This repo is based on the F1TENTH Racecar Simulator by

###@kimnluong, kimnluong Kim Luong ###@hzheng40, hzheng40 Hongrui (Billy) Zheng

See: https://github.com/f1tenth/f1tenth_simulator

Please refer to their repo for greater detail on the F1tenth simulator

The following is an addaption of @kimnluong and @hzheng40's installation guide to work with this repo

Dependencies

Please first install ros-noetic-desktop, afterwards you can install the additional dependencies:

• tf2_geometry_msgs
• ackermann_msgs
• map_server

These can be installed by running:

sudo apt-get install ros-noetic-tf2-geometry-msgs ros-noetic-ackermann-msgs ros-noetic-map-server

Similar to their project, the full list of dependencies can be found in the package.xml file.

Installation

To install the simulator package, clone the repo with the simulator and starter code into your catkin workspace:

cd ~/catkin_ws/src
git clone https://github.com/Nikolasjen/f1tenth_simulator.git

Then run catkin_make to build it:

cd ~/catkin_ws
catkin_make
source devel/setup.bash

In case this does not work, please try with catkin_make --force-cmake as this will forcefully load the whole catkin project

Quick Start

To run the simulator without the evolutionary algorithm, run:

cd ~
rosrun f1tenth_simulator test_simulator.py

This will launch everything you need for a full simulation; roscore, the simulator, a preselected map, a model of the racecar and RViz.

If you instead want to run the evolutionary algorithm, I suggest looking at the POPULATION_SIZE, the MAX_RUNNING and the NUMBER_OF_GENERATIONS parameters as these are in charge of how many how many simulations will run per generation, how many simultanious simulations will run (check what your system can handle) and how many generations will run, respectively. Remember that one simulation will not finish until the racecar either finishes a lap or collides with a wall.

Then you can run the script via: cd ~ rosrun f1tenth_simulator my_simulator.py