AutoDRIVE-F1TENTH v0.4.0

Summary

• Update ROS 1 packages
• Add ROS 2 packages
• Update documentation

Details

• Update ROS 1 packages with f1tenth_sim
• Add ROS 2 package for f1tenth
• Add ROS 2 package for f1tenth_sim
• Updated overall repository documentation.
• Updated documentation for individual ROS 1 packages.
• Updated documentation for individual ROS 2 packages.

AutoDRIVE-F1TENTH v0.3.0

Summary

• Calibrated vehicle motion
• Updated vehicle parameters
• Updated open-loop vehicle control

Details

Calibrated and updated VESC parameters for drive motor and steering servo to comply with real-world metric units for vehicle motion in terms of linear velocity and steering angle (benchmarked against measuring tape as well as OptiTrack Mocap system). Following are the updated parameters:

Drive motor erpm (electrical rpm) = speed_to_erpm_gain * speed (meters / second) + speed_to_erpm_offset

speed_to_erpm_gain: 7300
speed_to_erpm_offset: 250

Steer servo value (0 to 1) = steering_angle_to_servo_gain * steering angle (radians) + steering_angle_to_servo_offset

steering_angle_to_servo_gain: -0.6
steering_angle_to_servo_offset: 0.435

Updated autodrive package to facilitate open-loop vehicle control with/without Gaussian noise (sampled from normal distribution).

Modified open loop controller script in autodrive package (and corresponding launch file in racecar package of f1tenth) to support skid-pad, fishhook & slalom tests while accepting command line arguments for:

• velocity Linear velocity in m/s
• steering Steering angle in rad
• velocity_noise Standard deviation of Gaussian noise in linear velocity (usually 0.1)
• steering_noise Standard deviation of Gaussian noise in angular velocity (usually 0.1)

Updated teleop.py script from autodrive package with limits & step sizes for vehicle actuation.

• drive Command referes to throttle/brake/reverse input to the vehicle
• steer Command refers to steering input to the vehicle
• DRIVE_LIMIT Refers to maximum limit on throttle/brake/reverse input to the vehicle
• STEER_LIMIT Refers to maximum limit on steering input to the vehicle
• DRIVE_STEP_SIZE Refers to variation in throttle/brake/reverse input to the vehicle upon one press of a key
• STEER_STEP_SIZE Refers to variation in steering input to the vehicle upon one press of a key
• DRIVE_LIMIT = 2.5 (or 1.5 for slow, easy - more "controllable" experience - represented in m/s)
• STEER_LIMIT = 0.52 (0.52 rad is physical steering limit of vehicle, reduce to constrain the vehicle)
• DRIVE_STEP_SIZE = 0.5 (increase/decrease to get coarser/finer throttle/brake/reverse variation)
• STEER_STEP_SIZE = 0.52 (or 0.26 for multi-step steering variation, reduce for finer control resolution)

Added topic throttling functionality (through mocap_data_recording.launch file option) for synchronously recording vehicle states (via motion-capture system) and control inputs (via open/closed loop control or teleoperation) while accepting command line arguments for:

• rosbag_dir Path to the directory to save the recorded bag file
• rosbag_name Name of the recorded bag file

AutoDRIVE-F1TENTH v0.2.0

Summary

• Added open-loop vehicle control
• Added mocap data recording

Details

Updated autodrive package to facilitate open-loop vehicle control with/without Gaussian noise (sampled from normal distribution).

Modified open loop controller script in autodrive package (and corresponding launch file in racecar package of f1tenth) to support skid-pad, fishhook & slalom tests while accepting command line arguments for:

• lin_vel Linear velocity in m/s
• ang_vel Angular velocity in rad/s
• lin_noise Standard deviation of Gaussian noise in linear velocity
• ang_noise Standard deviation of Gaussian noise in angular velocity

Updated teleop.py script from autodrive package with limits & step sizes for vehicle actuation.

• drive Command referes to throttle/brake/reverse input to the vehicle
• steer Command refers to steering input to the vehicle
• DRIVE_LIMIT Refers to maximum limit on throttle/brake/reverse input to the vehicle
• STEER_LIMIT Refers to maximum limit on steering input to the vehicle
• DRIVE_STEP_SIZE Refers to variation in throttle/brake/reverse input to the vehicle upon one press of a key
• STEER_STEP_SIZE Refers to variation in steering input to the vehicle upon one press of a key
• DRIVE_LIMIT = 5 (or 3 for slow, easy - more "controllable" experience)
• STEER_LIMIT = 0.52 (0.52 rad is physical steering limit of vehicle, reduce to constrain the vehicle)
• DRIVE_STEP_SIZE = 1 (increase/decrease to get coarser/finer throttle/brake/reverse variation)
• STEER_STEP_SIZE = 0.52 (or 0.13 for multi-step steering variation)

Added topic throttling functionality (through mocap_data_recording.launch file option) for synchronously recording vehicle states (via motion-capture system) and control inputs (via open/closed loop control or teleoperation) while accepting command line arguments for:

• rosbag_dir Path to the directory to save the recorded bag file
• rosbag_name Name of the recorded bag file

AutoDRIVE-F1TENTH v0.1.0

Integrated AutoDRIVE ROS package with F1TENTH vehicle to include:

• Joystick teleoperation (vanilla F1TENTH)
• Keyboard teleoperation (AutoDRIVE)
• Sensor visualization (AutoDRIVE-F1TENTH)
• LIDAR-based robust odometry (AutoDRIVE)
• Hector SLAM (AutoDRIVE-F1TENTH)
• AMCL (AutoDRIVE-F1TENTH)
• Point-to-point autonomous navigation (AutoDRIVE)
• Webcam data recording (AutoDRIVE-F1TENTH)