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Package Summary

Tags No category tags.
Version 0.0.0
License MIT
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description A repository for autonomous racing written in ROS2, designed for the F1TENTH platform. Code can run both in the physical car, as well as simulation with custom launch files.
Checkout URI https://github.com/cl2-uwaterloo/f1tenth_ws.git
VCS Type git
VCS Version main
Last Updated 2024-06-10
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

f1tenth gap_follow lab

Additional Links

No additional links.

Maintainers

  • Steven Gong

Authors

No additional authors.

Follow the Gap

This node is a reactive algorithm for obstacle avoidance.

Steps

  1. Obtain laser scans and preprocess them.
  2. Find the closest point in the LiDAR ranges array.
  3. Draw a safety bubble around this closest point and set all points inside this bubble to 0. All other non-zero points are now considered “gaps” or “free space”.
  4. Find the max length “gap”, in other words, the largest number of consecutive non-zero elements in your ranges array.
  5. Find the best goal point in this gap. Naively, this could be the furthest point away in your gap, but you can probably go faster if you follow the “Better Idea” method as described in lecture.
  6. Actuate the car to move towards this goal point by publishing an AckermannDriveStamped to the /drive topic.
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.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged gap_follow at Robotics Stack Exchange

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