README.md

f1tenth_launch

F1TENTH launch files for running autoware with lidar trajectory planner.

Installation

Check external links for dependencies.

rosdep install --from-paths src --ignore-src -y
colcon build --symlink-install --packages-up-to f1tenth_launch

Usage

The package requires map directory path to be provided with following structure:

• map_name_directory/
  • map.pbstream
  • trajectory.csv
  • map.pgm
  • map.yaml

The map.pgm and map.yaml files are not required, but are useful for trajectory generation purposes with external tools. You can generate these files with nav2_map_server while running the simulator or real vehicle:

ros2 run nav2_map_server map_saver_cli -f map

Then, move the files to the map_name_directory/ directory.

Simulator

1. Run F1TENTH AWSIM simulator.
2. Run launch file:

ros2 launch f1tenth_launch e2e_simulator.launch.py map_path:=<path_to_map_directory>

Real vehicle

1. Run launch file:

ros2 launch f1tenth_launch car.launch.py map_path:=<path_to_map_directory> vehicle_model:=<vehicle_model> sensor_model:=<sensor_model>

Mapping

Use mapping:=True argument to enable mapping mode. You can also turn off reference trajectory loader if the trajectory is not generated yet with use_trajectory_loader:=False argument.

References / External links

• Meta package
• F1TENTH AWSIM