TorcsClient is a C++ application that connects to Torcs and receives images via shared memory (FreeImage library is used to read and store images).

EMAM2RosCpp https://github.com/EmbeddedMontiArc/EMAM2RosCpp and EMAM2RosMsg https://github.com/EmbeddedMontiArc/EMAM2RosMsg are used to generate ROS code from EmbeddedMontiArc.

Prerequisites

• Ubuntu 16.04
• ROS lunar

TorcsClient

• Compile torcs: ..* Install dependencies: libopenal-dev libalut-dev libplib-dev libvorbis-dev ..* cd to torcs directory and run: ./configure --prefix/opt/torcs && make -j && sudo make install && sudo makeinstall ..* Test if it runs by starting /opt/torcs/bin/torcs

• Install libfreeimage-dev

ROS

Installation

• libarmadillo-dev package sudo ln -s /usr/include/armadillo /usr/include/armadillo.h

• Follow ROS installation instructions on http://wiki.ros.org/lunar/Installation/Ubuntu

• Follow instructions to create a package on http://wiki.ros.org/ROS/Tutorials/CreatingPackage

We use RosWorkspace/ as the ROS workspace directory and RosWorkspace/src/torcs2 as the package directory example.

• Generate sources via EMAMRosCpp
• Copy sources into created package src directory (RosWorkspace/src/torcs2/src)

Find string: # add_executable(${PROJECT_NAME}_node src/torcs2_node.cpp) in the RosWorkspace/src/torcs2/CMakeLists.txt file, uncomment and change to: add_executable(${PROJECT_NAME} src/torcs2.cpp)

Find and uncomment in the same file:

target_link_libraries(${PROJECT_NAME}_node
  ${catkin_LIBRARIES}
)

and remove _node suffix to get:

target_link_libraries(${PROJECT_NAME}
  ${catkin_LIBRARIES}
)

• Run catkin_make and catkin_make install as described in tutorial. Check that package is now available: rospack list | grep torcs

• Run node with the package: rosrun torcs torcs

Our ROS Packages

• Go to RosWorkspace directory
• Run catkin_make to compile our packages
• Run source devel/setup.bash to setup environment
• Run rospack list and check that it shows our packages among others