Simulator Info

We use the F1Tenth ROS-Gym bridge simulation environment to test some algorithms for our RC car. This file contains information for using the simulator.

Simulator Start Up

1. open a new terminal (outside of the devcontainer, so in WSL if on windows or a regular new terminal on linux/mac)
2. run docker exec -it docker-sim-1 /bin/bash to enter into the simulator container
   • you'll know your in if it now says your the root user and your in the /sim_ws folder
3. run start_sim to start a tmux session that will spin up the simulator ROS node
4. go to http://localhost:8080/vnc.html in your browser to see the NoVNC client,press connect

you should see the rviz window with the little rc car in it. If you don't, let a lead know that something is up.

Note: to operate the simulated vehicle from the terminal, open up a new tmux pane with ctrl+b c and run ros2 run teleop_twist_keyboard teleop_twist_keyboard. The terminal will provide instructions on how to move the vehicle, and you must have the terminal as the active window in order for the keyboard inputs to be read.