ROS Melodic
Make sure you have gazebo installed. If you install your ROS with desktop-full release, you should be fine.
mkdir -p ~/raceon_sim_ws/src
cd ~/raceon_sim_ws
catkin_makesource ~/raceon_sim_ws/devel/setup.bash
(Optional) Add it to bashrc
echo "source ~/raceon_sim_ws/devel/setup.bash" >> ~/.bashrc
sudo apt-get install ros-melodic-ros-control ros-melodic-gazebo-ros-control ros-melodic-ros-controllers python-opencv ros-melodic-ackermann-msgs python-empy
pip install pynputcd ~/raceon_sim_ws/src
git clone https://github.com/wjwwood/serial.git
git clone https://github.com/ros-drivers/ackermann_msgs.git
git clone https://github.com/mit-racecar/racecar.git
git clone https://github.com/mit-racecar/vesc.git
git clone https://github.com/d4n1elchen/raceon.git
git clone https://github.com/d4n1elchen/raceon_simulation.git
git clone https://github.com/d4n1elchen/raceon_visualizer.git
git clone https://github.com/d4n1elchen/racecar_gazebo.gitcd ~/raceon_sim_ws
catkin_make
cd scripts
python launch_environment.py
If you got python module not found error, install missing packages using pip.
Create script in scripts folder
scripts/search_kp.py
#!/usr/bin/env python
import rospy
import roslaunch
import numpy as np
from launch_environment import SimulationLauncher
rospy.init_node('simulation_worker')
control_node = roslaunch.core.Node('raceon', 'control.py', 'control')
sl = SimulationLauncher(launch_file='raceon_simulation_pos_est.launch', track_file='final_track.txt', control_node=control_node, gui=True)
speed_list = np.linspace(200, 300, 10)
kp_list = np.linspace(1, 20, 10)
time = []
success = []
for speed in speed_list:
t = []
s = []
for kp in kp_list:
sl.set_param("/control/motor_speed", float(speed))
sl.set_param("/control/kp", float(kp))
sl.start()
result = sl.get_last_result()
t.append(result['time'])
s.append(result['success'])
time.append(t)
success.append(s)We use one character to represent the type of track segments and put an S right after the starting segment. Segments are seperated by comma.
| Track identifier | mearning |
|---|---|
E |
Empty |
I |
Vertical straight lane |
- |
Horizontal straight lane |
< |
Turn lane with shape "┐" |
V |
Turn lane with shape "┌" |
> |
Turn lane with shape "└" |
^ |
Turn lane with shape "┘" |
Currently, the starting identifier only can be put on straight lane and the car will always face toward north if it is a vertical lane, and face torward east for horizontal one.
track/final_track.txt
E,E,E,V,<
E,E,E,I,I
V,-,-,^,IS
>,-,-,-,^
