This is the repository for autonomous RC car of ASIM Lab. The project is entirely based on ROS. The other packages run on ROS2 and can be located here.
-
Information about apply realtime patch to the kernel and build can be found on kernel_rt_patch.
-
To change CPU configuration for better computation performance, read through the cpu_setup.
-
To install OpenCV with CUDA support, refer to this install_tutorial.
-
When building the workspace, using the following build command to avoid opencv library conflict. However, this issue would be avoided by using newer version of ROS (>= Melodic).
catkin build -DOpenCV_DIR=/usr/local/share/OpenCV
If you think this platform is helpful to your research, please cite the paper. This is the paper link. Here is a BibTex entry:
@inproceedings{ASIMcar,
author={Wu, Xihui and Eskandarian, Azim},
title={An Improved Small-Scale Connected Autonomous Vehicle Platform},
year={2019},
month={Nov},
journal={Dynamic Systems and Control Conference | ASME Digital Collection},
publisher={American Society of Mechanical Engineers Digital Collection},
url={https://asmedigitalcollection.asme.org/DSCC/proceedings/DSCC2019/59148/Park City, Utah, USA/1070503}
}