Getting Started - Simulation

PREREQUISITES:

Docker and Docker Compose

0. Clone the repo and build the containers

First, clone this repo and navigate to the 99plabs-f1tenth-sim folder:

git clone <repo-url-here>
cd 99plabs-f1tenth-sim

Next, run the following command to build the containers:

docker compose up -d

1. Make sure your Docker image has finished building, then enter the container.

   • There should be two containers: 99p_gym_sim and 99p_gym_sim-novnc-1
   • Go into the container by running docker exec -it 99p_gym_sim /bin/bash

2. Source & Build

   • Run the following commands (you should be in the /sim_ws directory)

   source /opt/ros/${ROS_DISTRO}/setup.bash
   colcon build --packages-select 99p_gym_sim car_navigation f110_description f1_task_commander autonomous_control
   source install/setup.bash

3. Launch the simulator

   • Run ros2 launch 99p_gym_sim gym_simulator_launch.py
   • Navigate to http://localhost:8080/vnc.html in a browser and click Connect. You should see an RViz window with the simulator.

4. Initialize the car (optional)

   • The car will be initialized on startup but if you'd like to start in a different spot, you can give the car an initial pose by using the 2D Pose Estimate button and clicking and dragging anywhere on the map
   • You can use this button to reset the car at any point. This is especially helpful if the car gets stuck at any point.

5. Send the car a navigation goal(s)

   • Set a navigation goal using the Nav2 Goal button for a single goal or the Waypoints / Nav Through Poses Mode button for multiple goals.

License

The SOMEThings Project is released under this License.