f1tenth.dev - An Open-source ROS based F1/10 Autonomous Racing Simulator

摘要

This paper presents the ROS F1/10 simulator - a ROS and Gazebo based autonomous racing simulator designed to mirror the behaviour and performance of the physical F1/10 platform. The simulator can be used to verify the performance of autonomous racing algorithms before testing on the real F1/10 racecar. The simulator supports most major ROS SLAM and navigation packages with tutorials on how to get started available on www.f1tenth.dev under open-source license and we continue to add support for more algorithms and features. The paper presents details on the simulator architecture, design, and features and presents several research use-cases including an example of developing in the sim and transferring the performance to the race racecar.