Project Title

Autonomous Racing - Project Group - TU Dortmund

Getting Started

These instructions will get you a copy of the project up and running

Install missing system dependencies

sudo apt install libsdl2-dev python-pyqtgraph
pip install torch

# RangeLibc
sudo pip uninstall pip && sudo apt install python-pip
pip install cython
git clone http://github.com/kctess5/range_libc
cd range_libc/pywrapper
# Either:
./compile.sh            # on VM
# Or:
./compile_with_cuda.sh  # on car - compiles GPU ray casting methods

Clone the Project

git clone --recurse-submodules https://github.com/Autonomous-Racing-PG/ros.package.git arpg
cd arpg

Move to ROS Workspace

cd ros_ws

Install missing ROS dependencies

rosdep install -y --from-paths src --ignore-src --rosdistro ${ROS_DISTRO}

Build ROS packages

catkin_make

Run routines

source devel/setup.bash (or setup.zsh)

Now several routines can be started by executing the launch-files inside the launch/ directory. E.g.

roslaunch launch/gazebo_car-teleop.launch

Run tests

catkin_make run_tests

Building a map with Cartographer

There are two bash scripts in the scripts folder which use Cartographer to create a map of a racetrack. This map can then be used for different purposes, for example in the ROS navigation stack.

• To build a map while a roscore is running and providing sensor data, use the cartographer_online script.
• To build a map from a rosbag, use the cartographer_offline script. The rosbag must provide range data on the rostopic /scan and a transformation tree on /tf; depending on your configuration of cartographer in car_cartographer/config it may need to also have odometry data on /odom or IMU data on /imu.

# Either:
./scripts/cartographer_online.sh
# Or:
./scripts/cartographer_offline.sh /absolute/path/to/rosbag

Documentation

• For general information and documentation checkout the wiki page.
• For source code documentation checkout the auto-generated Doxygen documentation.

License

This project (exluded git submodules) is licensed under the MIT and GPLv3 dual licensed - see the MIT.LICENSE and GPLv3.LICENSE file for details

Acknowledgments

• TU Dortmund