This repository provides tools and examples for controlling and experimenting with PiRacer model vehicle in Gazebo. The Gazebo model, designed to match the hardware specifications of PiRacer, can be controlled via ROS2 topic communication. The included teleoperation example is a simple demonstration using the WASD keys on the keyboard, allowing simultaneous control of both the real PiRacer and the PiRacer in Gazebo.
The idea is to utilize this repository as a template for digital twin research. By equipping PiRacer with sensors such as odometer, IMU, LiDAR, etc., and implementing closed-loop feedback control, it would be possible to more accurately replicate the behavior of the real-world PiRacer in Gazebo.
 |
 |
|---|---|
| Throttle | Steering |
./
├── simulation_ws/src/
│ └── sim # Description and launch file for PiRacer model
│
└── teleoperation_ws/src/
└── teleop # Remote control example including a controller and a receiverBefore using this package, ensure the following prerequisites are installed:
| Device | Software/Framework | Functionality |
|---|---|---|
| Local | Gazebo 11 | Simulation environment |
| Local | ROS2 Foxy | Robotics middleware |
| Local | pygame | Keyboard input for control |
| Raspberry Pi | ROS2 Foxy | Robotics middleware |
| Raspberry Pi | piracer | Physical PiRacer control |
This package has been developed and tested on both local machine and Raspberry Pi 4, using Ubuntu 20.04.
Gazebo Simulator and Teleoperation Controller are for local environment. While this controller can simultaneously control physical PiRacer, if the purpose is solely simulation, the setup on Raspberry Pi can be disregarded, and only the local environment is utilized.
Change the gazebo_model_path in the package.xml located in simulation_ws/src/sim to suit your local environment.
# Local
cd simulation_ws
colcon build
source install/local_setup.bash
ros2 launch sim sim.launch.pyYou should see the PiRacer model inside the Gazebo simulation window.
# Raspberry Pi
cd teleoperation_ws
colcon build
source install/local_setup.bash
ros2 run teleop receiver# Local
cd teleoperation_ws
source install/local_setup.bash
ros2 run teleop controllerWhen you run the controller, a small pygame window like the following will appear.
Click on this window and press the WASD keys on the keyboard. Observe the movement of both Gazebo PiRacer and physical PiRacer.
The communication between controller node and receiver node is machine-to-machine. Make sure that local machine and Raspberry Pi are connected to the same WLAN. If connection is not successful, disable the firewall using the following command.
# Local & Raspberry Pi
sudo ufw disableDesign various experiments and developments using the Gazebo PiRacer. This package provides an example with the PiRacer camera. Check the view of the PiRacer's camera using RViz2. For instance, you can use this image data to implement autonomous driving in the simulation.
