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gap_follow package from f1tenth_ws repogap_follow pure_pursuit safety_node scan_matching stanley_avoidance wall_follow waypoint_generator |
Package Summary
| Tags | No category tags. |
| Version | 0.0.0 |
| License | MIT |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | A repository for autonomous racing written in ROS2, designed for the F1TENTH platform. Code can run both in the physical car, as well as simulation with custom launch files. |
| Checkout URI | https://github.com/cl2-uwaterloo/f1tenth_ws.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2024-06-10 |
| Dev Status | UNKNOWN |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
f1tenth gap_follow lab
Additional Links
No additional links.
Maintainers
- Steven Gong
Authors
No additional authors.
Follow the Gap
This node is a reactive algorithm for obstacle avoidance.
Steps
- Obtain laser scans and preprocess them.
- Find the closest point in the LiDAR ranges array.
- Draw a safety bubble around this closest point and set all points inside this bubble to 0. All other non-zero points are now considered “gaps” or “free space”.
- Find the max length “gap”, in other words, the largest number of consecutive non-zero elements in your ranges array.
- Find the best goal point in this gap. Naively, this could be the furthest point away in your gap, but you can probably go faster if you follow the “Better Idea” method as described in lecture.
- Actuate the car to move towards this goal point by publishing an
AckermannDriveStampedto the /drive topic.
CHANGELOG
No CHANGELOG found.
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| ament_cmake_python | |
| ament_lint_auto | |
| ament_lint_common | |
| rclcpp | |
| rclpy | |
| std_msgs | |
| sensor_msgs | |
| ackermann_msgs | |
| geometry_msgs |
System Dependencies
No direct system dependencies.
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
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