ddiannelos/autonomous-racing-fsd

How ddiannelos/autonomous-racing-fsd works

This is a ROS 2 Formula Student autonomous-racing stack, with CARLA as its documented simulator. Its user-to-result workflow detects cones, fuses camera and LiDAR observations, localizes and maps the track, then switches from exploration-lap planning and control to optimized racing-line control. Offline YOLO training and simulator setup support the runtime stack. The README documents the broad subsystem flow; sampled source confirms several internal calls, while unsampled launch and node wiring is not inferred.

Main entry points: exploration_planner.hpp Exploration Planner · optimization_planner.hpp Optimization Planner · graph_slam_node.cpp GraphSLAM Node · state_machine_node.cpp Race State Machine

Components 22

Perception

Camera Detection src/camera_detection/camera_detection/camera_detector_node.py
LiDAR Detection src/lidar_perception/src/lidar_detector_node.cpp
Cone Messages src/interfaces/msg/ConeArray.msg
Sensor Fusion src/sensor_fusion/sensor_fusion/sensor_fusion_node.py

Localization and Mapping

IMU-GNSS EKF src/localization/src/ekf_node.cpp
GraphSLAM Node src/localization/src/graph_slam_node.cpp
GraphSLAM Engine src/localization/src/graphslam.hpp
SLAM Visualization src/localization/src/slam_visualization.cpp

Planning and Control

Race State Machine src/path_planning/src/state_machine_node.cpp
Exploration Planner src/path_planning/src/planning/exploration_planner.hpp
Delaunay Triangulation src/path_planning/src/math/delaunay.hpp
B-Spline Smoothing src/path_planning/src/math/bspline.hpp
Pure Pursuit src/path_planning/src/control/pure_pursuit.hpp
PID Control src/path_planning/src/control/pid_controller.hpp
Optimization Planner src/path_planning/src/planning/optimization_planner.hpp
Racing Line Optimizer src/path_planning/src/planning/line_optimizer.hpp
Velocity Profiler src/path_planning/src/planning/velocity_profiler.hpp
MPC Controller src/path_planning/src/control/mpc_controller.hpp

Simulation and Model Support

CARLA Simulator
CARLA Setup carla_setup/objects.json
YOLO Training offline_training/train.py

Other components

Vehicle Sensors

Connections 24

Vehicle Sensors → Camera Detection: provides images README.md
Vehicle Sensors → LiDAR Detection: provides point clouds README.md
Camera Detection → Sensor Fusion: provides detections README.md
LiDAR Detection → Sensor Fusion: provides centroids README.md
Sensor Fusion → Cone Messages: publishes cones README.md
Cone Messages → GraphSLAM Node: supplies observations src/localization/src/graph_slam_node.cpp
IMU-GNSS EKF → GraphSLAM Node: provides odometry README.md
GraphSLAM Node → GraphSLAM Engine: processes observations src/localization/src/graph_slam_node.cpp
GraphSLAM Node → Cone Messages: publishes map src/localization/src/graph_slam_node.cpp
GraphSLAM Node → SLAM Visualization: publishes map data README.md
Cone Messages → Race State Machine: supplies cone map src/path_planning/src/state_machine_node.cpp
Race State Machine → Exploration Planner: runs exploration src/path_planning/src/state_machine_node.cpp
Race State Machine → Optimization Planner: runs optimization src/path_planning/src/state_machine_node.cpp
Exploration Planner → Delaunay Triangulation: triangulates cones src/path_planning/src/planning/exploration_planner.hpp
Exploration Planner → B-Spline Smoothing: smooths centerline src/path_planning/src/planning/exploration_planner.hpp
Exploration Planner → Pure Pursuit: computes steering src/path_planning/src/planning/exploration_planner.hpp
Exploration Planner → PID Control: controls speed src/path_planning/src/planning/exploration_planner.hpp
Optimization Planner → Racing Line Optimizer: optimizes racing line src/path_planning/src/planning/optimization_planner.hpp
Optimization Planner → Velocity Profiler: profiles speed src/path_planning/src/planning/optimization_planner.hpp
Optimization Planner → B-Spline Smoothing: smooths path src/path_planning/src/planning/optimization_planner.hpp
Optimization Planner → MPC Controller: solves control src/path_planning/src/planning/optimization_planner.hpp
Race State Machine → CARLA Simulator: sends vehicle commands README.md
CARLA Setup → CARLA Simulator: configures sensors README.md
YOLO Training → Camera Detection: provides trained model README.md

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