F1Tenth Labs

This repo holds lab codes for F1/10 Autonomous Racing Cars course.

Tested on:

• Ubuntu 20.04 LTS
• ROS 1 Noetic
• Python 3.8
• CUDA 11.3

Build Instructions

1. Make a new Catkin workspace:

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
catkin_init_workspace
cd ..

2. Clone this repo, particle filter and F1Tenth Simulator into the src folder of the new Catkin workspace.

cd src
git clone https://github.com/shineyruan/F1Tenth_Labs.git --recursive
git clone https://github.com/shineyruan/particle_filter.git
git clone https://github.com/f1tenth/f1tenth_simulator.git
cd ..

3. Install RangeLibc for CUDA-accelerated particle filter localization.
4. Build the workspace.

catkin_make_isolated --install

5. Run one lab at a time. For Lab 3, 4, 6, you have to hit n in the f1tenth_simulator console to enter autonomous navigation mode.

Note: Please checkout lab6/launch for running lab 6 codes!

Acknowledgements

This repo borrows codes/ideas from:

• F1Tenth education website
• F1Tenth Simulator
• MIT-Racecar's GPU-based particle filter