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INSTALLATION.md

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ForzaETH Race Stack Installation

After following the prerequisites you will need to choose either Car installation or Sim installation. We recommend the use of Docker for either installation.

Prerequisites

To run the ForzaETH race stack make sure that you have assembled and setup a car following the official F1TENTH instructions. Follow the instructions up to the point Install F1TENTH Driver Stack » 3. F1TENTH Driver Stack Setup » 1. udev Rules Setup.

For both the car and the sim installation, be sure to have installed:

Note: The two installations are not needed in the case of the Docker setup.

Note: Be sure to have included the sourcing lines in your ~/.bashrc file, in order to properly setup ROS in every terminal you open. The two lines to be added are (if you are using bash)

source /opt/ros/noetic/setup.bash
source <path to your catkin_ws>/devel/setup.bash

Note: In case you want to deploy/develop with docker, have docker and docker-compose installed! Follow the official docker guide here. And make sure to have docker accessible without sudo, follow the official docker post-installation steps here.

Clone the Repo

Recursive clone the main repository together with it's submodules!

git clone --recurse-submodules [email protected]:ForzaETH/race_stack.git 
cd race_stack

Docker

For quick deployment, a docker image can be used. The full docker structure and guidelines on how to use both in simulation and in the real platform can be found in the Docker Guidelines README.

For a quick example of the race stack in action, first build the base docker image with docker compose:

docker compose build base_x86

Then export the needed environment variables and build the simulator container:

export UID=$(id -u)
export GID=$(id -g)
docker compose build sim_x86

Then check that the following folder structure is existing:

<race_stack directory>/../
...
├── cache
│   └── noetic
│       ├── build
│       ├── devel
│       └── logs
└ ...

It can be created from the command line, for example:

cd <race_stack folder>
mkdir -p ../cache/noetic/build ../cache/noetic/devel ../cache/noetic/logs

Then launch the devcontainer from VS Code

To now test the simulator, launch the simulator with base system with the following command:

roslaunch stack_master base_system.launch sim:=true map_name:=test_map

and then, in a new terminal, launch the timetrials system with the following command:

roslaunch stack_master time_trials.launch racecar_version:=NUC2

For more information on how to run the different modules on the car, refer to the stack_master README or to the READMEs in the checklist directory.

If you want a native source installation follow the installation steps below.

Native installation

The following steps assume you have a catkin workspace set up and are working from within the src folder. For example:

cd ~/catkin_ws/src

Car installation

[Step 1 of 5]

First you'll have to clone the repository with all the submodules in it (in case you haven't done so from above).

git clone --recurse-submodules [email protected]:ForzaETH/race_stack.git 
cd race_stack

From now on the installation assumes you are in the race_stack folder.

[Step 2 of 5]

Install all the dependencies

# ubuntu packages dependencies
xargs sudo apt-get install -y < ./.install_utils/linux_req_car.txt

# python dependencies
pip install -r ./.devcontainer/.install_utils/requirements.txt

[Step 3 of 5]

Then you will need to install the cartographer version which we modified (and which was just downloaded as submodule)

chmod +x ./.devcontainer/.install_utils/cartographer_setup.sh
sudo ./.devcontainer/.install_utils/cartographer_setup.sh

[Step 4 of 5]

Similarly you will need to install the SynPF particle filter (which was just downloaded as submodule)

chmod +x ./.devcontainer/.install_utils/pf_setup.sh
sudo ./.devcontainer/.install_utils/pf_setup.sh

[Step 5 of 5]

Optional: if you want you can erase the simulator folder, so to not install it on the car too. It can be done with the following command

# Optional
rm -rf ./base_system/f110-simulator

Then build the whole system!

catkin build

The car is now ready to be tested. For examples on how to run the different modules on the car, refer to the stack_master README. As a further example, the time-trials or the head-to-head checklists are a good starting point.

Sim installation

[Step 1 of 2]

First you'll have to clone the repository (in case you haven't done so from above).

git clone --recurse-submodules [email protected]:ForzaETH/race_stack.git 
cd race_stack

From now on the installation assumes you are in the race_stack folder.

[Step 2 of 3]

Install all the dependencies

# ubuntu packages dependencies
xargs sudo apt-get install -y < ./.devcontainer/.install_utils/linux_req_sim.txt

# python dependencies
pip install -r ./.devcontainer/.install_utils/requirements.txt

[Step 3 of 3]

Optional: if you want you can erase the simulator folder, so to not install it on the car too. It can be done with the following command

# Optional
rm -rf ./base_system/f1tenth_system

Then build the whole system!

catkin build

After installation you can test simulation functionalities, for example running the time-trials or the head-to-head checklists. For a more general overview of how to use the race_stack refer to the stack_master README.