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AutoCar/GETTINGSTARTED.md

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Getting started with AutoCar Table of Contents Requirements Installation Execution What nodes to run Network config
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Getting started with AutoCar

Table of Contents

  1. Requirements
  2. Installation
  3. Execution

Requirements

  • ROS Indigo
  • Ubuntu 14.04
  • F1Tenth Platform
  • Jetson TK1
  • Hokuyo LiDAR UST-10LX

Installation

Install ROS on the Jetson and on your development machine following the tutorials available at F1Tenth

Execution

What nodes to run

Make sure your terminals are sourced.

  1. roscore

  2. Communications with vehicle

    rosrun rosserial_python serial_node.py /dev/ttyACM0

  3. Emergency stop node

    rosrun emergency_stop estop_filter.py

  4. IMU Node

    rosrun razor_imu_9dof imu_node.py

  5. In one terminal, run the following:

    ./setup_bridge.py

    rosrun urg_node urg_node _ip_address:=192.168.1.11

  6. Controller

    rosrun pure_pursuit manhattan_control.py

Network config

  • Jetson's ip address is 192.168.1.1

  • Lidar's ip address is 192.168.1.11

  • Remote computer's ip address is 192.168.1.112