Thinking about building an autonomous 1/10 scale vehicle? RACECAR/J is derived from the MIT RACECAR, an “open-source powerful platform for robotics research and education”. Here on JetsonHacks we have assembly guides, software installation tutorials and as time goes on the library of information will continue to grow. On this page, we have links to the various articles about RACECAR/J gathered into one convenient spot.
The RACECAR/J Store: racecarj.com
At the RACECAR/J Store you can buy complete kits and parts to build your own RACECAR/J (Currently shipping to the USA only). There are currently two different configurations available. The first configuration is built around the MIT RACECAR 2.5 specification. The second configuration is oriented towards people who want to experiment with different sensor configurations.
Here’s a list of articles about RACECAR/J here on JetsonHacks:
- RACECAR/J Chassis Preparation
- This is the first assembly article, in which we prepare a Traxxas Slash 4×4 by upgrading the springs, adding a new front bumper, and removing some parts not in use on RACECAR/J.
- RACECAR/J Platform Preparation
- In the second assembly article, we build up the Platform Decks which are the main mechanical structure for the autonomy sled. The Platform Decks hold the computer, sensors, electronic speed controller and USB hub. In the article, we prepare the deck and attach the USB hub and electronic speed controller. Once complete we mate the Platform Decks to the Traxxas chassis. This is for the MIT RACECAR Version.
- RACECAR/J Initial Assembly
- In the third assembly article, we mount the IMU to the Platform Deck along with a NVIDIA Jetson Development Kit. We then connect the motor to the electronic speed controller, along with the steering servo wire. This is for the MIT RACECAR Version.
- RACECAR/J Hokuyo UST-10LX Lidar
- If you are building a MIT RACECAR specification robot, you may find this article useful. Here we go over adding a power connector to the Hokuyo UST-10LX, installing the Hokuyo onto the RACECAR/J Platform Deck, and wiring the Hokuyo to the electronics battery. After assembly, we test against the MIT RACECAR software stack.
- RACECAR/J FlatNose Platform Part 1
- If you want a different configuration than the MIT Specification Platforms, you can use the RACECAR/J FlatNose Platforms. In this assembly article, we build up the autonomy sled which holds the Jetson computer, sensors, electronic speed controller and USB Hub.
- RACECAR/J FlatNose Platform Part 2
- In this assembly article, we mount the IMU to the FlatNose Platform Deck along with a NVIDIA Jetson Development Kit. We then connect the motor to the electronic speed controller, along with the steering servo wire. This is for the RACECAR/J FlatNose version.
- RPLidar A2 – NVIDIA Jetson Development Kits
- One of the more popular 2D lidars currently available, the Slamtec RPLidar A2, can easily be used with RACECAR/J. This article covers how to get started.
- RACECAR/J Software Install
- In this article, we cover installation of the software stack which runs RACECAR/J. This includes installation of drivers, udev rules, Robot Operating System (ROS), the MIT RACECAR ROS packages, and environment configuration.
- RACECAR/J – Programming the Electronic Speed Controller
- RACECAR/J uses an open source electronic speed controller, called a VESC, to interface the Jetson with the motor and steering. This article goes over programming the VESC to match the RACECAR/J characteristics.
- RACECAR/J – ROS Teleoperation
- After completing the hardware assembly and software installation, it is time to test. This article covers teleoperation using a game controller under ROS with RACECAR/J.
- Exploring ROS – RACECAR/J
- Once RACECAR/J is up and running, this article shows some of the built-in and GUI based tools available to examine the robot’s software stack.
- Scanse Sweep LIDAR Software Install
- Here we cover installing the software drivers and ROS package for the Scanse Sweep lidar.
This list will grow over time. There are currently articles in progress for electronics battery selection and wiring, adding a webcam, and adding an Intel RealSense D435 to the RACECAR. Of course, once we have the hardware running, we will start the programming series. Along with covering special events!