F1Tenth Parallel Simulation Manager

Important

This utilizes the f1_gym_ros containerized Docker simulator, for installation instructions and configuring the simulator please visit its repository and follow its documentation.

Note

To kill all Docker containers after simulation if termination does not proceed properly use:

docker ps -a -q --filter "name=session" | ForEach-Object { docker rm -f $_ }

Run the bash file .\start_f1tenth.ps1 to start the parallel simulation process. This process can take a long time to build, it builds the docker containers and binds their noVNC viewpoints while launching the relevant commands.

Once finished, navigate to the dashboard to view all screens by clicking dashboard.html in the file tree or clicking the link provided in the terminal once the launch command is finished.

In the dashboard, you can click FULL to go to that session's full screen view.

Important Commands

• Build the simulator (when making any changes or on first install)

docker build -t f1tenth_gym_ros .

• Start all the parallel environments

.\start_f1tenth.ps1

• Check general docker logs

docker logs -f f1tenth_session_1

• Check the tmux panels in the first parallel session

To get into the container

docker exec -it f1tenth_session_1 bash

When in the container (root@x:/sim_ws#):

tmux attach -t f1sim_1

todo changes

• make rviz fullscreen upon launch
• make robotmodel for opp show up automatically
• ensure the data collection works (idt it does rn)
• make the termination condition actually terminate the simulation
  • includes ctrl c all panes or just killing all relevant docker containers