assetto_corsa_ros2

ROS2 Wrapper to communicate with Assetto Corsa racing simulator.

These interfaces are part of the paper: A Simulation Benchmark for Autonomous Racing with Large-Scale Human Data.

Main repo of the paper: assetto_corsa_gym

Requirements:

• Assetto Corsa
• ROS2 (it has been tested on ROS2 Humble but should work with other versions)
• Vjoy (virtual controller)
• Plugin and Windows libraries needed

1. Install Assetto Corsa
   • Download and install Steam
   • Buy and install Assetto Corsa (not Assetto Corsa Competizione). I suggest to buy the Ultimate Edition pack.

2. Plugin and Windows libraries needed
   • Follow the steps here link

3. Install ROS2
   • Follow the steps here link
   • Be sure to source the ROS2 environment in each terminal you use.
   • I strongly recommend installing and using the Windows PowerShell to have multiple terminals in a unique window and to exploit other useful tricks.

4. Run Assetto Corsa

   • Check if you have the correct game settings: gMeter and sensors_par in options->general should be activated
   • Check the options are correct, in options → control, be sure to have Vjoy and WASD
   • Select the car, track, and race mode (practice starts from the pitlane, laptime and single race from the track)

5. Build the ROS2 wrappers:

   • open a windows ROS2 command and be sure to have ROS2 sourced
   • create a workspace
   • clone this repo
   • call install\setup.bat
   • ros2 run simulator_output assetto_corsa_handler.py
   • You should be able to see the published topics