FSSIM 2021: ROS Noetic & Python3

README.md

@@ -5,24 +5,30 @@
 # FSSIM 
 FSSIM is a vehicle simulator dedicated for Formula Student Driverless Competition. It was developed for autonomous software testing purposes and not for gaming. A version of this simulator was used to predict **lap time of *gotthard* at FSG 2018** trackdrive with **1% accuracy**. 
 
-This simulator is developed and tested on **Ubuntu 16.04 and ROS Kinetic** and both are assumed to be already installed.
+This simulator is developed and tested on **Ubuntu 20.04, Python 3 and ROS Noetic** and the three are assumed to be already installed.
 
 The more extensive tutorial can be found under [Wiki](fssim_doc/index.md)
 
 FSSIM is developed by [Juraj Kabzan](https://www.linkedin.com/in/juraj-kabzan-143698a1/) as part of our work at [AMZ-Driverless](http://driverless.amzracing.ch/).
 
 # How to Run It in your Workspace
-0. Install `sudo apt install ros-kinetic-desktop-full` and `sudo apt install python-catkin-tools`
-1. Clone this repository to an existing **ROS Workspace** initialized with `catkin init`
-2. Run `cd src/fssim` from the workspace.
+0. Install `sudo apt install ros-noetic-desktop-full` and `sudo apt install python3-catkin-tools`
+1. Clone this repository to an existing **ROS Workspace**, run:
+`mkdir ws` ->
+`mkdir ws/src` ->
+`cd ws` ->
+`catkin init` ->
+`cd src` ->
+`git clone https://github.com/Huguet57/fssim-2021.git`
+2. Go to the `src/fssim` folder.
 3. Run `./update_dependencies.sh`, you will need to approve multiple packages to be installed
 4. Run `catkin build`
-5. Source the workspace
+5. Go into the root of the workspace (in this case the `ws` folder,  where the `devel` folder is) and source the workspace `source devel/setup.bash`
 6. After successful building, run the simulator with `roslaunch fssim auto_fssim.launch`. RVIZ window will start. NOTE: You might need to untick and tick `FSSIM Track` and `RobotModel` in RVIZ in order to load the STL files. NOTE: This ` [Wrn] [ModelDatabase.cc:339] Getting models from[http://gazebosim.org/models/]. This may take a few seconds.` might take up to a minute when starting for the first time.
 7. The terminal will inform you what is happening. The loading time takes around 20 seconds. When `Sending RES GO` will show up in the terminal, you can start controlling the vehicle with `/fssim/cmd` topic.
 
 # Combine it with simple FSD skeleton Framework and drive a lap
-0. Install `sudo apt install ros-kinetic-desktop-full` and `sudo apt install python-catkin-tools`
+0. Install `sudo apt install ros-noetic-desktop-full` and `sudo apt install python3-catkin-tools`
 1. [Clone the AMZ skeleton workspace](https://github.com/AMZ-Driverless/fsd_skeleton#setting-up-the-workspace).
 2. Run `./update_dependencies.sh -f` from `fsd_skeleton`, you will need to approve multiple packages to be installed
 3. Compile with `catkin build`

fssim/CMakeLists.txt

@@ -20,7 +20,7 @@
 # OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
 # SOFTWARE.
 
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.0.2)
 project(fssim)
 
 find_package(catkin REQUIRED  COMPONENTS 
@@ -41,4 +41,4 @@ catkin_install_python(PROGRAMS scripts/launch.py
         DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
 
 catkin_install_python(PROGRAMS scripts/topics_monitor.py
-        DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
+        DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})

fssim/config/simulation.yaml

@@ -27,7 +27,7 @@ robot_name: gotthard  # Name of the robot [string]
 kill_after: 6000      # After this time, repetition is stopped [s]
 
 pkg_config_storage: fssim_description # If relative path is given in following config files, the path will be taken
-                                    # wrt to this package
+                                    # wrt to this packagesendTransform
 # Config files for repetitions
 repetitions:
 - {sensors_config_file: cars/gotthard/config/sensors.yaml, track_name: FSG.sdf, autonomous_stack: }

fssim/config/topics_frequency.yaml

@@ -28,7 +28,7 @@ topics:
     -   topic: "/lidar/cones"
         expected_frequency: 5
     -   topic: "/fssim/cmd"
-        expected_frequency: 5
+        expected_frequency: 100
 
 
 

