This is a project made by Sorbonne University students. The goal is to make autonomous RC cars that can drive around a track and avoid obstacles for the ENS organized CoVAPSy (Course Voiture Autonome Paris Saclay) race.
We entered two cars in the 2024 race, both using two different navigation heuristics. The hardware is pretty much identical between the two cars, but one of them uses a Dynamixel instead of a standard Servo for steering control.
The project is divided into five main parts:
- ROS packages for the first car (Reactive) course_2024_pkgs
- ROS packages for the second car (SLAM) 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 that link the car sensors to the Raspberry Pi
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https://ajuton-ens.github.io/CourseVoituresAutonomesSaclay/
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.