Autonomous Racing using Symbolic Motion Planner (SMP)

Autonomous_Racing is framework which is first tested out in the F1Tenth Car. It is based on Symbolic controller based approach, to tackle navigation through the obstacle course while providing safety guarantees. It can be used to perform Autonomous Navigation (SMP).

Table of Contents

Credits

Setup

• Installation
• Example

Installation

Installation instructions for Linux.

Prerequisites

1. If not already done so, install ROS (Desktop-Full is recommended).

Installation

1. Move to your catkin workspace:

   cd ~/catkin_ws/src

2. Download repo using a SSH key or via HTTPS:

   git clone https://github.com/FocasLab/focaslab_f1tenth.git

3. Install system dependencies:

   sudo apt-get install python-wstool python-catkin-tools

4. Install these packages for the F1Tenth Simulation

   sudo apt-get install ros-noetic-tf2-geometry-msgs 
   sudo apt-get install ros-noetic-ackermann-msgs 
   sudo apt-get install ros-noetic-joy 
   sudo apt-get install ros-noetic-map-server

5. Compile and source:

   catkin_make
   source ../devel/setup.bash

Recommended Specs ( equivalent or higher )

• Processor - Intel i7
• RAM - 16GB
• Graphics Card - 4GB
• OS - Ubuntu 20.04 with ROS Noetic