Starter Code of F1TENTH Simulator for ECE484
University of Illinois at Urbana-Champaign
System: Ubuntu 20.04 + ROS Noetic (Gazebo 11)
F1TENTH Racecar
Setup
$ sudo apt-get install -y ros-noetic-navigation ros-noetic-teb-local-planner* ros-noetic-ros-control ros-noetic-ros-controllers ros-noetic-gazebo-ros-control ros-noetic-ackermann-msgs ros-noetic-serial
Tunnel Environment
$ source devel/setup.bash
$ roslaunch f1tenth-sim racecar.launch world_name:=racecar_tunnel
Walker Environment
$ source devel/setup.bash
$ roslaunch f1tenth-sim racecar.launch world_name:=racecar_walker
Levine Track Environment
$ source devel/setup.bash
$ roslaunch f1tenth-sim racecar.launch world_name:=track_levine
Porto Environment
$ source devel/setup.bash
$ roslaunch f1tenth-sim racecar.launch world_name:=track_porto yaw:=0.75
Barca Environment
$ source devel/setup.bash
$ roslaunch f1tenth-sim racecar.launch world_name:=track_barca x:=-0.2 y:=-0.2 yaw:=-0.5
Keyboard Teleop
$ source devel/setup.bash
$ rosrun f1tenth-sim keyboard_teleop.py