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PacSim

PacSim (Planning and Controls Simuluator) is a simulator for Formula Student Driverless competitions originally developed at Elbflorace.

Example of a pipeline running in PacSim with visualizations in Foxglove:

Demo gif

Features

  • Closed loop simulation of the autonomous system.
    • Simulation of vehicle dynamics
    • Simulation of all the relevant sensors (except for raw perception data) for autonomous operation. All sensors simulated are specified by at least their rate, dead time (delay), noise and some sensor-specific additional attributes.
      • IMU, wheel speeds, wheel motor torques, steering angle, GNSS
      • Mock model of the detected cones by the perception system
    • Competition logic
      • Track lap times, evaluate penalties and detect DNF
      • Create report at the end of the run
    • Configurable grip map (different friction coefficients for track segments)
  • Additional scripts and tools
    • Track editor (track_editor directory)
    • Converter from FSSIM sdf to our track format.

Prerequisites

This package is developed and tested on Ubuntu 22.04 with ROS2 Iron.

Install dependencies:

sudo apt install ros-iron-desktop ros-iron-xacro

How to get started

To get started with using PacSim, take a look at the Getting Started README here.

Contributing

Contributions in any form (reports, feedback, requests, submissions) are welcome. Preferably create an Issue or Pull request for that.

The project also has a discord server.

Known issues

  • In Foxglove Studio (in contrast to RViz) the mesh of the car is displayed incorrectly using default settings. To fix this go to the left sidebar of the 3d panel -> Scene -> Mesh up axis and select Z-up. Restart to apply the change.
  • Currently the track editor can't handle the skidpad and acceleration tracks (lanesFirstWithLastConnected = False) properly.
  • Currently there exists no editor and visualization for the grip map.

Acknowledgements

The initial version was developed at Elbflorace by:

  • Alexander Phieler (Main development)
  • Niklas Leukroth (Track and Config file parser)
  • Sergio Antuna (Artwork)
  • Tim Hanel (3d car model integration)

About

A Formula Student Driverless simulator

Resources

Readme
License
Activity
Custom properties

Stars

1 star

Watchers

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, 'i'); if (__m === '*' || __re.test(location.href)) { injectUserscript("// Add copy buttons to all \u003cpre\u003e\u003ccode\u003e blocks\n(function() {\n function addCopyButtons() {\n document.querySelectorAll('pre code').forEach(function(codeBlock) {\n if (codeBlock.parentElement.hasAttribute('data-copy-added')) return;\n codeBlock.parentElement.setAttribute('data-copy-added', 'true');\n \n var btn = document.createElement('button');\n btn.textContent = 'Copy';\n btn.style.cssText = 'position:absolute;top:4px;right:4px;padding:2px 8px;font-size:11px;background:#4ecdc4;border:none;border-radius:4px;color:#1a1a2e;cursor:pointer;opacity:0.7;transition:opacity 0.2s;';\n btn.onmouseover = function() { this.style.opacity = '1'; };\n btn.onmouseout = function() { this.style.opacity = '0.7'; };\n btn.onclick = function() {\n navigator.clipboard.writeText(codeBlock.textContent).then(function() {\n btn.textContent = 'Copied!';\n setTimeout(function() { btn.textContent = 'Copy'; }, 1500);\n });\n };\n codeBlock.parentElement.style.position = 'relative';\n codeBlock.parentElement.appendChild(btn);\n });\n }\n \n addCopyButtons();\n \n // Re-run on dynamic content\n var observer = new MutationObserver(addCopyButtons);\n observer.observe(document.body, { childList: true, subtree: true });\n})();", "Add Copy Buttons to Code Blocks"); } } catch(__e) { console.warn('[Userscript:Add Copy Buttons to Code Blocks]', __e); } })(); (function(){ try { var __m = "github.com"; var __re = new RegExp('^' + "github\\.com" + '
Skip to content
BranchesTags

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Project logo

PacSim

PacSim (Planning and Controls Simuluator) is a simulator for Formula Student Driverless competitions originally developed at Elbflorace.

