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F1TENTH system

  • Software
  • Cars
  • Framework
  • Runs on hardware you can build

ROS 2 driver stack for F1TENTH race cars, handling onboard sensors, motor control and navigation commands. The branch is under development for migration to ROS 2.

Source on GitHub: github.com/f1tenth/f1tenth_system (opens in a new tab). Facts read at commit cffbbd7 (opens in a new tab).

Licenses

Code
MIT (opens in a new tab)

Read by Robotheca from LICENSE (opens in a new tab) (MIT) at commit cffbbd7 (opens in a new tab), on 16 Oct 2026.

Commercial use
Yes

What it does

  • Launches the bringup of joystick teleop, VESC motor driver, Ackermann command conversion, odometry, and a Hokuyo lidar driver.
  • Subscribes to AckermannDriveStamped drive commands on /drive for autonomous navigation.
  • Publishes laser scans, odometry, raw IMU data and VESC telemetry on /scan, /odom, /sensors/imu/raw and /sensors/core.
  • Joystick deadman switches: LB for teleop and RB for navigation on Logitech F-710, remappable.
  • Supports SICK TiM 5xx lidars, requiring a configured Ethernet connection and the lidar IP set in the launch file.
  • Bundles a throttle interpolator that smooths speed and steering commands with configurable acceleration and servo limits.

Written by Robotheca from the project's README (opens in a new tab) at commit cffbbd7.

Getting started

Difficulty
Advanced
Hardware it needs, as the project states it
F1TENTH race car with a VESC motor controller, a Hokuyo or SICK lidar, and a Jetson board with an eth0 Ethernet port; a Logitech F-710 joystick is used for teleop.

Maintenance

Status
Active: a commit in the last 90 days
Newest commit
11 Sept 2026 on jazzy-devel
Latest release
Beta Release on Foxy (9 Apr 2022)

Checked on GitHub on 16 Oct 2026.

Links

Robots on Robotheca that use it

No robot on Robotheca is linked to it yet. Links come from a robot's robot.yaml, from its dependency files read as text, or from Robotheca's editors.

Robotheca lists software as a reference: nothing is hosted or run here, and every fact links to where it was read.