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Overview:#

This document elaborates the hardware and software configurations for using Autoware for autonomous driving. Hence, it will serve as a guideline to select hardware and software components to build autonomous vehicles. However, this document is NOT prepared as neither step-by-step instructions nor Q&A books, which will be provided as a reference link if available.

Design Overview:#

Radar Chart for F1Tenth Design

Who should read:#

One is interested in building your autonomous racing cars or low-cost platforms to learn Autoware, and looks for the place to start with.

References and Resources:#

  • Complete F1Tenth documents: link
  • Step-By-Step Instructions to deploy Autoware on F1Tenth: link

Contributors: complete list#

F1TENTH Core Developers#

  • Hongrui (Billy) Zheng
  • Johannes Betz

Contributors#

  • Matthew O’Kelly
  • Kim Luong
  • Haoru Xue
  • Joshua Whitley
  • F1TENTH Lehigh and Rosa Zheng
  • F1TENTH UCSD and Jack Silberman
  • Jim Benson

Community Outreach#

  • Rahul Mangharam
  • F1TENTH Clemson and Venkat Krovi
  • Jaroslav Klapálek

Targeted Use Cases#

Use Cases: Education Racing PoC Open AD Kit Commercial Services/Production
F1Tenth

ODD#

ODD Cargo Bus RoboTaxi Low Speed (Utility) Vehicle Delivery Robot
F1Tenth

Automation Level:#

Automation Level 0 1 2 3 4 5
F1Tenth

System Architecture#

F1Tenth can be used for racing and education purpose. The simplest use case is to avoid colliding into the obstacle on a racing track. Meanwhile, one can also develop the SLAM algorithm to build the map on the fly and finishes the loop in short time.

![[f1tenth_NX.webp]]

Hardware Configuration#

Chassis:#

  • Traxxas Slash 4x4 Premium: link to purchase
  • VESC Speed Controllers: # VESC 6 MK III

Sensors:#

  • Lidar: choose one
    • Hokuyo UTM-30LX
    • Hokuyo 10LX
  • Camera (optional):
    • ZED 2
    • Intel Real Sense

Computing Platforms:#

  • NVIDIA Jetson Xavier NX
  • USB Hub (4 ports)
  • (DEPRECATED) NVIDIA Jetson TX2

![[together_NX_00.jpeg]]

Software Configuration#

  • Software on the car:
    • Operating System: Linux 20.04
    • ROS: ROS2 galactic
    • GPU Driver: nVidia: JetPack 5.1.1 (rev. 1)
    • Autoware
    • SLAM Toolbox to create and edit map: ros-galactic-slam-toolbox
  • Tools: