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https://github.com/pokusew/fel-bachelors-thesis

Using ROS 2 for High-Speed Maneuvering in Autonomous Driving, My Bachelor's Thesis at CTU FEE, 2022
https://github.com/pokusew/fel-bachelors-thesis

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Using ROS 2 for High-Speed Maneuvering in Autonomous Driving, My Bachelor's Thesis at CTU FEE, 2022

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# Using ROS 2 for High-Speed Maneuvering in Autonomous Driving



My Bachelor's Thesis at [CTU FEE](https://fel.cvut.cz/en/) ([ČVUT FEL](https://fel.cvut.cz/cz/))



_This thesis is a continuation of the work from [my semestral project][fel-project]._



## Abstract



Performing high-speed maneuvers in autonomous driving is problematic without proper **real-time support.**

At CTU, there is a team that competes in the 🏎 [F1/10 Autonomous Driving Competition][f1tenth] with

autonomous model cars. Their autonomous driving stack is based on **ROS 1**, which is not suitable for

real-time applications.



**The goal is to migrate this stack to ROS 2** 🔝, which has been designed from the ground up to address many

issues in this area. We propose **tracing** as an efficient way to analyze a running ROS 2 system and measure

⏱️ important properties.



**Results:** We demonstrate the working of [the migrated stack][pokusew/f1tenth-rewrite] **on the F1/10

model car and in the Stage simulator**. 🚀

We [evaluate the communication latencies][pokusew/ros2-tracing-experiments] in the new stack using an extended

version of ROS 2 tracing tools 📊. Another result of our work is

a [publicly-available collection][pokusew/ros-setup] of setup guides, scripts, and documentation that covers

various aspects of working with ROS. These guides have already helped several people.



We hope that the results of this thesis build a foundation that opens the way for the adoption of ROS 2 in the

CTU's F1/10 stack, further improving its real-time properties, while making it more approachable by new

students.



## Content



* 👉 **[Thesis](./text)** (thesis text as TeX source, PDF export, build script) 👈

	* **Latest PDF export:

	  [Using_ROS_2_for_High-Speed_Maneuvering_in_Autonomous_Driving.pdf](https://github.com/pokusew/fel-bachelors-thesis/raw/main/text/Using_ROS_2_for_High-Speed_Maneuvering_in_Autonomous_Driving.pdf)**

	  👈

* [Presentation](./presentation)

* [Formalities](./formalities) (official assignment, thesis requirements)



## Project Repositories



* [pokusew/fel-bachelors-thesis](https://github.com/pokusew/fel-bachelors-thesis) _(this repository)_

  – Thesis homepage, text sources, and PDF exports 📝

* **[pokusew/f1tenth-rewrite]**

  – ROS 2 port of CTU F1/10 project 🏎

* **[pokusew/ros-setup]**

  – Notes on ROS 2 and ROS 1, tips & tricks, using ROS with IDEs (JetBrains CLion, Visual Studio Code), setup

  guides for using ROS on different platforms (Ubuntu, macOS, NVIDIA Jetson TX2)  🛠️

* [pokusew/stage_ros2](https://github.com/pokusew/stage_ros2)

  – ROS 2 wrapper for the Stage simulator (fork containing improvements and fixes)

* [pokusew/ros2_razor_imu](https://github.com/pokusew/ros2_razor_imu)

  – ROS 2 driver and firmware to for Razor IMU 9DOF

* [pokusew/teensy-drive](https://github.com/pokusew/teensy-drive)

  – ROS 2 driver and firmware to for Razor IMU 9DOF

* [pokusew/vesc](https://github.com/pokusew/vesc)

  – ROS 2 driver for VESC (fork containing fixes)

* [pokusew/ros2-tracing-experiments]

  – A collection of scripts to perform analysis of trace events collected with ros2_tracing

* [pokusew/ros2-build](https://github.com/pokusew/ros2-build)

  – colcon workspace for building ROS 2 from sources on different platforms together with additional

  packages (e.g. Stage simulator) 📦

* [pokusew/rh](https://github.com/pokusew/rh)

  – A simple helper to make working with different ROS versions and projects easier ⚙️



_Note: See [all my repos with tag `fel-project`][my-fel-project-repos] on my GitHub._



[fel-project]: https://github.com/pokusew/fel-project



[my-fel-project-repos]: https://github.com/pokusew?tab=repositories&q=topic%3Afel-project



[f1tenth]: https://f1tenth.org/



[pokusew/f1tenth-rewrite]: https://github.com/pokusew/f1tenth-rewrite



[pokusew/ros2-tracing-experiments]: https://github.com/pokusew/ros2-tracing-experiments



[pokusew/ros-setup]: https://github.com/pokusew/ros-setup