ros2_cpp_racecar

F1TENTH Racecar driving algorithm planner binding for ROS2

Installation

$ cd colcon_ws/src
$ git clone https://github.com/zygn/ros2_cpp_racecar
$ cd .. && colcon build --packages-select ros2_cpp_racecar
$ source ./install/setup.bash

Run

$ ros2 launch ros2_cpp_racecar racecar.py

Parameters

Check config/params.yaml file in folder. Rebuild (with colcon) is required when parameters are changed.

or you can change parameters directly in colcon_ws/install/ros2_cpp_racecar/share/ros2_cpp_racecar/config/params.yaml located file.

# Default
racecar:
  ros__parameters:
    bubble_radius: 120
    preprocess_conv_size: 70
    best_point_conv_size: 20
    maximum_lidar_distance: 8.0
    straight_speed: 4.0
    corners_speed: 1.5
    robot_scale: 0.325

    scan_topic: /scan 
    odom_topic: /odom 
    drive_topic: /drive
    tf_topic: /tf_static
    joy_topic: /joy

TODO

Marker Publisher
~~Make Launch file~~
~~Declaring Parameters~~