Matt tf

README.md

@@ -1,4 +1,30 @@
-# f1tenth_system
+![image](https://github.com/user-attachments/assets/df4ae9c0-bf45-48c3-923c-35cd488ebeab)# How to run car (capstone instructions):
+1. create local hotspot: on laptop go to Settings/Wifi then click the three dots in the upper right hand corner and click 'Turn on wifi hotspot'
+2. plug in and connect jetson to the monitor and join the hotspot (f1net). run the command line 'hostname -I' on the jetson to find the new IP address. 
+3. (optional) to access code on the jetson without a monitor: ssh into the jetson using VScode on the laptop. on VScode press f1, then click 'SSH: Connect to host', type in f1jetson@my-jetson or f1jetson@ip_address (e.g. [email protected])
+4. ssh into jetson on the laptop in command window (ssh f1jetson@my-jetson). note: the source /opt/ros/foxy/setup.bash and source ~/f1tenth_ws/install/setup.bash are added to the .bashrc file so no need to run those commnads.
+5. To launch the system, on jetson terminal: ros2 launch f1tenth_stack bringup_launch.py
+6. on laptop terminal: ros2 run joy joy_node.
+  a. to move car: hold lb (top left button, the 'dead man' switch) at all times. use the left stick to go forwards/backwards and the right stick to steer left/right. its clunky. 
+8. to launch rviz: on laptop terminal rune: rviz2.
+  a.  to add LiDAR point cloud: click add (bottom left corner), then click LaserScan. Expand LaserScan. In the topic box write /scan. under globaloptions/fixed frame change it laser.  its useful to increase the size of to 0.03 (under LaserScan/Size (m)).
+9. to run SLAM:
+   a. on laptop terminal run: runslam (this is an alias/short cut for a longer command line, view bashrc file to see the full command line e.g. ros2 launch slam_toolbox online_async_launch.py params_file...)
+   b. on Rviz: unclick LaserScan. Add Map (botton left corner), under topic select /map. under fixed frame click map. it looks slightly nice if you click the Type drop down menu under Views (right panel), then click TopDownOrtho.
+   c. to save map: on laptop terminal: ros2 launch nav2_map_server map_saver_server.launch.py,
+   then run: ros2 run nav2_map_server map_saver_cli -f /home/capstone/f1host_ws/src/f1tenth_stack/map/_map_name_
+   d. to clean up map: click/look up GNU Image Manipulation Program, then find the map in the workspace, right click the paintbrush to select pencil (for hard edges), and color picker to select grey or black colours.
+
+
+
+ros2 run nav2_map_server --ros-args -p yaml_filename:=test303.yaml -p use_sim_time:=false
+ros2 run nav2_util lifecycle_bringup map_server
+
+ros2 run nav2_amcl amcl --ros-args -p base_frame_id:=base_link use_sim_time:=false
+ros2 run nav2_util lifecycle_bringup amcl
+
+
+# From original source: f1tenth_system
 
 Drivers onboard f1tenth race cars. This branch is under development for migration to ROS2. See the [documentation of F1TENTH](https://f1tenth.readthedocs.io/en/foxy_test/getting_started/firmware/index.html) on how to get started.
 

