https://github.com/carlostojal/fsipleiria-ros
ROS software for the driverless formula car of the FSIPLeiria team.
https://github.com/carlostojal/fsipleiria-ros
autonomous-driving driverless formula-student ros
Last synced: 3 months ago
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ROS software for the driverless formula car of the FSIPLeiria team.
- Host: GitHub
- URL: https://github.com/carlostojal/fsipleiria-ros
- Owner: carlostojal
- Created: 2021-11-12T10:09:43.000Z (over 3 years ago)
- Default Branch: main
- Last Pushed: 2022-04-14T12:04:22.000Z (about 3 years ago)
- Last Synced: 2025-01-15T07:16:10.695Z (4 months ago)
- Topics: autonomous-driving, driverless, formula-student, ros
- Language: CMake
- Homepage: https://formula.ipleiria.pt
- Size: 59.6 KB
- Stars: 0
- Watchers: 2
- Forks: 0
- Open Issues: 0
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Metadata Files:
- Readme: README.md
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README
# fsipleiria-ros
## Introduction
This is the ROS software for the driverless formula car of the FSIPLeiria team.
## Functional overview
The custom Python libraries provide a way to communicate with the car.\
The libraries communicate with ROS, that communicate with the electronic units via CAN bus.\
The most recent frame of each ID is stored on a cache server (RAM memory) (Redis Server).
## Requirements
### Hardware
- A 32 or 64-bit computer.
### Software
- Operating system: Ubuntu 20.04 (Focal)
- ROS Noetic Ninjemys
- Redis Server
## Setup
- Install Ubuntu 20.04 (Focal) on the machine (Either Desktop or Core version. Core is CLI, but has better performance. Can't use ROS 2D/3D visualization). The process is very straightforward and is like installing any other OS.
- Install ROS Noetic Ninjemys. Process described here: http://wiki.ros.org/noetic/Installation/Ubuntu.
- Add the line ```source $FSIPL_ROS_DIR/fsipleiria/devel/setup.sh``` to the end of the ~/.bashrc file, being $FSIPL_ROS_DIR the directory of this root folder.
## Get up and running
- Before starting, set the environment variables REDIS_HOST, REDIS_PORT and REDIS_DB on your OS.
- Open a terminal and type the command ```roscore```. This starts the ROS core framework.
- Open a new terminal and type ```catkin_make``` inside the "fsipleiria" directory.
- Start the controls package by running ```roslaunch controls controls.launch```.
## But how do I control the car?
- Make sure ROS is running by following the instructions on "Get up and running".
- For now, place your code inside the ```Formula``` folder. Otherwise Python won't know where our wonderful modules are.
- Just start coding and use the modules like shown in ```example.py```. Feel free to explore the modules for better understanding.