Collection of tracks

This repository is a collection of several tracks to be used in f1tenth-style races. It can be directly used as ROS-package, where subsequently maps are referred in launch files of other packages.

Usage

As ROS-package

• Clone this repository into the src/-folder of your ROS workspace.

• Use the maps in launch files, e.g.:

    <arg name="map" default="$(find f1tenth_maps)/maps/f1_aut.yaml"/>
    <node pkg="map_server" name="map_server" type="map_server" args="$(arg map)"/>
  

Costmap generator

The costmap generator in folder costmaps provides a script to calculate several metrics for the map. E.g.: Distance from start line, distance from obstacles, shortest path, spline optimzied path.

• Use the makefile to generate it for any map of folder maps, e.g.:

    make f1_aut
  

Sources

• berlin: f1tenth/f1tenth_simulator
• columbia: f1tenth/f1tenth_simulator
• columbia_simple: redrawn based on columbia-track
• columbia_small: redrawn based on columbia-track
• columbia-track: f1tenth/tracks
• f1_aut: based on Circuit_Red_Bull_Ring
• f1_aut_wide: based on Circuit_Red_Bull_Ring
• f1_esp: based on Formula1_Circuit_Catalunya
• f1_gbr: based on Silverstone_circuit
• f1_mco: based on Circuit_Monaco
• levine_blocked: f1tenth/f1tenth_simulator
• levinelobby: f1tenth/f1tenth_simulator
• levine: f1tenth/f1tenth_simulator
• mtl: f1tenth/f1tenth_simulator
• porto: f1tenth/f1tenth_simulator
• skirk: f1tenth/f1tenth_gym
• stata_basement: f1tenth/f1tenth_gym
• torino: f1tenth/f1tenth_simulator
• torino_redraw: redrawn based on torino
• torino_redraw_small: redrawn based on torino
• torino_redraw_small_with_obstacles: redrawn based on torino
• unreal: pmusau17/f1tenth_gym_ros
• vegas: f1tenth/f1tenth_gym
• Oschersleben: F1TENTH IROS 2022 Race Resources

All other maps were created by us.

Map files format

For yaml format see: http://wiki.ros.org/map_server#YAML_format