readme.md

RaceIt 🏎️

About

• The goal of "Race_It" is to make a car cover a track as fast as possible.
• "RaceIt" is inspired from AWS DeepRacer.

Inside The Black Box

RaceIt operates on the following techology:

• ROS2

  • Facilitates communication between various components of RaceIt, enabling seamless data exchange and coordination among sensors, actuators, and decision-making modules.

• Gazebo

  • RaceIt utilizes the Gazebo simulator to create realistic virtual environments for testing and training.

• Reinforcement Learning

  • Reinforcement Learning (RL) serves as the brain of RaceIt, enabling the autonomous racing car to learn and adapt to its environment through trial and error. RaceIt employs Proximal Policy Optimization (PPO), a state-of-the-art RL algorithm, to train the racing car's decision-making policies based on rewards and penalties received during simulation and real-world operation.

• Computer Vision

  • Computer vision plays a critical role in RaceIt by providing sensory information about the racing environment. RaceIt utilizes U-Net, a convolutional neural network architecture, for road segmentation, enabling the racing car to identify and navigate through the racing track with precision and accuracy.

Run Locally

Clone the project

  git clone https://github.com/Pratham-Pandey/race_it.git

Go to the project directory

  cd race_it

Build project

  colcon build --symlink-install        

Source project

  source install/setup.bash

Load simulation environment

  ros2 launch race_it rsp.launch.py  

Load On Screen Display

  ros2 run temp_teleop display_road

Initialise Agent

  ros2 run temp_teleop agent

Output Video

temp_vid.mp4

Screenshots

Overview Screen

Gazebo Screen

Rviz Screen

Camera View

Road Segmented View

Some Links That Might Help

If you have recently installed ros2 and are new to robotics, the project might not run at first go due to missing dependencies. The following are the links to the questions that might help:

• https://robotics.stackexchange.com/questions/108074/no-module-named-roslaunch-for-ros-2
• https://robotics.stackexchange.com/questions/108174/error-loader-for-controller-asc-not-found