We're watonomous F1Tenth team (1/10th scale autonomous racing). We compete in F1Tenth racing competitions held at research conferences globally throughout the year.
Apart from the general WATOnomous onboarding, there are some Micro-specific things you'll have to read & learn before contributing. Don't worry, it's a lot lighter than the onboarding assignnmet :)
- Course Syllabus: https://docs.google.com/spreadsheets/d/1PaFYG7XC_XQ3ExdQGb-S8oJzzixoMOVjh4L1RjW0gT0/edit?gid=0#gid=0o
Although not mandatory to study this in great detail, we highly reccommend skimming all the slides up to Module D. You can revisit this later when working on a specific component, but getting a general idea of what SLAM / Planning / Controls mean will be beneficial.
- Competition Rules: https://iros2024-race.f1tenth.org/rules.html
A lot of our software architecture choices are based on the rules.
Our infrastructure consists of 1) AUTODrive physics simulator connected to 2) Docker environment. As such, you'll have to go through the infra-setup.md and follow the steps.
To verify that the environment setup works properly to familiarize yourself with how ROS2 works, please make a PR for a rosnode that:
- Subscribes to the IMU and prints IMU data onto the console
- Publish a throttle command to make the car move forward
References: https://autodrive-ecosystem.github.io/competitions/f1tenth-sim-racing-guide/
note: This rosnode skeleton you'll most likely be building ontop of for your actual task, so getting this working well (no build errors, etc.) will save a lot of time in the future.