F1TENTH Gym ROS ‐ Install Guide - CPP-F1TENTH-SDP/Labs GitHub Wiki

NOTE: Some code blocks contain multiple lines with appropriate spacing. This allows you to copy and paste in PowerShell/Terminal and run multiple commands at once. To paste, RIGHT click in PowerShell/Terminal.

For those on Linux, refer to the official f1tenth_gym_ros guide. https://github.com/f1tenth/f1tenth_gym_ros

Download:

• Docker Desktop
• Git

This method allows the simulation to utilize an integrated or NVIDIA GPU.

1. Download and install Docker Desktop before installing WSL.

2. Install WSL from the Microsoft Store.

   OR

   Open PowerShell/Terminal and run:

   wsl --install
   

   The above command will install both WSL and Ubuntu. Use the Microsoft Store to only install WSL.

3. Install Ubuntu 20.04 using the following command:

   wsl.exe --install Ubuntu-20.04
   

4. wsl --set-default Ubuntu-20.04 2
   

   Check if Ubuntu-20.04 is default (star before Ubuntu-20.04) using:

   wsl -l -v
   

   If Ubuntu-20.04 is "Stopped", restart Docker Desktop.

   

5. Start Docker Desktop (if it isn't already), open PowerShell/Terminal and run:

   git clone https://github.com/f1tenth/f1tenth_gym_ros
   

   cd f1tenth_gym_ros
   

   docker build -t f1tenth_gym_ros -f Dockerfile .
   

6. Open another window/tab of PowerShell/Terminal and run:

   bash
   

   sudo apt-get install python3-venv
   

   ⚠️ If python3-venv is not being installed try:

   sudo apt-get update
   

   sudo apt-get install libpython3-dev
   

   sudo apt-get install python3-venv
   

   After python3-venv is installed:

   mkdir -p ~/rocker_venv
   python3 -m venv ~/rocker_venv
   cd ~/rocker_venv
   . ~/rocker_venv/bin/activate
   pip install wheel
   pip install git+https://github.com/osrf/rocker.git
   
   

   The installation is now complete.

1. Have Docker Desktop running:

   bash
   

   . ~/rocker_venv/bin/activate
   

   Replace <USERNAME> with your Windows username. You can find this by opening PowerShell/Terminal.

   iGPU:

   rocker --x11 --volume .:/sim_ws/src/f1tenth_gym_ros/Users/<USERNAME>/f1tenth_gym_ros -- f1tenth_gym_ros
   

   NVIDIA:

   rocker --nvidia --x11 --volume .:/sim_ws/src/f1tenth_gym_ros/Users/<USERNAME>/f1tenth_gym_ros -- f1tenth_gym_ros
   

   The rocker command is based on the assumption that the files from git clone https://github.com/f1tenth/f1tenth_gym_ros, are in C:\Users\<USERNAME>\f1tenth_gym_ros.

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

It is recommended to save a .txt or VSCode file with your personal username. This will allow you to copy and paste the commands to launch the simulation.

Here is an example:

Fastest and easiest install. Access the simulation from your web browser.

1. Open PowerShell/Terminal and run:

   git clone https://github.com/f1tenth/f1tenth_gym_ros
   

2. cd f1tenth_gym_ros
   

3. Have Docker Desktop running:

   docker compose up
   

1. Have Docker Desktop running:

   docker exec -it f1tenth_gym_ros-sim-1 /bin/bash
   

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

3. Go to: http://localhost:8080/vnc.html