About this Repo

A Hochschule Praktikum of TUM, implementing a pid controller on f1tenth vehicle to realize autonomous driving on track.

In this Repo basic manual controls (Keyboard and Joystick control) and autonomous driving algorithm (PID-Controller) are implemented in simulation environment and in real track. Through this lab a thorough understanding of ROS, Lidar, F110 Simulation environment and PID control algorithm can be achieved. And simulation environment is developed by University of Pennsylvania.

Requirements:

Unbuntu 18

ROS melodic

How to use

1. enter workspace folder

2. build project

   catkin_make
   

3. source setup

   source devel/setup.sh

4. launch the project

   roslaunch pid_simulator car_simulator.launch