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PyRacecarSimulator

Simulator for simulating a F1-tenth car. Itegrated with ROS and uses range_libc for lidar simulations. Implemented to facilitate a Monte-Carlo Tree Search agent.

Depends

ROS

  • ROS melodic
  • Ackermann Messeges
  • LaserScan Messeges
  • Pose Messges
  • Geometry Messages
  • RViz

Other libs

  • range_libc
  • Tensorflow 1.13, with cudaNN 7.3
  • Numpy

Installing

Put the project folder into a ros workspace and run,

catkin_make
source devel/setup.bash

Usage

Tune the simulation and the agents using the param.yaml file. To change policy for MCTS, edit mcts.py and swap out generateActionXX().

Simulation only

Build racecar Build range_libc

To run the simulation as a ROS node run,

roslaunch PyRacecarSimulator simulate.launch

Simulation with MCTS

Build the libraries,

bash racecar/compile.sh
bash range_libc/pywrapper/compile_with_cuda.sh
bash followthegap/compile.sh

To run the simulation as a ROS node run,

roslaunch PyRacecarSimulator simulate.launch

Then run the MCTS agent,

roslaunch PyRacecarSimulator mcts_driver.launch

TODO

  • Add multi-agent capabilities
  • Add support for incremental map updates
  • Try other roll-out policies

Acknowledgements

Thanks to the code below we were able to create this project.