ROS2_Workshop

Installation

Windows

1. Install docker

2. After docker is installed, install WSL by launching Windows Powershell as administrator and running the following command

   wsl --install

3. Enable Ubuntu in Docker Desktop settings

   • Navigate to settings in Docker Desktop
   • Under Resources > WSL integration
   • Enable the Ubuntu option then click "Apply and Restart"

4. After it's done installing run the following commands to start WSL

   wsl --set-default Ubuntu
   wsl ~

5. Clone this repository

   git clone https://github.com/NTU-Autonomous-Racing-Team/F1Tenth_Workshop.git ~/F1Tenth_Workshop/

   If you can't copy paste, right click powershell then navigate to Properties > Tick "Use Ctrl+Shift+C/V as copy paste"

6. Docker Setup

   • Setting up docker container

     cd ~/F1Tenth_Workshop/install_windows/
     sudo docker network create f1tenth_net
     sudo docker build -t f1tenth_gym_ros .

   • Run this script to start the docker container

     sudo ./run_docker_container_win.sh

MacOS

If you have homebrew installed already, you can skip to installing git

• Make sure xcode-select is installed by launching a terminal and running this command

  xcode-select --install

  If it is installed you will see this in your terminal

  xcode-select: note: Command line tools are already installed. Use "Software Update" in System Settings or the softwareupdate command line interface to install updates

  This step will take some time if you don't have xcode installed

• Install Homebrew

  /bin/bash -c "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/HEAD/install.sh)"

• Install git

  brew install git

• Install docker

2. Clone this repository

   git clone https://github.com/NTU-Autonomous-Racing-Team/F1Tenth_Workshop.git ~/F1Tenth_Workshop/

3. Launch Docker

4. Docker Setup

   • Setting up docker containers

     cd ~/F1Tenth_Workshop/install_macos/
     docker compose -p f1tenth_gym_ros up -d

   • Run this script to start the docker containers

     sudo ./run_docker_containers_mac.sh

   To stop the docker containers run sudo ./stop_docker_containers_mac.sh

Ubuntu Linux

1. Install docker

2. Add Docker into sudo group

3. Clone this repository

   git clone https://github.com/NTU-Autonomous-Racing-Team/F1Tenth_Workshop.git ~/F1Tenth_Workshop/

4. Docker Setup

   • Setting up docker container

     cd ~/F1Tenth_Workshop/install_linux/
     sudo docker network create f1tenth_net
     sudo docker build -t f1tenth_gym_ros .

   • Run this script to start the docker container

     sudo ./run_docker_container.sh

Running the simulator

In your respective terminals run

Windows users need to make sure they're in WSL

source /opt/ros/foxy/setup.bash
source ./install/local_setup.bash
ros2 launch f1tenth_gym_ros gym_bridge_launch.py

If everything is working, a window should pop up (It might take awhile for the simulation to startup when ran for the first time). For MacOS users click on this link http://localhost:8080/vnc.html and click on connect to view the simulation.