This is the repo. If you're looking for the website, you'll find it here:
https://su-bolides.github.io/Course_2025/
This is a project made by Sorbonne University students. The goal is to make autonomous RC cars that can drive around a track and avoid obstacles for the ENS organized CoVAPSy (Course Voiture Autonome Paris Saclay) race.
We entered two cars in the 2024 race, both using two different navigation heuristics. The hardware is pretty much identical between the two cars, but one of them uses a Dynamixel instead of a standard Servo for steering control.
The project is divided into four main parts:
- ROS packages for the car (SLAM) course_2025_slam_pkgs
- Ressources ressources contains some basic ressources for the project
- Simulation simulation_env contains the simulation of the bolide in Webots
- STM32 code CoVAPSy_STM32 contains the code for the STM32 microcontroller that link the car sensors to the Raspberry Pi
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https://ajuton-ens.github.io/CourseVoituresAutonomesSaclay/
Log. Every. Thing. You. Do. Yes, even the slightest thing. This helps track changes, learn from others' mistakes, and is just good practice.
Didn't have time in 2024, better than the bodged together Stanley controller. Should also be able to avoid obstacles.
Supposed to get a Qualcomm RB5, probably won't, but we should still try and explore the vision option. Not my field of expertise, but the conditions are very optimal, so we'll maybe get something that works.
Two Raspberry Pis. One for the SLAM localization, another for the NMPC. More = better, right? Maybe dedicate one to only doing Vision stuff, if it's too heavy to run concurrently. To be tried out.
Install ROS Noetic on your computer. Check the ROS Noetic installation guide for more information.
Check the Robot_setup.md file to get started with the robot.
Bolide's IP when connected to the rooter (SSID=R15-AF66) at St-Cyr
- IP bolide2: 192.168.137.78
- IP bolide1: 192.168.137.165
Check the ros_bashrc_lines.md file and copy ir to you're own ~/.bashrc.
It'll save you a lot of trouble when connecting to the robots or interacting with the simulation or simply with ROS.
Make sure that there are no double declarations and that the ROS environement variables ROS_NAMESPACE and ROS_MASTER_URI are unset.
Then you are ready to clone the ROS packages and build them !
For further information about our ROS packages, check the course_2025_pkgs repository.