f1tenth_system

Drivers onboard f1tenth race cars. This branch is under development for migration to ROS2. See the documentation of F1TENTH on how to get started.

Pre-requisites:

• Install ROS 2

• Install Gazebo

• Install Navigation2

  sudo apt install ros-<ros2_distro>-navigation2 ros-<distro>-nav2-bringup

• Install SLAM Toolbox

  sudo apt install ros-<ros2-distro>-slam-toolbox

• Install Joint State Publisher

  sudo apt install ros-<ros2-distro>-joint-state-publisher

• Install Robot Localization

  sudo apt install ros-<ros2-distro>-robot-localization

Deadman's switch

On Sony Interactive Entertainment Wireless Controller, the LB button is the deadman's switch for teleop, and the RB button is the deadman's switch for navigation. You can also remap buttons. See how on the readthedocs documentation.

Topics

Topics that the driver stack subscribe to

• /drive: Topic for autonomous navigation, uses AckermannDriveStamped messages.

Sensor topics published by the driver stack

• /scan: Topic for LaserScan messages.
• /odom: Topic for Odometry messages.
• /sensors/imu/raw: Topic for Imu messages.
• /sensors/core: Topic for telemetry data from the VESC

External Dependencies

1. ackermann_msgs https://index.ros.org/r/ackermann_msgs/#humble.
2. sllidar_node https://github.com/Slamtec/sllidar_ros2/tree/humble This is the driver for SLAMTEC LiDARs.
3. joy https://index.ros.org/p/joy/#humble. This is the driver for joysticks in ROS 2.
4. teleop_tools https://index.ros.org/p/teleop_tools/#humble. This is the package for teleop with joysticks in ROS 2.
5. vesc https://github.com/RISE-Dependable-Transport-Systems/vesc/tree/humble. This is the driver for VESCs in ROS 2.
6. ackermann_mux GitHub - f1tenth/ackermann_mux: Twist multiplexer. This is a package for multiplexing ackermann messages in ROS 2.
7. slam_toolbox https://github.com/SteveMacenski/slam_toolbox/tree/humble. This is a package for SLAM.
8. nav2 https://github.com/ros-planning/navigation2/tree/humble. This is a ROS 2 navigation library.
9. joint_state_publisher https://index.ros.org/p/joint_state_publisher/#humble. Package for publishing sensor_msgs/msg/JointState messages for a robot described with URDF.
10. robot_localization https://index.ros.org/p/robot_localization/#humble. Package of nonlinear state estimation nodes.

Package in this repo

1. f1tenth_stack: maintains the bringup launch and all parameter files
2. dts_stack: maintains control station launch and rover launch, URDF file, all parameter files and a node to convert twist messages to ackermann messages.

To run Gazebo

1. ros2 launch dts_stack gazebo_rviz.launch.py frame_prefix:=robot/ use_sim_time:=true
2. ros2 run ros_gz_bridge parameter_bridge --ros-args -p config_file:=/home/ubuntu/src/f1tenth_ws/src/f1tenth_system/dts_stack/config/ros_gazebo_bridges.yaml
3. ros2 run teleop_twist_keyboard teleop_twist_keyboard
4. or use joypad
5. In rviz, set TF prefix to robot and fixed frame to robot/odom

Nodes launched by rover launch

1. joy_teleop
2. ackermann_to_vesc_node
3. vesc_to_odom_node
4. vesc_driver_node
5. ackermann_mux
6. sllidar_node

Nodes launched by control station launch

1. robot_state_publisher
2. joint_state_publisher
3. rviz2
4. ekf_filter_node
5. twist_to_ackermann
6. nav2_controller
7. nav2_planner
8. nav2_recoveries
9. nav2_bt_navigator
10. nav2_waypoint_follower
11. nav2_lifecycle_manager
12. slam_toolbox

Parameters and topics for dependencies

twist_to_ackermann

1. Publishes to:
   • drive
2. Subscribes to:
   • cmd_vel

slam_toolbox

1. Publishes to:
   • map
2. Subscribes to:
   • scan

vesc_driver

1. Parameters:
   • duty_cycle_min, duty_cycle_max
   • current_min, current_max
   • brake_min, brake_max
   • speed_min, speed_max
   • position_min, position_max
   • servo_min, servo_max
2. Publishes to:
   • sensors/core
   • sensors/servo_position_command
   • sensors/imu
   • sensors/imu/raw
3. Subscribes to:
   • commands/motor/duty_cycle
   • commands/motor/current
   • commands/motor/brake
   • commands/motor/speed
   • commands/motor/position
   • commands/servo/position

ackermann_to_vesc

1. Parameters:
   • speed_to_erpm_gain
   • speed_to_erpm_offset
   • steering_angle_to_servo_gain
   • steering_angle_to_servo_offset
2. Publishes to:
   • ackermann_cmd
3. Subscribes to:
   • commands/motor/speed
   • commands/servo/position

vesc_to_odom

1. Parameters:
   • odom_frame
   • base_frame
   • use_servo_cmd_to_calc_angular_velocity
   • speed_to_erpm_gain
   • speed_to_erpm_offset
   • steering_angle_to_servo_gain
   • steering_angle_to_servo_offset
   • wheelbase
   • publish_tf
2. Publishes to:
   • odom
3. Subscribes to:
   • sensors/core
   • sensors/servo_position_command

throttle_interpolator

1. Parameters:
   • rpm_input_topic
   • rpm_output_topic
   • servo_input_topic
   • servo_output_topic
   • max_acceleration
   • speed_max
   • speed_min
   • throttle_smoother_rate
   • speed_to_erpm_gain
   • max_servo_speed
   • steering_angle_to_servo_gain
   • servo_smoother_rate
   • servo_max
   • servo_min
   • steering_angle_to_servo_offset
2. Publishes to:
   • topic described in rpm_output_topic
   • topic described in servo_output_topic
3. Subscribes to:
   • topic described in rpm_input_topic
   • topic described in servo_input_topic