You might need to run xhost +local:root on the host machine to allow the Docker container to access the X11 server.
# change dir to this repository cd deepRacerSim # Build docker image with docker build -f deepRacerSim.Dockerfile -t deep-simulator . - Windows users
- You will need to be on Windows 11 Build 22000 or later.
- Install driver for vGPU to run Linux GUI apps
- Install WSL2. Open
Microsoft Storeand install Ubuntu 20.04. - Run Ubuntu 20.04
- Install ROS1 Noetic
- Get this repository
# Install Git and Python3 if not installed apt-get update && apt-get install -y git python3-pip # Download this repository git clone https://github.com/CatUnderTheLeaf/deepRacerSim.git # Change working directory, replace with appropriate path cd /path/to/deepRacerSim/deep_ws # Source ROS1 if it is not in ~/.bashrc # or just add it to ~/.bashrc with # echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc source /opt/ros/noetic/setup.bash # Install package dependencies rosdep fix-permissions rosdep update rosdep install --from-paths src --ignore-src --rosdistro noetic # Build packages catkin_make -DPYTHON_EXECUTABLE=/usr/bin/python3 # export path variables for Gazebo, replace with appropriate path export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:/path/to/deepRacerSim/deep_ws/src/simulation/tracks/ export GAZEBO_RESOURCE_PATH=$GAZEBO_RESOURCE_PATH:/path/to/deepRacerSim/deep_ws/src/simulation/ # also add it to ~/.bashrc not to export it all the time echo "export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:/path/to/deepRacerSim/deep_ws/src/simulation/tracks/" >> ~/.bashrc echo "export GAZEBO_RESOURCE_PATH=$GAZEBO_RESOURCE_PATH:/path/to/deepRacerSim/deep_ws/src/simulation/" >> ~/.bashrc cd /path/to/deepRacerSim/deep_ws # ---- if with Docker ---- # launch a Docker container ./launch_docker.sh # ---- else ---- source devel/setup.bash # export GAZEBO_MODEL_PATH and GAZEBO_RESOURCE_PATH from installation if they are not in ~/.bashrc # ---- endif ---- # launch simulation # there will be 1-2 gazebo model errors - it is ok, # Gazebo just doesn't like .git files and stacked folders roslaunch simulation simulation.launch # in another terminal cd /path/to/deepRacerSim/deep_ws # ---- if with Docker ---- # launch a Docker container ./launch_docker.sh # ---- else ---- source devel/setup.bash # ---- endif ---- # launch keyboard teleoperation roslaunch teleop_ackermann key_teleop.launch # or launch joy teleoperation roslaunch teleop_ackermann joy_teleop.launch 
The car camera images are being published to the /camera/zed/rgb/image_rect_color topic.
You can view the camera feed by using the rqt_image_view, just run:
$ rqt_image_viewA GUI will appear, and you can select the /camera/zed/rgb/image_rect_color topic from the dropdown menu to view the camera feed.
Alternatively, you can use image_view with the following command:
$ rosrun image_view image_view image:=/camera/zed/rgb/image_rect_colorThis will open a window displaying the live feed from the camera attached to your ROS agent in the Gazebo simulation.