F1TENTH Webcam Data Recording Pipeline


Indoor F1TENTH Vehicle	Outdoor F1TENTH Vehicle

SETUP

Clone this repository.

$ git clone https://github.com/Tinker-Twins/F1TENTH-Webcam-Data-Recording-Pipeline.git

Move the f1tenth directory to the source space (src) of the Catkin workspace on the vehicle computer.
```
$ mv ~/Vehicle\ Software/f1tenth ~/catkin_ws/src/
```
Build the packages.
```
$ cd ~/catkin_ws
$ catkin_make
```

Teleoperation: Launch the teleop.launch file. Refer this document for detailed information.
```
$ roslaunch racecar teleop.launch
```
Webcam Bringup: Launch the webcam.launch file. Launches RViz window to show live webcam feed.
```
$ roslaunch usb_cam webcam_bringup.launch
```
Data Recording: Launch the data_recording.launch file. Launches teleop.launch as well as webcam.launch files, and records data in a f1tenth_<time_stamp>.bag file.
```
$ roslaunch racecar data_recording.launch
```