1/20 MiniCar: An ackermann based rover for MPC and Pure-Pursuit controller
Low cost, High speed 1/20 Racing Car for control laws evaluation !
Fully open-sourced (hardware & software), total cost <300USD.
Currently supports: Pure-Pursuit, Model-Predictive-Control (Nonlinear)
FB Page: https://www.facebook.com/HyphaROS/
Website: https://hypharosworkshop.wordpress.com/
Contact: [email protected]
Developer:
Date: 2018/08/16
License: Apache 2.0
HyphaROS MPC MiniCar 1-Day Workshop:
https://drive.google.com/open?id=1yX0aeA4spf_szpxXFpIlH0EQKIgiwJx7
ROS Summer School in China 2018 Slides:
https://goo.gl/RpVBDH
OVA image file (Kinetic, password: hypharos, 20180816)
Link: https://drive.google.com/open?id=1uRvXGakvQrbynmPHX_KIFJxPm8o6MWPb
Image file for Odroid XU4.(with SD card >=16G, password: hypharos)
Link: https://goo.gl/87vrNk
(if your SD card is around 13GB, it's OK to force Win32DiskImager to write the file!)
The default ethernet IP address is 10.0.0.1
Source codes: https://drive.google.com/open?id=19rjjpJmz85lTSxCyu-9CtvZhUW37c2LS
[WARNING!]
Since the original STM32 codes came from third-paries,
currently, the quality of codes are not guaranteed by us.
For MCUISP Driver: http://www.mcuisp.com/English%20mcuisp%20web/ruanjianxiazai-english.htm
$ roslaunch hypharos_minicar HyphaROS_Simulation_Stage.launch
The default controller is mpc, you can switch to pure-pursuit or DWA through param: "controller"
The default static eth IP on Odroid image is 10.0.0.1, hence, to connect to your Odroid through cable, please set your host IP as 10.0.0.X
Notice: for the first bootup, you have to update Odroid MAC address through HDMI Dispaly!
Use ethernet or display connection to make Odroid connect to your local Wifi AP. Remember to set ROS_MASTER_URI and ROS_IP in ".bashrc" file on both Odroid & host machine.
MiniCar (Odroid) side:
$ roslaunch hypharos_minicar HyphaROS_MiniCar_Mapping.launch
The default mapping algorithm is gmapping, you can swith to other slam method through param: "slam_type"
(crrently supports: gmapping, karto_slam, mrpt_icp and hector_slam)
Host (Desktop) side:
$ roslaunch hypharos_minicar HyphaROS_Desktop_Mapping.launch
Use keyboard to control the minicar.
After mapping, remember to save two maps, one for amcl and the other for move_base!
MiniCar (Odroid) side:
$ roslaunch hypharos_minicar HyphaROS_MiniCar_Racing.launch
The default controller is mpc, you can swith to other slam method through param: "controller"
(crrently supports: mpc and pure_pursuit)
Host (Desktop) side:
$ roslaunch hypharos_minicar HyphaROS_Desktop_Racing.launch
Use keyboard to interrupt controller's behavior.