Download

Quick Start

git clone
colcon buld

F1tenth Bridge

cd $HOME
git clone https://github.com/f1tenth/f1tenth_gym
cd f1tenth_gym && pip3 install -e .

cd $HOME && mkdir -p sim_ws/src

cd $HOME/sim_ws/src
git clone https://github.com/f1tenth/f1tenth_gym_ros

• Update correct parameter for path to map file: Go to sim.yaml https://github.com/f1tenth/f1tenth_gym_ros/blob/main/config/sim.yaml in your cloned repo, change the map_path parameter to point to the correct location. It should be '<your_home_dir>/sim_ws/src/f1tenth_gym_ros/maps/levine'

source /opt/ros/humble/setup.bash
cd ..
rosdep install -i --from-path src --rosdistro humble -y
colcon build
source ~/sim_ws/install/setup.bash
echo "source ~/sim_ws/install/setup.bash" >> ~/.bashrc

Pipeline

Perception

F1tenth Particle Filter

cd $HOME/sim_ws/src
git clone https://github.com/f1tenth/particle_filter.git
cd ..
sudo apt-get update
rosdep install -r --from-paths src --ignore-src --rosdistro humble -y
colcon build

To use it in the simulator, you must comment out the launch of the map_server in the launch file. In the launch/localize_launch.py ​​file, comment out these two lines (Towards the end of the file): ld.add_action(nav_lifecycle_node) ld.add_action(map_server_node) Then, in the config/localize.yaml file, change the 'odometry_topic' to '/ego_racecar/odom' and 'range_method' to 'glt

Download Rangelibc library

cd $HOME
# No need to clone this in your workspace, we will only use the python wrapper
git clone https://github.com/f1tenth/range_libc
sudo apt-get install python3-dev cython3
cd range_libc/pywrapper
./compile.sh
sudo TRACE=ON python3 setup.py install

Fix to visualise "fake" scan

def publish_scan(self, angles, ranges):
# publish the given angels and ranges as a laser scan message
ls = LaserScan()
ls.header.stamp = self.last_stamp
ls.header.frame_id = '/laser'
ls.angle_min = float(np.min(angles))
ls.angle_max = float(np.max(angles))
ls.angle_increment = float(np.abs(angles[0] - angles[1]))
ls.range_min = 0.0
ls.range_max = float(np.max(ranges))
ls.ranges = [float(range) for range in ranges]
self.pub_fake_scan.publish(ls)

To be continued

Planning

Global Planning

To create Racelines and centerlines run genertatePaths.py

Launch

Bridge

ros2 launch f1tenth_gym_ros gym_bridge_launch.py

Particle Filter

ros2 launch particle_filter localize_launch.py

Tests

Packages

benchmark_test

f1tenth_gym_ros

f110_car_control

f10_interfaces

particle_filter

Topics to subscribe to:

Perception:

• /scan: scan from lidar
• /ego_racecar/odom: exact position or the car

Planning

Control

Misc

• /ego_crash: True if collision occurs

Tests

Create Custom Components

Simulation to RL

References