sorbonneuniversitybolidecontributors/course_2024

Here is the Sorbonne University main repository for the Autonomous driving race host by ENS

Autonomous RC Car Race 2024

Project Overview

This is a project made by Sorbonne University students. The goal is to make an autonomous RC car that can drive on a track and avoid obstacles for the ENS 2024 race.

The git of the ROS packages is available at this link.

The project is divided into five main parts:

• ROS packages course_2024_pkgs
• Bolide scripts bolide_scripts contains scripts for specific implementations on the vehicle
• Documentation documentation contains some basic documentation for the project
• Simulation SimuWebots contains the simulation of the bolide in Webots
• STM32 code CoVAPSy_STM32 contains the code for the STM32 microcontroller

ENS Race Overview

https://ajuton-ens.github.io/CourseVoituresAutonomesSaclay/

Getting Started

Install ROS Noetic on your computer. Check the ROS Noetic installation guide for more information.

Check the Robot_setup.md file to get started with the robot.

Bolide's IP when connected to the rooter (SSID=R15-AF66) at St-Cyr

• IP bolide2: 192.168.137.78
• IP bolide1: 192.168.137.165

Check the ros_bashrc_lines.md file and copy ir to you're own ~/.bashrc. It'll save you a lot of trouble when connecting to the robots or interacting with the simulation or simply with ROS. Make sure that there are no double declarations and that the ROS environement variables ROS_NAMESPACE and ROS_MASTER_URI are unset.

Then you are ready to clone the ROS packages and build them !

For further information about our ROS packages, check the course_2024_pkgs repository.

course_2024's Issues

Speed sometimes drops to 0 while spinning the car is moving

Pictured is a plot showing the speed over time, the speed drops to 0 even though the wheels are definitely moving.

It can't be corrupted data, as the CRC check passes. It must be the STM32 reporting back the wrong data.