This is the repo for the BU F1tenth team - http://sites.bu.edu/depend/bu-f110/

Short demo video of the F1tenth platform in the field and in simulation - https://www.youtube.com/watch?v=kTw-X1VolPk

To perform field tests on the physical platform, perform the following installation steps 1 - 4 on the NVIDIA Jetson TK1 or TX1 and then continue here.

To perform tests in the robotics simulator 'Gazebo', perform the following installation steps 1 - 4 on a PC and then continue here.

The code has been tested on:

• Ubuntu 16.04, Ros Kinetic, and Gazebo 7, for the TX1
• Ubuntu 14.04, Ros Indigo, and Gazebo 2, for the TK1

Start by cloning the GitHub repo. The required files can also be transferred to the TK1, via an SD card.

Follow the instructions provided by the F1tenth website - http://f1tenth.org/lectures

Replace SLAM launch files: -

roscd hector_slam_launch/launch/

For Field Tests, replace the tutorial.launch file with the one here.

For simulations, replace the tutorial.launch file with the one here.

roscd hector_mapping/launch

For Field Tests, replace the mapping_default.launch file with the one here.

For simulations, replace the mapping_default.launch file with the one here.

Follow the steps provided in https://sri-csl.github.io/radler/

Add all the src files from Racecar/Robot to a new package. The provided instructions below assume the package to be named 'race' with src files in /race/src/

Since there isn't GPS in the F1_tenth system, we have to modified the ekf node in order to make it work with our system. The modified code is in the folder modified_from_brass.

Copy ekf.py and replace the one in the folder BRASS/models/brass/src/navigation_phase1/phase1A_v2.

Copy adapter.py and replace the one in BRASS/models/brass/src/controller/monitor

All the launch file used in mit demo are in zed-ros-wrapper/launch folder. Modified ekf and adapter are in modified_from_brass folder. race/src/ folder adds a drive straight for 5 seconds node and a fakeGps node.

zed-ros-wrapper folder is for driving the zed camera in ros. Just simply put it in a catkin workspace and make it.