racecar_intelligent_driving2023

🏎️ Autonomous Racecar Codebase

This project uses the ROS move_base package as the core of the autonomous navigation stack. It enables the racing car to plan and follow a safe and efficient path from the start to the goal while avoiding obstacles in real time.

📁 Configuration

racing_car_ws/
├── src/
│ ├── encoder_driver/ # Encoder driver for wheel odometry 
│ ├── hi226_imu/ # A ROS package for HiPNUC HI226/Hi229 IMU Device
│ ├── imu_launch/ # IMU driver launch
│ ├── imu_tool/ # ROS tools for IMU devices
│ ├── ls01b/ # A ROS package for LS01b Lidar Device
│ ├── multi_goal/ # Scripts for saving goals and sending goals.
│ ├── racecar/ # Main control node
│ ├── racecar_driver/ # Racecar chassis driver
│ ├── rf2o_laser_odometry/ # A tool for estimation of 2D odometry based on planar laser scans.
│ ├── robot_localization/ # A package of nonlinear state estimation nodes
│ ├── serial/ # Cross-platform, Serial Port library written in C++
│ └── serial_imu/ # Cross-platform with IMU
└── README.md

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🔧 Environment

• Ubuntu-20.04 + ROS Noetic
• robot_state_publisher
• ackermann_msgs
• controller_manager
• ros_control

✅ Dependencies:

sudo apt update
sudo apt install ros-<distro>-ackermann-msgs ros-<distro>-ros-control ros-<distro>-navigation

✅ Installation:

git clone https://github.com/Hency-727/racecar_intelligent_driving2023.git
catkin_make
echo "source $(pwd)/devel/setup.bash" >> ~/.bashrc && source ~/.bashrc

🚀 Start:

roslaunch raecar Run_car.launch
roslaunch raecar amcl_nav.launch