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race package from platooning-f1tenth repo

ackermann_cmd_mux computer_vision f110_rrt_star map_server2 mpc multi_object_tracking_lidar particle_filter pure_pursuit race racecar rl rtreach racecar_control racecar_description racecar_gazebo

API Docs
Browse Code

Package Summary

Tags	No category tags.
Version	1.0.0
License	MIT
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Description	F1Tenth Simulation Code: Platooning, Computer Vision, Reinforcement Learning, Path Planning
Checkout URI	https://github.com/pmusau17/platooning-f1tenth.git
VCS Type	git
VCS Version	noetic-port
Last Updated	2022-05-20
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

The race package

Additional Links

No additional links.

Maintainers

Patrick Musau

Authors

No additional authors.

src/race/README.md

Race:

Alt Text

This package contains the nodes, launch files, msg files, and infrastructure needed to run the racecar autonomously in a race-track/circuit. The nodes currently available in this package are:

Launch Files

The launch files have numerous configurable parameters. We invite you to view them in order to tailor them to your needs.

f1_tenth_devel.launch
- This file will start up a single car by default in the porto environment. No driving nodes are started by default, allowing the user to specify which strategy should be used.
f1_tenth_rl.launch
- This file is similar to f1_tenth_devel but starts the car in a more favorable position within the porto track in order to ease the initial training learning curve.
multi_parametrizeable.launch
- This launch file is used for multi-agent experiments. By default it launches two vehicles but it also allows for 3 cars.
model_comparison.launch
- This launch file allows for comparisons between machine learning strategies across different racetracks. It is used by the bash script run_e2e_model_comparison.sh. The strategies that we have evaluated using this file include Soft Actor Critic and Deep Deterministic Policy Gradient reinforcement learning strategies as well as end-to-end computer vision techniques.
multicar_disparity_extender.launch
- This file launches a gap following algorithm for use in the multi-agent context provided by the launch file multi_parametrizeable.launch.
platoon.launch
- This file launches a platooning strategy for two or three cars. The lead car uses a gap following algorithm to navigate while the following cars use a pure-pursuit path tracking algorithm for navigation.

Real Time Reachability Launch Files

The following launch files require that the following repository be built and sourced. These launch files set up the simulation environment that enables a runtime assurance architechture to be used. More details can be found at the above link.

sim_for_rtreach.launch
- Creates runtime-assurance architechture for a single vehicle in the presence of a fixed number of static obstacles (cones). The controller that is used for navigation by default is a vision based end-to-end learning regime.
sim_for_rtreach_batch.launch
- Allows for the runtime assurance architechture to be evaluated across numerous experimental runs. In order to analyze the runtime performance as well as efficacy in preventing collisions.
sim_for_rtreach_rl.launch
- Similar to sim_for_rtreach.launch. However the controller that is used is a reinforcement learning controller trained using Augmented Random Search.
sim_for_rtreach_batch_rl.launch
- Allows for the runtime assurance architechture to be evaluated across numerous experimental runs. In order to analyze the runtime performance as well as efficacy in preventing collisions.
sim_for_rtreach_batch_worlds.launch
- Allows for the runtime assurance architechture to be evaluated across numerous racetrack environments. Default controller is the vision-based end-to-end learning controller.
sim_for_rtreach_dynamic.launch
- This file creates the run-time assurance architechture in the presence of dynamic obstacles. It makes use of a multi-object object tracking algorithm to classify and track objects within the environment.
sim_for_rtreach_multi_agent.launch
- Creates runtime-assurance architechture for a single vehicle in the presence of a fixed number of dynamic obstacles (other agents).
slam.launch
- Launch file for SLAM algorithms. This file makes use of the gmapping library. For simple racetracks this library is sufficient. However for large racetracks with multiple loops we recommend using Google Cartographer.
sys_id.launch
- Launch file used to collect data for model estimation of the F1Tenth Vehicle.

