F1Tenth (humble) - How to record a trajectory (real car)

[atanasko]

Hi All,

Using the real car I successfully create a map using slam_toolbox, but when I try to record a trajectory using realcar_launch and particle_filter for localization map is successfully loaded

but I do have the Global Status: Error

Fixed Frame
Frame [map] does not exist

Laser scans are correctly displayed

and this is the graph generated

Any advice what the problem can be?

I also try to use absolute path for the map, and rebuild the particle_filter package.

Thanks in advance,
Atanasko

[atanasko]

Hi All,

I do try to rebuild reinstall Jetpack and rebuild Autoware again. I do have the following error and I assume it is related to the problem of recording the trajectory

when I search for trajectory_follower_f1tenth dependencies

I do find trajectory_follower dependency but I do not find this package

and same for recordreplay_planner_nodes do have dependency behavior_planner

but no behavior_planner package

I know there was a lot of refactoring and renaming into the project but can someone help me how to untie this and make it work?

Thanks in advance,
Atanasko

[pojenwang]

@atanasko The f1tenth_humble branch was based on the release/2024.06 universe version and this version has some new dependencies issues found during installation. I updated the branch to use the release/2024.07 universe version and made several modifications to the F1tenth packages (updated package names and msgs used) to resolve the issue. Can you try the latest version? I will discuss this update in the next Racing WG meeting.

[atanasko]

@pojenwang thank you! I will compile and test, and give you feedback. I already find the problem with the update in the messages and resolve it locally, but I did not find what the problem was with the trajectory recording. Looking forward to the Racing WG meeting.

[atanasko]

@pojenwang I do try with the updated code but I still have a problem

Code is successfully build and I can run create a map, but again when I run record a trajectory with the real car in RViz2 I still have Global Status error as before. Any advice what the problem can be?

Thanks in advance

[atanasko]

@pojenwang I create PR and update range_libc scripts. Using test.py looks like range_libc is correctly installed but when I run

# Terminal 1
source /opt/ros/humble/setup.bash
cd autoware && . install/setup.bash
ros2 launch launch_autoware_f1tenth realcar_launch.py

and

# Terminal 2
source /opt/ros/humble/setup.bash
cd autoware && . install/setup.bash
ros2 launch particle_filter localize_launch.py

when I try

ros2 topic echo /pf/pose/odom

nothig is published to this topic

any advice?

[atanasko]

@pojenwang I update

autoware/src/universe/autoware.universe/f1tenth/particle_filter/config/localize.yaml

particle_filter:
  ros__parameters:
    # topic names
    scan_topic: '/scan'
    # odometry_topic: 'ego_racecar/odom'
    odometry_topic: '/pf/pose/odom'
    # range data downsampling
    angle_step: 18
    max_particles: 1500
    squash_factor: 2.2
    # visualization
    viz: 1
    max_viz_particles: 60
    # ray marching method
    range_method: 'rmgpu'
    theta_discretization: 112
    # range data filtering
    max_range: 10
    fine_timing: 0
    publish_odom: 1
    # sensor model constants
    z_short: 0.01
    z_max: 0.07
    z_rand: 0.12
    z_hit: 0.75
    sigma_hit: 8.0
    # motion model dispersion constants
    motion_dispersion_x: 0.05
    motion_dispersion_y: 0.025
    motion_dispersion_theta: 0.25
    # sensor model variant, variant 2 good for rmgpu, 3 doesn't work for rmgpu
    rangelib_variant: 2

map_server:
  ros__parameters:
    # assuming map file is in particle_filter/maps
    map: 'pennovation'

but still looks like some messages are missing