FILE CS-4 · COPY 2 OF 4CLASSIFICATION: CONE-1 · EYES ONLY
The ConeSortium
A joke of a repo around four real nodes, written for Formula Student driverless racing.
TONew members of the ClubFROMThe Club, Pit Lane OfficeREThree ROS 2 nodes that get a driverless Formula Student car around a track of cones, and one that does notDISTRIBUTION4 copies. Copy 1: archive. Copy 3: the build farm, which will not read it.
Each subject below has been observed in the field. Passages that would compromise the subjects, or embarrass the CPU, have been withheld under §(c)(1). Members holding sufficient clearance may release them.
PASSAGES WITHHELD: 27 OF 27
COVER NOTE · READ THIS FIRSTUNCLASSIFIED · NOTHING WITHHELD
What this file is actually about
This is a goliardic repo. The Club, the codenames and the black bars are jokes.
The nodes are real. They were written for Formula Student driverless racing, where a student-built car with nobody in it laps a track marked only by cones.
The cones are the whole job: blue on the car's left, yellow on its right, and the track is whatever lies between them.
EXHIBIT A · THE AREA OF OPERATIONS
Blue, left Yellow, right The car, no driver
CHAIN OF CUSTODY · WHO HANDS WHAT TO WHOM
1 · cuCONERUSHFinds the cones in the LiDAR point cloud.
2 · cuCONEFUSEDMaps them on lap 1 and localises against them after that.
3 · cuCONESTELLATIONGrows a centerline between them for the car to follow.
Happily Retired · CONEPOSEROptional. Puts the cones where you can see them in RViz or Foxglove, as a ground-truth reference.
HARDWAREA laptop GPU, specifically an RTX 4060 Mobile
(c)(1)
CPU ASSISTANCERequested on no occasion whatsoever
§2 FIELD LOG
0.0000 sPoint cloud arrives on the GPU.
0.0011 sCone markers published. Point cloud never left the GPU.
0.0011 sCPU enquires whether it might help.
(c)(1)0.0011 sSubject declines: "It would be embarrassing for everyone."
§3 ASSESSMENT
(c)(1)
Fast, self-sufficient and faintly condescending. Its attitude toward the CPU is best described as embarrassment on the CPU's behalf. Recommended wherever speed matters more than feelings.
SUBJECT 02 · CODENAME COURIERSTATUS: OPTIONAL, BY DESIGN
ROLEMoves cones to where they can be seen in RViz or Foxglove.
USEVisual ground-truth reference
RACE DUTIESNone. Not part of the pipeline.
(c)(1)
METHODExactly one matrix multiply
FILTERING / FUSIONNone / none
(c)(1)
SERVICE RECORD1 commit, titled "first commit"
§2 INTERVIEW TRANSCRIPT
Q.Describe your method.
(c)(1)A.I multiply by a matrix.
Q.And after that?
(c)(1)A.There is no after that.
§3 ASSESSMENT
(c)(1)
Either the simplest member of the Club or the most disciplined. Investigators could not establish which, because there is only one commit to read. It does one job, and it does it well. Sometimes you simply need the cones somewhere else.
LAP 1Subject quietly records the position of every cone.
(c)(1)LAP 2Subject begins correcting the expensive sensor, using the cones.
(c)(1)LAP 2The sensor is not informed.
§3 ASSESSMENT
(c)(1)
The cones are cheap, plastic and stationary; the sensor is none of these. Subject exploits the difference with remarkable composure. Less a README than a thesis with a rosbag.
(c)(1)TEST 3Only measurable difference: how hot the Orin got.
§3 ASSESSMENT
(c)(1)
Subject refers to its output as the Way. Agents are advised not to ask which backend is fastest within earshot of the Orin.
APPENDIX A · EXTRACTION PROCEDUREBURN AFTER COLCON
you WILL forget this flag.
git clone --recurse-submodules https://github.com/leonardonels/ConeSortium
# if the flag above was omitted:
git submodule update --init --recursive
colcon build
Licensed per package. The cones themselves remain unlicensed and at large. Full archive.