Nodes

Disparity Extender

Implementation of reactive navigation via a follow the gap technique developped by UNC
Follow Lead
Node used within platooning to steer an ego vehicle to track the position of the lead car.
Keyboard
Keyboard teleoperation node
Potential Field Controller
Reactive naviation method using artifical potential field techniques.
Tf Transform
Transform publisher for proper visualization in rviz
Reset World
Node that executes a service call to reset gazebo environment
Speed Node
Node that issues speed setpoints in a system architechture where speed and steering control are seperate tasks.
Decision Manager
Decision manager used within a system architechture where speed and steering are independent tasks
Contact Listner

The contact listener node is a component designed to detect collision between the racecar and other simulated objects in the envrionment. It has two configurations. The first configuration, simply prints a message whenever a collision occurs. The second configuration resets the envrionment. This useful for reinforcement learning tasks.

To run the node execute the following after the simulation is up and running:

$  rosrun race collision_tracker.py /racecar

To enable resetting the world run:

$  rosrun race collision_tracker.py /racecar 1

Analyze Odom

Node that analyzes odometry information of the vehicle.
Generate System Id
Node that generates system identification data for the f1tenth model. It logs (x,y,linear_speed,theta) (throttle, steering angle)
Safety Controller
Simplistic safety controller based on the disparity extender.
System Identification
Matlab System Identification packages for the f1tenth simulator.

Special Thanks: This package was inspired by teams at MIT and UPenn

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
	catkin
	laser_geometry
	ackermann_msgs
	carla_msgs
	class_loader
	cmake_modules
	controller_manager
	cpp_common
	cv_bridge
	camera_calibration
	diagnostic_aggregator
	diagnostic_msgs
	diagnostic_updater
	dynamic_reconfigure
	effort_controllers
	eigen_conversions
	gazebo_msgs
	gazebo_ros_control
	genmsg
	genpy
	geometry_msgs
	gps_common
	grid_map_cv
	gazebo_ros
	grid_map_msgs
	grid_map_ros
	grid_map_visualization
	image_common
	image_geometry
	image_proc
	image_transport
	image_view2
	imu_tools
	joint_state_controller
	jsk_recognition_msgs
	jsk_recognition_utils
	jsk_rviz_plugins
	jsk_topic_tools
	message_filters
	message_generation
	message_runtime
	nav_msgs
	nmea_msgs
	nodelet
	pcl_conversions
	pcl_msgs
	pcl_ros
	position_controllers
	python_qt_binding
	robot_state_publisher
	rosbag
	rosbag_storage
	rosbridge_server
	rosconsole
	roscpp
	roscpp_serialization
	rosgraph_msgs
	roslaunch
	roslib
	roslint
	rospy
	rostest
	rosunit
	rqt_gui
	rqt_gui_py
	rqt_plot
	rviz
	sensor_msgs
	std_msgs
	std_srvs
	stereo_msgs
	tf2
	tf2_geometry_msgs
	tf2_msgs
	tf2_ros
	tf_conversions
	tf
	topic_tools
	visualization_msgs
	xacro
	xmlrpcpp

System Dependencies

Name
python-setuptools
python3-setuptools
armadillo
boost
cmake
curl
eigen
glut
gtest
libgflags-dev
libglew-dev
libgoogle-glog-dev
libopencv-dev
libpcl-all
libpcl-all-dev
libqt5-core
libqt5-gui
libqt5-opengl
libqt5-opengl-dev
libqt5-widgets
libssh2
libx11-dev
libxi-dev
libxmu-dev
linux-kernel-headers
mercurial
opengl
python-imaging
python3-nose
python3-requests
python3-rospkg
python3-serial
python3-yaml
qtbase5-dev
tinyxml
yaml-cpp

