F110th

First Setup

sudo apt update && rosdep update
sudo apt install ros-$ROS_DISTRO-diagnostic-updater
rosdep install --from-paths src --ignore-src -y
colcon build

udev Rules Setup

• Get vensor id and product id: lsusb
• Crate a rules file: sudo nano /etc/udev/rules.d/99-f1tenth-usb.rules

# Arduino MKR Zero for micro-ROS
SUBSYSTEM=="tty", ATTRS{idVendor}=="XXXX", ATTRS{idProduct}=="YYYY", MODE="0666", SYMLINK+="sensors/micro_ros"

# VESC Motor Controller
SUBSYSTEM=="tty", ATTRS{idVendor}=="XXXX", ATTRS{idProduct}=="YYYY", MODE="0666", SYMLINK+="sensors/vesc"

sudo udevadm control --reload-rules && sudo udevadm trigger

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Foxglove bridge / ROS bridge

• sudo apt install ros-$ROS_DISTRO-foxglove-bridge

Note

Distributions older than Humble: sudo apt install ros-foxy-rosbridge-server

Micro ROS

• Download micro-ROS agent packages: ros2 run micro_ros_setup create_agent_ws.sh
• Build step:

  ros2 run micro_ros_setup build_agent.sh
  source install/local_setup.bash
  

Execute

• Run F1 tenth stack

  • ros2 launch f1tenth_stack bringup_launch.py

• Run micro ros

  • ros2 run micro_ros_agent micro_ros_agent serial --dev /dev/sensors/micro_ros

• Run Foxglove bridge / ROS bridge

  • Foxglove bridge: ros2 launch foxglove_bridge foxglove_bridge_launch.xml
  • ROS bridge: ros2 launch rosbridge_server rosbridge_websocket_launch.xml

• Recording data

  • MCAP: ros2 bag record -s mcap -o <file_name> -a
  • .db3: ros2 bag record -o <file_name> -a

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TODO

• Calibrating the Odometry

  1. Tuning the steering

  • Adjust steering_angle_to_servo_gain
    in /F110th/src/f1tenth_system/f1tenth_stack/config/vesc.yaml

  2. Linear calibration

  • 2.1. Set max/min speed

    • Adjust speed_min and speed_max
      in /F110th/src/f1tenth_system/f1tenth_stack/config/vesc.yaml

  • 2.2. Direction in odom

    • Change the sign of this expression: (-state->state.speed - speed_to_erpm_offset_)
      in /F110th/src/vesc/vesc_ackermann/src/vesc_to_odom.cpp

  • 2.3. Determine ERPM gain

    Now we have to determine the speed_to_erpm_gain and Joy teleop scale
    in /F110th/src/f1tenth_system/f1tenth_stack/config/vesc.yaml and /F110th/src/f1tenth_system/f1tenth_stack/config/joy_teleop.yaml (Line 33), respectively.

    By using this equation: (speed_to_erpm_gain + x) * (scale + y) = MAX ERPM

Note

MAX ERPM is the maximum ERPM value that you want the car can goes.
It can be any number that you want or even MAX ERPM = speed_max, but should not higher than speed_max
Use this website to help you plot the graph and pick the right value

For more information on calibrating the odometry