A ROS2 wrapper for The Open Source Race Car Simulator (TORCS)

This is a ROS implementation of the client and driver from the TORCS SCR C++ client. For the code in this repository to work, you need a patched version of torcs1.3.7. This has been tested with Ubuntu 24.04 and ROS2 Jazzy. For reference, the old ROS1 version is still available in the ros1 branch.

Installation

• Install the patched version of torcs1.3.7 according to its installation instructions
• Install ROS2 Jazzy according to the installation instructions
• Clone this repository into your workspace and build it by running

   colcon build --packages-up-to torcs_ros_bringup && source install/setup.bash

Usage

Run TORCS

From the folder you cloned torcs-1.3.7 to, run

   ./BUILD/bin/torcs

or

   ./BUILD/bin/torcs -noisy

if you want noisy sensors (see the SCR-Manual for details)

Run the ROS components

To start all nodes including the simple driver, the image publisher and rviz, run

  ros2 launch torcs_ros_bringup torcs_ros_bringup_launch.py

If you want to use your own driver instead of the simple driver in torcs_ros_drive_ctrl, run

  ros2 launch torcs_ros_bringup torcs_ros_bringup_launch.py use_driver:=False

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