RoboRacer#

Overview#

This document describes the hardware and software configurations of RoboRacer (formerly F1TENTH), a 1/10 scale autonomous racing car that can run Autoware. It serves as a guideline to select hardware and software components to build autonomous vehicles. This document is not a step-by-step instruction or a Q&A book. Where such material exists, this document links to it.

Design overview#

The chart compares RoboRacer with the LeoDrive bus of the Bus ODD project. The metrics page defines most of the axes. It has no definition for ODD.

Who should read#

Read this page if you want to build an autonomous racing car or a low-cost platform to learn Autoware, and look for a place to start.

References and resources#

• RoboRacer website: roboracer.ai
• RoboRacer build documentation: RoboRacer - Build Documentation
• RoboRacer course material: RoboRacer course kit
• Autoware on RoboRacer: Autoware Installation on the RoboRacer

Contributors#

The RoboRacer website has the complete list.

RoboRacer core developers#

• Hongrui (Billy) Zheng
• Johannes Betz

Contributors#

• Matthew O'Kelly
• Kim Luong
• Haoru Xue
• Joshua Whitley
• RoboRacer Lehigh and Rosa Zheng
• RoboRacer UCSD and Jack Silberman
• Jim Benson

Community outreach#

• Rahul Mangharam
• RoboRacer Clemson and Venkat Krovi
• Jaroslav Klapálek

Targeted use cases#

ODD#

Automation level#

System architecture#

You can use RoboRacer for racing and for education. The simplest use case is to drive on a racing track without a collision with obstacles. You can also develop a SLAM algorithm that builds the map while the car drives, and then finish the loop in a short time.

Hardware configuration#

Chassis#

• Traxxas Slash 4x4 Premium: link to purchase
• VESC speed controller: VESC 6 MK III

Sensors#

• LiDAR: choose one
  • Hokuyo UTM-30LX
  • Hokuyo 10LX
• Camera (optional):
  • ZED 2
  • Intel RealSense

Computing platforms#

• NVIDIA Jetson Xavier NX
• USB Hub (4 ports)
• (DEPRECATED) NVIDIA Jetson TX2

Software configuration#

The Autoware installation guide for RoboRacer uses this software. It also has a record and replay demo: you build a map, record a trajectory while you drive the car by hand, and let Autoware follow the trajectory.

• Software on the car:
  • Operating system: Ubuntu 20.04
  • ROS: ROS 2 Galactic
  • GPU driver: NVIDIA JetPack 5.1.1 (rev. 1)
  • Autoware: the galactic branch of autowarefoundation/autoware, with the f1tenth_galactic branch of Autoware Universe
  • SLAM Toolbox to create and edit map: ros-galactic-slam-toolbox
• Tools:
  • Simulator: RoboRacer simulator
  • Motor control: VESC Tool
  • Version control tool: vcstool