Car Setups

Physical

Ensure ROS_DOMAIN_ID on the car matches with your host machine:

echo $ROS_DOMAIN_ID

If not, set the value (any value works as long as both match):

export ROS_DOMAIN_ID=0

Navigate to, source, and build the workspace:

cd ~/f1tenth_ws
source install/setup.bash
colcon build

Open a new terminal and launch the controller:

ros2 launch f1tenth_stack bringup_launch.py

In a separate terminal, launch slam_toolbox with the parameter file provided.

Note: Make sure you are within the f1tenth_ws directory:

ros2 launch slam_toolbox online_async_launch.py params_file:=src/f1tenth_system/f1tenth_stack/config/f1tenth_online_async.yaml

Open a new and separate terminal and launch:

rviz2

In the bottom right corner of the window, select Add then select By topic, then select the two following topics:

/map
/marker_array

cd ~/AutoDRIVE

In separate terminals, run ./devkit and ./sim to launch both the devkit and the simulator.

Open and source two new terminals. After, run:

ros2 launch ucf_icps src/ucf_icps/launch/odom.launch.py

ros2 launch slam_toolbox online_async_launch.py slam_params_file:=src/ucf_icps/config/slam_mapper_params.yaml

In another terminal, source and run:

ros2 launch particle_filter localize_launch.py