文件列表:

LICENSE (35149, 2023-08-17)
TIANRACER.png (67942, 2023-08-17)
cartographer_ros.rosinstall (443, 2023-08-17)
tianracer.rosinstall (460, 2023-08-17)
tianracer (0, 2023-08-17)
tianracer\CMakeLists.txt (108, 2023-08-17)
tianracer\package.xml (1941, 2023-08-17)
tianracer_bringup (0, 2023-08-17)
tianracer_bringup\CMakeLists.txt (7310, 2023-08-17)
tianracer_bringup\env-hooks (0, 2023-08-17)
tianracer_bringup\env-hooks\99.default_tianracer.sh.em (1586, 2023-08-17)
tianracer_bringup\install (0, 2023-08-17)
tianracer_bringup\install\_bin_ (0, 2023-08-17)
tianracer_bringup\install\_bin_\tianracer_bringup.sh (276, 2023-08-17)
tianracer_bringup\install\_service_ (0, 2023-08-17)
tianracer_bringup\install\_service_\tianracer_bringup.service (218, 2023-08-17)
tianracer_bringup\install\_udev_ (0, 2023-08-17)
tianracer_bringup\install\_udev_\99-tianbot-gps.rules (126, 2023-08-17)
tianracer_bringup\install\_udev_\99-tianbot-joystick.rules (277, 2023-08-17)
tianracer_bringup\install\_udev_\99-tianbot-racecar.rules (300, 2023-08-17)
tianracer_bringup\install\_udev_\99-tianbot-rplidar.rules (152, 2023-08-17)
tianracer_bringup\install\_udev_\99-tianbot-usb-cam.rules (159, 2023-08-17)
tianracer_bringup\install\install_udev.sh (530, 2023-08-17)
tianracer_bringup\install\tianracer_autostart.sh (474, 2023-08-17)
tianracer_bringup\launch (0, 2023-08-17)
tianracer_bringup\launch\bridge.launch (372, 2023-08-17)
tianracer_bringup\launch\gps.launch (306, 2023-08-17)
tianracer_bringup\launch\includes (0, 2023-08-17)
tianracer_bringup\launch\includes\astra.launch.xml (3363, 2023-08-17)
tianracer_bringup\launch\includes\lidar (0, 2023-08-17)
tianracer_bringup\launch\includes\lidar\bm_scan.launch.xml (1661, 2023-08-17)
tianracer_bringup\launch\includes\lidar\osight_iexxx.launch.xml (1045, 2023-08-17)
tianracer_bringup\launch\includes\lidar\rplidar.launch.xml (1401, 2023-08-17)
tianracer_bringup\launch\includes\lidar\rslidar.launch.xml (2623, 2023-08-17)
tianracer_bringup\launch\includes\lidar\rslidar_nodelet.launch.xml (2283, 2023-08-17)
... ...

[English](https://github.com/tianbot/tianracer/blob/master/README.md) [TianRacer详细中文操作手册](http://doc.tianbot.com/tianracer) # 天驰无人竞速车 Tianracer Tianracer是由天之博特开发的低成本高速高仿真无人车,底盘采用闭环线性控制,具有良好的动力性能和操控性。全系列产品采用英伟达NVidia的开发板,提供强大的并行运算能力。基础款车型可以达到3m/s的速度,而专业版可达到10m/s速度。相同的软件架构可以方便进行算法开发和移植。 ## 介绍 [TianRacer ROS Wiki](https://wiki.ros.org/tianracer) 我们的目标时开发一款低成本无人车,不仅能够测试建图、定位、导航等算法,同时还具有物体识别、信号灯识别、车道线保持等功能。现在,Tianracer不仅能够实现F1tenth无人竞速车的功能,还能够继承Jetracer的特性。 ## 购买 基础版采用Jetson Nano控制器,包括阿克曼底盘、悬架、动力、线控、惯导、激光、视觉、编码器等等,无需繁冗的硬件开发,开机即可使用,教程和讲义丰富,方便学习以及高校无人车教学. [点击这里进入淘宝购买或咨询客服: Purchase from Taobao:](https://item.taobao.com/item.htm?id=5***703378940) ## 致谢 2017年在ROS Summer School从台湾小帅哥林浩鋕手里接过Hypha Racecar之后,希望能把这个项目发扬光大。 https://github.com/Hypha-ROS/hypharos_racecar 开发者: * HaoChih, LIN * KaiChun, Wu ## 参数 最大速度: 基础版3m/s,专业版10m/s 控制:线性闭环控制 处理器: Nvidia Jetson Nano 底盘: 悬架、电机、电调、舵机 控制器:TianBoard Mini 激光雷达: Slamtec Rplidar A1 摄像头: 1080P Fisheye Undistorted USB3.0 遥控器: 大疆DJI DT7 电池: 锂聚合物 # 使用 ## 安装 ``` cd ~/catkin_ws/src/ git clone https://github.com/tianbot/tianracer.git cd ~/catkin_ws && catkin_make ``` ## 仿真 Tianracer可以在[F1tenth Simulator](https://github.com/f1tenth/f1tenth_simulator)中进行仿真. 首先安装仿真环境. ``` cd ~/catkin_ws/src/ git clone https://github.com/f1tenth/f1tenth_simulator.git cd ~/catkin_ws && catkin_make ``` 进行仿真 ``` roslaunch tianracer_navigation simulator_wall_following.launch ``` ## 通信 Tianracer可以一次全部启动,或者单独启动各个部件. ``` roslaunch tianracer_bringup tianracer_bringup.launch ``` ### Tianracer底盘 ``` roslaunch tianracer_core tianracer_core.launch ``` ### 激光雷达 ``` roslaunch tianracer_bringup lidar.launch ``` ### 深度相机 (若装备) ``` roslaunch tianracer_bringup rgbd_camera.launch ``` ### USB摄像头 ``` roslaunch tianracer_bringup usb_cam.launch ``` ### GPS (若装备) ``` roslaunch tianracer_bringup gps.launch ``` ## 建图 启动Tianracer后, 我们提供三种方式进行建图. ### GMapping ``` roslaunch tianracer_slam tianracer_gmapping.launch ``` ### HectorSLAM ``` roslaunch tianracer_slam tianracer_hector.launch ``` ### Cartographer ``` roslaunch tianracer_slam tianracer_cartographer.launch ``` ### 保存地图 地图默认保存在tianracer_slam/maps/目录下,名称为tianbot_office ``` roslaunch tianracer_slam map_save.launch ``` ## 导航 保存地图后,下列程序会使用默认地图进行导航. ``` roslaunch tianracer_navigation tianracer_teb_nav.launch ``` 如果正确配置了ROS的多机互联, 可以在控制台电脑上打开RViz进行查看 ``` roslaunch tianracer_rviz view_teb_planner.launch ``` # License: GPL v3

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