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F110 Workspace Description

We are a group of students from Ecole Polytechnique working on a collective scientific project:

[PSC f1tenth (Tianyang HUANG, Maroun Rami, El Mallah Rim, Bouillé Aude) X20].

More on f1tenth here : https://f1tenth.org/.

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Environment (single racecar) : Ubuntu 20.04 arm64 with ROS noetic

Gym Environment (multiple racecars): Ubuntu 18.04.6 amd64 with ROS melodic

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Author of source code & ReadMe : Tianyang HUANG(NicolasHHH)

Feel free to contact tianyang.huang@polytechnique.edu

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To compile :

pull the source code and delete the build and install directories. then do catkin_make within the workspace.

Some overviews:

Implementations :

Head to Head Racing

Navigation

SLAM

Turtlebot3


  • 1:10 racing car (Nvidia, Hkuyo Lidar, RGBD camera)

截屏2022-01-25 09 26 38

  • Real-time racing simulation (f1tenth_gym_ros & f1tenth_quickstart)

Head to Head Racing

  • f1tenth_gym with path visualization
TEBTEB720p.mp4

Navigation

  • Pure Pursuit: High speed path following
Pure.Pursuit.mp4
  • RRT+BFS: Dynamic Obstacle Avoidance + Rapide path planning
DFS.mp4
  • TEB planner:Backward planning Enabled + Dynamic Obstacle Avoidance + Time Optimal path planning
teb-circuit.mp4
TEB.mp4

SLAM (simultaneous localization and mapping)

  • Cartographer - SLAM:
Cartographer_Mapping.mp4
  • Cartographer - Adaptation to real environment Mapping:

tuning

  • Cartographer - Pure Localization:
Pure_Localization.mp4
  • Localization with amcl:
Mon.film-540p30.mov
  • Occupancy Grid
Occupancy.Grid.mp4
  • Scan Matching
Scan_Matching.mp4
  • Gap follow
Gap.follow.mp4

Turtlebot3

  • Turtlebot3 Navigation
Navigation_demo.mp4
  • Turtlebot3 SLAM + Random Walk
Random_Walk_demo.mp4