# 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](<../../metrics/index.md>) defines most of the axes. It has no definition for ODD.

RoboRacer and the LeoDrive bus score from 0 to 5 on each of the nine meta-info metrics.

## 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](<https://roboracer.ai/>)
- RoboRacer build documentation: [RoboRacer - Build Documentation](<https://f1tenth.readthedocs.io/en/main/>)
- RoboRacer course material: [RoboRacer course kit](<https://f1tenth-coursekit.readthedocs.io/en/latest/>)
- Autoware on RoboRacer: [Autoware Installation on the RoboRacer](<https://f1tenth.readthedocs.io/en/main/autoware/intro.html>)

## Contributors

The [RoboRacer website](<https://roboracer.ai/>) 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

| Use Cases: | Education | Racing | PoC | Open AD Kit | Commercial Services/Production |
| :---: | :---: | :---: | :---: | :---: | :---: |
| RoboRacer | ☑ | ☑ | ☐ | ☐ | ☐ |

## ODD

| ODD | Cargo | Bus | RoboTaxi | Low Speed (Utility) Vehicle | Delivery Robot |
| :---: | :---: | :---: | :---: | :---: | :---: |
| RoboRacer | ☐ | ☐ | ☐ | ☐ | ☐ |

## Automation level

| Automation Level | 0 | 1 | 2 | 3 | 4 | 5 |
| :---: | :---: | :---: | :---: | :---: | :---: | :---: |
| RoboRacer | ☑ | ☑ | ☑ | ☐ | ☐ | ☐ |

## 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](<https://www.amainhobbies.com/traxxas-slash-4x4-ultimate-rtr-4wd-short-course-truck-orange-tra68077-4-orng/p858530>)
- 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](<https://f1tenth.readthedocs.io/en/main/autoware/intro.html>) 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](<https://docs.ros.org/en/galactic/Installation/Ubuntu-Install-Debians.html>)
  - GPU driver: NVIDIA JetPack 5.1.1 (rev. 1)
  - Autoware: the [`galactic` branch](<https://github.com/autowarefoundation/autoware/tree/galactic>) of `autowarefoundation/autoware`, with the [`f1tenth_galactic` branch](<https://github.com/autowarefoundation/autoware_universe/tree/f1tenth_galactic>) of Autoware Universe
  - SLAM Toolbox to create and edit map: ros-galactic-slam-toolbox
- Tools:

  - Simulator: [RoboRacer simulator](<https://github.com/f1tenth/f1tenth_gym>)
  - Motor control: [VESC Tool](<https://vesc-project.com/vesc_tool>)
  - Version control tool: [vcstool](<https://github.com/dirk-thomas/vcstool>)

> [!NOTE]
>
> This integration is older than Autoware 2.0.0, and ROS 2 Galactic reached its end of life in 2022. Autoware 2.0.0 supports ROS 2 Humble on Ubuntu 22.04 and ROS 2 Jazzy on Ubuntu 24.04. The RoboRacer driver stack now uses ROS 2 Humble.