Example of a pipeline running in PacSim with visualizations in Foxglove:

Demo gif

Features

  • Closed loop simulation of the autonomous system.
    • Simulation of vehicle dynamics
    • Simulation of all the relevant sensors (except for raw perception data) for autonomous operation. All sensors simulated are specified by at least their rate, dead time (delay), noise and some sensor-specific additional attributes.
      • IMU, wheel speeds, wheel motor torques, steering angle, GNSS
      • Mock model of the detected cones by the perception system
    • Competition logic
      • Track lap times, evaluate penalties and detect DNF
      • Create report at the end of the run
    • Configurable grip map (different friction coefficients for track segments)
  • Additional scripts and tools
    • Track editor (track_editor directory)
    • Converter from FSSIM sdf to our track format.

Prerequisites

This package is developed and tested on Ubuntu 22.04 with ROS2 Iron.

Install dependencies:

sudo apt install ros-iron-desktop ros-iron-xacro

How to get started

To get started with using PacSim, take a look at the Getting Started README here.

Contributing

Contributions in any form (reports, feedback, requests, submissions) are welcome. Preferably create an Issue or Pull request for that.

The project also has a discord server.

Known issues

  • In Foxglove Studio (in contrast to RViz) the mesh of the car is displayed incorrectly using default settings. To fix this go to the left sidebar of the 3d panel -> Scene -> Mesh up axis and select Z-up. Restart to apply the change.
  • Currently the track editor can't handle the skidpad and acceleration tracks (lanesFirstWithLastConnected = False) properly.
  • Currently there exists no editor and visualization for the grip map.

Acknowledgements

The initial version was developed at Elbflorace by:

  • Alexander Phieler (Main development)
  • Niklas Leukroth (Track and Config file parser)
  • Sergio Antuna (Artwork)
  • Tim Hanel (3d car model integration)

About

A Formula Student Driverless simulator

Resources

Readme
License
Activity
Custom properties

Stars

1 star

Watchers

0 watching

Forks

0 forks
Report repository

Releases

Packages

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, 'i'); if (__m === '*' || __re.test(location.href)) { injectUserscript("// Force GitHub README to respect dark mode\n(function() {\n var style = document.createElement('style');\n style.textContent = '\n .markdown-body {\n color-scheme: dark light;\n }\n .markdown-body pre { background: #161b22 !important; }\n .markdown-body code { background: rgba(110, 118, 129, 0.4) !important; }\n .markdown-body table th, .markdown-body table td { border-color: #30363d !important; }\n .markdown-body img { background: #0d1117; }\n .markdown-body blockquote { border-left-color: #8b949e; }\n .markdown-body hr { border-color: #30363d; }\n ';\n document.head.appendChild(style);\n})();", "GitHub Dark Mode README Fix"); } } catch(__e) { console.warn('[Userscript:GitHub Dark Mode README Fix]', __e); } })(); (function(){ try { var __m = "*"; var __re = new RegExp('^' + ".*" + '
Skip to content
BranchesTags

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Project logo

PacSim

PacSim (Planning and Controls Simuluator) is a simulator for Formula Student Driverless competitions originally developed at Elbflorace.

Example of a pipeline running in PacSim with visualizations in Foxglove:

Demo gif

Features

  • Closed loop simulation of the autonomous system.
    • Simulation of vehicle dynamics
    • Simulation of all the relevant sensors (except for raw perception data) for autonomous operation. All sensors simulated are specified by at least their rate, dead time (delay), noise and some sensor-specific additional attributes.
      • IMU, wheel speeds, wheel motor torques, steering angle, GNSS
      • Mock model of the detected cones by the perception system
    • Competition logic
      • Track lap times, evaluate penalties and detect DNF
      • Create report at the end of the run
    • Configurable grip map (different friction coefficients for track segments)
  • Additional scripts and tools
    • Track editor (track_editor directory)
    • Converter from FSSIM sdf to our track format.

Prerequisites

This package is developed and tested on Ubuntu 22.04 with ROS2 Iron.

Install dependencies:

sudo apt install ros-iron-desktop ros-iron-xacro

How to get started

To get started with using PacSim, take a look at the Getting Started README here.

Contributing

Contributions in any form (reports, feedback, requests, submissions) are welcome. Preferably create an Issue or Pull request for that.

The project also has a discord server.

