Documentation Index

Table of contents for the CRS documentation. It also defines the order of the navigation sidebar on the documentation site, which is generated from this file by tools/summary_to_nav.py.

Home

Getting Started

• Installation
• First Steps
• Folder Structure
• Experiments
• Overview

---

CRS

• Dynamic Models
  • Pacejka Model
  • Kinematic Model
  • Parafoil 4-DoF Model
  • Rocket 6-DoF Model
• Sensor Models
  • Vicon Sensor Model
  • IMU Sensor Model
  • Wheel Encoders
  • Lighthouse
• Estimators
  • Lowpass Filter
  • EKF
  • Square Root EKF
  • MHE
• Controllers
  • PID
  • Feedforward Feedback
  • MPCC
  • Safety Filter
  • Rocket Controller
  • Joystick
  • Solvers

ROS4CRS

• Structure
• Dependency Reduction
• Estimators
  • EKF
  • Square Root EKF
  • MHE
• Controllers
  • Directory Structure
  • MPC
  • Last Reference Point
  • Safety Filter
  • Python Controllers
  • Zero-order GP-MPC
• Simulators
• MPC Autotuner
• Wi-Fi Communication
• Track Manager
• Backtrackers
  • Linear Backtracker
• Configuration Overview

ROS_IO

• Qualisys Car State Converter

Scripts

• System Identification
• Track Generation
• Estimator Evaluation

---

Development

• Coding Guidelines
• Visualization
• Debugging C/C++ code in ROS
• Development Container
• Tools for ROS bags
• Adapting the clock rate
• A Guide to CMakeLists
• Tuning
  • Controller Tuning GUI
  • Controller Parameters
  • Model Parameters

---

Hardware Documentation

• Car Manual
  • How to build Chronos
  • Hardware Manual
  • Firmware
  • Low-level Controllers
  • Steer Calibration
  • Steer Controller Tuning
  • Configuration Interface
  • Time Synchronization
  • Troubleshooting
• Motion Capture Systems
  • Qualisys System
  • Lighthouse System
  • Calibration
• Rocket
  • Rocket Qualisys Configuration
  • Rocket Host/GCS Laptop setup
  • Launching the Rocket
  • Multi-arch Docker building and Deployment
  • Time Sync with Internet or local NTP

---

Tutorials

• Adding a new Model
• Ros Parameters
• Register a component in the ros wrapper

• Adding a new Estimator

• Adding New Models to CRS

  1. Adding a Dynamic Model
  2. Adding a Sensor model
  3. Adding Messages for our Models
• Creating a ROS Simulator
  1. Creating a barebones ROS simulator
  2. Adding a state publisher
  3. Adding a controller that pub'n'subs
  4. Upgrading simulator to pub'n'sub
• Using the Built in Simulator of CRS WORK IN PROGRESS