ERacer

An open-source self-driving rc car based on ROS and the NVIDIA Jetson Xavier

Developed by Ravi Dudhagra (@rdudhagra)

Build Instructions

1. Clone the repo onto the device of your choosing (in this case my NVIDIA Jetson Xavier)
2. Install dependencies:
   • ROS noetic or newer (Jetson Xavier install)
   • pynmea2 for parsing GPS data
   • Adafruit IMU libraries 1 and 2
   • librealsense 2.0 or newer—install with GPU/Cuda support for best performance, install pyrealsense as well if you want python support
   • IMU Tools
3. cd into the eracer folder, run bash init.bash to setup.

Running

1. cd into the eracer folder, run bash run.bash, Ctrl+C to stop.
2. Go to https://webviz.io/app/?rosbridge-websocket-url=ws://[jetson xavier ip]:9090
3. Import util/webviz_sample_layout.json to get started

Credits

Built upon the work of these projects:

• @cruise-automation/webviz — debugging webui
• @robopeak/rplidar_ros — ROS package for the RPLidar A1M8
• @IntelRealSense/librealsense — library for the Intel Realsense D455 camera
• @Knio/pynmea2 — python library for parsing NMEA 0183 strings
• @ccny-ros-pkg/imu_tools — apply madgwick filter on IMU data to get orientation quaternion
• @dpkoch/imu_calib — IMU calibration