description/ego_racecar.urdf

@@ -0,0 +1,75 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="racecar">
+
+  <xacro:property name="wheelbase" value="0.3302" />
+  <xacro:property name="width" value="0.2032" />
+  <xacro:property name="height" value="0.1" />
+  <xacro:property name="ground_offset" value="0.04" />
+  <xacro:property name="wheel_radius" value="0.0508" />
+  <xacro:property name="wheel_length" value="0.0381" />
+  <xacro:property name="laser_distance_from_base_link" value="0.275" />
+  <xacro:property name="laser_height" value="0.05" />
+  <xacro:property name="laser_radius" value="0.026" />
+  <xacro:property name="car_name" value="ego_racecar" />
+
+  <material name="black">
+    <color rgba="0.2 0.2 0.2 1."/>
+  </material>
+
+  <material name="blue">
+    <color rgba="0.3 0.57 1. 1."/>
+  </material>
+
+  <!-- Base Link -->
+  <link name="base_link">
+    <visual>
+      <origin xyz="${wheelbase/2} 0 ${ground_offset+height/2}"/>
+      <geometry>
+        <box size="${wheelbase} ${width} ${height}"/>
+      </geometry>
+      <material name="blue"/>
+    </visual>
+  </link>
+
+  <!-- Odometry Frame -->
+  <joint name="odom_to_base" type="floating">
+    <parent link="odom"/>
+    <child link="base_link"/>
+  </joint>
+
+  <link name="odom"/>
+
+  <!-- LiDAR Sensor -->
+  <joint name="base_to_laser" type="fixed">
+    <parent link="base_link"/>
+    <child link="lidar_link"/>
+    <origin xyz="${laser_distance_from_base_link} 0 ${ground_offset+height+(laser_height/2)}"/>
+  </joint>
+
+  <link name="lidar_link">
+    <visual>
+      <geometry>
+        <cylinder radius="${laser_radius}" length="${laser_height}"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+  </link>
+
+  <!-- Wheels -->
+  <joint name="base_to_back_left_wheel" type="fixed">
+    <parent link="base_link"/>
+    <child link="back_left_wheel"/>
+    <origin xyz="0 ${(wheel_length+width)/2} ${wheel_radius}"/>
+  </joint>
+
+  <link name="back_left_wheel">
+    <visual>
+      <geometry>
+        <cylinder radius="${wheel_radius}" length="${wheel_length}"/>
+      </geometry>
+      <material name="black"/>
+      <origin rpy="${pi/2} 0 0"/>
+    </visual>
+  </link>
+
+</robot>

