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A ROS package for racing an autonomous RC car.

This project is a work in progress. The goal is to enable an RC car to race autonomously around an on-road RC track (or some other area). You can follow the progress atmy Medium account, where I am documenting the development process.

The name Ghost comes from the ghost car feature in racing video games.

Below are the main project components and their status

• Car/Computer Interface - Complete
• Odometry Estimation - In Progress
• Lane Detection - In Progress, prototype version in place
• Localization - TODO
• Path Tracking Controller - TODO

All software is developed in ROS Indigo. Perform the commands below from within your ROS workspace.

To download and build:

git clone https://github.com/stevendaniluk/ghost.gitcatkin_make

To build and upload the arduino code:

rosrun rosserial_arduino make_libraries.py build/ghost/catkin_make ghost_arduino_controller_interfacecatkin_make ghost_arduino_controller_interface-upload

This will build the ghost messages, compile the arduino code, and upload it to the arduino (which should be connected via USB). Note: in order to build the messages for the arduino, your workspace must be re-sourced after the package is built withcatkin_make (either open a new terminal window, or runsource /workspace_path/devel/setup.bash).

• Kyosho TF-5 Stallion 1/10th On-road RC Car
• Arduino Nano Microcontroller
• Phidgets Spatial 3/3/3 IMU
• PointGrey Blackfly Camera
• Intel NUC i5