ROAR Indy WS

This repo is the parent repo for the ROAR Go-Kart project.

Documentation Link: https://n36411s2sqp.larksuite.com/wiki/wikusm0cFYV00I5LugSR739Qqee

Quick Start

• Prereqs:
  • Install ROS2 Foxy
    • https://docs.ros.org/en/foxy/Installation/Ubuntu-Install-Debians.html
  • [Optional] if using Carla simulator, install carla-ros-bridge for ros2
    • https://carla.readthedocs.io/projects/ros-bridge/en/latest/ros_installation_ros2/
  • [Optional] If using hardware, make sure to install corresponding SDKs. More documentation provided after cloning, in each respective repo's README
  • [Optional] To contribute please install commit linters
    • upgrade NodeJS: https://blog.hubspot.com/website/update-node-js
    • Install linter: https://github.com/legend80s/git-commit-msg-linter

Assuming you are at roar-gokart-ws

• For ROAR launches vcs import src/launches < repos/launches.repos --recursive

• For Core: vcs import src/core < repos/core.repos --recursive

• For simulation
  vcs import src/simulation < repos/simulation.repos --recursive

• For hardware vcs import src/gokart < repos/gokart.repos --recursive

• Installation

• rosdep install --from-paths src --ignore-src -r -y

• colcon build

• Usage

  • Simulation:
    • ./scripts/carla/launch_simulation_server.sh
    • ./scripts/carla/racing/client_auto.sh

FAQ

• rapidjson not found sudo apt-get install rapidjson-dev

Some quick functions

1. To record everything in Carla

ros2 launch roar-indy-launches roar.launch.py manual_control:=True carla:=True record:=True

2. To record waypoint in Carla

ros2 launch roar-indy-launches roar.launch.py manual_control:=True carla:=True should_record_waypoint:=True

3. to check what options are available

ros2 launch roar-indy-launches roar.launch.py -s

4. Manual control in Carla

ros2 launch roar-indy-launches roar.launch.py manual_control:=True carla:=True

5. Auto waypoint following in Carla

ros2 launch roar-indy-launches roar.launch.py carla:=True core:=True visualization:=True param_file:=./src/launches/launches/config/carla/config.yaml

Use RQT or use cmd to invoke

ros2 service call /controller/manager/safety_toggle roar_msgs/srv/ToggleControlSafetySwitch "{is_safety_on: True}"