Dependant Packages

Name	Deps
mpc

Launch files

launch/sim_for_rtreach_multi_agent_multiple_controller.launch
- - gui [default: false]
  - box_display_limit [default: 5]
  - reach_time [default: 0.8]
  - wall_time [default: 1.0]
  - debug [default: 0]
  - number_of_cars [default: 2]
  - car_name [default: racecar2]
  - rviz_disp [default: multiagent_rviz_multiple.rviz]
  - model_name [default: fnn_lidar_porto.hdf5]
launch/sys_id.launch
- - car_name [default: racecar]
  - csv_filename [default: track_barca_4676.csv]
launch/model_comparison.launch
- - world_number [default: 0]
  - car_name [default: racecar]
  - gui [default: true]
  - velocity [default: 1.0]
  - reset_on_crash [default: false]
  - model_name [default: fnn_lidar_porto.hdf5]
  - model_name2 [default: fnn_lidar_all.hdf5]
  - model_name3 [default: fnn_lidar_barca.hdf5]
  - model_name4 [default: fnn_lidar_walker.hdf5]
  - algorithm [default: 0]
  - csv_filename [default: track_porto_26780.csv]
  - csv_filename [default: racecar_walker_29418.csv]
  - csv_filename [default: track_barca_4676.csv]
  - csv_filename [default: racecar_tunnel_26520.csv]
  - csv_filename [default: levine-waypoints3.csv]
  - timeout [default: 180]
  - experiment_number [default: 0]
  - use_sim_time [default: true]
  - verbose [default: false]
  - use_sim_time [default: $(arg use_sim_time)]
launch/sim_for_rtreach_batch_rl.launch
- - world_name [default: track_porto]
  - car_name [default: racecar]
  - gui [default: true]
  - model_name [default: minivgg_1.hdf5]
  - csv_filename [default: track_porto_26780.csv]
  - lec_only [default: false]
  - map_file [default: $(find race)/maps/porto_track.yaml]
  - random_seed [default: 15]
  - freespace_file [default: porto_freespace.txt]
  - num_obstacles [default: 6]
  - experiment_number [default: 0]
  - reset_on_crash [default: false]
  - timeout [default: -1]
  - collision_file [default: collisions_rl.txt]
  - use_sim_time [default: true]
  - verbose [default: true]
  - use_sim_time [default: $(arg use_sim_time)]
launch/rl_train.launch
- - world_name [default: track_porto]
  - car_name [default: racecar]
  - use_sim_time [default: true]
  - verbose [default: false]
  - use_sim_time [default: $(arg use_sim_time)]
launch/platoon.launch
launch/f1_tenth_rl.launch
- - world_name [default: track_porto]
  - use_sim_time [default: false]
  - gui [default: true]
  - run_camera [default: false]
  - reset_on_crash [default: false]
  - verbose [default: false]
  - enable_keyboard [default: false]
launch/sim_for_rtreach_multi_agent.launch
- - gui [default: true]
  - docker [default: false]
  - box_display_limit [default: 100]
  - reach_time [default: 1.0]
  - wall_time [default: 1.0]
  - debug [default: ]
  - number_of_cars [default: 2]
  - car_name [default: racecar2]
  - rviz_disp [default: multiagent_reach.rviz]
  - model_name [default: minivgg_center_data.hdf5]
launch/slam.launch
launch/multi_agent_gen.launch
- - racecar_pose [default: -x 1.5 -y 0.05 -z 0.05]
  - racecar2_pose [default: -x 3.5 -y 1.05 -z 0.05]
  - racecar3_pose [default: -x -1.5 -y 0.05 -z 0.05]
  - enable_keyboard [default: false]
  - world_name [default: track_porto]
  - number_of_cars [default: 2]
  - gui [default: true]
  - rviz_disp [default: multicar.rviz]
launch/model_comparison_obstacles.launch
- - world_number [default: 0]
  - car_name [default: racecar]
  - gui [default: true]
  - velocity [default: 1.0]
  - random_seed [default: 1516]
  - freespace_file [default: porto_freespace.txt]
  - num_obstacles [default: 5]
  - reset_on_crash [default: false]
  - model_name [default: fnn_lidar_porto.hdf5]
  - model_name2 [default: fnn_lidar_all.hdf5]
