Guide to get started with the f1tenth simulator
Pull container from EML packages
docker pull ghcr.io/embedml/f1tenth_gym_ros:latest
Clone from f1tenth_gym_ros
git clone https://github.com/f1tenth/f1tenth_gym_ros.git
cd f1tenth_gym_ros
Run container from docker-compose.yml config
docker-compose up
Open new terminal window. Change directory to f1tenth_gym_ros again.
Start bash session and ssh into container
docker exec -it f1tenth_gym_ros_sim_1 /bin/bash
Setup ROS commands and launch RVIZ sim
(you can copy and paste the following all at the same time)
source /opt/ros/foxy/setup.bash
source install/local_setup.bash
ros2 launch f1tenth_gym_ros gym_bridge_launch.py
Open http://localhost:8080/vnc.html and click “connect” To add Keyboard: Open new terminal window. Change directory to simulator
docker exec -it f1tenth_gym_ros_sim_1 /bin/bash
Setup ROS commands and launch keyboard function
(you can copy and paste the following all at the same time)
source /opt/ros/foxy/setup.bash
source install/local_setup.bash
ros2 run teleop_twist_keyboard teleop_twist_keyboard