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F1/10 Docking Container

Setup

Clone the repository:

git clone --recursive git@github.com:PUT-F1TENTH/f1tenth_container.git

Build the container:

./build.sh

Run the container:

./run.sh

Build the workspace:

cd /root/ws
colcon build --symlink-install

Run:

ros2 launch launch/f1tenth_container.launch.py

Useful commands

VESC Driver

ros2 launch vesc_driver vesc_driver_node.launch.py

VESC Tests

ros2 topic pub -r 1 /commands/ctrl control_interfaces/msg/Control '{steering_angle: 0.1}'
ros2 topic pub -r 1 /commands/ctrl control_interfaces/msg/Control '{set_speed: 1.0, control_mode: SPEED_MODE, set_current: 0.0}'

OptiTrack

ros2 run optitrack publisher_main

Docking

ros2 launch f1tenth_docking f1tenth_docking_launch.py
ros2 action send_goal docking_action_server f1tenth_docking_interfaces/action/Docking "{setpoint: {x_pos: 1.1, y_pos: 2.0, theta: 0.0, delta: 0.0}}"