fssim/rviz/fssim.rviz

@@ -3,9 +3,10 @@ Panels:
     Help Height: 93
     Name: Displays
     Property Tree Widget:
-      Expanded: ~
-      Splitter Ratio: 0.663888872
-    Tree Height: 732
+      Expanded:
+        - /Global Options1
+      Splitter Ratio: 0.550000011920929
+    Tree Height: 460
   - Class: rviz/Selection
     Name: Selection
   - Class: rviz/Tool Properties
@@ -14,17 +15,21 @@ Panels:
       - /2D Nav Goal1
       - /Publish Point1
     Name: Tool Properties
-    Splitter Ratio: 0.588679016
+    Splitter Ratio: 0.5886790156364441
   - Class: rviz/Views
     Expanded:
       - /Current View1
     Name: Views
-    Splitter Ratio: 0.492592603
+    Splitter Ratio: 0.49259260296821594
   - Class: rviz/Time
     Experimental: false
     Name: Time
     SyncMode: 0
     SyncSource: Lidar Observations
+Preferences:
+  PromptSaveOnExit: true
+Toolbars:
+  toolButtonStyle: 2
 Visualization Manager:
   Class: ""
   Displays:
@@ -34,7 +39,7 @@ Visualization Manager:
       Color: 177; 177; 177
       Enabled: true
       Line Style:
-        Line Width: 0.0299999993
+        Line Width: 0.029999999329447746
         Value: Lines
       Name: Grid
       Normal Cell Count: 0
@@ -57,7 +62,7 @@ Visualization Manager:
       Enabled: true
       Length: 1
       Name: FSSIM Map
-      Radius: 0.100000001
+      Radius: 0.10000000149011612
       Reference Frame: fssim_map
       Value: true
     - Alpha: 1
@@ -136,18 +141,6 @@ Visualization Manager:
           Value: true
         fssim/vehicle/front_center_lidar_link:
           Value: true
-        fssim/vehicle/left_front_wheel:
-          Value: true
-        fssim/vehicle/left_rear_wheel:
-          Value: true
-        fssim/vehicle/left_steering_hinge:
-          Value: true
-        fssim/vehicle/right_front_wheel:
-          Value: true
-        fssim/vehicle/right_rear_wheel:
-          Value: true
-        fssim/vehicle/right_steering_hinge:
-          Value: true
         fssim_map:
           Value: true
         map:
@@ -164,16 +157,6 @@ Visualization Manager:
               fssim/vehicle/chassis:
                 fssim/vehicle/front_center_lidar_link:
                   {}
-                fssim/vehicle/left_rear_wheel:
-                  {}
-                fssim/vehicle/left_steering_hinge:
-                  fssim/vehicle/left_front_wheel:
-                    {}
-                fssim/vehicle/right_rear_wheel:
-                  {}
-                fssim/vehicle/right_steering_hinge:
-                  fssim/vehicle/right_front_wheel:
-                    {}
           map:
             {}
       Update Interval: 0
@@ -279,6 +262,14 @@ Visualization Manager:
         {}
       Queue Size: 100
       Value: true
+    - Class: rviz/Marker
+      Enabled: true
+      Marker Topic: /fssim/GO_marker
+      Name: GO Signal
+      Namespaces:
+        {}
+      Queue Size: 100
+      Value: true
   Enabled: true
   Global Options:
     Background Color: 255; 255; 255
@@ -294,7 +285,10 @@ Visualization Manager:
     - Class: rviz/FocusCamera
     - Class: rviz/Measure
     - Class: rviz/SetInitialPose
+      Theta std deviation: 0.2617993950843811
       Topic: /initialpose
+      X std deviation: 0.5
+      Y std deviation: 0.5
     - Class: rviz/SetGoal
       Topic: /move_base_simple/goal
     - Class: rviz/PublishPoint
@@ -304,33 +298,33 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz/ThirdPersonFollower
-      Distance: 15.6628675
+      Distance: 15.662867546081543
       Enable Stereo Rendering:
-        Stereo Eye Separation: 0.0599999987
+        Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
         Swap Stereo Eyes: false
         Value: false
       Focal Point:
-        X: 0.198139191
-        Y: -0.605263352
-        Z: -1.90734863e-06
+        X: 0.19813919067382812
+        Y: -0.605263352394104
+        Z: -1.9073486328125e-06
       Focal Shape Fixed Size: true
-      Focal Shape Size: 0.0500000007
+      Focal Shape Size: 0.05000000074505806
       Invert Z Axis: false
       Name: Current View
-      Near Clip Distance: 0.00999999978
-      Pitch: 0.277739823
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.27773982286453247
       Target Frame: fssim/vehicle/base_link
       Value: ThirdPersonFollower (rviz)
-      Yaw: 3.0936656
+      Yaw: 3.093665599822998
     Saved: ~
 Window Geometry:
   Displays:
     collapsed: false
-  Height: 1028
+  Height: 704
   Hide Left Dock: false
   Hide Right Dock: true
-  QMainWindow State: 000000ff00000000fd00000004000000000000016a0000037afc0200000008fb0000001200530065006c0065006300740069006f006e0000000028000001c50000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c00610079007301000000280000037a000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c0000026100000001000001100000037afc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a0056006900650077007300000000280000037a000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000003c00000003efc0100000002fb0000000800540069006d00650100000000000003c00000030000fffffffb0000000800540069006d00650100000000000004500000000000000000000002500000037a00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd00000004000000000000015600000266fc0200000008fb0000001200530065006c0065006300740069006f006e0000000028000001c50000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000266000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c0000026100000001000001100000037afc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a0056006900650077007300000000280000037a000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000003c00000003efc0100000002fb0000000800540069006d00650000000000000003c0000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000002640000026600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Time:
@@ -340,5 +334,5 @@ Window Geometry:
   Views:
     collapsed: true
   Width: 960
-  X: 960
-  Y: 24
+  X: 406
+  Y: 27