f1tenth-gym-setup

Docker Container setup for F1tenth gym simulator

Lab Slides: Google Drive

Set Up

Go into the directory you installed the program in.

Run docker(if you have the Docker desktop, run that program first and then run this command)

sudo docker compose up

Open another terminal and run

sudo docker exec -it f1tenth_gym_ros-sim-1 /bin/bash

Open a web browser and go to link

http://localhost:8080/vnc.html

Run the ROS within the VM hosted in the docker simulator and run

source /opt/ros/foxy/setup.bash
source install/local_setup.bash

Launch the simulation

ros2 launch f1tenth_gym_ros gym_bridge_launch.py

Run the keyboard control board

ros2 run teleop_twist_keyboard teleop_twist_keyboard

Safety Node Setup

Source two environments under /sim_ws/:

source /opt/ros/foxy/setup.bash
source install/setup.bash

Run the command under /sim_ws/

colcon build --packages-select safety_node

Source the workspace environment again

source install/setup.bash

Run the safety_node node

ros2 run safety_node safety_node

Wall Follow Setup

Source two environments under /sim_ws/:

source /opt/ros/foxy/setup.bash
source install/setup.bash

Run the command under /sim_ws/

colcon build --packages-select wall_follow

Source the workspace environment again

source install/setup.bash

Run the wall_follow node

ros2 run wall_follow wall_follow_node

Edited by: Hyunsu Lim