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Top AI Repos tracks AI repositories on GitHub and answers two different questions about each one: is it moving right now, and would you bet a product on it.

Hypha-ROS/hypharos_minicar

1/20 MiniCar: An ackermann based rover for MPC and Pure-Pursuit controller

51Apache-2.0C++

View on GitHub Website

Stars: 339
Forks: 106
Watchers: 11
Open issues: 2
Contributors: 3

Star history, last 90 days— over 5 snapshots

2026-07-24 · 3392026-08-06 · 339

Star history, last 90 days
Date	Stars
2026-07-24	339
2026-07-25	339
2026-07-28	339
2026-07-30	339
2026-08-06	339

Today

— stars today

This week

— stars this week

This month

— stars this month

Momentum

0.0

growth rate 0.00%/day

From the README

# HyphaROS MiniCar (1/20 Scale MPC Racing Car)
![alt text](https://github.com/Hypha-ROS/hypharos_minicar/blob/master/document/photo/HyphaROS_logo.png)  

## Abstract
Low cost, High speed 1/20 Racing Car for control laws evaluation !   
Fully open-sourced (hardware & software), total cost <300USD.  
Currently supports: Pure-Pursuit, Model-Predictive-Control (Nonlinear)  

![alt text](https://github.com/Hypha-ROS/hypharos_minicar/blob/master/document/photo/HyphaROS_MiniCar_photo.jpg)  

## About us
FB Page: https://www.facebook.com/HyphaROS/  
Website: https://hypharosworkshop.wordpress.com/  
Contact: [email protected]  
Developer:   
* HaoChih, LIN  

Date: 2018/08/16  
License: Apache 2.0  

## Features
* Nonlinear Bicycle Model Based MPC (through ipopt solver)  
* Pure-Pursuit Controller  
* Onboard mapping (Gmapping, Hector-SLAM, Karto-SLAM, MRPT-ICP)  
* STM32 for motor speed closed-loop control  
* AMCL localization (encoder-odometry based)  
* Dynamic obstacle avoidance  
* Stage Simulation (supports: MPC & Pure-Pursuit)  

## Roadmap
* Add EKF supports (odometry with mpu6050)  
* MPC for obstacle avoidance  
* Implement MPC on different solvers (ACADO, OSQP, etc)  
* Multi-cars racing through ROS 2.0 layer  
* High Speed Drifting  

## Hardware 
* Odroid XU4  
(Ref: https://www.hardkernel.com/main/products/prdt_info.php)   
* YDLidar X4  
(Ref: http://www.ydlidar.com/product/X4)  
* STM32(F103) MCU (with OLED display)  
* Diff Motor with A/B encoder(res: 340)  
* Ackermann Based 1/20 car chassis  
(Ref: https://item.taobao.com/item.htm?spm=a312a.7700824.w4004-15726392027.68.79503c88Rqwzb9&id=554619475840)   
Total Cost: < 300 USD  

## Document  
HyphaROS MPC MiniCar 1-Day Workshop:  
https://drive.google.com/open?id=1yX0aeA4spf_szpxXFpIlH0EQKIgiwJx7  
ROS Summer School in China 2018 Slides:  
https://goo.gl/RpVBDH  

## Software
### VirtualBox Image ###  
OVA image file (Kinetic, password: hypharos, 20180816)  
Link: https://drive.google.com/open?id=1uRvXGakvQrbynmPHX_KIFJxPm8o6MWPb  

### Odroid Image
Image file for Odroid XU4.(with SD card >=16G, password: hypharos)  
Link: https://goo.gl/87vrNk   
(if your SD card is around 13GB, it's OK to force Win32DiskImager to write the file!)   
The default ethernet IP address is 10.0.0.1  

### STM32 (MCU)
Source codes: https://drive.google.com/open?id=19rjjpJmz85lTSxCyu-9CtvZhUW37c2LS         
[WARNING!]  
Since the original STM32 codes came from third-paries,   
currently, the quality of codes are not guaranteed by us.  
For MCUISP Driver: http://www.mcuisp.com/English%20mcuisp%20web/ruanjianxiazai-english.htm  

### Install from source (16.04) 
1. Install ROS Kinetic (Desktop-Full) (http://wiki.ros.org/kinetic/Installation/Ubuntu)  
2. Install dependencies:  
$ sudo apt-get install remmina synaptic gimp git ros-kinetic-navigation* ros-kinetic-gmapping ros-kinetic-hector-slam ros-kinetic-mrpt-icp-slam-2d ros-kinetic-slam-karto ros-kinetic-ackermann-msgs -y  
3. Install Ipopt: Please refer the tutorial in "document/ipopt_install".  
4. create your own catkin_ws   
(http://wiki.ros.org/ROS/Tutorials/InstallingandConfiguringROSEnvironment#Create_a_ROS_Workspace)  
$ cd catkin_ws/src  
$ git clone https://github.com/EAIBOT/ydlidar  
$ git clone https://github.com/Hypha-ROS/hypharos_minicar   
$ cd ..  
$ catkin_make  