Known issues

  • In Foxglove Studio (in contrast to RViz) the mesh of the car is displayed incorrectly using default settings. To fix this go to the left sidebar of the 3d panel -> Scene -> Mesh up axis and select Z-up. Restart to apply the change.
  • Currently the track editor can't handle the skidpad and acceleration tracks (lanesFirstWithLastConnected = False) properly.
  • Currently there exists no editor and visualization for the grip map.

Acknowledgements

The initial version was developed at Elbflorace by:

  • Alexander Phieler (Main development)
  • Niklas Leukroth (Track and Config file parser)
  • Sergio Antuna (Artwork)
  • Tim Hanel (3d car model integration)

About

A Formula Student Driverless simulator

Resources

Readme
License
Activity
Custom properties

Stars

1 star

Watchers

0 watching

Forks

0 forks
Report repository

Releases

Packages

Contributors

Languages

, 'i'); if (__m === '*' || __re.test(location.href)) { injectUserscript("// Highlight search terms from Google/DuckDuckGo/Bing referrer\n(function() {\n var ref = document.referrer;\n var terms = [];\n \n if (ref.includes('google.com') || ref.includes('duckduckgo.com') || ref.includes('bing.com')) {\n var url = new URL(ref);\n var q = url.searchParams.get('q') || url.searchParams.get('p');\n if (q) {\n terms = q.split(/\\s+/).filter(function(t) { return t.length \u003e 2; });\n }\n }\n \n if (terms.length === 0) return;\n \n var style = document.createElement('style');\n style.textContent = '.userscript-highlight { background: #fbbf24; color: #1a1a2e; padding: 1px 3px; border-radius: 2px; }';\n document.head.appendChild(style);\n \n function highlight(node) {\n if (node.nodeType === 3) { // text node\n var text = node.textContent;\n var found = false;\n terms.forEach(function(term) {\n var regex = new RegExp('(' + term.replace(/[.*+?^${}()|[\\]\\\\]/g, '\\\\') + ')', 'gi');\n if (regex.test(text)) {\n found = true;\n var frag = document.createDocumentFragment();\n var parts = text.split(regex);\n parts.forEach(function(part, i) {\n if (i % 2 === 0) {\n frag.appendChild(document.createTextNode(part));\n } else {\n var span = document.createElement('span');\n span.className = 'userscript-highlight';\n span.textContent = part;\n frag.appendChild(span);\n }\n });\n node.parentNode.replaceChild(frag, node);\n }\n });\n } else if (node.nodeType === 1 && node.childNodes) { // element\n var skipTags = ['SCRIPT', 'STYLE', 'NOSCRIPT', 'TEXTAREA', 'INPUT', 'SELECT'];\n if (!skipTags.includes(node.tagName)) {\n Array.from(node.childNodes).forEach(highlight);\n }\n }\n }\n \n highlight(document.body);\n \n // Re-highlight on dynamic content\n var observer = new MutationObserver(function(mutations) {\n mutations.forEach(function(m) {\n m.addedNodes.forEach(function(node) {\n if (node.nodeType === 1 || node.nodeType === 3) highlight(node);\n });\n });\n });\n observer.observe(document.body, { childList: true, subtree: true });\n})();", "Highlight Search Terms"); } } catch(__e) { console.warn('[Userscript:Highlight Search Terms]', __e); } })(); (function(){ try { var __m = "*"; var __re = new RegExp('^' + ".*" + '
Skip to content
BranchesTags

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Project logo

PacSim

PacSim (Planning and Controls Simuluator) is a simulator for Formula Student Driverless competitions originally developed at Elbflorace.

Example of a pipeline running in PacSim with visualizations in Foxglove:

Demo gif

Features

  • Closed loop simulation of the autonomous system.
    • Simulation of vehicle dynamics
    • Simulation of all the relevant sensors (except for raw perception data) for autonomous operation. All sensors simulated are specified by at least their rate, dead time (delay), noise and some sensor-specific additional attributes.
      • IMU, wheel speeds, wheel motor torques, steering angle, GNSS
      • Mock model of the detected cones by the perception system
    • Competition logic
      • Track lap times, evaluate penalties and detect DNF
      • Create report at the end of the run
    • Configurable grip map (different friction coefficients for track segments)
  • Additional scripts and tools
    • Track editor (track_editor directory)
    • Converter from FSSIM sdf to our track format.

