# TUM wins $1M Indy Autonomous Challenge, open sources EVERYTHING

**URL:** <https://discourse.openrobotics.org/t/tum-wins-1m-indy-autonomous-challenge-open-sources-everything/22834>\
**Category:** ROS General\
**Tags:** ros2, foxy, cyclonedds, galactic\
**Created:** [October 24, 2021, 8:47pm UTC](https://discourse.openrobotics.org/t/tum-wins-1m-indy-autonomous-challenge-open-sources-everything/22834 "2021-10-24T20:47:04Z")\
**Posts on this page:** 6\
**Page:** 1

<div class="post-metadata">

**Author:** ![joespeed](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/joespeed/32/12133_2.png) [@joespeed](https://discourse.openrobotics.org/u/joespeed)\
**Post date:** [October 24, 2021, 8:47pm UTC](https://discourse.openrobotics.org/t/tum-wins-1m-indy-autonomous-challenge-open-sources-everything/22834/1 "2021-10-24T20:47:04Z")

</div>

Congratulations to [TUM for winning the $1M Indy Autonomous Challenge](https://www.indyautonomouschallenge.com/tum-autonomous-motorsport-wins-the-indy-autonomous-challenge-powered-by-cisco-at-the-indianapolis-motor-speedway-and-the-1-million-grand-prize) … with Galactic!!🥇 The winning team recorded the fastest 2-lap average speed of 218.78 km/h, 60.77 m/s on the famed IMS Oval. It was an exciting and emotional afternoon for the teams and huge crowd with 350 high school STEM students (who all got the coveted [IAC racing turtle t-shirts](https://twitter.com/JoeSpeeds/status/1452109869297852421)) and thousands of spectators in person watching the university teams do speed trials and obstacle avoidance contests. Our friend [Mahendra Bairagi](https://www.linkedin.com/in/mahendrabairagi/) of AWS Sports arranged the Twitch IAC livestream watched by over 36,000 people including our ROS community.

 ![6E67FE08-E823-4B68-AAE4-23138168E107](https://us1.discourse-cdn.com/flex022/uploads/ros/original/2X/c/ca4866526e5cc57a5385f55be84d3b86dd2d28fc.jpeg)

“Open source collaboration got us here” said [Paul Mitchell](https://www.linkedin.com/in/paul-mitchell-882b236/) IAC leader and president / CEO [Energy Systems Network](https://energysystemsnetwork.com) twice during the awards ceremony. Paul then announced that Alex and the TUM team are open sourcing all of their work. Here is the TUM team’s GitHub with the winning IAC racecar’s:

- [Graph-based local trajectory planner for race vehicles in a dynamic environemnt](https://github.com/TUMFTM/GraphBasedLocalTrajectoryPlanner)
- [Scenario Architect for the creation of short scene snapshots for autonomous driving benchmarks](https://github.com/TUMFTM/ScenarioArchitect)
- [Optimization algorithm for the creation of global, optimal raceline](https://github.com/TUMFTM/global_racetrajectory_optimization)
- [Path and velocity controller for an autonomous racecar](https://github.com/TUMFTM/mod_vehicle_dynamics_control)
- [Neural Network for Object Detection with Camera and Radar Data](https://github.com/TUMFTM/CameraRadarFusionNet)
- [Vehicle dynamics simulation for autonomous vehicles](https://github.com/TUMFTM/sim_vehicle_dynamics)
- [Library with functions for trajectory planning](https://github.com/TUMFTM/trajectory_planning_helpers)
- [Database with maps of international racetracks](https://github.com/TUMFTM/racetrack-database)
- [Quasi-static laptime simulation](https://github.com/TUMFTM/laptime-simulation)
- [Recursive Uncertainty Model Identification](https://github.com/TUMFTM/RUMI)

> **[TUMFTM - Overview](https://github.com/TUMFTM)**
>
> The main research at the Institute of Automotive Technology under the supervision of Prof. Markus Lienkamp is about the demands in mobility. - TUMFTM

Open Robotics, Autoware Foundation, [Eclipse Foundation](https://www.eclipse.org/org/foundation/) and our ROS community supported all the teams via the IAC Base Vehicle Software WG with Alexander representing all university teams and co-led by Gina O’Connell of IAC, Josh Whitley, Neil Puthuff and Joe Speed.

> **[Sebastian Huch and Florian Sauerbeck after winning $1M racing Open Robotics...](https://www.linkedin.com/posts/joespeed_ros-cyclonedds-activity-6857884596399427584-W60E)**
>
> Sebastian Huch and Florian Sauerbeck after winning $1M racing Open Robotics #ROS 2 Eclipse Foundation #CycloneDDS🤣 Love these guys! Congrats FTM Institute of Automotive Technology TUM Indy Autonomous Challenge Powered by Cisco! | 13 comments on...

