ajak2k/formulazot_api repository overview

⁠Formulazot Autonomous Racer for Team AsTenth Martin

⁠Overview

This Docker image provides a copy of the racer formulazot representing the team AsTenth Martin from the University of California, Irvine. It is based on the development environment for AutoDrive F1Tenth using ROS 2 Humble to participate in the CDC 2024 F1Tenth Sim Racing League. The image comes preconfigured with ROS 2, the AutoDrive development kit, and other utilities required for autonomous systems development. Currently, this container is configured to run in the headless mode; if needed, you can bypass the default ENTRYPOINT and go directly to a bash session to manually access other features.

For more information about the CDC 2024 F1Tenth Sim Racing League, visit the official CDC 2024 F1Tenth Sim Racing League page⁠.

⁠Getting Started

To get started with the AutoDrive F1Tenth Docker container, follow the steps on the autodrive_f1tenth_api⁠ page from the organizers

⁠Running the Container for Qualifying in CDC 2024:

Use the following command to automatically launch the autodrive_devkit node and the formulazot node:

docker run --name autodrive_f1tenth_api --rm -it --entrypoint /bin/bash --network=host --ipc=host -v /tmp/.X11-unix:/tmp.X11-umix:rw --env DISPLAY --privileged --gpus all ajak2k/formulazot_api:2024-cdc-practice -c /home/autodrive_devkit.sh

This behaviour can be changed by editing the script at /home/autodrive_devkit.sh.

⁠Running the Container for Development purposes:

Use the following command to launch the container for development purposes:

docker run --name autodrive_f1tenth_api --rm -it --entrypoint /bin/bash --network=host --ipc=host -v /tmp/.X11-unix:/tmp/.X11-unix:rw --env DISPLAY --privileged --gpus all -v /home/ajak2k/formulazot_ws/src/formulazot:/home/autodrive_devkit/src/formulazot ajak2k/formulazot_api:2024-cdc-practice

Note that this will remove the container when exiting. You can remove the --rm if you do not want that behaviour. You might also want to change the mounted volume source folder from /home/ajak2k/formulazot_ws/src/formulazot and change it to point to your desired location and the destination folder name from formulazot.

You can run new bash sessions using docker exec -it formulazot_api bash.

⁠Rebuilding the ros2 packages and running them

If you make some changes to the code and would like to test them out, move to the /home/autodrive_devkit directory and use the below line to build and launch the formulazot node:

colcon build --packages-select formulazot && source install/local_setup.bash && ros2 launch formulazot formulazot_bringup_headless.launch.py

⁠License

This Docker image is distributed under the Apache 2.0 License. See the LICENSE file for more details.

⁠Contribution

You can also visit the autodriveSim brach on the f1tenth_racingRepo⁠ on GitHub for the source code project. Note: The repository will be open-sourced after the competition.

⁠Contact me

You can email me at [email protected]⁠ or [email protected]⁠. Feel free to reach out on Linkedin⁠.