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TimeTrials.md

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Checklist for Time Trials

Jobs

  • Pilot: <student 1>
  • Mission Control: <student 2, 3, 4>
  • Orbiters: <students 5, 6, 7, 8>

Precheck

  1. Use a fully charged battery and turn on the car
  2. Check all walkie-talkie batteries
  3. Check if you are in the correct branch (master) on the car.
  4. catkin build and sauce
  5. No wires in the way, battery is firmly positioned with tape
  6. Wheel nuts tightened and pin checked
  7. Walkie-Talkie connection is established between mission control [Localization_MissionControl] and [Pilot].
  8. Make sure [Pilot] knows the normal and overtaking sectors of the track, as well as the raceline
  9. [Orbiters] are equidistant along the track
  10. [MissionControl] prep a clock to countdown the time remaining

First Heat

  1. Launch roscore and base_system on the car
  2. Locally, launch pit_rvizX and pitX rqt.
  3. [MissionControl] Check all rqt dynamic reconfigure parameters are good.
  4. Launch time trials:
roslaunch stack_master time_trials.launch ctrl_algo:=<PP/MAP/STMPC/KMPC> LU_table:=<LU_table_name (only for MAP)>
  1. [MisisonControl] Check if localization is good. If needed, correct the position either telling the [Pilot] to localize or with the pose estimation button in RViz.
  2. When all MissionControl parameters are OK, [Localization_MissionControl] gives a thumbs-up. When [Pilot] sees this, start autonomous driving.
  3. Ready check: "pit ready" --> "orbiter ready" --> "driver ready"

Second Heat

  1. Decide a strategy, if needed.
  2. Replace the battery and ensure it is secured.
  3. Repeat the checklist above.

Procedure in case of a Crash

  1. The two closest [Orbiters] run to the crash site.
  2. One student raises the barriers while the [Driver] drives the car back onto the track.
  3. [Driver] drives manually around the track while the barriers are repaired.
  4. When localization is ready, [Localization_MissionControl] informs the [Driver].
  5. The driver must return to the position of the crash.
  6. When the driver receives the signal from the referees, resume autonomous driving.

Go back to the checklist index