F1TENTH vehicle is based on the Traxxas Slash 4×4 Premium Chassis and the NVIDIA Jetson Xavier NX. The NVIDIA Jetson NX is the main brain of the entire system. It gives commands to the VESC which controls the Servo and the Brushless Motor on the F1TENTH Vehicle. The NVIDIA Jetson NX also receives information from the LiDAR either via USB or Ethernet. All of these communication are done through ROS 2
To set up the driver stack on the car, we did the following
- Manual Control: how to start driving the car with a joystick once the workspace has been setup.
- Odometry Calibration and Autonomous Control
F1TENTH Simulator:
Automatic Emergency braking:
PID control for Wall following:
Follow the gap – Obstacle Avoidance:
SLAM with particle filter:
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