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.
The more extensive tutorial can be found under Wiki
FSSIM is developed by Juraj Kabzan as part of our work at AMZ-Driverless.
sudo apt install ros-kinetic-desktop-full
and sudo apt install python-catkin-tools
catkin init
cd src/fssim
from the workspace../update_dependencies.sh
, you will need to approve multiple packages to be installedcatkin build
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.Sending RES GO
will show up in the terminal, you can start controlling the vehicle with /fssim/cmd
topic.sudo apt install ros-kinetic-desktop-full
and sudo apt install python-catkin-tools
./update_dependencies.sh -f
from fsd_skeleton
, you will need to approve multiple packages to be installedcatkin build
source fsd_environment.sh
roslaunch fssim_interface fssim.launch
roslaunch control_meta trackdrive.launch
or
FSD_ATS
(this command is loaded when sourcing fsd_environment.sh
). If you will want to see the visualization, run RViZ: roslaunch fssim_interface rviz.launch
. NOTE: The car will keep driving until the simulation will time-out since no lap counter is implemented./fssim/res_state/push_button = true
is not sent. On the other side, if /fssim/res_state/emergency = true
is send, the vehicle will stop immediately. If you start FSSIM with roslaunch fssim auto_fssim.launch
or through fssim_interface
this is done automatically.auto_fssim.launch
, an automated RES person is launched. This means, if the vehicle exists the track with all four wheels, RES-emergency will be send and the simulation will exit itselfJuraj Kabzan, Miguel de la Iglesia Valls, Victor Reijgwart, Hubertus Franciscus Cornelis Hendrikx, Claas Ehmke, Manish Prajapat, Andreas Bühler, Nikhil Gosala, Mehak Gupta, Ramya Sivanesan, Ankit Dhall, Eugenio Chisari, Napat Karnchanachari, Sonja Brits, Manuel Dangel, Inkyu Sa, Renaud Dubé, Abel Gawel, Mark Pfeiffer, Alexander Liniger, John Lygeros, Roland Siegwart, "AMZ Driverless: The Full Autonomous Racing System", arXiv preprint arXiv:1905.05150
@misc{1905.05150,
Author = {Juraj Kabzan and Miguel de la Iglesia Valls and Victor Reijgwart and Hubertus Franciscus Cornelis Hendrikx and Claas Ehmke and Manish Prajapat and Andreas Bühler and Nikhil Gosala and Mehak Gupta and Ramya Sivanesan and Ankit Dhall and Eugenio Chisari and Napat Karnchanachari and Sonja Brits and Manuel Dangel and Inkyu Sa and Renaud Dubé and Abel Gawel and Mark Pfeiffer and Alexander Liniger and John Lygeros and Roland Siegwart},
Title = {AMZ Driverless: The Full Autonomous Racing System},
Year = {2019},
Eprint = {arXiv:1905.05150},
}
A note: this is a public copy of a private version. The public version might have some internal functionality removed. FSSIM was developed by