Drivers onboard f1tenth race cars. This branch is under development for migration to ROS2. See the documentation of F1TENTH on how to get started.

On Logitech F-710 joysticks, the LB button is the deadman's switch for teleop, and the RB button is the deadman's switch for navigation. You can also remap buttons. See how on the readthedocs documentation.

• /drive: Topic for autonomous navigation, uses AckermannDriveStamped messages.

• /scan: Topic for LaserScan messages.
• /odom: Topic for Odometry messages.
• /sensors/imu/raw: Topic for Imu messages.
• /sensors/core: Topic for telemetry data from the VESC

1. ackermann_msgs https://index.ros.org/r/ackermann_msgs/#foxy.
2. urg_node https://index.ros.org/p/urg_node/#foxy. This is the driver for Hokuyo LiDARs.
3. joy https://index.ros.org/p/joy/#foxy. This is the driver for joysticks in ROS 2.
4. teleop_tools https://index.ros.org/p/teleop_tools/#foxy. This is the package for teleop with joysticks in ROS 2.
5. vesc GitHub - f1tenth/vesc at ros2. This is the driver for VESCs in ROS 2.
6. ackermann_mux GitHub - f1tenth/ackermann_mux: Twist multiplexer. This is a package for multiplexing ackermann messages in ROS 2.

1. f1tenth_stack: maintains the bringup launch and all parameter files

1. joy
2. joy_teleop
3. ackermann_to_vesc_node
4. vesc_to_odom_node
5. vesc_driver_node
6. urg_node
7. ackermann_mux

1. Parameters:
   • duty_cycle_min, duty_cycle_max
   • current_min, current_max
   • brake_min, brake_max
   • speed_min, speed_max
   • position_min, position_max
   • servo_min, servo_max
2. Publishes to:
   • sensors/core
   • sensors/servo_position_command
   • sensors/imu
   • sensors/imu/raw
3. Subscribes to:
   • commands/motor/duty_cycle
   • commands/motor/current
   • commands/motor/brake
   • commands/motor/speed
   • commands/motor/position
   • commands/servo/position

1. Parameters:
   • speed_to_erpm_gain
   • speed_to_erpm_offset
   • steering_angle_to_servo_gain
   • steering_angle_to_servo_offset
2. Publishes to:
   • ackermann_cmd
3. Subscribes to:
   • commands/motor/speed
   • commands/servo/position

1. Parameters:
   • odom_frame
   • base_frame
   • use_servo_cmd_to_calc_angular_velocity
   • speed_to_erpm_gain
   • speed_to_erpm_offset
   • steering_angle_to_servo_gain
   • steering_angle_to_servo_offset
   • wheelbase
   • publish_tf
2. Publishes to:
   • odom
3. Subscribes to:
   • sensors/core
   • sensors/servo_position_command

1. Parameters:
   • rpm_input_topic
   • rpm_output_topic
   • servo_input_topic
   • servo_output_topic
   • max_acceleration
   • speed_max
   • speed_min
   • throttle_smoother_rate
   • speed_to_erpm_gain
   • max_servo_speed
   • steering_angle_to_servo_gain
   • servo_smoother_rate
   • servo_max
   • servo_min
   • steering_angle_to_servo_offset
2. Publishes to:
   • topic described in rpm_output_topic
   • topic described in servo_output_topic
3. Subscribes to:
   • topic described in rpm_input_topic
   • topic described in servo_input_topic