Self Learning F1 tenth

[Eddie]

Hi all, 

my name is Eddie,  glad to meet you all, I was learning ROS2 through Udemy, but 1/5 though the course, I've felt being lost in learning the tools, didn't felt efficient at all, 

so I went on searching for project to participate, then I found F1 tenth.

Although I don't have any prior knowledge, I'm, aware there will be a massive learning curve ahead of me, but I'm determined to learn and keep track what I've learn and what challenge I've been facing.

So hopefully, I could get some assistance form you all.  learn form you.

here is currently the parts I've got so far:

• Jetson Nano developer kit
• a cheaper Lidar
• Intel Realsense D345

I borrowed it from one of my friend.

As right now,

My next learning objective is to run the Simulator.

here is my question:

Do I need to build the full F1 tenth car in order to run the simulator?  or can I just power up Jetson, install Ubuntu and ROS2( or ROS?) in it, then I can run the simulator?

or power up Jetson is not enough, it still need to connect  the Lidar,  D345, etc, at least for me to run the simulator?

What's the whole point of that? Simply because I didn't got all the part yet, and it'll take sometime for me to collect, but I hope my learning keeps pushing forward.

Though Robostack, I was able to install ROS2 Galatic into M1 Macbook air, but I noticed that it should be ROS Melodic installed. 

I got a spare 2013 old Macbook air, I'm going to turn it into Ubuntu just to make learning esier.

How to Install Ubuntu 20 4 on an Old MacBook - YouTube

Any suggestion or feedback?

Thanks in advance.

[Jaroslav Klapálek]

Hello Eddie,

   in order to run the simulator you only need your computer. Hardware is required only for running the car. The idea behind the simulator is to test your algorithms locally before deploying them to your car.

Currently, the organizers/maintainers are moving towards ROS2 here: https://github.com/f1tenth/f1tenth_gym_ros

Best,

J.

Dne úterý 15. února 2022 v 11:34:02 UTC+1 uživatel shou...@gmail.com napsal:

[Eddie]

Thanks Jaroslav,

  It is a good thing for me to write down my thought here so that I can clear my mind along the way, cause it is a bit daunting when I just learning all by myself, and a big thanks for your explanation, it helps me know I'm on the right track.

  Actually, I've just went to f1tenth_gym_ros github, and since my M1 does not have NVIDIA gpu, so I went for the noVNC, built the docker image and successfully connect to it, the browser.

I'm stuck in Launching the Simulation  

original command from f1_gym_ros https://github.com/f1tenth/f1tenth_gym_ros :

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

here is my understanding about it:

$ source /opt/ros/foxy/setup.bash >>>  I'm using mambaforge to install ROS2, thus mine should be: $ source /Users/eddie/mambaforge/envs/ROS/setup.bash
$ source install/local_setup.bash >>> After I typed docker exec -it f1tenth_gym_ros-sim-1 /bin/bash, I was redirected to a sim_ws:

root@dec2944c06c0:/sim_ws#ls

build  install  log  src

root@dec2944c06c0:/sim_ws# cd install/

root@dec2944c06c0:/sim_ws/install# ls
COLCON_IGNORE             _local_setup_util_sh.py  local_setup.bash  local_setup.sh   setup.bash  setup.sh
_local_setup_util_ps1.py  f1tenth_gym_ros          local_setup.ps1   local_setup.zsh  setup.ps1   setup.zsh

I suppose local_setup.bash is what I'm looking for, correct me if I wrong.

so I cd .. back to sim_ws

and typed source install/local_setup.bash

I believed right now, I'm almost there.

the Third commmand:

$ ros2 launch f1tenth_gym_ros gym_bridge_launch.py

root@dec2944c06c0:/sim_ws# ros2 launch f1tenth_gym_ros gym_bridge_launch.py
bash: ros2: command not found

I'm not sure what happen, maybe is because I use M1, or could be ros Galatic didn't support it, or it could be I'm using iTerm2 zsh.

Jaroslav Klapálek 在 2022年2月15日 星期二下午11:16:20 [UTC+8] 的信中寫道：

[Jaroslav Klapálek]

I am not familiar with mambaforge, but I assume that the command should be still the same, as you are executing them in the Docker container.

That is; stick with the original.

$ source /opt/ros/foxy/setup.bash # This 'registers' the ros core to your PATH, exposing `ros2` command
$ source install/local_setup.bash # This adds packages from the simulator repository to known packages
$ ros2 launch f1tenth_gym_ros gym_bridge_launch.py # This actually launches the simulator

Best,

J.

Dne úterý 15. února 2022 v 17:11:36 UTC+1 uživatel shou...@gmail.com napsal: