AI Formula

I Formula is a technical challenge in which robot cars drive autonomously on a race course given a mission. Through competing for speed and intelligence in a real-world environment, AI Formula will provide an opportunity for rising engineers to acquire the skills and technology necessary for next-generation mobility research. This repository is the foundation of the AIFormula system.

Functions to be provided in this package:

• common (Util libraries for c++ and python)
• control (Control motor)
• launchers (Manage launch and shell files for each package)
• sensing (Camera, Imu)
• vehicle (Include intrinsic and extrinsic params)
• simulator
• docker
• perception (coming soon)
• planning (coming soon)

Dependencies

• ROS2 Foxy (Ubuntu 20.04)
• ZED SDK
• ZED ROS2 wrapper
• VectorNav
• ros2_socketcan

  Getting Started

Installation

• Local Environment:\ Clone this repository and build:\ Note: This package contains submodules. If the build of a submodule fails, please refer to the original packages (linked above).

  mkdir -p ~/ros2_ws/src/ # create your workspace if it does not exist
  cd ~/ros2_ws/src/ #use your current ros2 workspace folder
  git clone --recursive https://github.com/open-rdc/aiformula.git
  git clone https://github.com/autowarefoundation/ros2_socketcan.git
  cd ..
  colcon build --symlink-install  # build the workspace
  source ~/ros2_ws/install/local_setup.bash

• Docker Environment:\ To start docker:

  git clone https://github.com/aiformula-support/aiformula.git
  cd ./aiformula/docker
  ./docker_build_aiformula_foxy_amd.sh
  ./docker_run_aiformula_foxy_amd.sh

Vehicle setup

To connect can, and device

cd ~/ros2_ws/src/aiformula/launchers/shellscript/
./init_sensors.sh

Running the Example

To start all nodes of aiformula:\ Note: This command launches the following nodes: camera data, imu data, can data, motor controller, tf, joy.

ros2 launch launchers all_nodes.launch.py

Simulation

Under developping

Original simulation environment

ros2 launch simulator gazebo_simulator.launch.py

Simulation environment considering caster trail

ros2 launch simulator gazebo_simulator_caster_trail.launch.py

Simulation environment considering active caster

ros2 launch simulator gazebo_simulator_active_caster.launch.py
ros2 topic pub /position_controller/commands std_msgs/Float64MultiArray "data: [1.0]"

Control by Joystick

ros2 launch teleop_twist_joy teleop-launch.py