racecar_outdoor_ros_competition2022

Codebase for 17th outdoor racing car competition based on ros.

📁 Configuration

${racing_car_ws}/
├── src/
│ ├── racing_driver/ # Chassis driver using PID controller.
│ ├── robot_localization/ # Localization.
│ ├── sztu_mapping/ # Mapping.
│ ├── sztu_racecar/ # Main code: PP controller and key points recording.
│ └── sztu_vision/ # Vision module, get the steering angle.
└── README.md

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🔧 Environment

• Ubuntu-16.04 + ROS Kinetic
• Opencv2
• ros_control

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✅ Installation:

git clone https://github.com/Hency-727/racecar_outdoor_ros_competition2022.git
catkin_make
echo "source $(pwd)/devel/setup.bash" >> ~/.bashrc && source ~/.bashrc

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🚀 Start:

roslaunch sztu_racecar sztu_main.launch

Rviz

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