This is a forked repo with some modifications for Autoware and F1tenth project

Assume svl and autoware have been installed and configured.

SVL Robot Bringup(This part is from the original repo)

svl_robot_bringup is a ROS2 package to assist with using Nav2, the ROS 2 navigation stack, with the SVL Simulator.

The repository contains:

• A ROS 2 node named odom_tf_node that subscribes to the /odom topic from the simulator and broadcasts the tf transform between the basefootprint and odom frames for the Cloi robot.
• A launch file which launches odom_tf_node as well as the lgsvl_bridge and the pointcloud_to_laserscan node and broadcasts a few static transforms for the sensor frames.
• A map of the LG Seocho environment available in the SVL Simulator to be used for localization and planning.
• Params for running Nav2.
• An rviz config file.

Note: this repository is currently only supported on ROS 2 Foxy.

Update

New components added:

• A urdf file for F1tenth
• A map for racing environment
• a slam_toolbox config file
• svl vehicle sensor configuration file

Remaining Issues

Currently, it is using GPS odometry to publish /odom -> /base_link tf for simulation.

(To do) use wheel odometry / imu. Will be updated later.

Instruction(localization)

sudo apt update

sudo apt install -y ros-foxy-navigation2 ros-foxy-nav2-bringup

cd ~/adehome

mkdir -p svl_test/src

cd svl_test/src

git clone https://github.com/xy-wang-4/svl_robot_bringup.git

cd ..

colcon build

source install/setup.bash

ros2 launch svl_robot_bringup robot_tf_launch.py

(New terminal)

ros2 launch nav2_bringup localization_launch.py params_file:=/path_to_this_package/svl_robot_bringup/params/nav2_params.yml map:=/path_to_this_package/svl_robot_bringup/maps/f1tenth.yaml

(New terminal)

/opt/lgsvl/simulator

then publish and start the f1tenth simulation

(New terminal)

ros2 run rviz2 rviz2 -d /path_to_this_package/svl_robot_bringup/rviz/nav2_cloi.rviz

set a intiall pose on rviz2

SLAM(Mapping)

The simulated map was generated by slam_toolbox.

To generate your own map using F1tenth vehicles, follow the instructions below.

Instruction(Mapping)

mkdir -p svl_test/src

cd svl_test/src

git clone https://github.com/SteveMacenski/slam_toolbox

change line 4305 of Karto.h to following

'''

m_NumberOfRangeReadings = static_cast<kt_int32u>(math::Round((GetMaximumAngle() -
  GetMinimumAngle()) /
  GetAngularResolution()) + residual) - 1;

'''

cd ..

colcon build

source install/setup.bash

ros2 launch svl_robot_bringup robot_tf_launch.py

(New terminal)

ros2 launch nav2_bringup localization_launch.py params_file:=/path_to_this_package/svl_robot_bringup/params/nav2_params.yml map:=/path_to_this_package/src/svl_robot_bringup/maps/f1tenth.yaml

(New terminal)

ros2 launch slam_toolbox online_async_launch.py params_file:=/path_to_this_package/svl_robot_bringup/params/mapper_params_online_async.yaml

(New terminal)

/opt/lgsvl/simulator then publish and start the f1tenth simulation

(New terminal)

ros2 run rviz2 rviz2 -d /path_to_this_package/svl_robot_bringup/rviz/nav2_cloi.rviz

set a intiall pose on rviz2