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torcs_ros repositorytorcs_img_publisher torcs_interfaces torcs_ros_bringup torcs_ros_client torcs_ros_drive_ctrl |
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Repository Summary
Checkout URI | https://github.com/fmirus/torcs_ros.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2025-01-13 |
Dev Status | UNMAINTAINED |
CI status | No Continuous Integration |
Released | UNRELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
Name | Version |
---|---|
torcs_img_publisher | 0.0.0 |
torcs_interfaces | 0.0.0 |
torcs_ros_bringup | 0.0.0 |
torcs_ros_client | 0.0.0 |
torcs_ros_drive_ctrl | 0.0.0 |
README
A ROS2 wrapper for The Open Source Race Car Simulator (TORCS)
This is a ROS implementation of the client and driver from the TORCS SCR C++ client. For the code in this repository to work, you need a patched version of torcs1.3.7. This has been tested with Ubuntu 24.04 and ROS2 Jazzy. For reference, the old ROS1 version is still available in the ros1 branch.
Installation
- Install the patched version of torcs1.3.7 according to its installation instructions
- Install ROS2 Jazzy according to the installation instructions
- Clone this repository into your workspace and build it by running
colcon build --packages-up-to torcs_ros_bringup && source install/setup.bash
Usage
Run TORCS
From the folder you cloned torcs-1.3.7 to, run
./BUILD/bin/torcs
or
./BUILD/bin/torcs -noisy
if you want noisy sensors (see the SCR-Manual for details)
Run the ROS components
To start all nodes including the simple driver, the image publisher and rviz, run
ros2 launch torcs_ros_bringup torcs_ros_bringup_launch.py
If you want to use your own driver instead of the simple driver in
```, run
```bash
ros2 launch torcs_ros_bringup torcs_ros_bringup_launch.py use_driver:=False
Preview
CONTRIBUTING
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