Local Planning

Usage

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1. Clone this repository

   cd ~/catkin_ws/src # ros workspace etc) f1tenth_ws
   git clone https://github.com/nurdy-kim/local_planning_gnu
   

2. Build Catkin Workspace

   cd ..
   catkin_make
   source devel/setup.bash
   

3. Run

   roslaunch local_planning_gnu [LAUNCH_FILE]
   

   • car_fgm_gnu.launch - Run FGM_GNU on F1TENTH Racecar system

   • car_fgm_pp.launch - Run FGM_PurePursuit on F1TENTH Racecar system

   • car_fgm_seoultech.launch - Run FGM_SEOULTECH on F1TENTH Racecar system

   • car_odg_pf.launch - Run ODG-PF on F1TENTH Racecar system

   • car_odg_pp.launch - Run ODG-PurePursuit on F1TENTH Racecar system

   • sim_fgm_gnu.launch - Run FGM_GNU on F1TENTH Gym ROS simulator system

   • sim_fgm_pp.launch - Run FGM_PurePursuit on F1TENTH Gym ROS simulator system

   • sim_fgm_seoultech.launch - Run FGM_SEOULTECH on F1TENTH Gym ROS simulator system

   • sim_odg_pf.launch - Run ODG-PF on F1TENTH Gym ROS simulator system

   • sim_odg_pp.launch - Run ODG-PurePursuit on F1TENTH Gym ROS simulator system

4. Parameters

   If you want to change the parameters, you need modify params.yaml

   • wpt_path - real path of waypoint file (you MUST change!)

   • wpt_delimeter - delimiter of csv file

   • max_speed - Max speed

   • min_speed - Min speed

   • rate - provoid particular rate for a loop (Hz)

   • robot_length - length of wheelbase

   • robot_scale - width of car

   • mass - mass of car

   • mu - surface friction coefficient

   • pi - π

   • g- Gravitational acceleration