Autonomous Racing Simulation

Description

This repository is planned to extend the functionality of a single Ackermann-steering car simulation by introducing a multi-agent environment where two or more autonomous cars can race against each other. Providing a place for you to develop your own planning, control and other packages.

Still under heavy developement

Installation

System Requirements

Ubuntu (tested on 22.04) native with ROS 2 Humble
Ubuntu (tested on 22.04) with Docker and Dev Containers installed

Option 1 - Native on Ubuntu 22.04

   sudo apt install -y \
       ros-humble-ros-gz \
       ros-humble-ros-ign-bridge \
       ros-humble-ign-ros2-control \
       ros-humble-ackermann-steering-controller \
       ros-humble-joint-state-broadcaster

Create a workspace:
```
cd $HOME && mkdir -p ars_ws/src
```

Clone the repo into the workspace:

cd $HOME/ars_ws/src
git clone https://github.com/BalazsPh21/ARS.git

Install dependencies with rosdep:

source /opt/ros/humble/setup.bash
cd $HOME/ars_ws
rosdep install --from-paths src -y --ignore-src

Build the workspace:
```
cd $HOME/ars_ws
colcon build
```

Option 2 - Dev Containers

Create a workspace:
```
cd $HOME && mkdir -p ars_ws/src
```

Clone the repo into the workspace:

cd $HOME/ars_ws/src
git clone https://github.com/BalazsPh21/ARS.git

Open the src folder in vscode:
```
cd $HOME/ars_ws/src
code .
```
Reopen in Container
Inside the image, build the container:
```
colcon build
```

Launching the simulation

cd $HOME/ars_ws
source /opt/ros/foxy/setup.bash
source install/setup.sh
ros2 launch ars_bringup ars_bringup.launch.py
ros2 run twist_stamper twist_stamper --ros-args -r cmd_vel_in:=cmd_vel -r cmd_vel_out:=/ackermann_steering_controller/reference
ros2 run teleop_twist_keyboard keyboard_teleop_twist_keyboard

FilesExpand file tree

README.md

Latest commit

History