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A Simple Car Simulator based on SFML Library and ROS

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Hema's CarSim V0.1

A Simple Car Simulator based on SFML Library and ROS for Udacity C++ NanoDegree Capstone Project. The Car can be steered both by the keyboard and ROS. You can also change the speed and reset the scene to the default state.

screenshot

Dependencies

  • SFML Library sudo apt install libsfml-dev
  • ROS
  • OpenCV

How To Run:

  • cd build && cmake ..
  • make
  • Launch a ROS master $ roscore
  • ./CarSim

How to Drive Manually:

  • Q -> Steer Left
  • E -> Steer Right
  • Arrow Up -> Increase Speed
  • Backspace -> Reset

How to Drive using ROS:

  • Publish std_msgs/Float32 on Topic /CarSim/steer values [-360,360]
  • $ rostopic pub /CarSim/steer std_msgs/Float32 "data: 5.0"

ROS Topics:

Topic Name Usage
/CarSim/steer Drive the Car
/CarSim/image Simulator Image

Project Structure:

  • CarSim.cpp
    • Program Main.
  • Game.cpp / Game.h
    • This Class is responsible for handling all the simulator logic from creating the Renderer, moving the Car in the Scene, handling user inputs from both the keyboard or ROS.
  • Renderer.cpp / Renderer.h
    • This class is responsible for all the rendering done in the application using SFML library.
  • Car.cpp / Car.h
    • This class represent the car in the simulation.
  • Images.h / Image.cpp
    • Handling SFML -> OpenCV -> ROS conversion.
  • graphics / fonts
    • the required graphics and fonts for the application.

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