Race On! Simulation

ROS version

ROS Melodic

Make sure you have gazebo installed. If you install your ROS with desktop-full release, you should be fine.

Make a workspace for simulation

mkdir -p ~/raceon_sim_ws/src
cd ~/raceon_sim_ws
catkin_make

Source the workspace

source ~/raceon_sim_ws/devel/setup.bash

(Optional) Add it to bashrc

echo "source ~/raceon_sim_ws/devel/setup.bash" >> ~/.bashrc

Install dependencies

sudo apt-get install ros-melodic-ros-control ros-melodic-gazebo-ros-control ros-melodic-ros-controllers python-opencv ros-melodic-ackermann-msgs python-empy
pip install pynput

Clone dependencies

cd ~/raceon_sim_ws/src
git clone https://github.com/wjwwood/serial.git
git clone https://github.com/ros-drivers/ackermann_msgs.git
git clone https://github.com/mit-racecar/racecar.git
git clone https://github.com/mit-racecar/vesc.git
git clone https://github.com/d4n1elchen/raceon.git
git clone https://github.com/d4n1elchen/raceon_simulation.git
git clone https://github.com/d4n1elchen/raceon_visualizer.git
git clone https://github.com/d4n1elchen/racecar_gazebo.git

Build

cd ~/raceon_sim_ws
catkin_make

Start simulation

cd scripts
python launch_environment.py

If you got python module not found error, install missing packages using pip.

Launch simulation by python api with lap timer and custom track recipe.

Create script in scripts folder

Example

scripts/search_kp.py

#!/usr/bin/env python

import rospy
import roslaunch
import numpy as np
from launch_environment import SimulationLauncher

rospy.init_node('simulation_worker')

control_node = roslaunch.core.Node('raceon', 'control.py', 'control')
sl = SimulationLauncher(launch_file='raceon_simulation_pos_est.launch', track_file='final_track.txt', control_node=control_node, gui=True)

speed_list = np.linspace(200, 300, 10)
kp_list = np.linspace(1, 20, 10)

time = []
success = []

for speed in speed_list:
    t = []
    s = []

    for kp in kp_list:
        sl.set_param("/control/motor_speed", float(speed))
        sl.set_param("/control/kp", float(kp))
        sl.start()

        result = sl.get_last_result()
        t.append(result['time'])
        s.append(result['success'])

    time.append(t)
    success.append(s)

Track recipe

We use one character to represent the type of track segments and put an S right after the starting segment. Segments are seperated by comma.

Track identifier	mearning
`E`	Empty
`I`	Vertical straight lane
`-`	Horizontal straight lane
`<`	Turn lane with shape "┐"
`V`	Turn lane with shape "┌"
`>`	Turn lane with shape "└"
`^`	Turn lane with shape "┘"

Currently, the starting identifier only can be put on straight lane and the car will always face toward north if it is a vertical lane, and face torward east for horizontal one.

Example

track/final_track.txt

E,E,E,V,<
E,E,E,I,I
V,-,-,^,IS
>,-,-,-,^

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