Racecar Setup Guide

0. Host Installations

• Delete the old student's code so that only the minimal envioronment is there. For example, all files in racecar_ws, bash scripts, and stray files should be cleaned up.
• Clone this repo into $HOME.
• Connect to wifi (Ethernet preferred), and pull the latest docker image:

[sudo] docker pull staffmitrss/racecar2026:latest

• Alternatively, use the flash drive and do:

docker load -i /path/to/external/drive/image.tar

• Run install script from outside the repo.

mv install.sh $HOME
chmod +x install.sh
./install.sh

• Also move the lxde-rc.xml into $HOME

1. Vesc Configuration

• Upload default firmware
• Upload motor config Link
• REMEMBER TO HIT SAVE MOTOR CONFIG
• FOC > Senseless > Set hysteresis and time to 0.01
• REMEMBER TO HIT SAVE MOTOR CONFIG
• App Settings > General:
  • Enable servo output
  • REMEMBER TO HIT SAVE APP CONFIG
• Motor Settings > PID Controller
  • Allow braking = True
  • SAVE APP CONFIG!
• Calibration:
  • FOC > General > go through all the steps
• Verification:
  • Spin the motors in the bottom left
  • App Settings > General > Controls
    • Try moving the servo

2. Networking

• Connect to racecar router
• Open Network Connections
• Edit ethernet network settings:
  • Rename to HOKUYO
  • Go to ipv4 settings
    • Method: Manual
    • Address: 192.168.0.15
    • Netmask : 24
    • Gateway: 192.168.0.10
  • Save
• Configure static IP on router
• Delete all WIFI connections besides the designated router
  • Set up the router if you need (using reserved IP DHCP table)
• Open Terminal
• sudo vim /etc/hosts
• Add the following hosts:
  • 192.168.1.[car number] racecar
  • 192.168.0.10 hokuyo

3. Docker

• Run the container

./run_rostorch.sh

• Inside the container, build and test if teleop works. You'll need to start another terminal:

connect

# now you are inside the docker
teleop

• On your local machine you can connect to the VNC server by running:

ssh -L 6081:localhost:6081 racecar@[IP] # where [IP] depends on your racecar number

Then, open your browser and navigate to: http://localhost:6081/vnc.html?resize=remote.

Verify that you can visualize the LiDAR (frame laser, topic /scan) and camera.

• Optional: verify that the starter wall follower package works.

# inside the docker
cd /root/racecar_ws
colcon build
source install/setup.bash

ros2 run wall_follower example

If you hit the right bumper, it should go in a circle.