HemaZ / CarSim

A Simple Car Simulator based on SFML Library and ROS

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.

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.