zyblend / f1-10-human-racing

F1/10 human racing

Get Started

1. Clone repo

mkdir catkin_ws
git clone https://github.com/resilient-autonomous-systems-lab/F1-10-human-racing.git src
cd src
git submodule update --init

2. Install dependencies:

• joy

sudo apt update
sudo apt install ros-$ROS_DISTRO-joy*

• pacmod

sudo apt install apt-transport-https
sudo sh -c 'echo "deb [trusted=yes] https://s3.amazonaws.com/autonomoustuff-repo/ $(lsb_release -sc) main" > /etc/apt/sources.list.d/autonomoustuff-public.list'
sudo apt update
sudo apt install ros-$ROS_DISTRO-pacmod

3. Build and run packages

cd ..
catkin build
source ~/catkin_ws/devel/setup.bash
roslaunch global_launch racing.launch

git token for raslab

• username: fsudssAI
• passcode: 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

Software log

The communication and software framework has been steuped

• subscribe joy commands from racing cockpit
• simply scaling steering and throttle commands
• Publish commands to MicroNole
• Create RTSP server for MicroNole's front camera
• Stream videos to jetson
  

Alpha test

Suggestions from Alpha testers:

1. steering torque feedback, auto steering back to middle
2. trottle command has dead zone due to the friction of the tire, try to find the minimal throttle which can move the car physically in order to remove the dead zone.
3. Display the speed value and other position infromation of the car on cockpit's monitor.
4. model the real deceleration situation
5. add the middle lane tape (Done)
6. get two another small monitors to show the right and left camera view,
7. turn on back camera view when move backward

User guide

1. If you don’t have VNC viewer, please download any VNC viewer on your computer (For example: RealVNC, https://www.realvnc.com/en/connect/download/viewer/ )

2. Connect your computer to wifi “RASLab”:

Passcode: r@$Lab21

3. Open your VNC viewer, access Micronole computer and Racing cockpit computer
   

MicroNole:

IP: 192.168.2.13

Passcode: nvidia

Racing cockpit:

IP: 192.168.2.19

Passcode: nvidia

Bug tips:
If you cannot access those computer through VNC, it is probably the IP problem. Connect those two computers to a monitor and keyboard and mouse, open terminal, type “ifconfig”, it will show the IP address:

4. Open terminal in MicroNole computer, and type:
   sudo -s
nvidia
roslaunch qcar racing.launch
   

5. Open terminal in Racing cockpit computer, and type:
   sudo -s
nvidia
roslaunch global_launch racing.launch
   

Once see the camera view, close it by clicking “x” to close the image window, then it will show a bigger window:

Bug tips: If show “ unable to open camera” like below:

Use “ctrl+c” to stop the process, and launch it again

6. Now you are ready to go, have fun!