Releases: Tinker-Twins/AutoDRIVE-F1TENTH
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/ssteering
Steering angle in radvelocity_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 vehiclesteer
Command refers to steering input to the vehicleDRIVE_LIMIT
Refers to maximum limit on throttle/brake/reverse input to the vehicleSTEER_LIMIT
Refers to maximum limit on steering input to the vehicleDRIVE_STEP_SIZE
Refers to variation in throttle/brake/reverse input to the vehicle upon one press of a keySTEER_STEP_SIZE
Refers to variation in steering input to the vehicle upon one press of a keyDRIVE_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 filerosbag_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/sang_vel
Angular velocity in rad/slin_noise
Standard deviation of Gaussian noise in linear velocityang_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 vehiclesteer
Command refers to steering input to the vehicleDRIVE_LIMIT
Refers to maximum limit on throttle/brake/reverse input to the vehicleSTEER_LIMIT
Refers to maximum limit on steering input to the vehicleDRIVE_STEP_SIZE
Refers to variation in throttle/brake/reverse input to the vehicle upon one press of a keySTEER_STEP_SIZE
Refers to variation in steering input to the vehicle upon one press of a keyDRIVE_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 filerosbag_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)