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The advent of autonomous vehicle technologies has significantly impactedvarious sectors, including motorsport, where Formula Student and Formula:Society of Automotive Engineers introduced autonomous racing classes. Theseoffer new challenges to aspiring engineers, including the team at QUTMotorsport, but also raise the entry barrier due to the complexity ofhigh-speed navigation and control. This paper presents an open-source solutionusing the Robot Operating System 2, specifically its open-source navigationstack, to address these challenges in autonomous Formula Student race cars. Wecompare off-the-shelf navigation libraries that this stack comprises of againsttraditional custom-made programs developed by QUT Motorsport to evaluate theirapplicability in autonomous racing scenarios and integrate them onto anautonomous race car. Our contributions include quantitative and qualitativecomparisons of these packages against traditional navigation solutions, aimingto lower the entry barrier for autonomous racing. This paper also serves as acomprehensive tutorial for teams participating in similar racing disciplinesand other autonomous mobile robot applications.

Racing With ROS 2 A Navigation System for an Autonomous Formula Student Race Car