

In trying to get the codebase working, I have found 2 issues.

Initial Logging Error

After copying the repo and installing dependencies, I got the following error:

FileNotFoundError: [Errno 2] No such file or directory: '/home/jorden/catkin_ws/src/TC-Driver/TC_Driver/logs/last_run_Frenet_trajectory.log'

The fix was to simply add a logs directory to TC-Driver/TC_Driver

I assume the intent was that this should be the existing logs directory in the parent directory, so perhaps a better fix would have been to adjust the logging.basicConfig to use the parent directory.

C_Sf and C_Sr vs C_sf and C_sr

After fixing the logging, I also got this error:

This was fixed by updating several cfg files to the capital ‘S’ syntax.
The files included

• src/TC-Driver/TC_Driver/cfg/NUC3_params.yaml
• src/TC-Driver/TC_Driver/cfg/car_params_jfr.yaml
• src/TC-Driver/TC_Driver/cfg/car_params.yaml
• src/TC-Driver/Gym/configs/car_params.yaml
• src/TC-Driver/Gym/experiments/multitester/multitester.py

Based on a few comments it seems that some effort was made to adjust for this, but at least on my machine, these changes needed to be made.

Quality of Life Recommendation

Lastly, I have a quality of life recommendation.

Perhaps as a default the wandb.init mode attribute should be changed from run to offline. Run is obviously not wrong, but I think most users will not have a wandb account setup and logged in for this, but I am new to the field so perhaps I am mistaken! 😅

Thanks again for the amazing work and please let me know if there are any questions.

-Jorden Gershenson
jordeng55@gmail.com

[eghignone]

Thanks a lot for noticing these points and for using our codebase!

As it is a couple of different fixes, I think you could create a fork of the project, update the fixes on a branch and then create a pull request; I would gladly merge that back in main afterward!

for general information about the procedure you can also chek the official github docs here

[JordenGershenson]

Thanks for the reply! Sounds good, I'll go ahead and work on the fork. :)