RoboRacer- Build

Build and Drive

  • Introduction
  • Building the RoboRacer Car
    • Bill of Materials
    • 1. Lower Level Chassis
      • 1. Removing Traxxas Stock Components
      • 2. Attaching the Standoffs
      • 3. Setting Up the Battery
      • DEPRECATED: Installing the Brushless Motor - Traxxas Ford Fiesta Chassis Only
    • 2. Autonomy Elements
      • 1. Preparing the NVIDIA Jetson NX
      • 2. Preparing the WiFi Antenna
      • DEPRECATED: Preparing the NVIDIA Jetson TX2
    • 3. Upper Level Chassis
      • 1. Mounting the VESC
      • 2. Mounting the Antenna
      • 3. Mounting the NVIDIA Jetson NX
      • 4. Mounting the Powerboard
      • 5. Mounting the Lidar
      • DEPRECATED: Mounting the NVIDIA Jetson TX2
      • 1. Mounting the TX2 and Antenna
      • 2. Mounting the USB Hub
    • 4. Putting it all together
      • 1. Mounting the Upper Level Chassis to the Lower Level Chassis
      • 2. Connecting the Brushless Motor to the VESC
      • 3. Connecting the Battery with the VESC
      • 4. Connecting the NVIDIA Jetson NX with the VESC
      • 5. Lidar Connection
      • 6. Attaching the PPM Cable
      • 7. Final Touches
      • 8. Voila!
      • DEPRECATED: NVIDIA TX2 Setup
  • Configure Jetson and Peripherals
    • 1. Configuring the NVIDIA Jetson NX
      • 1. Flash Jetson NX with Software
      • 2. Run Jetson NX from SSD
      • 3. Configuring WiFi and SSH
      • 4. Updating Packages
      • 5. Creating a Swapfile
      • 6. Install the Logitech F710 driver on the Jetson.
    • 2. Connecting the Pit/Host and the NVIDIA Jetson NX
      • Overview
      • 1. Vehicle Hardware Setup
      • 2. Connecting the NVIDIA Jetson NX to WiFi
      • 3. Connecting the Pit/Host Computer to WiFi
      • 4. Connecting to the Pit/Host to the NVIDIA Jetson NX
      • 5. Using a Remote Desktop
    • DEPRECATED - Configuring the Jetson TX2
      • Overview
      • 1. Install NVIDIA SDK Manager on Pit/Host Computer
      • 2. Installing JetPack on Pit/Host Computer
      • 3. Installing Orbitty BSP on Pit/Host Computer
      • 4. Connecting the TX2
      • 5. Flashing the TX2 with the Orbitty Carrier
      • 6. Working on the TX2
  • Install RoboRacer Driver Stack
    • 1. Configuring the VESC
      • 1. Installing the VESC Tool
      • 2. Powering the VESC
      • 3. Connecting the VESC to Your Laptop
      • 4. Updating the Firmware on the VESC
      • 5. Uploading the Motor Configuration XML
      • 6. Detecting and Calculating Motor Parameters
      • 7. Changing the Openloop Hysteresis and Openloop Time
      • 8. Tuning the PID controller
      • 9. Changing the hardware speed limit
    • 2. Hokuyo 10LX Ethernet Connection Setup
    • 3. RoboRacer Driver Stack Setup
      • Overview
      • 1. udev Rules Setup
      • 2. Installing ROS 2 and its Utilities
      • 3. Setting up the Driver Stack
      • 4. Launching Teleop and Testing the LiDAR
    • 3. RoboRacer Driver Stack Setup with Docker Containers
      • Overview
      • 1. udev Rules Setup
      • 2. Setting up the Driver Stack inside a Container
      • 3. Launching Teleop and Testing the LiDAR
  • Driving the RoboRacer Car
    • Manual Control
      • Overview
      • 1. Vehicle Inspection
      • 2. Driving the Car
      • Troubleshooting
    • Calibrating the Odometry
      • Calibrating the steering and odometry
      • Changing the software speed limit
    • Autonomous Control
      • Sensor Topics
      • Drive Topic
      • Bringup and Deadman’s Switch
      • Developing your own Node for Autonomous Control

Simulate

  • RoboRacer Simulator
    • Linux/ROS Installation
      • Dependencies
      • Package
      • Quick Start
    • Using the Simulator
      • Driving
      • Instant Pose Setting
    • Advanced Information
      • RVIZ Visualization
      • ROS API
      • Changing the Behavior Controller
        • Adding a planning node
      • Parameters
        • Topics
        • Frames
        • Simulator Parameters
        • Car Parameters
        • Lidar Parameters
        • Joystick Parameters

Autoware @ RoboRacer

  • Autoware Installation on the RoboRacer
    • Jetson Xavier NX and RoboRacer Recordreplay Demo
    • Flash JetPack 5.1.1 (rev. 1) to Jetson Xavier NX
    • NVIDIA SDK Manager Method:
    • SD Card Image Method:
    • Install ROS2 galactic
    • Set up Autoware development environment
    • Set up Autoware workspace
    • Install f1tenth_gym simulator dependencies
    • RoboRacer Recordreplay Demo
    • How to create a map
    • Create a map without an RoboRacer race car
    • Change map in the RoboRacer simulator
    • How to record a trajectory (simulation)
    • How to replay a trajectory (simulation)
    • How to record a trajectory (real car)
    • How to replay a trajectory (real car)
    • Troubleshooting/Tips

Support

  • FAQ
    • General
      • Where can I learn more about autonomous racing?
      • Where can I find additional working examples of autonomous racing code?
      • Material or components are not available
    • Mechanical
      • Do I have a broken drive train? How can I fix it?
      • Differential makes excessive noise
      • I’m not able to steer the car, no response from the steering servo
      • System identification failure and VESC tuning
      • Printing and laser cutting replacement parts
    • Wireless Network
      • High packet-loss, excessive latency on wireless network
      • Wireless interference with the gamepad
    • Software
      • LIDAR variants
      • USB works, but LIDAR and VESC do not work
  • Contact
  • Acknowledgements
    • RoboRacer Core Developers
  • Contributors
  • Community Outreach
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