/hypharos_racecar

Low-cost, high speed (600USD, 3 m/s) 1/10 Autonomous ROS RaceCar (with tutorial for beginner)

Primary LanguageC++GNU Lesser General Public License v3.0LGPL-3.0

HyphaROS RaceCar pkg

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Abstract

We present a low-cost (~600USD), high speed, fully autonomous 1/10 rc car platform, called Hypha RaceCar. Instead of using high-end sensors/SBC like: hokuyo laser, Nvidia TX1, etc., our platform replace all expensive components with low-cost product (Odroid XU4, RPLidar A1, GY85 ...). The performance of high-end racecar, e.g. MIT RaceCar, is around 4 m/s (~3600USD), in contrast, Hypha RaceCar is able to achieve 3 m/s !
[Official Slides] https://github.com/Hypha-ROS/hypha-racecar/blob/ver.1-release/document/HyphaROS_RaceCar_Project_released.pdf
[3m/s Video] https://www.youtube.com/watch?v=jgS6gpmWPoY
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For Beginners

A step by step tutorial from hardware assembling to software installing and opration now is available:
https://github.com/Hypha-ROS/hypha-racecar/blob/ver.1-release/document/Hypha-ROS-RaceCar-Tutorial_V1.1.pdf

About us

FB Page: https://www.facebook.com/HyphaROS/
Website: https://hypharosworkshop.wordpress.com/
Youtube: https://www.youtube.com/watch?v=jgS6gpmWPoY (3 m/s)
Youku: http://i.youku.com/hypharos
Contact: hypha.ros@gmail.com
Developer:

  • HaoChih, LIN
  • KaiChun, Wu

Date: 2017/09/29
License: LGPL

Features

  • onboard mapping (ICP, Gmapping)
  • EKF for odometry (Laser Odom + IMU, robot_localization pkg)
  • AMCL localization
  • L1 base controller
  • Dynamic obstacle avoidance

Roadmap

  • Hypha RaceCar ver.2
  • Teb_local_planner
  • Autonomous parking
  • SVO for odometry estimation
  • Video tutorial

Hardware

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[google doc] https://goo.gl/9bx72b
[baidu doc] http://pan.baidu.com/s/1c2ImUrQ
Total Cost: < 600 USD

Software

Odroid Image

Image file for odroid.(with SD card >16G)
[Google drive] https://drive.google.com/open?id=0B7f-a3PiitSec3RyQWRTQVZ1NzA

Desktop Windows

64bit RAM >= 8G
VirtualBox 64bit (https://www.virtualbox.org/wiki/Downloads)
VirtualBox OVA file： Will be released soon!

Desktop Ubuntu (16.04)

64bit RAM > 4G
Install ROS Kinetic - (Desktop-Full Install) (http://wiki.ros.org/kinetic/Installation/Ubuntu)

$ sudo apt-get install git ros-kinetic-rplidar-ros remmina synaptic gimp ros-kinetic-navigation ros-kinetic-hector-slam ros-kinetic-hector-mapping arduino ros-kinetic-geographic-msgs ros-kinetic-rosserial-arduino ros-kinetic-rosserial ros-kinetic-slam-gmapping ros-kinetic-mrpt-slam ros-kinetic-mrpt-icp-slam-2d ros-kinetic-robot-localization -y

create your own catkin_ws
(http://wiki.ros.org/ROS/Tutorials/InstallingandConfiguringROSEnvironment#Create_a_ROS_Workspace)
$ cd catkin_ws/src
$ git clone https://github.com/MAPIRlab/rf2o_laser_odometry
$ git clone https://github.com/Hypha-ROS/hypha-racecar
$ cd ..
$ catkin_make