F1tenth

Demo

ros2 launch f1tenth_stack bringup_launch.py
ros2 launch particle_filter localize_launch.py
ros2 launch pure_pursuit pure_pursuit_launch.py

ros2 run safety_node safety_node.py

ros2 launch state_estimation ekf.launch.py ros2 launch stanley_avoidance stanley_avoidance_launch.py

===

Build

F1Tenth Race Stack for Autonomous Navigation

colcon build --symlink-install # for editic src config directly

Key teleoperation

python ./key_teleop.py

Lidar Odometry (need to check it's working)

ros2 launch rf2o_laser_odometry rf2o_laser_odometry.launch.py

Foxglove Viz

ros2 launch rosbridge_server rosbridge_websocket_launch.xml

For foxglove_bridge: need to source galactic: source /opt/ros/galactic/setup.bash

ros2 run foxglove_bridge foxglove_bridge

Connect bt:

connect_joy

Bringup

ros2 launch f1tenth_stack bringup_launch.py

No Machine: Check Status: sudo /usr/NX/bin/nxserver --status Start: sudo /usr/NX/bin/nxserver --startup

Jetson Clock

sudo /usr/bin/jetson_clocks

===

SLAM

ros2 launch slam_toolbox online_async_launch.py params_file:=/home/rlspeed/race_stack/f1tenth/src/f1tenth_system/f1tenth_stack/config/f1tenth_online_async.yaml

save map

ros2 service call /slam_toolbox/save_map slam_toolbox/srv/SaveMap "{name: {data: '/home/rlspeed/race_stack/f1tenth/arc'}}"

save posegraph

ros2 service call /slam_toolbox/serialize_map slam_toolbox/srv/SerializePoseGraph "{filename: '/home/rlspeed/race_stack/f1tenth/hesl'}"

Deserialize pose ros2 service call /slam_toolbox/deserialize_map slam_toolbox/srv/DeserializePoseGraph "{filename: '/home/rlspeed/race_stack/f1tenth/hesl'}" save map ros2 service call /slam_toolbox/save_map slam_toolbox/srv/SaveMap "{name: {data: '/home/rlspeed/race_stack/f1tenth/hesl'}}"

===

Intelisense Camera IMU

ros2 launch realsense2_camera rs_launch.py
enable_infra1:=false
enable_infra2:=false
enable_color:=false
enable_depth:=false
enable_gyro:=true
enable_accel:=true
unite_imu_method:=2
publish_tf:=true

It gives topic: /camera/imu tf: camera_link → camera_imu_frame Need to create tf_static base_link -> camera_link

===

Particle Filter 2017

ros2 launch particle_filter localize_launch.py rviz map: the map does not show up automatically, change the durability policy to transient (Map -> Topic -> Durability Policy). This is because the map is running on server.

===

Cartographer

ros2 launch cartographer cartographer.launch.py

save map

ros2 run nav2_map_server map_saver_cli -f ~/race_stack/f1tenth/test

Loacalixation

ros2 service call /map_server/load_map nav2_msgs/srv/LoadMap "{map_url: /home/rlspeed/race_stack/f1tenth/hesl.yaml}" or? ros2 service call /map_server/load_map nav2_msgs/srv/LoadMap
"{map_url: '/home/rlspeed/race_stack/f1tenth/hesl.yaml'}"

===

EKF (odm - imu fusion)

ros2 launch state_estimation ekf.launch.py

=======

Final

1. bringup: ros2 launch f1tenth_stack bringup_launch.py
2. ekf: ros2 launch state_estimation ekf.launch.py
3. slam: ros2 launch slam_toolbox online_async_launch.py params_file:=/home/rlspeed/race_stack/f1tenth/src/f1tenth_system/f1tenth_stack/config/f1tenth_online_async.yaml
4. save_map: ros2 run nav2_map_server map_saver_cli -f ~/race_stack/f1tenth/test

---

5. get_traj: obtain it from the notebook

---

6. pf: ros2 launch particle_filter localize_launch.py
7. run_pp: ros2 launch pure_pursuit pure_pursuit_launch.py ===