F1TENTH - Build
stable
Build and Drive
Introduction
Building the F1TENTH 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 F1TENTH System
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
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 F1TENTH Software
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. Adjusting Top Speed of the car
2. Hokuyo 10LX Ethernet Connection Setup
3. ROS Workspace Setup
Overview
1. Setting Up the ROS Workspace
2. Udev Rules Setup
3. Testing the Lidar
Driving the F1TENTH Car
Manual Control
Overview
1. Vehicle Inspection
2. Driving the Car
Troubleshooting
Calibrating the Odometry
Autonomous Control
Simulate
F1TENTH 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
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
F1TENTH - Build
Docs
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Driving the F1TENTH Car
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Autonomous Control
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Autonomous Control
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