F1tenth workspace

Clone using

git clone git@github.com:Autonomous-Racing-Labs/f1tenth_racecar_ws.git
cd f1tenth_racecar_ws
git submodule update --init --remote --merge --recursive

Build with colcon:

colcon build

Start Simulator

source install/setup.bash
ros2 launch vehicle_control vehicle_control_simulation_launch.py

Start on actual vehicle

source install/setup.bash
ros2 launch vehicle_control vehicle_control_launch.py

Mapping and Localization

Extra steps to be done in simulation

When using the simulator, a map is alredy beeing published by the simulator. As this information clashes with any mapping/localization pipeline, we first need to disable this feature of the simulation.

To this end, open vehicle_control_simulation_launch.py from vehicle_control/launch and comment out the follwing two lines to stop the simulation's map server from beeing started:

#ld.add_action(nav_lifecycle_node)
#ld.add_action(map_server_node)

After that, use colcon build to build your changes. You may now proceed to Creating a Map using slam_toolbox.

Create a Map using slam_toolbox

Start Slam Toolbox in the simulation with command

ros2 launch slam_toolbox online_async_launch.py slam_params_file:=mapping_localization/mapper_params_simulation_async.yaml

Start Slam Toolbox on the actual vehicle with command

ros2 launch slam_toolbox online_async_launch.py slam_params_file:=mapping_localization/mapper_params_online_async.yaml

Open rviz and add the SlamToobox Panel (Panels --> Add new panels). You can find a "save to file" button there.

Localize in that map using AMCL Montecarlo Localization

ros2 launch mapping_localization/localization_launch_amcl.py params_file:=mapping_localization/nav2_params.yaml map:=MindenCitySpeedway0408.yaml

If the map does not show up in rviz2, set Map->Topic->"Durability Policy" to "Transient Local" in the left rviz control pane.

The TF Tree ALWAYS needs to be: map --> odom --> base_link --> laserframe; both for mapping and localization (wheras map --> odom is publiced by the particle filter in localization mode)

Helpful resources

• https://guni91.wordpress.com/2020/12/05/cartographer-ros2-installation/
• https://google-cartographer-ros.readthedocs.io/en/latest/algo_walkthrough.html