F1TENTH launch files.
Check external links for dependencies.
rosdep install --from-paths src --ignore-src -y
colcon build --symlink-install --packages-up-to f1tenth_launch
The package requires map directory path to be provided with following structure:
map_name_directory/
map.pbstream
trajectory.csv
map.pgm
map.yaml
The map.pgm
and map.yaml
files are not required, but are useful for trajectory generation purposes with external tools.
You can generate these files with nav2_map_server while running the simulator or real vehicle:
ros2 run nav2_map_server map_saver_cli -f map
Then, move the files to the map_name_directory/
directory.
- Run F1TENTH AWSIM simulator.
- Run launch file:
ros2 launch f1tenth_launch e2e_simulator.launch.py map_path:=<path_to_map_directory>
- Run launch file:
ros2 launch f1tenth_launch car.launch.py map_path:=<path_to_map_directory> vehicle_model:=<vehicle_model> sensor_model:=<sensor_model>
Use mapping:=True
argument to enable mapping mode. You can also turn off reference trajectory loader if the trajectory is not generated yet with use_trajectory_loader:=False
argument.