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Local Planning

Usage

  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