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Stack Master

Here is the stack_master, it is intended to be the main interface between the user and the PBL F110 system.

Basic Usage

Here only quick procedures are detailed, for more details check the checklists index. If you are looking for the utilities and how to use them, refer to the f110_utils folder.

Mapping (on the real car)

It is suggested to first launch a roscore in a separate terminal. This will be useful to keep any RViz sessions working even across restarts of the base system.

roscore

Then launch the mapping procedure with the following launch file:

roslaunch stack_master mapping.launch map_name:=<map name of choice> racecar_version:=<NUCX>
  • <map name of choice> can be any name with no white space. Conventionally we use the location name (eg, 'hangar', 'ETZ', 'icra') followed by the day of the month followed by an incremental version number. For instance, hangar_12_v0.
  • <NUCX> depends on which car you are using. NUC2, JET1, etc.

After completing a lap, press the requested button and the raceline will be generated. Then two GUI will be shown, and within them a slider can be used to select the sectors. Be careful as once a sector is chosen it cannot be further subdivided.

After both the standard sectors and the overtaking sectors are chosen, the mapping procedure will re-build the sector_tuner and the overtaking_sector_tuner package, and then after this is completed the procedure can be ended with Ctrl+C.

You will then need to re-source the ROS environment, which can be done as:

source /opt/ros/noetic/setup.bash && source ~/catkin_ws/devel/setup.bash

If you don't have sauce already set as an alias in your bashrc.

Base System

Since some parameters (e.g. the static transforms from laser to base_link, or the tuning parameters of the VESC...) differ from robot to robot, you need to specify the corresponding racecar_version defined in the stack_master package here, the example models that exist are: NUC2 and JET1.

The base system launches the common components that are required for the car between time-trials and Head-to-Head mode. It can be launched as follows:

roslaunch stack_master base_system.launch map_name:=<map name of choice> racecar_version:=NUCX

For more information consult the launchfile here.

Note: There is duplicated code in headtohead and time_trials launchfiles. For example:

the controller_manager node

dynamic reconfigure for controller manager

CPU measurement

State machine

This could be moved to the base-system launchfile (unless I'm missing something?)

Different Controllers Available

You can pass the ctrl_algo argument to the launch files to select the controller you want to use. The available controllers are:

  • PP: Pure Pursuit
  • MAP: Model-and Acceleration-based Pursuit based on this paper here. For this controller the LU_table must be specified as well.
  • KMPC: Kinematic Model Predictive Controller (no tire dynamics)
  • STMPC: Single Track Model Predictive Controller (with tire dynamics)

Time trials

roslaunch stack_master time_trials.launch ctrl_algo:=MAP LU_table:=NUCX_hangar_pacejka

In a Time-Trials part of competition, or if you know you don't need to deal with dynamic obstacles, launch this.

Different Overtaking Planners Available

You can pass the planner argument to the headtohead launch files to select the overtaking planner you want to use. The available planners are:

  • frenet: Frenet-based overtaking planner
  • graph_based: An overtaking algorithm based on graph search. As in this paper here.
  • spliner: Spliner-based overtaking planner
  • predictive_spliner: Spatiotemporal spliner-based overtaking planner as in this paper here.

Head to Head

roslaunch stack_master headtohead.launch ctrl_algo:=MAP LU_table:=NUCX_hangar_pacejka planner:=<spliner>

When there are dynamic obstacles, run this.

How to connect the pit

  • On your pit laptop: 
    cd <race_stack folder>/f110_utils/scripts/pit_starter
source pit_starter.sh <YOUR_ZEROTIER_IP> <NUC3 or NUC4> rviz
  • Enjoy freshly sourced NUCX and runs the rviz with the correct config.

Pro tips:

  • If you only want to source the NUCX then dont use the rviz argument
  • It helps to alias these functions with convenient names

Go back to the main README