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F110_Utils

Utils repo for PBL F110. Messages, services and library functions are located inside /libs, rosnodes are located inside /nodes, and scripts are located inside /scripts.

Current structure

  • libs
  • nodes
    • bayesopt4ros: external submodules for bayesian optimization in ROS.
    • car_to_car_sync: contains the node and instructions to stream one car's state estimate to the other.
    • frenet_conversion_server
    • frenet_odom_republisher: contains the node and instructions to publish the position and velocity of the racecar in frenet coordinates.
    • gb_traj_publisher: contains the node and instructions to publish the trajectory of the car.
    • lap_analyser: contains the node and instructions to analyse the lap times and the performance of the car.
    • map_editor: contains the node and instructions to map when an map defined by physical boundaries is not availble.
    • obstacle_publisher: contains the node and instructions to publish fictitious obstacles in the simulator.
    • overtaking_sector_tuner: describes the overtaking sector slicer and server, used to define the overtaking sectors and the corresponding scaling factors.
    • param_optimizer: contains the node and instructions to use bayesian optimization (with the bayesopt4ros package) to get optimal MAP parameters and/or sector scalers.
    • random_obstacle_publisher
    • sector_tuner: contains the node and instructions to slice the racing line in sectors and then publishes the sectors and the corresponding scaled trajectories and scaling parameters once the system is running.
    • set_pose: contains the node and instructions to set the pose of the car in the simulator.
    • slam_tuner: contains a node and instructions to tune the localization algorithms.
    • tf_transformer
    • transform_broadcaster
  • scripts
    • pit_starter: contains the script and instructions to source the NUCX and runs the rviz with the correct config.

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