usage.md

Starting the simulator

cd $HOME
cd Formula-Student-Driverless-Simulator
bash FSDS.sh

Now choose map and click start simulator using the buttons in the window that pops up.

Start the ROS bridge

cd $HOME
cd Formula-Student-Driverless-Simulator
cd ros
source devel/setup.bash
roslaunch fsds_ros_bridge fsds_ros_bridge.launch

Now the bridge should be running, you should be getting messages about how each topic is doing.

If you want to be fancy and have plotso of all variable then use

roslaunch fsds_ros_bridge fsds_ros_bridge.launch plot:=true

Listening to ROS topics

source devel/setup.bash

lidar pointcloud

rostopic echo /fsds/lidar/Lidar

GPS x, y, z

rostopic echo /fsds/gps

IMU

rostopic echo /fsds/imu

All cone positions

rostopic echo /fsds/testing_only/track

Creating subsribers

cd Formula-Student-Driverless-Simulator
cd ros
cd src

Make environment

catkin_create_pkg testingsim std_msgs rospy roscpp fs_msgs
cd ..
catkin build # rebuild the environment
source devel/setup.bash # source again

Now add your scripts to testingsim

cd src/testinsim/src # in this dir add the files

Make them executable

chmod +x *

Run them

rosrun testingsim name_file.py