  - model_name3 [default: fnn_lidar_barca.hdf5]
  - model_name4 [default: fnn_lidar_walker.hdf5]
  - algorithm [default: 0]
  - csv_filename [default: track_porto_26780.csv]
  - csv_filename [default: racecar_walker_29418.csv]
  - csv_filename [default: track_barca_4676.csv]
  - csv_filename [default: racecar_tunnel_26520.csv]
  - csv_filename [default: levine-waypoints3.csv]
  - timeout [default: 180]
  - experiment_number [default: 0]
  - use_sim_time [default: true]
  - verbose [default: false]
  - use_sim_time [default: $(arg use_sim_time)]
launch/sim_for_rtreach_rl.launch
- - world_name [default: track_porto]
  - car_name [default: racecar]
  - gui [default: true]
  - csv_filename [default: track_porto_26780.csv]
  - lec_only [default: false]
  - map_file [default: $(find race)/maps/porto_track.yaml]
  - random_seed [default: 15]
  - freespace_file [default: porto_freespace.txt]
  - num_obstacles [default: 5]
  - timeout [default: -1]
  - use_sim_time [default: true]
  - verbose [default: false]
  - use_sim_time [default: $(arg use_sim_time)]
launch/multi_parametrizeable.launch
- - racecar_pose [default: -x 1.5 -y 0.05 -z 0.05]
  - racecar2_pose [default: -x 3.5 -y 1.05 -z 0.05]
  - racecar3_pose [default: -x -1.5 -y 0.05 -z 0.05]
  - enable_keyboard [default: false]
  - world_name [default: track_porto]
  - number_of_cars [default: 2]
  - gui [default: true]
  - rviz_disp [default: multicar.rviz]
  - map_file [default: $(find race)/maps/porto_track.yaml]
launch/sim_for_rtreach_dynamic_obstacle_uncertainty.launch
- - gui [default: true]
  - docker [default: false]
  - experiment_number [default: 0]
  - algorithm [default: 0]
  - box_display_limit [default: 100]
  - velocity [default: 1.0]
  - world_name [default: track_porto]
  - reach_time [default: 1.0]
  - map_file [default: $(find race)/maps/porto_track.yaml]
  - wall_time [default: 1.0]
  - debug [default: ]
  - timeout [default: -1]
  - parameter_uncertainty [default: 0.0]
  - position_uncertainty [default: 0.0]
  - velocity_uncertainty [default: 0.0]
  - use_particles [default: 1]
  - number_of_cars [default: 3]
  - num_obstacles [default: 5]
  - car_name [default: racecar]
  - rviz_disp [default: multiagent_reach.rviz]
  - model_name [default: minivgg_center_data.hdf5]
  - use_sim_time [default: true]
  - verbose [default: false]
  - racecar_pose [default: -x -3.5 -y -0.2 -z 0.05]
  - racecar2_pose [default: -x 1.5 -y 1.0 -z 0.05]
  - racecar3_pose [default: -x -1.5 -y 0.05 -z 0.05]
launch/sim_for_rtreach_uncertain_simplex.launch
- - gui [default: true]
  - docker [default: false]
  - experiment_number [default: 0]
  - algorithm [default: 0]
  - box_display_limit [default: 100]
  - velocity [default: 1.0]
  - world_name [default: track_porto]
  - reach_time [default: 1.0]
  - map_file [default: $(find race)/maps/porto_track.yaml]
  - wall_time [default: 1.0]
  - debug [default: ]
  - timeout [default: -1]
  - parameter_uncertainty [default: 0.0]
  - position_uncertainty [default: 0.0]
  - velocity_uncertainty [default: 0.0]
  - use_particles [default: 1]
  - number_of_cars [default: 3]
  - num_obstacles [default: 5]
  - car_name [default: racecar]
  - rviz_disp [default: multiagent_reach.rviz]
  - model_name [default: minivgg_center_data.hdf5]
  - use_sim_time [default: true]
  - verbose [default: false]
  - racecar_pose [default: -x -3.5 -y -0.2 -z 0.05]
  - racecar2_pose [default: -x 1.5 -y 1.0 -z 0.05]
  - racecar3_pose [default: -x -1.5 -y 0.05 -z 0.05]
launch/sim_for_rtreach_batch.launch
- - world_name [default: track_porto]
  - car_name [default: racecar]
  - gui [default: true]
  - model_name [default: minivgg_center_data.hdf5]
