Run

Preparation

• Verify that the correct map and speed profile is loaded

  cat launch/config/launch_config.yaml
  

  If not, execute the update_settings.py located in the root of the repository providing all necessary parameters.

  $ python update_settings.py -h
  
  usage: update_settings.py [-h] -m MAP_PATH [-y YAML_PATH] -r RACELINE_FILE -b BOUNDARIES_FILE
  
  options:
  -h, --help            show this help message and exit
  -m MAP_PATH, --map_path MAP_PATH
                          The path to the map .pgm file, expected to be within the `maps` directory of the repository
  -y YAML_PATH, --map_yaml_path YAML_PATH
                          The path to the map .yaml file, expected to be within the `maps` directory of the repository. If omitted assumed to be MAP_PATH with `.yaml` extension.
  -r RACELINE_FILE, --raceline RACELINE_FILE
                          The name of the raceline .csv file, expected to be within the `raceline/csv/TUM_raceline` directory of the repository
  -b BOUNDARIES_FILE, --boundaries BOUNDARIES_FILE
                          The name the boundaries .csv file, expected to be within the `raceline/csv/TUM_raceline` directory of the repository  
  

• Stop bringup, and every other running node.

• From VNC close RViz

Race

1. Run Bringup

   Follow bringup guide

2. Open RViz

   From the VNC instance, open a terminal and run rviz2.

3. Localize the car

   To start the localization algorithm open a new ssh instance and run run:

   launch localize_launch_mit.py
   

   The map should pop up in RViz.

   Use 2D pose estimate in RViz to place the car in the correct location.

4. Launch control node and race!

   To start the control stack open a new ssh instance and run:

   launch control.py
   

   The raceline should pop up in RViz.

   You can now press one of button of the joystick to run a control algorithm.

   Symbol	Algorithm
   Cross	Disparity Extender
   Circle	Pure Pursuit
   Triangle	Potential Field
   Square	Potential Pursuit
   L1 or R1	STOP