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