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Instruction For Real-World Deployment

File Tree

  • setup
source install/setup.bash
  • run foxglove node:
ros2 launch foxglove_bridge foxglove_bridge_launch.xml
  • run car_sim node:
XLA_PYTHON_CLIENT_MEM_FRACTION=0.3 ros2 launch car_ros2 car_sim.launch.py
  • real2sim node:
ros2 launch car_ros2 real2sim_node.launch.py

Customize Parameters

In car_ros2/utils.py

def load_mppi_params() -> MPPIParams:
    return MPPIParams(
        spline_order=2,
        sigma=0.05,
        gamma_sigma=0.0,
        gamma_mean=1.0,
        discount=1.0,
        sample_sigma=1.0,
        lam=0.1,
        n_rollouts=600,        
        a_min=[-1, -1.], # first dim steer, 2nd throttle
        a_max=[1., 1.],
        a_mag=[1., 1.],
        a_shift=[0., 0.],
        delay=0,
        len_history=251,
        debug=False,
        fix_history=False,
        num_obs=6,
        num_actions=2,
        num_intermediate=7,
        h_knot=8,
        smooth_alpha=1.0,
        dynamics="transformer-jax",
        dual=True, 
        # dynamics="dbm",
        # dual=False, 
    )

Deploy in Real

  1. Use nomachine to connect to car:

  2. In Desktop:

    • read Joystick signal: ros2 run joy_linux joy_linux_node --ros-args -p dev:=/dev/input/js0
    • run Joystick node: ros2 run carros2 car_joystick_node
    • steer the car
    • turn off joystick
    • run car_node XLA_PYTHON_CLIENT_MEM_FRACTION=0.2 ros2 launch car_ros2 car_real.launch.py
    • run foxglove bridge: ros2 launch foxglove_bridge foxglove_bridge_launch.xml

  3. Open 3 separate terminals

  • Terminal 1:

    source install/setup.bash
source ~/f1tenth/install/setup.bash
ros2 launch lecar_launch vesc.launch.py

  • Terminal 2 (For Lidar SLAM):

    source install/setup.bash
source ~/f1tenth/install/setup.bash
ros2 launch art_f1tenth_interface art_f1tenth_interface.launch.py
ros2 launch lecar_launch lidar.launch.py

  • Terminal 2 (For VIO):

    source install/setup.bash
ros2 launch lecar_launch urdf.launch.py 
shell_command:
source install/setup.bash
source ~/ros2_ws/install/setup.bash
    # - ros2 launch lecar_launch slam.launch.py
    # - ros2 launch lecar_launch localization.launch.py  
ros2 launch lecar_launch vio.launch.py

  • Terminal 3:

    /home/f15car/f1tenth
ros2 launch art_f1tenth_interface art_f1tenth_interface.launch.py

Touble shooting

  1. need to start joynode before the vesc on car
  2. vio plug and unplug
  3. Restart everything