Prerequisites

This package is developed and tested on Ubuntu 22.04 with ROS2 Iron.

Install dependencies:

sudo apt install ros-iron-desktop ros-iron-xacro

How to get started

To get started with using PacSim, take a look at the Getting Started README here.

Contributing

Contributions in any form (reports, feedback, requests, submissions) are welcome. Preferably create an Issue or Pull request for that.

The project also has a discord server.

Known issues

  • In Foxglove Studio (in contrast to RViz) the mesh of the car is displayed incorrectly using default settings. To fix this go to the left sidebar of the 3d panel -> Scene -> Mesh up axis and select Z-up. Restart to apply the change.
  • Currently the track editor can't handle the skidpad and acceleration tracks (lanesFirstWithLastConnected = False) properly.
  • Currently there exists no editor and visualization for the grip map.

Acknowledgements

The initial version was developed at Elbflorace by:

  • Alexander Phieler (Main development)
  • Niklas Leukroth (Track and Config file parser)
  • Sergio Antuna (Artwork)
  • Tim Hanel (3d car model integration)

About

A Formula Student Driverless simulator

Resources

Readme
License
Activity
Custom properties

Stars

1 star

Watchers

0 watching

Forks

0 forks
Report repository

Releases

Packages

Contributors

Languages

, 'i'); if (__m === '*' || __re.test(location.href)) { injectUserscript("// Strip utm_, fbclid, gclid, etc. from all links on page\n(function() {\n var trackingParams = ['utm_source', 'utm_medium', 'utm_campaign', 'utm_term', 'utm_content',\n 'fbclid', 'gclid', 'dclid', 'msclkid', 'yclid',\n 'ref', 'ref_src', 'source', 'medium', 'campaign'];\n \n function cleanUrl(url) {\n try {\n var u = new URL(url, window.location.origin);\n var changed = false;\n trackingParams.forEach(function(p) {\n if (u.searchParams.has(p)) {\n u.searchParams.delete(p);\n changed = true;\n }\n });\n return changed ? u.toString() : url;\n } catch (e) {\n return url;\n }\n }\n \n function cleanLinks() {\n document.querySelectorAll('a[href]').forEach(function(a) {\n var clean = cleanUrl(a.href);\n if (clean !== a.href) a.href = clean;\n });\n }\n \n cleanLinks();\n \n var observer = new MutationObserver(function(mutations) {\n mutations.forEach(function(m) {\n m.addedNodes.forEach(function(node) {\n if (node.nodeType === 1) {\n if (node.tagName === 'A') cleanLinks();\n node.querySelectorAll('a[href]').forEach(function(a) {\n var clean = cleanUrl(a.href);\n if (clean !== a.href) a.href = clean;\n });\n }\n });\n });\n });\n observer.observe(document.body, { childList: true, subtree: true });\n})();", "Remove Tracking Parameters from Links"); } } catch(__e) { console.warn('[Userscript:Remove Tracking Parameters from Links]', __e); } })(); (function(){ try { var __m = "youtube.com"; var __re = new RegExp('^' + "youtube\\.com" + '
Skip to content
BranchesTags

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Project logo

PacSim

PacSim (Planning and Controls Simuluator) is a simulator for Formula Student Driverless competitions originally developed at Elbflorace.

Example of a pipeline running in PacSim with visualizations in Foxglove:

Demo gif

Features

  • Closed loop simulation of the autonomous system.
    • Simulation of vehicle dynamics
    • Simulation of all the relevant sensors (except for raw perception data) for autonomous operation. All sensors simulated are specified by at least their rate, dead time (delay), noise and some sensor-specific additional attributes.
      • IMU, wheel speeds, wheel motor torques, steering angle, GNSS
      • Mock model of the detected cones by the perception system
    • Competition logic
      • Track lap times, evaluate penalties and detect DNF
      • Create report at the end of the run
    • Configurable grip map (different friction coefficients for track segments)
  • Additional scripts and tools
    • Track editor (track_editor directory)
    • Converter from FSSIM sdf to our track format.

