Doc Changes Based On f1tenth/f1tenth_system#4 #54
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added 8 commits
December 30, 2020 21:09
…tions. Fixing indentation.
hzheng40
requested changes
Jan 19, 2021
| #. Run ``catkin_make`` and source the directory using ``source devel/setup.bash``. | ||
| #. Run ``roslaunch f1tenth_racecar teleop.launch`` to launch the nodes for tele-operation. | ||
| * If you see a warning like this: ``[WARN] [1541708274.096842680]: Couldn't open joystick force feedback!``, it means that the joystick is connected. | ||
| #. Hold the LB button on the controller to start controlling the car. Move the left joystick up and down to move the car forward and backward and to the right and left to steer. |
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Are throttle and steering both on the same axis now? If it is, the old set up using the left joystick to throttle and right joystick to steer is better. If not, the wording needs to change.
| If you are using a Hokuyo UST-10LX: | ||
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| * In the file ``f1tenth_system/f1tenth_racecar/config/sensors.yaml``: | ||
| * Replace the line that starts with ``serial_port: `` with the text ``ip_address: "<sensor_ip>"`` replacing ``<sensor_ip>`` with the IP address of your sensor |
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'with the text' is also parsed into the code block when html is built.
| If you are using a Hokuyo UTM-30LX: | ||
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| * the F1TENTH software stack should already be configured to use the port ``/dev/sensors/hokuyo`` so no changes are needed if you are using this port. | ||
| * if you are using a different port, you will need to change the line that starts with ``serial_port: `` in ``f1tenth_system/f1tenth_racecar/config/sensors.yaml`` to point to the serial port to which your Hokuyo is connected. |
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'in' is also parsed into the code block when html is built.
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| 1. Installing the VESC Tool | ||
| ----------------------------- | ||
| We need to configure the VESC so that it works with the ROS driver package. Before you start, you'll need to install the `VESC Tool v2.03 <https://github.com/rpasichnyk/vesc_tool/releases/tag/v2.03>`_. The latest version, v2.05 does not contain the firmware that we use. The Linux VESC tool v2.03 can be found `here <https://drive.google.com/file/d/1tGrboseLUIlSdDjkhxDVxyopWc0h4_LC/view?usp=sharing>`_. | ||
| We need to configure the VESC so that it works with the ROS driver package. Before you start, you'll need to install the `VESC Tool v2.03 <https://github.com/rpasichnyk/vesc_tool/releases/tag/v2.03>`_. The latest version, v2.05 does not contain the firmware that we use. To download the version that we use, get the `Linux VESC tool v2.03 <https://drive.google.com/file/d/1tGrboseLUIlSdDjkhxDVxyopWc0h4_LC/view?usp=sharing>`_. |
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This page might need an update with the recent discoveries you've made in the firmware of the newer vescs.
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And also might need to fix the links, i'm not sure why even the original is pointing to a fork.
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| #. The parameters in `vesc.yaml <https://github.com/f1tenth/f1tenth_system/blob/master/racecar/racecar/config/racecar-v2/vesc.yaml>`_ need to be calibrated. | ||
| #. The parameters in `vesc.yaml <https://github.com/f1tenth/f1tenth_system/blob/master/f1tenth_racecar/config/vesc.yaml>`_ need to be calibrated. | ||
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| #. Follow this great `Tuning Guide <https://mushr.io/tutorials/tuning/>`_ that `Mushr <https://mushr.io/about/>`_ put together. |
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We might need to write our own, but the mushr guide is the same method that we follow. They had gains negated in their guide (which is a bug it should NOT be negative), and files are in different directories.
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But this is probably for a later PR
| @@ -183,7 +183,7 @@ Install TEB: | |||
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| .. code-block:: bash | |||
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| $ sudo apt-get install ros-kinetic-teb-local-planner | |||
| $ sudo apt-get install ros-kinetic-teb-local-planner | |||
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| TEB is a very thorough, well documented library with LOTS of parameters. Like over 40 parameters. We configured parameters in ``algorithms/path_planning/params/teb_local_planner_params.yaml``. There are params for ``min_turning_radius``, wheelbase of the car, ``max_vel_x``, and much more. In our ``follow_teb_local_plan.launch`` file, under the ``move_base`` node we add a rosparam that loads the ``teb_local_planner_params.yaml`` and have removed the default local planner params file. The underlying python file, ``follow_teb_local_plan.py``, is very similar to the ``follow_move_base_cmd_vel.py`` used for the default local planner. The main difference is that because Teb literally outputs the velocity and steering angle as is, we don’t need to do conversion. | |||
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(I believe) that this file is deprecated and only serve archival purpose.
| #. Play the rosbag file using ``rosbag play <your rosbag file>``. While the bag is playing, examine the topics list, and you will see a list of all topics that were recorded into the bag. Note that in addition to the topics you specified, ROS will also record the ``rosout``, ``rosout_agg``, and ``clock`` topics, which can be useful for debugging. | ||
| #. View that recorded motor data by echoing the ``/vesc/sensors/core`` topic. Pay attention to how the motor RPM changed as you drove the car around. When the bag is out of data, it will stop publishing. | ||
| #. Play the rosbag file using ``rosbag play <your rosbag file>``. While the bag is playing, examine the topics list, and you will see a list of all topics that were recorded into the bag. Note that in addition to the topics you specified, ROS will also record the ``rosout``, ``rosout_agg``, and ``clock`` topics, which can be useful for debugging. | ||
| #. View that recorded motor data by echoing the ``/vesc/sensors/core`` topic. Pay attention to how the motor RPM changed as you drove the car around. When the bag is out of data, it will stop publishing. |
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This is the accompanying update to the documentation based on changes to the
f1tenth_systemrepository defined in f1tenth/f1tenth_system#4. This MR also includes some minor formatting fixes.