S2024 dynamics add acceleration calibration utility to utils

[Andy-Chen-design]

• Implemented functions to extract measured and output acceleration, as well as speed data from txt files.
• Added friction modeling and curve fitting to calculate and plot friction forces based on speed, coefficients for speed-dependent friction terms can be found.

[sonarqubecloud[bot]]

Quality Gate passed

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1 New issue
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[Andy-Chen-design]

Add acceleration calibration components and configuration

This commit introduces several updates and new files to enhance the acceleration calibration capabilities of our GEMstack:

1. New Component: acc_calibration_driver.py is introduced in GEMstack/onboard/planning/. This component facilitates the collection of vehicle dynamics data (measured acceleration, output acceleration, and speed) by running the vehicle at a constant acceleration specified via the driver.

2. Utilities Update: Modifications in GEMstack/utils/acceleration_calibration.py include new functionality to read data from a text file and perform curve fitting. This helps determine the friction coefficient for speed-dependent friction terms.

3. Configuration File: Added launch/acceleration_calibration.yaml which configures the vehicle to run at specified accelerations, thereby automating data collection for analysis.

4. YAML Updates: Updated GEMstack/knowledge/defaults/computation_graph.yaml to add a new component "driving_for calibration".

[krishauser]

Rejected, low quality