last changes

src/controller/launch/controller.launch

@@ -1,5 +1,11 @@
 <?xml version="1.0"?>
 <launch>
   <node pkg="controller" type="controller.py" name="controller" output="screen">
+  </node> 
+  <node pkg="traffic_detection" type="traffic_detection.py" name="traffic_detection">
+  </node>   
+  <node pkg="obj_distance_estimator" type="obj_distance_estimator.py" name="obj_distance_estimator">
+  </node>
+  <node pkg="pedestrian_detection" type="pedestrian_detection.py" name="pedestrian_detection">
   </node>  
 </launch>

src/controller/scripts/controller.py

@@ -17,6 +17,8 @@ def __init__(self):
         self.stop_duration = rospy.Duration(3.0)
         self.min_speed = 0.2
         self.max_speed = 0.4
+        self.min_ang_speed = 0.6
+        self.max_ang_speed = 1.2
         self.speed_limit = self.max_speed
 
         self.object_detected = False
@@ -70,13 +72,13 @@ def sign_callback(self, msg):
                 rospy.loginfo("Stop sign detected")
                 self.stop_detected = True
                 self.stop_block_end_timer = rospy.Time.now() + self.stop_duration
-                cmd = Twist()
-                self.cmd_vel_pub.publish(cmd)
+                # cmd = Twist()
+                # self.cmd_vel_pub.publish(cmd)
             elif sign == "red_light":
                 rospy.loginfo("Red light detected")
                 self.traffic_light_state = "red"
-                cmd = Twist()
-                self.cmd_vel_pub.publish(cmd)
+                # cmd = Twist()
+                # self.cmd_vel_pub.publish(cmd)
             elif sign == "yellow_light":
                 rospy.loginfo("Yellow light detected")
                 self.traffic_light_state = "yellow"
@@ -131,7 +133,7 @@ def cmd_callback(self, msg):
             rospy.loginfo("Stopped at a stop sign")
             return
 
-        cmd = self.apply_traffic_rules(msg)
+        cmd = self.apply_traffic_sign_rules(msg)
 
         if self.pedestrian_detected:
             self.cmd_vel_pub.publish(cmd)
@@ -151,9 +153,9 @@ def apply_traffic_sign_rules(self, msg):
         if self.traffic_light_state == "red" and cmd.linear.x > 0:
             cmd.linear.x = 0.0
         elif self.traffic_light_state == "yellow" and cmd.linear.x > 0:
-            cmd.linear.x *= 0.5  # Reduce speed by half for yellow light
+            cmd.linear.x = self.speed_limit / 2  # Reduce speed by half for yellow light
 
-        # Apply turn restrictions
+        # # Apply turn restrictions
         if not self.turn_restrictions["left_allowed"] and cmd.angular.z > 0:
             cmd.angular.z = 0.0  # Block left turns
 
@@ -165,7 +167,6 @@ def apply_traffic_sign_rules(self, msg):
                 cmd.angular.z = -0.2  # Force slight right turn
                 if cmd.linear.x > 0.3:
                     cmd.linear.x = 0.3  # Reduce speed for right turn
-
         return cmd
 
     def run(self):

src/obj_distance_estimator/scripts/obj_distance_estimator.py

@@ -18,8 +18,8 @@
 from sensor_msgs.msg import PointCloud2
 from std_msgs.msg import Bool
 
-LASER_DIST_THRESHOLD = 0.40 
-DEPTH_DIST_THRESHOLD = 0.50 
+LASER_DIST_THRESHOLD = 0.30 
+DEPTH_DIST_THRESHOLD = 0.30 
 
 class obj_dist_est():
 

src/pedestrian_detection/scripts/pedestrian_detection.py

@@ -59,10 +59,10 @@ def detect_pedestrian_lane(self, image):
             height, width, _ = image.shape
 
             # Define region of interest
-            roi_top = int(height * 0.25)
-            roi_bottom = int(height)
-            roi_width = int(width)
-            roi_left = int(0)
+            roi_top = int(height * 0.6)
+            roi_bottom = int(height * 0.8)
+            roi_width = int(width * 0.5)
+            roi_left = int(width * 0.25)
             roi_right = int(roi_left + roi_width)
 
             # Extract ROI
@@ -81,7 +81,7 @@ def detect_pedestrian_lane(self, image):
             white_pixel_count = np.sum(white_mask > 0)
             cv2.putText(debug_image, f"White pixels: {white_pixel_count}", 
                       (10, 30), cv2.FONT_HERSHEY_SIMPLEX, 0.7, (255, 255, 255), 2)
-            if white_pixel_count < 10000:
+            if white_pixel_count < 4000:
                 return False, debug_image
 
             # Apply morphological operations to clean up the mask

src/sign_detection/scripts/sign_detection.py

@@ -54,11 +54,16 @@ def callback(self, data):
 
             final_label = None
 
+            score  = -1
             for result in results:
                 for box in result.boxes:
                     confidence = float(box.conf[0].item())  # Extract confidence score
-                    if confidence >= 0.80:  # Confidence threshold check
-                        label = self.model.names[int(box.cls[0].item())]  # Get label
+                    label = self.model.names[int(box.cls[0].item())]
+                    if label == "red_light" or label == "green_light" or label == "yellow_light":
+                        if score < confidence:
+                            score = confidence
+                            final_label = label
+                    elif confidence >= 0.80: 
 
                         x1, y1, x2, y2 = box.xyxy[0] 
                         x1, y1, x2, y2 = float(x1), float(y1), float(x2), float(y2)