F1Tenth IEEE IV 2024

This repository contains the code that was ran on the car for the F1Tenth IEEE IV 2024 race held in Jeju, Korea. The code here can be directly deployed onto the car.

Quick Start

Building the workspace

Clone the repo

git clone https://github.com/NTU-Autonomous-Racing-Team/race_stack_IV24.git

Build the workspace

cd race_stack_IV24/f1tenth_ws
colcon build

Running Teleop

Connect the controller to the car then run

ros2 launch f1tenth_stack bringup_launch.py # Default launch file given by F1Tenth

To launch the car with safety nodes running

ros2 launch bringup bringup_safety_NO1.yaml

To launch the car with keyboard and joy teleop enabled

ros2 launch bringup bringup_key_teleop.yaml
ros2 run teleop_twist_keyboard teleop_twist_keyboard 

NOTE: The commands above should be ran in separate terminals.

• How to run local planners
• How to run global planners

Software Stack

• Intended system architecture
• Architecture we ended up using