Formula Electric Berkeley 2025 Autonomous Pipeline Documentation

Welcome to the documentation for Formula Electric Berkeley’s 2025 autonomous racing pipeline. This system provides the complete autonomous driving stack used by our team at the 2025 Formula Student competition, including perception, localization, planning, and control capabilities.

System in Action

Watch our autonomous system running at the testing track:

Contents:

• Launch Files
  • Overview
  • Launch File Hierarchy
  • Launch Files Reference
  • Launch File Best Practices
  • Troubleshooting
• FEB Messages
  • Overview
  • Message Definitions
  • Message Conventions
• Perception Module
  • Camera Only
  • LiDAR Only
  • Early Stage Fusion
  • Simulated Perception
• SLAM Module
  • Overview
  • Published Topics
  • Subscribed Topics
  • API Reference
• Global Path Planning
  • Overview
  • System Flow
  • Comparison with Local Planner
  • Published Topics
  • Subscribed Topics
  • Performance Characteristics
  • Optimization Approach
  • Node Lifecycle
  • Integration with System
  • API Reference
• Local Path Planning
  • Overview
  • System Flow
  • Published Topics
  • Subscribed Topics
  • Performance Characteristics
  • API Reference
• Model Predictive Control
  • Overview
  • System Integration
  • Published Topics
  • Subscribed Topics
  • Performance Characteristics
  • API Reference

Indices and tables

• Index

• Module Index

• Search Page