A ros2 package for testing the ackermann steering controller with the f1tenth

Much of the f1tenth components are from f1tenth-dev/simulator

launch files

sim.launch.py launches rviz with odom and rqt for sending commmands to the ackermann steering controller.

f1.launch.py launches rviz and state_publisher_gui to view the urdf and manualy handle joints.

Usage

Build the docker image using the build.sh script.

Then run a container using the run.sh script. This allows for the container to be run with the correct permissions to access the display.

Finally from inside the container run:

source install/setup.bash
ros2 launch f1tenth_hardware_interface sim.launch.py