  - csv_filename [default: track_porto_26780.csv]
  - lec_only [default: false]
  - map_file [default: $(find race)/maps/porto_track.yaml]
  - random_seed [default: 15]
  - freespace_file [default: porto_freespace.txt]
  - num_obstacles [default: 6]
  - experiment_number [default: 0]
  - reset_on_crash [default: false]
  - timeout [default: -1]
  - collision_file [default: collisions_e2e.txt]
  - use_sim_time [default: true]
  - verbose [default: true]
  - use_sim_time [default: $(arg use_sim_time)]
launch/sim_for_rtreach_multi_agent_batch.launch
- - gui [default: false]
  - box_display_limit [default: 100]
  - reach_time [default: 0.8]
  - experiment_number [default: 0]
  - wall_time [default: 1.0]
  - docker [default: false]
  - velocity [default: 1.0]
  - debug [default: ]
  - number_of_cars [default: 2]
  - timeout [default: 60]
  - car_name [default: racecar2]
  - rviz_disp [default: multiagent_reach.rviz]
  - model_name [default: fnn_lidar_porto.hdf5]
  - algorithm [default: 0]
launch/sim_for_rtreach_uncertainty.launch
- - gui [default: true]
  - docker [default: false]
  - box_display_limit [default: 100]
  - world_name [default: track_porto]
  - reach_time [default: 1.0]
  - map_file [default: $(find race)/maps/porto_track.yaml]
  - wall_time [default: 1.0]
  - debug [default: ]
  - timeout [default: -1]
  - parameter_uncertainty [default: 0.0]
  - use_ground_truth [default: true]
  - use_particles [default: 1]
  - number_of_cars [default: 2]
  - car_name [default: racecar]
  - rviz_disp [default: multiagent_reach.rviz]
  - model_name [default: minivgg_center_data.hdf5]
  - use_sim_time [default: true]
  - verbose [default: false]
  - use_sim_time [default: $(arg use_sim_time)]
  - scan_topic [default: racecar/scan]
  - odometry_topic [default: racecar/odom]
  - laser_frame [default: racecar/laser]
launch/test.launch
- - gui [default: false]
  - enable_keyboard [default: false]
launch/sim_for_rtreach_dynamic.launch
- - enable_keyboard [default: false]
  - world_name [default: track_porto]
  - number_of_cars [default: 2]
  - csv_filename [default: porto_obstacles.txt]
  - model_name [default: minivgg_1.hdf5]
  - map_file [default: $(find race)/maps/porto_track.yaml]
launch/f1_tenth_devel.launch
- - world_name [default: track_porto]
  - use_sim_time [default: true]
  - gui [default: false]
  - run_camera [default: false]
  - reset_on_crash [default: false]
  - verbose [default: false]
  - enable_keyboard [default: false]
launch/sim_for_rtreach_aij_experiments.launch
- - gui [default: true]
  - docker [default: false]
  - experiment_number [default: 0]
  - algorithm [default: 0]
  - control [default: false]
  - box_display_limit [default: 100]
  - velocity [default: 1.0]
  - world_name [default: track_porto]
  - reach_time [default: 1.0]
  - map_file [default: $(find race)/maps/porto_track.yaml]
  - wall_time [default: 1.0]
  - debug [default: ]
  - timeout [default: -1]
  - parameter_uncertainty [default: 0.0]
  - position_uncertainty [default: 0.0]
  - velocity_uncertainty [default: 0.0]
  - use_particles [default: 1]
  - number_of_cars [default: 3]
  - num_obstacles [default: 5]
  - car_name [default: racecar]
  - rviz_disp [default: multiagent_reach.rviz]
  - model_name [default: minivgg_center_data.hdf5]
  - use_sim_time [default: true]
  - verbose [default: false]
  - racecar_pose [default: -x -3.5 -y -0.2 -z 0.05]
  - racecar2_pose [default: -x 1.5 -y 1.0 -z 0.05]
  - racecar3_pose [default: -x -1.5 -y 0.05 -z 0.05]
launch/sim_for_mpc.launch
- - world_name [default: track_porto]
  - car_name [default: racecar]
  - gui [default: true]
  - csv_filename [default: track_porto_26780.csv]
