Formulazot

Formulazot is a ROS2 package designed for autonomous racing applications, specifically for the F1Tenth platform. This package implements functionalities like wall following and integrates with other components through the autodrive_f1tenth package.

Table of Contents

• Overview
• Features
• Installation
• Usage
• License
• Acknowledgments

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Overview

The Formulazot package focuses on enabling autonomous vehicle navigation and behavior, such as:

• Wall following for obstacle avoidance.
• Integration with other nodes to create a seamless autonomous driving stack.

This package is used in the context of the F1Tenth Autonomous Racing framework.

The associated docker container can be found at ajak2k/formulazot_api on DockerHub

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Features

• Wall Following Node: Implements a simple algorithm to follow walls for navigation.
• ROS2 Integration: Designed to work with ROS2 nodes and the F1Tenth stack.
• Compatibility: Works alongside autodrive_f1tenth for communication and data sharing.

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Installation

Prerequisites

Ensure you have the following installed:

• ROS2 (Humble or later)
• Colcon build tools
• A working F1Tenth simulation environment or hardware setup

Build Instructions

1. Clone the repository into your ROS2 workspace:

   cd ~/ros2_ws/src
   git clone <repository-url> formulazot

2. Navigate to your workspace and build the package:

   cd ~/ros2_ws
   colcon build

3. Source your workspace:

   source ~/ros2_ws/install/setup.bash
   

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Usage

To launch the Formulazot nodes, use the provided launch file: ```bash ros2 launch formulazot wall_following.launch.py

Launch File Details

The launch file includes:

• autodrive_bridge: Integrates the Formulazot package with the Autodrive F1Tenth stack.
• wall_follower: Executes the wall-following node.

License

This package is licensed under the Apache License 2.0. See the LICENSE file for more details.

Acknowledgments

This package is based on skeleton code by Hongrui (Billy) Zheng from the University of Pennsylvania as part of the ESE6150: F1Tenth Autonomous Racing Cars course.

@inproceedings{okelly2020f1tenth, title={F1TENTH: An Open-source Evaluation Environment for Continuous Control and Reinforcement Learning}, author={O’Kelly, Matthew and Zheng, Hongrui and Karthik, Dhruv and Mangharam, Rahul}, booktitle={NeurIPS 2019 Competition and Demonstration Track}, pages={77--89}, year={2020}, organization={PMLR} }

@inproceedings{AutoDRIVE-Simulator-2021, author = {Samak, Tanmay Vilas and Samak, Chinmay Vilas and Xie, Ming}, title = {AutoDRIVE Simulator: A Simulator for Scaled Autonomous Vehicle Research and Education}, year = {2021}, isbn = {9781450390453}, publisher = {Association for Computing Machinery}, address = {New York, NY, USA}, url = {https://doi.org/10.1145/3483845.3483846}, doi = {10.1145/3483845.3483846}, booktitle = {2021 2nd International Conference on Control, Robotics and Intelligent System}, pages = {1–5}, numpages = {5}, location = {Qingdao, China}, series = {CCRIS'21} }

Copyright 2024 Ajay Shankar Sriram