中文版说明

TianRacer详细中文操作手册

Tianracer is a series of low cost auotonomous vehicles controlled in closed-loop, which could follow input commands more faithfully. All series Tianracers are equipped with NVIDIA development boards, e.g, Jetson Nano, Jetson TX2, Xavier, etc. Basic version Tianracer can reach a maximum speed at 3m/s and pro version can reach 10m/s.

TianRacer ROS Wiki Our goal is to develop a low cost autonomous racing car with not only basic mapping, localization, navigation ability but also object detection, traffic light detection, lane keeping, etc. Now Tianracer inherits AI aiblity from Jetracer.

Tianracer Nano version is a standard platform with all the hardware and software installed, ready-to go racing car.

点击这里进入淘宝购买或咨询客服： Purchase from Taobao:

We developed the Tianracer based on Hypha racecar. Please checkout the original authors' repo for more details. https://github.com/Hypha-ROS/hypharos_racecar

Developer:

• HaoChih, LIN
• KaiChun, Wu

Speed: 3m/s Control：closed-loop speed control Computer: Nvidia Jetson Nano Developer Kit Chassis: Motor + TianBoard Mini + Servo Lidar: Slamtec Rplidar A1 Camera: 1080P Fisheye Undistorted USB3.0 Remote Controller: DJI DT7 Battery: LiPo

cd ~/catkin_ws/src/
git clone https://github.com/tianbot/tianracer.git
cd ~/catkin_ws && catkin_make

Tianracer can be simulated in F1tenth Simulator. Install the simulator first.

cd ~/catkin_ws/src/
git clone https://github.com/f1tenth/f1tenth_simulator.git
cd ~/catkin_ws && catkin_make

Simulate Tianracer

roslaunch tianracer_navigation simulator_wall_following.launch

Tianracer can be brought up all at once, or separately.

roslaunch tianracer_bringup tianracer_bringup.launch

roslaunch tianracer_core tianracer_core.launch

roslaunch tianracer_bringup lidar.launch

roslaunch tianracer_bringup rgbd_camera.launch

roslaunch tianracer_bringup usb_cam.launch

roslaunch tianracer_bringup gps.launch

After bringing up the Tianracer, we provide three methods to perform slam for 2D laser.

roslaunch tianracer_slam tianracer_gmapping.launch

roslaunch tianracer_slam tianracer_hector.launch

roslaunch tianracer_slam tianracer_cartographer.launch

Map will be saved as tianbot_office in tianracer_slam/maps/

roslaunch tianracer_slam map_save.launch

After saving the map, the map can be used to perform navigation.

roslaunch tianracer_navigation tianracer_teb_nav.launch

Configure running ROS across multiple machines, then launch rviz in a PC with display

roslaunch tianracer_rviz view_teb_planner.launch