Software for the AutoRally research platform.
Research Pages AutoRally is associated with:
We welcome bug fixes, ehancements, new features, and feedback!
- Install Prerequisites
- Clone repository
- Install AutoRally ROS Dependencies
- Generate Documentation
- Test Setup in Simulation
- Autonomous Driving in Simulation
1. Install Prerequisites
Install Ubuntu 16.04 64-bit
Install required packages
sudo apt-get install git doxygen openssh-server libusb-dev texinfo
The following tools are useful, but not required for this project.
sudo apt-get install cutecom cmake-curses-gui synaptic python-termcolor
Install MPPI Dependencies (if you have a GPU and will run MPPI)
The core idea behind MPPI is to sample thousands of trajectories really fast. This is accomplished by implementing the sampling step on a GPU, for which you will need CUDA. We also use an external library to load python's numpy zip archives (.npz files) into C++.
Follow the gtsam Quick Start guide to clone and install the develop branch of gtsam.
cmake .., use:
cmake -DGTSAM_INSTALL_GEOGRAPHICLIB=ON -DGTSAM_WITH_EIGEN_MKL=OFF ..
Once install is complete, make sure linux can see the shared library:
2. Clone or Fork Repositories
Get the autorally repository in a catkin workspace. The suggested location is
~/catkin_ws/src/, but any valid catkin worskspace source folder will work. We suggest forking over cloning if you will be working with the code.
Also clone the IMU code into the same catkin workspace:
git clone https://github.com/AutoRally/imu_3dm_gx4.git
3. Install AutoRally ROS Dependencies
Within the catkin workspace folder, run this command to install the packages this project depends on.
rosdep install --from-path src --ignore-src -y
4. Compilation & Running
To compile and install run
catkin_make from the catkin workspace folder.
Due to the additional requirement of ROS's distributed launch system, you must run
before using any AutoRally components. See the wiki for more information about how to set this system up for distributed launches on your vehicle platform.
Note: If you are unfamiliar with catkin, please know that you must run
source catkin_ws/devel/setup.sh before ROS will be able to locate the autorally packages. This line can be added to your ~/.bashrc file.
5. Generate Documentation
You can generate or update code documentation by running
To view code documentation open
autorally/doc/html/index.html in a web browser.
6. Start the AutoRally Simulation to Test Configuration
roslaunch autorally_gazebo autoRallyTrackGazeboSim.launch
You can use a USB gamepad to drive the simulated platform around. On startup, the
runstop message published by the
joystick node is false. Press any of the buttons by the right stick (normally labelled X, Y, A, B or square, triangle, X, circle) to toggle the published value.
Verify runstop motion is enabled by looking at the
runstopMotionEnabled paramter in the
If you aren't using a gamepad, you will have to configure another source of runstop information for the platform to move:
Comment out line 89 of
rosrun rqt_publisher rqt_publisher
and configure rqt_publisher to publish a message to topic
/runstop of type
autorally_msgs/runstop at 1 Hz with
sender set to
motionEnabled set to true.
- Verify that
runstopMotionEnabledis true in
7. Autonomous Driving in Simulation
At the end of this section the robot will be driving autonomously in simulation using controllers available in
Position the robot in the same spot as when the simulation starts and make sure runstop motion should is enabled (set to true).
Start waypoint follower:
roslaunch autorally_control waypointFollower.launch
Start constant speed controller and tell it what speed to drive:
roslaunch autorally_control constantSpeedController.launch rosrun rqt_publisher rqt_publisher
Configure a publisher on topic
constantSpeedController/speedCommand of type
std_msgs/Float64 at rate 10 with value of 3 (you can adjust he value once everything is running). The value is the target velocity in m/s, and as soon as you do this the platform should move if motion is enabled.
If the robot turns and hits the barrier it's probably because the state estimator has not converged, so its orientation estimate is incorrect. Just select the track barriers and move them up to allow the robot to continue driving, and the estimator should converge and the vehicle will return to within the barriers.
More detailed explanations of the controllers and state estimator can be found on the wiki:
Controlling the AutoRally platform is a tutorial for how your own controller can control the AutoRally platform (in simulation or on hardware).
Multiple AutoRally Platforms In Simulation is a tutorial on how to launch and control 2 or more platforms in simulation.
If you are configuring a physical AutoRally platform, the next step is to configure the compute box, all of the peripherals, and the launch system. Those instructions are found in the Platform Configuration Instructions.