This is the primary code to build F1Tenth Racing Car based on ESP-IDF FreeRTOS. LIDAR sensor is used as the only input device here. These codes are collected from other respositories.
// 1st Code for control and provide information needed in microcontroller. Please follow tutorial from https://medium.com/@SameerT009/connect-esp32-to-ros2-foxy-5f06e0cc64df
Modified code : f1tent_diff_drive //Put it inside the FreeRTOS firmware applications
// 2nd Code for wall_following and navigation using LIDAR. It is taken from ATaufikR repositories : https://github.com/ATaufikR/F1tenth_wall_follower_ROS2
Additional code for RP LIDAR A2 driver: rplidar_ros2 //Put it inside the src folder
Modified code for wall following and navigation: right_wall_follower_drive_node.cpp //Put it inside the src folder