  - map_file [default: $(find race)/maps/porto_track.yaml]
  - random_seed [default: 1516]
  - use_sim_time [default: true]
  - verbose [default: false]
  - use_sim_time [default: $(arg use_sim_time)]
  - freespace_file [default: porto_freespace.txt]
  - num_obstacles [default: 10]
launch/multicar_disparity_extender.launch
- - number_of_cars [default: 2]
launch/sim_for_rtreach.launch
- - world_name [default: track_porto]
  - car_name [default: racecar]
  - gui [default: true]
  - model_name [default: minivgg_center_data.hdf5]
  - csv_filename [default: track_porto_26780.csv]
  - lec_only [default: false]
  - map_file [default: $(find race)/maps/porto_track.yaml]
  - random_seed [default: 15]
  - freespace_file [default: porto_freespace.txt]
  - num_obstacles [default: 6]
  - timeout [default: -1]
  - use_sim_time [default: true]
  - verbose [default: false]
  - use_sim_time [default: $(arg use_sim_time)]
launch/sim_for_rtreach_batch_emsoft.launch
- - world_number [default: 0]
  - car_name [default: racecar]
  - gui [default: false]
  - lrviz [default: true]
  - velocity [default: 1.0]
  - algorithm [default: 0]
  - wall_time [default: 25]
  - random_seed [default: 15]
  - timeout [default: -1]
  - model_name [default: dave_elu_adam_82.hdf5]
  - reset_on_crash [default: false]
  - experiment_number [default: 0]
  - model_name2 [default: fnn_lidar_porto.hdf5]
  - model_name3 [default: fnn_lidar_all.hdf5]
  - num_obstacles [default: 6]
  - map_file [default: $(find race)/maps/$(arg map_name)]
  - use_sim_time [default: true]
  - verbose [default: false]
  - use_sim_time [default: $(arg use_sim_time)]
launch/sim_for_rtreach_multi_agent_benchmarking.launch
- - gui [default: false]
  - box_display_limit [default: 100]
  - reach_time [default: 0.8]
  - experiment_number [default: 0]
  - wall_time [default: 1.0]
  - docker [default: false]
  - velocity [default: 1.0]
  - debug [default: ]
  - number_of_cars [default: 2]
  - timeout [default: 60]
  - car_name [default: racecar2]
  - rviz_disp [default: multiagent_reach.rviz]
  - model_name [default: fnn_lidar_porto.hdf5]
  - algorithm [default: 0]
launch/move_base_planning.launch
- - world_name [default: track_porto]
  - car_name [default: racecar]
  - gui [default: true]
  - csv_filename [default: track_porto_26780.csv]
  - map_file [default: $(find race)/maps/porto_track.yaml]
  - random_seed [default: 1516]
  - use_sim_time [default: false]
  - verbose [default: false]
  - use_sim_time [default: $(arg use_sim_time)]
  - freespace_file [default: porto_freespace.txt]
  - num_obstacles [default: 10]
launch/sim_for_rtreach_uncertainty_control.launch
- - gui [default: true]
  - docker [default: false]
  - experiment_number [default: 0]
  - algorithm [default: 0]
  - box_display_limit [default: 100]
  - velocity [default: 1.0]
  - world_name [default: track_porto]
  - reach_time [default: 1.0]
  - map_file [default: $(find race)/maps/porto_track.yaml]
  - wall_time [default: 1.0]
  - debug [default: ]
  - timeout [default: -1]
  - parameter_uncertainty [default: 0.0]
  - position_uncertainty [default: 0.0]
  - velocity_uncertainty [default: 0.0]
  - use_particles [default: 1]
  - number_of_cars [default: 3]
  - num_obstacles [default: 5]
  - car_name [default: racecar]
  - rviz_disp [default: multiagent_reach.rviz]
  - model_name [default: minivgg_center_data.hdf5]
  - use_sim_time [default: true]
  - verbose [default: false]
  - racecar_pose [default: -x -3.5 -y -0.2 -z 0.05]
  - racecar2_pose [default: -x 1.5 -y 1.0 -z 0.05]
  - racecar3_pose [default: -x -1.5 -y 0.05 -z 0.05]

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