f1tenth_system

Drivers onboard f1tenth race cars. This branch is under development for migration to ROS2. See the documentation of F1TENTH on how to get started.

Cloning submodules

If you clone this repository, make sure to clone the submodules as well. You can do this by running:

git submodule update --init --recursive --remote

This will ensure you have all the submodules cloned and updated to the configured branches.

Deadman's switch

On Logitech F-710 joysticks, the LB button is the deadman's switch for teleop, and the RB button is the deadman's switch for navigation. You can also remap buttons. See how on the readthedocs documentation.

Sick Lidar

Note that sick_scan_xd does not have an apt package for ROS2 foxy, you can try installing from source. Follow these steps to install sick_scan_xd on Linux for ROS 2 Humble:

sudo apt update
sudo apt-get install ros-humble-sick-scan-xd

Warning: Make sure to use the sick_tim_5xx.launch file located in the f1tenth_stack package's launch directory:

<f1tenth_stack>/launch/sick_tim_5xx.launch

This file is an updated version of the original sick_tim_5xx.launch file that changes the "frame_id" to "laser" and "tf_base_frame_id" to "base_link", which is compatible with the slam_toolbox and particle filter. You will still need to set the IP address of the lidar in the launch file.

See the documentation of F1TENTH on how to get started.

Getting SICK Lidar IP

The lidar is delivered with a standard IP address. There are two ways to read or change the IP address:

1. Using a Windows Computer : Install SICK SOPAS ET and follow the instructions in the sick_scan_xd package.

2. Using a Linux Computer : You can scan the network for the lidar IP address using the following command:

nmap -sn

If you have a SICK lidar connected to the network, you will see the IP address of the lidar in the output.

Configure Ethernet (after you know the LiDAR IP)

Follow the Hokuyo 10LX Ethernet connection setup. The same networking steps apply to the SICK LiDAR. Use the LiDAR IP you discovered (it may not be 192.168.0.10).

Configure the Jetson eth0 connection in the Linux GUI:

1. Open Network Configuration and edit the eth0 connection (or create a new one named SICK).
2. In the IPv4 tab, set Manual and add:
   • IP address: a free address on the same subnet as the LiDAR (example: LiDAR 192.168.0.10 -> Jetson 192.168.0.15)
   • Subnet mask: 255.255.255.0 (or match the LiDAR subnet)
   • Gateway: the LiDAR IP (example: 192.168.0.10)
3. Save the connection and select it.
4. Plug in the LiDAR and verify connectivity:

ping <lidar_ip>

Update launch files

1. Open f1tenth_stack/launch/sick_tim_5xx.launch and set <arg name="hostname" default="..."/> to your LiDAR IP.
2. Open f1tenth_stack/launch/sick_bringup_launch.py and confirm arguments=[...] points to your local sick_tim_5xx.launch file (update the path if needed).

Bring up with ros2 launch f1tenth_stack sick_bringup_launch.py.

Topics

Topics that the driver stack subscribe to

• /drive: Topic for autonomous navigation, uses AckermannDriveStamped messages.

Sensor topics published by the driver stack

• /scan: Topic for LaserScan messages.
• /odom: Topic for Odometry messages.
• /sensors/imu/raw: Topic for Imu messages.
• /sensors/core: Topic for telemetry data from the VESC

External Dependencies

1. ackermann_msgs https://index.ros.org/r/ackermann_msgs/#humble.
2. urg_node https://index.ros.org/p/urg_node/#humble. This is the driver for Hokuyo LiDARs.
3. joy https://index.ros.org/p/joy/#humble. This is the driver for joysticks in ROS 2.
4. teleop_tools https://index.ros.org/p/teleop_tools/#humble. This is the package for teleop with joysticks in ROS 2.
5. vesc GitHub - f1tenth/vesc at ros2. This is the driver for VESCs in ROS 2.
6. ackermann_mux GitHub - f1tenth/ackermann_mux: Twist multiplexer. This is a package for multiplexing ackermann messages in ROS 2.
7. sick_scan_xd https://index.ros.org/p/sick_scan_xd/#humble. This is the driver for SICK LiDARs in ROS 2.

Package in this repo

1. f1tenth_stack: maintains the bringup launch and all parameter files

Nodes launched in bringup

1. joy
2. joy_teleop
3. ackermann_to_vesc_node
4. vesc_to_odom_node
5. vesc_driver_node
6. urg_node
7. ackermann_mux

Parameters and topics for dependencies

vesc_driver

1. Parameters:
   • duty_cycle_min, duty_cycle_max
   • current_min, current_max
   • brake_min, brake_max
   • speed_min, speed_max
   • position_min, position_max
   • servo_min, servo_max
2. Publishes to:
   • sensors/core
   • sensors/servo_position_command
   • sensors/imu
   • sensors/imu/raw
3. Subscribes to:
   • commands/motor/duty_cycle
   • commands/motor/current
   • commands/motor/brake
   • commands/motor/speed
   • commands/motor/position
   • commands/servo/position

ackermann_to_vesc

1. Parameters:
   • speed_to_erpm_gain
   • speed_to_erpm_offset
   • steering_angle_to_servo_gain
   • steering_angle_to_servo_offset
2. Publishes to:
   • ackermann_cmd
3. Subscribes to:
   • commands/motor/speed
   • commands/servo/position

vesc_to_odom

1. Parameters:
   • odom_frame
   • base_frame
   • use_servo_cmd_to_calc_angular_velocity
   • speed_to_erpm_gain
   • speed_to_erpm_offset
   • steering_angle_to_servo_gain
   • steering_angle_to_servo_offset
   • wheelbase
   • publish_tf
2. Publishes to:
   • odom
3. Subscribes to:
   • sensors/core
   • sensors/servo_position_command

throttle_interpolator

1. Parameters:
   • rpm_input_topic
   • rpm_output_topic
   • servo_input_topic
   • servo_output_topic
   • max_acceleration
   • speed_max
   • speed_min
   • throttle_smoother_rate
   • speed_to_erpm_gain
   • max_servo_speed
   • steering_angle_to_servo_gain
   • servo_smoother_rate
   • servo_max
   • servo_min
   • steering_angle_to_servo_offset
2. Publishes to:
   • topic described in rpm_output_topic
   • topic described in servo_output_topic
3. Subscribes to:
   • topic described in rpm_input_topic
   • topic described in servo_input_topic