[fix] optimize the codebase. fix some typo.

Author: yuqiang-yang

scripts/realworld/controllers.py

@@ -13,6 +13,16 @@
 
 class Mpc_controller:
     def __init__(self, global_planed_traj, N=20, desired_v=0.3, v_max=0.4, w_max=0.4, ref_gap=4):
+        """Initialize the MPC controller.
+
+        Args:
+            global_planed_traj (np.ndarray): The global planned trajectory, shape (n, 2).
+            N (int): Prediction horizon.
+            desired_v (float): Desired linear velocity.
+            v_max (float): Maximum linear velocity.
+            w_max (float): Maximum angular velocity.
+            ref_gap (int): Gap between reference points in the prediction horizon.
+        """
         self.N, self.desired_v, self.ref_gap, self.T = N, desired_v, ref_gap, 0.1
         self.ref_traj = self.make_ref_denser(global_planed_traj)
         self.ref_traj_len = N // ref_gap + 1
@@ -141,6 +151,16 @@ def find_reference_traj(self, x0, global_planed_traj):
 
 class PID_controller:
     def __init__(self, Kp_trans=1.0, Kd_trans=0.1, Kp_yaw=1.0, Kd_yaw=1.0, max_v=1.0, max_w=1.2):
+        """Initialize the PID controller.
+
+        Args:
+            Kp_trans (float): Proportional gain for translational error.
+            Kd_trans (float): Derivative gain for translational error.
+            Kp_yaw (float): Proportional gain for yaw error.
+            Kd_yaw (float): Derivative gain for yaw error.
+            max_v (float): Maximum linear velocity.
+            max_w (float): Maximum angular velocity.
+        """
         self.Kp_trans = Kp_trans
         self.Kd_trans = Kd_trans
         self.Kp_yaw = Kp_yaw

scripts/realworld/http_internvla_client.py

@@ -108,7 +108,7 @@ def planning_thread():
 
     while True:
         start_time = time.time()
-        DISIRED_TIME = 0.3
+        DESIRED_TIME = 0.3
         time.sleep(0.05)
 
         if not manager.new_image_arrived:
@@ -193,7 +193,7 @@ def planning_thread():
             )
             time.sleep(0.1)
 
-        time.sleep(max(0, DISIRED_TIME - (time.time() - start_time)))
+        time.sleep(max(0, DESIRED_TIME - (time.time() - start_time)))
 
 
 class Go2Manager(Node):
@@ -344,7 +344,8 @@ def move(self, vx, vy, vyaw):
 if __name__ == '__main__':
     control_thread_instance = threading.Thread(target=control_thread)
     planning_thread_instance = threading.Thread(target=planning_thread)
-
+    control_thread_instance.daemon = True
+    planning_thread_instance.daemon = True
     rclpy.init()
 
     try:

scripts/realworld/http_internvla_server.py

@@ -1,15 +1,10 @@
 import argparse
 import json
 import os
-import sys
 import time
-
-import numpy as np
-
-sys.path.append('/home/pjlab/yq_ws/InternNav')
-
 from datetime import datetime
 
+import numpy as np
 from flask import Flask, jsonify, request
 from PIL import Image