ashuh/f1tenth_racecar

A collection of packages for the F1TENTH platform.

F1TENTH Racecar

About

A collection of packages for the F1TENTH platform.

Getting Started

Installation

1. Clone the repository

    git clone https://github.com/Ashuh/f1tenth_racecar.git

2. Install dependencies

   rosdep install --from-paths src --ignore-src -r -y

3. Build

   catkin build --cmake-args -DCMAKE_BUILD_TYPE=Release

Demo

Simulation.Demo.mp4

f1tenth_racecar's Issues

[Drive Controller] Implement variable look ahead distance based on velocity

Implement Lidar Obstacle Detection

[costmap_generator] Indicate danger area in addition to collision area

Implement Drive Controller

Generate AckermannDrive messages from raw joystick inputs

[f1tenth_bringup] Reorganize launch files

• Each node should get node specific params from its private namespace and common params from the global namespace
• Create a yaml file for each node containing only node specific params
• Create a yaml file containing all shared params to be included only by top level launch files
• Use topic remapping instead of params to set topics

Enhance visualization of lattice edge weights

Remove edge weight text markers and color lines according to the edge weight instead.

[local_planner] Add check for global path nullptr

If global path has not been published, local_planner will crash due to nullptr

[Local Planner] Infinite loop in AccelerationRegulator due to division by 0.

Distance between waypoints can sometimes be 0 when approaching the end of the global path for some reason. This causes the acceleration at the waypoint to be infinity and the velocity profile to never be valid, resulting in an infinite loop.

Visualize obstacles using cube markers

[DS4 Controller] Fix invalid RGB values

RGB values seem exceed the valid range when battery is full

Implement Safety Controller

[Drive Controller] Publish look ahead distance visualization even when exceptions are thrown

[Collision Warning System] Replace hardcoded values with ROS parameters

Implement Local Planner

Implement path recorder and reader

Implement Collision Warning System