Usecases

This page details how the program can be used.

Physical Car

The Physical Car implementation can be built by running Dockerfile.car or by building locally:

colcon build --symlink-install --packages-ignore-regex ros_gz.*

The car can then be run by launching one of the following launch files:

Launchfile Name	Package Location	Purpose
hardware_bringup.launch.py	f1tenth_bringup	Sets up Vesc and sensors, must be run in conjunction with any programs
joy_bringup.launch.py	f1tenth_bringup	Sets up joystick control
ftg.launch.py	controllers	Drives car using Follow the Gap control

Simulation Car

The Simulation Car implementation can be built by running Dockerfile.sim or by building locally. The car can then be run by launching one of the following launch files:

Launchfile Name	Package Location	Purpose
train.launch.py	reinforcement_learning	Begins training the vehicle using an RL algorithm set in the config file
test.launch.py	reinforcement_learning	Tests the trained model and evaluates performance