## Operation
### Simulation
$ roslaunch hypharos_minicar HyphaROS_Simulation_Stage.launch  
The default controller is mpc, you can switch to pure-pursuit or DWA through param: "controller"    
![alt text](https://github.com/Hypha-ROS/hypharos_minicar/blob/master/document/photo/HyphaROS_MPC_MiniCar_Simulation.jpg)    
  
### Ethernet Connection
The default static eth IP on Odroid image is 10.0.0.1, hence, to connect to your Odroid through cable, please set your host IP as 10.0.0.X  
Notice: for the first bootup, you have to update Odroid MAC address through HDMI Dispaly!  

### Wifi Connection
Use ethernet or display connection to make Odroid connect to your loc

Excerpt of 4,989 characters

Read on GitHub

Top contributors

No contributor data yet — it is fetched during the contributor sync pass.

Quality score

Would you bet a product on this? Bounded 0–100 and slow moving.

51/10051

Maintenance: 5%; How recently the default branch was pushed to
Releases: 25%; Recency and cadence of tagged releases
Community: 41%; Contributor breadth and bus factor
Issue backlog: 100%; Open issues measured against the size of the audience
Documentation: 87%; README depth, plus a homepage and topics
Licensing: 100%; How freely the code can be adopted

What to know before adopting

No commits in over a year
No tagged releases
Usable in commercial products with attribution.

Details

Created: 8 years ago
Last push: 6 years ago
Last release: none
Release tag: —
Releases in the last year: 0
Default branch: master
Size: 392 KB
Owner type: Organization
Owner location: Taiwan
Discovered via: topic:slam
First indexed: 13 days ago
Last synced: 12 days ago

Hypha-ROS/hypharos_minicar

1/20 MiniCar: An ackermann based rover for MPC and Pure-Pursuit controller

51Apache-2.0C++

View on GitHub Website

Stars: 339
Forks: 106
Watchers: 11
Open issues: 2
Contributors: 3

Star history, last 90 days— over 5 snapshots

2026-07-24 · 3392026-08-06 · 339

Star history, last 90 days
Date	Stars
2026-07-24	339
2026-07-25	339
2026-07-28	339
2026-07-30	339
2026-08-06	339

Today

— stars today

This week

— stars this week

This month

— stars this month

Momentum

0.0

growth rate 0.00%/day

From the README

# HyphaROS MiniCar (1/20 Scale MPC Racing Car)
![alt text](https://github.com/Hypha-ROS/hypharos_minicar/blob/master/document/photo/HyphaROS_logo.png)  

## Abstract
Low cost, High speed 1/20 Racing Car for control laws evaluation !   
Fully open-sourced (hardware & software), total cost <300USD.  
Currently supports: Pure-Pursuit, Model-Predictive-Control (Nonlinear)  

![alt text](https://github.com/Hypha-ROS/hypharos_minicar/blob/master/document/photo/HyphaROS_MiniCar_photo.jpg)  

## About us
FB Page: https://www.facebook.com/HyphaROS/  
Website: https://hypharosworkshop.wordpress.com/  
Contact: [email protected]  
Developer:   
* HaoChih, LIN  

Date: 2018/08/16  
License: Apache 2.0  

## Features
* Nonlinear Bicycle Model Based MPC (through ipopt solver)  
* Pure-Pursuit Controller  
* Onboard mapping (Gmapping, Hector-SLAM, Karto-SLAM, MRPT-ICP)  
* STM32 for motor speed closed-loop control  
* AMCL localization (encoder-odometry based)  
* Dynamic obstacle avoidance  
* Stage Simulation (supports: MPC & Pure-Pursuit)  

## Roadmap
* Add EKF supports (odometry with mpu6050)  
* MPC for obstacle avoidance  
* Implement MPC on different solvers (ACADO, OSQP, etc)  
* Multi-cars racing through ROS 2.0 layer  
* High Speed Drifting  

## Hardware 
* Odroid XU4  
(Ref: https://www.hardkernel.com/main/products/prdt_info.php)   
* YDLidar X4  
(Ref: http://www.ydlidar.com/product/X4)  
* STM32(F103) MCU (with OLED display)  
* Diff Motor with A/B encoder(res: 340)  
* Ackermann Based 1/20 car chassis  
(Ref: https://item.taobao.com/item.htm?spm=a312a.7700824.w4004-15726392027.68.79503c88Rqwzb9&id=554619475840)   
Total Cost: < 300 USD  

## Document  
HyphaROS MPC MiniCar 1-Day Workshop:  
https://drive.google.com/open?id=1yX0aeA4spf_szpxXFpIlH0EQKIgiwJx7  
ROS Summer School in China 2018 Slides:  
https://goo.gl/RpVBDH  

## Software
### VirtualBox Image ###  
OVA image file (Kinetic, password: hypharos, 20180816)  
Link: https://drive.google.com/open?id=1uRvXGakvQrbynmPHX_KIFJxPm8o6MWPb  

### Odroid Image
Image file for Odroid XU4.(with SD card >=16G, password: hypharos)  
Link: https://goo.gl/87vrNk   
(if your SD card is around 13GB, it's OK to force Win32DiskImager to write the file!)   
The default ethernet IP address is 10.0.0.1  

### STM32 (MCU)
Source codes: https://drive.google.com/open?id=19rjjpJmz85lTSxCyu-9CtvZhUW37c2LS         
[WARNING!]  
Since the original STM32 codes came from third-paries,   
currently, the quality of codes are not guaranteed by us.  
For MCUISP Driver: http://www.mcuisp.com/English%20mcuisp%20web/ruanjianxiazai-english.htm  

### Install from source (16.04) 
1. Install ROS Kinetic (Desktop-Full) (http://wiki.ros.org/kinetic/Installation/Ubuntu)  
2. Install dependencies:  
$ sudo apt-get install remmina synaptic gimp git ros-kinetic-navigation* ros-kinetic-gmapping ros-kinetic-hector-slam ros-kinetic-mrpt-icp-slam-2d ros-kinetic-slam-karto ros-kinetic-ackermann-msgs -y  
3. Install Ipopt: Please refer the tutorial in "document/ipopt_install".  
4. create your own catkin_ws   
(http://wiki.ros.org/ROS/Tutorials/InstallingandConfiguringROSEnvironment#Create_a_ROS_Workspace)  
$ cd catkin_ws/src  
$ git clone https://github.com/EAIBOT/ydlidar  
$ git clone https://github.com/Hypha-ROS/hypharos_minicar   
$ cd ..  
$ catkin_make  

## Operation
### Simulation
$ roslaunch hypharos_minicar HyphaROS_Simulation_Stage.launch  
The default controller is mpc, you can switch to pure-pursuit or DWA through param: "controller"    
![alt text](https://github.com/Hypha-ROS/hypharos_minicar/blob/master/document/photo/HyphaROS_MPC_MiniCar_Simulation.jpg)    
  
### Ethernet Connection
The default static eth IP on Odroid image is 10.0.0.1, hence, to connect to your Odroid through cable, please set your host IP as 10.0.0.X  
Notice: for the first bootup, you have to update Odroid MAC address through HDMI Dispaly!  

### Wifi Connection
Use ethernet or display connection to make Odroid connect to your loc

Excerpt of 4,989 characters

Read on GitHub

Top contributors

No contributor data yet — it is fetched during the contributor sync pass.

Quality score

Would you bet a product on this? Bounded 0–100 and slow moving.

51/10051

Maintenance: 5%; How recently the default branch was pushed to
Releases: 25%; Recency and cadence of tagged releases
Community: 41%; Contributor breadth and bus factor
Issue backlog: 100%; Open issues measured against the size of the audience
Documentation: 87%; README depth, plus a homepage and topics
Licensing: 100%; How freely the code can be adopted

What to know before adopting

No commits in over a year
No tagged releases
Usable in commercial products with attribution.

Details

Created: 8 years ago
Last push: 6 years ago
Last release: none
Release tag: —
Releases in the last year: 0
Default branch: master
Size: 392 KB
Owner type: Organization
Owner location: Taiwan
Discovered via: topic:slam
First indexed: 13 days ago
Last synced: 12 days ago

Top AI Repos — open-source AI, indexed and scored

Hypha-ROS/hypharos_minicar

From the README

Top contributors

Quality score

What to know before adopting

Categories

Details

Hypha-ROS/hypharos_minicar

From the README

Top contributors

Quality score

What to know before adopting

Categories

Details

Top AI Repos — open-source AI, indexed and scored

Trend

From the README

Top contributors

Quality score

What to know before adopting

Categories

Details

Trend

From the README

Top contributors

Quality score

What to know before adopting

Categories

Details