e-c-t/f1tenth

F1Tenth

Overview

This repository contains ROS2 packages designed for use with the F1Tenth project. The F1Tenth initiative provides a platform for designing, building, and racing autonomous 1/10th scale cars. This repository includes packages that implement various functionalities for controlling and simulating these vehicles.

F1Tenth Gym Environment

The repository's packages were developed using the F1Tenth Gym ROS environment. This environment provides a comprehensive setup for creating, testing, and simulating autonomous driving algorithms in a ROS2 framework, specifically for F1Tenth cars.

Packages

This repository currently includes the following packages:

1. gap_follow: This package implements a gap-following algorithm for obstacle avoidance, allowing the vehicle to navigate around obstacles in its path.

2. mpc: This package contains a Model Predictive Control (MPC) algorithm for trajectory planning, optimizing the vehicle's path while adhering to constraints.

3. pure_pursuit: This package implements a Pure Pursuit algorithm for path tracking, enabling the vehicle to follow a predefined trajectory.

4. rrt: This package implements a Rapidly-exploring Random Tree (RRT) algorithm for path planning, helping the vehicle explore and navigate complex environments.

5. safety_node: This package monitors the vehicle's state and surroundings, ensuring safe operations and intervening if necessary.

6. wall_follow: This package implements a wall-following algorithm, allowing the vehicle to navigate by maintaining a consistent distance from walls or barriers.