@Katherine_Scott talked with ZDNet about open source in IAC

> **[Autonomous race cars to battle at Indy Speedway](https://www.zdnet.com/article/autonomous-race-cars-to-battle-at-indy-speedway/)**
>
> The first-ever event showcases open source development in driverless race cars.

IAC university teams use any software they want in the [Dallara AV-21 racecars](https://www.indyautonomouschallenge.com/racecar), open source or commercial without restriction. IAC started with 41 universities and 31 teams. Through a series of elimination challenges and team mergers, this was whittled down. All 9 IAC teams representing 21 universities that made it through to the final IAC race ran ROS 2 with Eclipse Cyclone DDS and Zenoh V2X (IAC how to [here](https://zenoh.io/blog/2021-09-28-iac-experiences-from-the-trenches/)). Some used [Autoware](https://www.autoware.org) autonomous driving packages. Most teams ran Foxy but TUM made the move to Galactic Patch Release 1. TUM team leader Alexander Wischnewski said “Moving from ROS 2 Foxy to ROS 2 Galactic with default RMW gave us tremendous improvements.” [Here](https://osrf.github.io/TSC-RMW-Reports/humble/eclipse-cyclonedds-report.html) is a deep dive into Galactic Patch Release 1 RMW performance.

---

<div class="post-metadata">

**Author:** ![allenh1](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/allenh1/32/7076_2.png) [@allenh1](https://discourse.openrobotics.org/u/allenh1)\
**Post date:** [October 24, 2021, 11:57pm UTC](https://discourse.openrobotics.org/t/tum-wins-1m-indy-autonomous-challenge-open-sources-everything/22834/2 "2021-10-24T23:57:23Z")

</div>

218 km/h is definitely the speed I want in my middleware!

Congrats to TUM!

---

<div class="post-metadata">

**Author:** ![ariexi](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/ariexi/32/8588_2.png) [@ariexi](https://discourse.openrobotics.org/u/ariexi)\
**Post date:** [October 25, 2021, 8:22am UTC](https://discourse.openrobotics.org/t/tum-wins-1m-indy-autonomous-challenge-open-sources-everything/22834/3 "2021-10-25T08:22:47Z")

</div>

Congrats to TUM!

It was great to watch the event and it was really thrilling!  
Hope to see more races like that, also with overtaking … 😉

Great to have these cool projects like Cyclone DDS, iceoryx and zenoh in OpenADx. ([https://openadx.eclipse.org/](https://openadx.eclipse.org/))  
Hope, to support better in future…

---

<div class="post-metadata">

**Author:** ![lyle](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/lyle/32/2535_2.png) [@lyle](https://discourse.openrobotics.org/u/lyle)\
**Post date:** [October 28, 2021, 1:15am UTC](https://discourse.openrobotics.org/t/tum-wins-1m-indy-autonomous-challenge-open-sources-everything/22834/5 "2021-10-28T01:15:06Z")

</div>

Go TUM, huge congratulations!! I’d like to think I had as much fun as them that day at the track, but perhaps they also win that battle too 🙃 It was so cool to witness the event, meet the teams, and be at IMS for the day.

@ariexi I really hope we see some competitive racing soon too, but I’ll take whatever they give us!

---

<div class="post-metadata">

**Author:** ![ariexi](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/ariexi/32/8588_2.png) [@ariexi](https://discourse.openrobotics.org/u/ariexi)\
**Post date:** [October 28, 2021, 6:01am UTC](https://discourse.openrobotics.org/t/tum-wins-1m-indy-autonomous-challenge-open-sources-everything/22834/6 "2021-10-28T06:01:11Z")

</div>

@lyle, fully agree, curious about every race they will give us … 😉

---

<div class="post-metadata">

**Author:** ![system](https://us1.discourse-cdn.com/flex022/uploads/ros/original/3X/b/6/b607ee3cc8e908b1b613bd74a683d749fea635a1.svg) [@system](https://discourse.openrobotics.org/u/system)\
**Post date:** [November 27, 2021, 6:02am UTC](https://discourse.openrobotics.org/t/tum-wins-1m-indy-autonomous-challenge-open-sources-everything/22834/7 "2021-11-27T06:02:08Z")

</div>

Closed on November 27, 2021, 6:02am UTC

This topic was automatically closed 30 days after the last reply. New replies are no longer allowed.