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This package controls the car for line following and obstacle avoidance by simultaneously receiving messages from the track recognition node and obstacle recognition node.
- Have a real robot or robot simulation module, including a motion base, camera, and RDK kit, and ensure that it operates normally.
- Have ROS low-level driver installed, so the robot can receive "/cmd_vel" commands for motion and move correctly based on the commands.
1. Install the Package
After starting the robot, connect to the robot via SSH or VNC in the terminal, click the "One-Click Deployment" button at the top right of this page, copy and run the following command on the RDK system to install the related nodes.
sudo apt update
sudo apt install -y tros-racing-control2. Run Automatic Line Following and Obstacle Avoidance
source /opt/tros/local_setup.bash
# Simulation
ros2 launch racing_control racing_control_simulation.launch.py
# Real scenario (parameters can be set via command line at startup)
ros2 launch racing_control racing_control.launch.py avoid_angular_ratio:=0.2 avoid_linear_speed:=0.1 follow_angular_ratio:=-1.0 follow_linear_speed:=0.1| Name | Message Type | Description |
|---|---|---|
| /cmd_vel | geometry_msgs/msg/Twist | Publishes control messages for the car |
| Name | Message Type | Description |
|---|---|---|
| racing_track_center_detection | ai_msgs::msg::PerceptionTargets | Receives messages about the position of the track center |
| racing_obstacle_detection | ai_msgs/msgs/PerceptionTargets | Receives position information of the detected obstacles |
| Parameter Name | Type | Description |
|---|---|---|
| pub_control_topic | string | The name of the control message to publish, please configure according to the actual topic name, default value is /cmd_vel |
| avoid_angular_ratio | float | The ratio of angular velocity during obstacle avoidance, please configure according to the actual situation, default value is 1.1 |
| avoid_linear_speed | float | The linear speed during obstacle avoidance, please configure according to the actual situation, default value is 0.25 |
| follow_angular_ratio | float | The ratio of angular velocity during line following, please configure according to the actual situation, default value is -1.0 |
| follow_linear_speed | float | The linear speed during line following, please configure according to the actual situation, default value is 1.5 |
| bottom_threshold | int | The coordinate threshold (y-value of the target bottom coordinate) to trigger obstacle avoidance, please configure according to the actual situation, default value is 340 |
| confidence_threshold | float | The confidence threshold of obstacles to trigger obstacle avoidance, please configure according to the actual situation, default value is 0.5 |