snrdevs / f1-autonomous-car

f1-tenth autonomous car simulation in Gazebo

Overview

Run an f1 tenth car simulation in Gazebo. Uses hector mapping and teb local planner for SLAM. Also uses LiDAR readings to autonomously move through a racetrack

Dependencies

• ROS
• teb_local_planner
• hector_slam
• ackermann_msgs
• move_base
• controller_manager
• ros_control
• joint_state_controller
• effort_contollers
• position_controllers
• amcl
• global_planner

How to Build

git clone https://github.com/StevieG47/f1-autonomous-car

Open a new terminal, in 1st terminal:

cd f1-autonomous-car/catkin_ws
catkin_make
source devel/setup.bash

In 2nd terminal:

cd f1-autonomous-car/teb/catkin_ws
catkin_make
source devel/setup.bash

How to Run

Launch the vehicle in Gazebo and start hector mapping in 1st terminal:

roslaunch f1 f1-Slam.launch

Start the planner and launch rviz in 2nd terminal:

roslaunch teb_local_planner_tutorials robot_carlike_in_stage.launch

Moving the car

Navigation goals can also be set manually using the 2D Nav Goal feature in rviz. Since it is an ackermann vehicle, it may not be able to navigate to the goal if the only path requires the vehicle to turn in place.

A simple autonomous obstacle avoidance method can also be used by opening a third terminal, navigating to the first catkin_ws, then

catkin_make
source devel/setup.bash
rosrun f1-move lidarmove

This reads from the /scan topic and publishes ackermann_msgs to move the car.