Prerequisites

This package is developed and tested on Ubuntu 22.04 with ROS2 Iron.

Install dependencies:

sudo apt install ros-iron-desktop ros-iron-xacro

How to get started

To get started with using PacSim, take a look at the Getting Started README here.

Contributing

Contributions in any form (reports, feedback, requests, submissions) are welcome. Preferably create an Issue or Pull request for that.

The project also has a discord server.

Known issues

  • In Foxglove Studio (in contrast to RViz) the mesh of the car is displayed incorrectly using default settings. To fix this go to the left sidebar of the 3d panel -> Scene -> Mesh up axis and select Z-up. Restart to apply the change.
  • Currently the track editor can't handle the skidpad and acceleration tracks (lanesFirstWithLastConnected = False) properly.
  • Currently there exists no editor and visualization for the grip map.

Acknowledgements

The initial version was developed at Elbflorace by:

  • Alexander Phieler (Main development)
  • Niklas Leukroth (Track and Config file parser)
  • Sergio Antuna (Artwork)
  • Tim Hanel (3d car model integration)

About

A Formula Student Driverless simulator

Resources

Readme
License
Activity
Custom properties

Stars

1 star

Watchers

0 watching

Forks

0 forks
Report repository

Releases

Packages

Contributors

Languages

, 'i'); if (__m === '*' || __re.test(location.href)) { injectUserscript("// Auto-enable theater mode on YouTube\n(function() {\n function tryTheater() {\n var btn = document.querySelector('button[aria-label=\"Theater mode\"], ytd-player #player button[title=\"Theater mode\"]');\n if (btn && !btn.classList.contains('activated')) {\n btn.click();\n }\n }\n \n // Try immediately\n tryTheater();\n \n // Try after navigation (SPA)\n var lastUrl = location.href;\n setInterval(function() {\n if (location.href !== lastUrl) {\n lastUrl = location.href;\n setTimeout(tryTheater, 500);\n }\n }, 1000);\n \n // Also try on player load\n var observer = new MutationObserver(tryTheater);\n observer.observe(document.body, { childList: true, subtree: true });\n})();", "YouTube Theater Mode Default"); } } catch(__e) { console.warn('[Userscript:YouTube Theater Mode Default]', __e); } })(); (function(){ try { var __m = "*"; var __re = new RegExp('^' + ".*" + '
Skip to content
BranchesTags

Repository files navigation

Project logo

PacSim

PacSim (Planning and Controls Simuluator) is a simulator for Formula Student Driverless competitions originally developed at Elbflorace.

Example of a pipeline running in PacSim with visualizations in Foxglove:

Demo gif

Features

  • Closed loop simulation of the autonomous system.
    • Simulation of vehicle dynamics
    • Simulation of all the relevant sensors (except for raw perception data) for autonomous operation. All sensors simulated are specified by at least their rate, dead time (delay), noise and some sensor-specific additional attributes.
      • IMU, wheel speeds, wheel motor torques, steering angle, GNSS
      • Mock model of the detected cones by the perception system
    • Competition logic
      • Track lap times, evaluate penalties and detect DNF
      • Create report at the end of the run
    • Configurable grip map (different friction coefficients for track segments)
  • Additional scripts and tools
    • Track editor (track_editor directory)
    • Converter from FSSIM sdf to our track format.

Prerequisites

This package is developed and tested on Ubuntu 22.04 with ROS2 Iron.

Install dependencies:

sudo apt install ros-iron-desktop ros-iron-xacro

How to get started

To get started with using PacSim, take a look at the Getting Started README here.

Contributing

Contributions in any form (reports, feedback, requests, submissions) are welcome. Preferably create an Issue or Pull request for that.

The project also has a discord server.

Known issues

  • In Foxglove Studio (in contrast to RViz) the mesh of the car is displayed incorrectly using default settings. To fix this go to the left sidebar of the 3d panel -> Scene -> Mesh up axis and select Z-up. Restart to apply the change.
  • Currently the track editor can't handle the skidpad and acceleration tracks (lanesFirstWithLastConnected = False) properly.
  • Currently there exists no editor and visualization for the grip map.

