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a low-power TORCS test bed for ROS-based autonomous driving efforts

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TORCS and ROS-ES

a Low-Power Autonomous Driving Testbed with ROS and TORCS and a pun based on Runs and Roses

video screenshot

What is included

  • Ubuntu 18.04 Docker container (based on this image) with
    • LXDE Desktop Environment
    • VNC-server that allows control from any web browser
    • ROS Melodic release
    • Extended TORCS racing simulator (patched with picture and control pipeline) (link)
    • TORCS_ROS bridge (link)

Possible Applications

  • collect training data machine learning (image, sensor data, control data)
  • implement and test own autonomous driving algorithms
  • write bridges to existing autonomous driving frame works

What is different from other AD-kit simulator frame works

  • Low-end hardware requirements
  • Batteries included (torcs / ros / bridges)
  • Support of graphical desktop using any web-browser

Usage

  • Update the GIT-submodules git submodule init && git submodule update
  • Run following script run_environment.sh. It builds the necessary docker image and starts the docker container.
  • open a browser and goto the url http://127.0.0.1:6080/#/
  • run torcs by using the desktop icon
  • Get to run the quickrace in the menu - you won't be able to though, it will lock expecting a car to connect from the ROS adapter
  • Start the ROS torc bridge roslaunch torcs_ros_bringup torcs_ros.launch

Requirements

  • Recent Linux Distribution (64bit)
  • Docker CE
  • 8 GByte RAM
  • 6 Gigabyte of HDD/SSD
  • OpenGL > 2.0 capable graphic card

Credits

Licence

  • Source code of this repository is licensed under MIT licence
  • Base Docker Image - Apache license 2.0
  • torcs-1.3.7 - GPL2 and other

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a low-power TORCS test bed for ROS-based autonomous driving efforts

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