description/ego_racecarORIGINAL.xacro

@@ -0,0 +1,129 @@
+<?xml version="1.0"?>
+
+<!-- A simple model of the racecar for rviz -->
+
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="racecar">
+
+  <xacro:property name="wheelbase" value="0.3302" />
+  <xacro:property name="width" value="0.2032" />
+  <xacro:property name="height" value="0.1" />
+  <xacro:property name="ground_offset" value="0.04" />
+  <xacro:property name="wheel_radius" value="0.0508" />
+  <xacro:property name="wheel_length" value="0.0381" />
+  <xacro:property name="laser_distance_from_base_link" value="0.275" />
+  <xacro:property name="laser_height" value="0.05" />
+  <xacro:property name="laser_radius" value="0.026" />
+  <xacro:property name="car_name" value="ego_racecar" />
+
+  <material name="black">
+    <color rgba="0.2 0.2 0.2 1."/>
+  </material>
+
+  <material name="blue">
+    <color rgba="0.3 0.57 1. 1."/>
+  </material>
+
+  <link name="${car_name}/base_link">
+    <visual>
+      <origin xyz="${wheelbase/2} 0 ${ground_offset+height/2}"/>
+      <geometry>
+        <box size="${wheelbase} ${width} ${height}"/>
+      </geometry>
+      <material name="blue"/>
+    </visual>
+  </link>
+
+  <joint name="base_to_laser_model" type="fixed">
+    <parent link="${car_name}/base_link"/>
+    <child link="${car_name}/laser_model"/>
+    <origin xyz="${laser_distance_from_base_link} 0 ${ground_offset+height+(laser_height/2)}"/>
+  </joint>
+
+  <link name="${car_name}/laser_model">
+    <visual>
+      <geometry>
+        <cylinder radius="${laser_radius}" length="${laser_height}"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+  </link>
+
+  <joint name="$base_to_back_left_wheel" type="fixed">
+    <parent link="${car_name}/base_link"/>
+    <child link="${car_name}/back_left_wheel"/>
+    <origin xyz="0 ${(wheel_length+width)/2} ${wheel_radius}"/>
+  </joint>
+
+  <link name="${car_name}/back_left_wheel">
+    <visual>
+      <geometry>
+        <cylinder radius="${wheel_radius}" length="${wheel_length}"/>
+      </geometry>
+      <material name="black"/>
+      <origin rpy="${pi/2} 0 0"/>
+    </visual>
+  </link>
+
+  <joint name="base_to_back_right_wheel" type="fixed">
+    <parent link="${car_name}/base_link"/>
+    <child link="${car_name}/back_right_wheel"/>
+    <origin xyz="0 ${-(wheel_length+width)/2} ${wheel_radius}"/>
+  </joint>
+
+  <link name="${car_name}/back_right_wheel">
+    <visual>
+      <geometry>
+        <cylinder radius="${wheel_radius}" length="${wheel_length}"/>
+      </geometry>
+      <material name="black"/>
+      <origin rpy="${pi/2} 0 0"/>
+    </visual>
+  </link>
+
+  <joint name="base_to_front_left_hinge" type="fixed">
+    <parent link="${car_name}/base_link"/>
+    <child link="${car_name}/front_left_hinge"/>
+    <origin xyz="${wheelbase} ${(wheel_length+width)/2} ${wheel_radius}"/>
+  </joint>
+
+  <link name="${car_name}/front_left_hinge"/>
+
+  <joint name="front_left_hinge_to_wheel" type="continuous">
+    <parent link="${car_name}/front_left_hinge"/>
+    <child link="${car_name}/front_left_wheel"/>
+  </joint>
+
+  <link name="${car_name}/front_left_wheel">
+    <visual>
+      <geometry>
+        <cylinder radius="${wheel_radius}" length="${wheel_length}"/>
+      </geometry>
+      <material name="black"/>
+      <origin rpy="${pi/2} 0 0"/>
+    </visual>
+  </link>
+
+  <joint name="base_to_front_right_hinge" type="fixed">
+    <parent link="${car_name}/base_link"/>
+    <child link="${car_name}/front_right_hinge"/>
+    <origin xyz="${wheelbase} ${-(wheel_length+width)/2} ${wheel_radius}"/>
+  </joint>
+
+  <link name="${car_name}/front_right_hinge"/>
+
+  <joint name="front_right_hinge_to_wheel" type="continuous">
+    <parent link="${car_name}/front_right_hinge"/>
+    <child link="${car_name}/front_right_wheel"/>
+  </joint>
+
+  <link name="${car_name}/front_right_wheel">
+    <visual>
+      <geometry>
+        <cylinder radius="${wheel_radius}" length="${wheel_length}"/>
+      </geometry>
+      <material name="black"/>
+      <origin rpy="${pi/2} 0 0"/>
+    </visual>
+  </link>
+
+</robot>

f1tenth_stack/config/f1tenth_online_async.yaml

@@ -12,7 +12,8 @@ slam_toolbox:
     # ROS Parameters
     odom_frame: odom
     map_frame: map
-    base_frame: laser
+    # base_frame: laser
+    base_frame: base_link #?
     scan_topic: /scan
     mode: mapping #localization
 
@@ -27,8 +28,8 @@ slam_toolbox:
     throttle_scans: 1
     transform_publish_period: 0.02 #if 0 never publishes odometry
     map_update_interval: 5.0
-    resolution: 0.05
-    max_laser_range: 20.0 #for rastering images
+    resolution: 0.05                #// CONFIGURABLE
+    max_laser_range: 16.0 #for rastering images
     minimum_time_interval: 0.5
     transform_timeout: 1.0
     tf_buffer_duration: 30.
@@ -38,8 +39,8 @@ slam_toolbox:
     # General Parameters
     use_scan_matching: true
     use_scan_barycenter: true
-    minimum_travel_distance: 0.5
-    minimum_travel_heading: 0.5
+    minimum_travel_distance: 0.1 #0.5
+    minimum_travel_heading: 0.1 #0.5
     scan_buffer_size: 10
     scan_buffer_maximum_scan_distance: 10.0
     link_match_minimum_response_fine: 0.1  

f1tenth_stack/config/joy_teleop.yaml

@@ -1,6 +1,8 @@
-joy:
+joy_node: #joy
   ros__parameters:
     # device_name: /dev/input/joypad-f710
+    device_name: /dev/input/joypad-f310
+    # device_name: /dev/input/js0
     device_id: 0
     deadzone: 0.01
     autorepeat_rate: 20.0
@@ -30,7 +32,7 @@ joy_teleop:
       axis_mappings:
         drive-speed:
           axis: 1
-          scale: 5.0
+          scale: 1.0
           offset: 0.0
         drive-steering_angle:
           axis: 2

f1tenth_stack/config/localisation_online_async.yaml

@@ -0,0 +1,74 @@
+slam_toolbox:
+  ros__parameters:
+
+    # Plugin params
+    solver_plugin: solver_plugins::CeresSolver
+    ceres_linear_solver: SPARSE_NORMAL_CHOLESKY
+    ceres_preconditioner: SCHUR_JACOBI
+    ceres_trust_strategy: LEVENBERG_MARQUARDT
+    ceres_dogleg_type: TRADITIONAL_DOGLEG
+    ceres_loss_function: None
+
+    # ROS Parameters
+    odom_frame: odom
+    map_frame: map
+    # base_frame: laser
+    base_frame: base_link #?
+    scan_topic: /scan
+    mode: localization
+
+    # if you'd like to immediately start continuing a map at a given pose
+    # or at the dock, but they are mutually exclusive, if pose is given
+    # will use pose
+    map_file_name: /home/f1jetson/f1tenth_ws/src/f1tenth_system/f1tenth_stack/maps/map_6
+    # map_start_pose: [0.0, 0.0, 0.0]
+    map_start_at_dock: true
+
+    debug_logging: false
+    throttle_scans: 1
+    transform_publish_period: 0.02 #if 0 never publishes odometry
+    map_update_interval: 5.0
+    resolution: 0.05
+    max_laser_range: 16.0 #for rastering images
+    minimum_time_interval: 0.5
+    transform_timeout: 1.0
+    tf_buffer_duration: 30.
+    stack_size_to_use: 40000000 #// program needs a larger stack size to serialize large maps
+    enable_interactive_mode: true
+
+    # General Parameters
+    use_scan_matching: true
+    use_scan_barycenter: true
+    minimum_travel_distance: 0.1 #0.5
+    minimum_travel_heading: 0.1 #0.5
+    scan_buffer_size: 10
+    scan_buffer_maximum_scan_distance: 10.0
+    link_match_minimum_response_fine: 0.1  
+    link_scan_maximum_distance: 1.5
+    loop_search_maximum_distance: 3.0
+    do_loop_closing: true 
+    loop_match_minimum_chain_size: 10           
+    loop_match_maximum_variance_coarse: 3.0  
+    loop_match_minimum_response_coarse: 0.35    
+    loop_match_minimum_response_fine: 0.45
+
+    # Correlation Parameters - Correlation Parameters
+    correlation_search_space_dimension: 0.5
+    correlation_search_space_resolution: 0.01
+    correlation_search_space_smear_deviation: 0.1 
+
+    # Correlation Parameters - Loop Closure Parameters
+    loop_search_space_dimension: 8.0
+    loop_search_space_resolution: 0.05
+    loop_search_space_smear_deviation: 0.03
+
+    # Scan Matcher Parameters
+    distance_variance_penalty: 0.5      
+    angle_variance_penalty: 1.0    
+
+    fine_search_angle_offset: 0.00349     
+    coarse_search_angle_offset: 0.349   
+    coarse_angle_resolution: 0.0349        
+    minimum_angle_penalty: 0.9
+    minimum_distance_penalty: 0.5
+    use_response_expansion: true