f1tenth_system

Drivers onboard f1tenth race cars. This branch is under development for migration to ROS2.

Launching teleop

cd scripts
./run_container.sh

This will bring up a container that contains foxy and the f1tenth_stack. Display is forwarded so rviz also works inside the container.

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.

Topics

• /drive: Topic for autonomous navigation, uses AckermannDriveStamped messages.
• /scan: Topic for LaserScan messages.
• /vesc/odom: Topic for Odometry messages.

External Dependencies

1. ackermann_msgs https://index.ros.org/r/ackermann_msgs/#foxy.
2. urg_node https://index.ros.org/p/urg_node/#foxy. This is the driver for Hokuyo LiDARs.
3. joy https://index.ros.org/p/joy/#foxy. This is the driver for joysticks in ROS 2.
4. teleop_tools https://index.ros.org/p/teleop_tools/#foxy. 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. rosbridge_suite https://index.ros.org/p/rosbridge_suite/#foxy-overview This is a package that allows for websocket connection in ROS 2.

Package in this repo

1. f1tenth_stack: has the throttle interpolator and all bringup launch scripts and launch configs

Nodes launched in bringup

1. joy
2. joy_teleop
3. ackermann_to_vesc_node
4. vesc_to_odom_node
5. vesc_driver_node

7. urg_node
8. ackermann_mux
9. rosbridge_websocket.launch

TODOs

• port the bringup package to ROS2
• finish vesc imu implementation
• test urg_node on car
• test urg_node on car with ethernet and wifi
• test joy on car
• test bringup launch on car
• test foxglove studio integration over rosbridge

Notes and Gotchas

• joy_teleop installed through rosdep/apt has a bug where the stamp is not using the correct format, clone from the teleop_tools repo on foxy-devel branch and put it in f1tenth_stack/ so it works correctly.
• Testing results 09/24/21: mux is working but not correctly, when msgs published to /drive, the deadman switch doesn't work. Deadman switch for teleop works. Odom seems to be not published?

Extra doc to be put in other repos

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