Tianracer

中文版说明
TianRacer详细中文操作手册
Tianracer is a series of low-cost autonomous vehicles ranging in size from 1:10 to 1:5, controlled in a closed-loop system, allowing them to follow input commands more faithfully. All Tianracer models are equipped with NVIDIA development boards, including Jetson Nano, Jetson TX2, Xavier, Orin, and more. The basic version of Tianracer can reach a maximum speed of 3m/s, while the pro version can achieve speeds up to 10m/s.

Introduction

TianRacer ROS Wiki Our objective is to develop an affordable autonomous racing car, the Tianracer, with capabilities extending beyond basic mapping, localization, and navigation. It will feature advanced functionalities such as object detection, traffic light detection, and lane keeping. Currently, Tianracer builds upon and enhances the AI capabilities inherited from Jetracer.

Purchase from Tianbot Official Taobao Store

The Tianracer Nano version is a standard platform with all the hardware and software installed, a ready-to-go racing car.

点击这里进入淘宝购买或咨询客服： Purchase from Taobao:

Appreciation to HyphaROS RaceCar and Lord-Z

We developed the Tianracer based on the Hypha racecar. Please check out the original authors' repo for more details. https://github.com/Hypha-ROS/hypharos_racecar

Developer:

• HaoChih, LIN
• KaiChun, WU

Tianracer gazebo simulation is imported from https://github.com/Lord-Z/ackermann_gazebo

Developer:

• Yuxing, ZHANG

Customization

Speed: 3m/s - 10m/s Control：closed-loop speed control Computer: Nvidia Jetson Nano/TX/NX/Orin Developer Kit Chassis: BLDC Motor + TianBoard Mini + Servo Lidar: Slamtec / Osight / Richbeam / Livox Camera: 1080P Fisheye Undistorted USB3.0 / RGBD Camera Remote Controller: DJI DT7 Battery: LiPo

Instructions

Installation

cd ~/catkin_ws/src/
git clone https://github.com/tianbot/tianracer.git
cd ~/catkin_ws && catkin_make

Simulation

Tianracer can be simulated in F1tenth Simulator. Install the simulator first.

cd ~/catkin_ws/src/
git clone https://github.com/f1tenth/f1tenth_simulator.git
cd ~/catkin_ws && catkin_make

Simulate Tianracer

roslaunch tianracer_navigation simulator_wall_following.launch

Interfacing

Tianracer can be brought up all at once, or separately.

roslaunch tianracer_bringup tianracer_bringup.launch

Tianracer Base

roslaunch tianracer_core tianracer_core.launch

Lidar

roslaunch tianracer_bringup lidar.launch

RGBD Camera (if applicable)

roslaunch tianracer_bringup rgbd_camera.launch

USB Camera

roslaunch tianracer_bringup usb_cam.launch

GPS (if applicable)

roslaunch tianracer_bringup gps.launch

Mapping

After bringing up the Tianracer, we provide three methods to perform slam for 2D laser.

GMapping

roslaunch tianracer_slam tianracer_gmapping.launch

HectorSLAM

roslaunch tianracer_slam tianracer_hector.launch

Cartographer

roslaunch tianracer_slam tianracer_cartographer.launch

Save the Map

Map will be saved as tianbot_office in tianracer_slam/maps/

roslaunch tianracer_slam map_save.launch

Navigation

After saving the map, the map can be used to perform navigation.

roslaunch tianracer_navigation tianracer_teb_nav.launch

Configure running ROS across multiple machines, then launch RViz in a PC with a display

roslaunch tianracer_rviz view_teb_planner.launch

License: GPL v3