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This package controls the car for line following and obstacle avoidance by simultaneously receiving messages from the track recognition node and obstacle recognition node.

1. Have a real robot or robot simulation module, including a motion base, camera, and RDK kit, and ensure that it operates normally.
2. Have ROS low-level driver installed, so the robot can receive "/cmd_vel" commands for motion and move correctly based on the commands.

1. Install the Package

After starting the robot, connect to the robot via SSH or VNC in the terminal, click the "One-Click Deployment" button at the top right of this page, copy and run the following command on the RDK system to install the related nodes.

sudo apt update
sudo apt install -y tros-racing-control

2. Run Automatic Line Following and Obstacle Avoidance

source /opt/tros/local_setup.bash

# Simulation
ros2 launch racing_control racing_control_simulation.launch.py

# Real scenario (parameters can be set via command line at startup)
ros2 launch racing_control racing_control.launch.py avoid_angular_ratio:=0.2 avoid_linear_speed:=0.1 follow_angular_ratio:=-1.0 follow_linear_speed:=0.1