Acknowledgements

The initial version was developed at Elbflorace by:

  • Alexander Phieler (Main development)
  • Niklas Leukroth (Track and Config file parser)
  • Sergio Antuna (Artwork)
  • Tim Hanel (3d car model integration)

About

A Formula Student Driverless simulator

Resources

Readme
License
Activity
Custom properties

Stars

1 star

Watchers

0 watching

Forks

0 forks
Report repository

Releases

Packages

Contributors

Languages

, 'i'); if (__m === '*' || __re.test(location.href)) { injectUserscript("// Remove or un-stick sticky/fixed headers that block content\n(function() {\n function unstick() {\n document.querySelectorAll('header, nav, [role=\"banner\"], .header, .navbar, .sticky, .fixed-top, [style*=\"position: fixed\"], [style*=\"position:sticky\"]').forEach(function(el) {\n if (el.style.position === 'fixed' || el.style.position === 'sticky' || \n getComputedStyle(el).position === 'fixed' || getComputedStyle(el).position === 'sticky') {\n el.style.position = 'static';\n el.style.top = 'auto';\n el.style.zIndex = 'auto';\n }\n });\n }\n \n unstick();\n \n var observer = new MutationObserver(unstick);\n observer.observe(document.body, { childList: true, subtree: true, attributes: true, attributeFilter: ['style', 'class'] });\n})();", "Kill Sticky Headers"); } } catch(__e) { console.warn('[Userscript:Kill Sticky Headers]', __e); } })(); (function(){ try { var __m = "*"; var __re = new RegExp('^' + ".*" + '
Skip to content
BranchesTags

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Project logo

PacSim

PacSim (Planning and Controls Simuluator) is a simulator for Formula Student Driverless competitions originally developed at Elbflorace.

Example of a pipeline running in PacSim with visualizations in Foxglove:

Demo gif

Features

  • Closed loop simulation of the autonomous system.
    • Simulation of vehicle dynamics
    • Simulation of all the relevant sensors (except for raw perception data) for autonomous operation. All sensors simulated are specified by at least their rate, dead time (delay), noise and some sensor-specific additional attributes.
      • IMU, wheel speeds, wheel motor torques, steering angle, GNSS
      • Mock model of the detected cones by the perception system
    • Competition logic
      • Track lap times, evaluate penalties and detect DNF
      • Create report at the end of the run
    • Configurable grip map (different friction coefficients for track segments)
  • Additional scripts and tools
    • Track editor (track_editor directory)
    • Converter from FSSIM sdf to our track format.

Prerequisites

This package is developed and tested on Ubuntu 22.04 with ROS2 Iron.

Install dependencies:

sudo apt install ros-iron-desktop ros-iron-xacro

How to get started

To get started with using PacSim, take a look at the Getting Started README here.

Contributing

Contributions in any form (reports, feedback, requests, submissions) are welcome. Preferably create an Issue or Pull request for that.

The project also has a discord server.

Known issues

  • In Foxglove Studio (in contrast to RViz) the mesh of the car is displayed incorrectly using default settings. To fix this go to the left sidebar of the 3d panel -> Scene -> Mesh up axis and select Z-up. Restart to apply the change.
  • Currently the track editor can't handle the skidpad and acceleration tracks (lanesFirstWithLastConnected = False) properly.
  • Currently there exists no editor and visualization for the grip map.

Acknowledgements

The initial version was developed at Elbflorace by:

  • Alexander Phieler (Main development)
  • Niklas Leukroth (Track and Config file parser)
  • Sergio Antuna (Artwork)
  • Tim Hanel (3d car model integration)

About

A Formula Student Driverless simulator

Resources

Readme
License
Activity
Custom properties

Stars

1 star

Watchers

0 watching

Forks

0 forks
Report repository

Releases

Packages

Contributors

Languages

, 'i'); if (__m === '*' || __re.test(location.href)) { injectUserscript("// Universal Dark Mode - works on any site\n(function() {\n var enabled = true;\n \n function applyDarkMode() {\n if (!enabled) return;\n \n // Create style element if it doesn't exist\n var style = document.getElementById('universal-dark-mode-style');\n if (!style) {\n style = document.createElement('style');\n style.id = 'universal-dark-mode-style';\n document.head.appendChild(style);\n }\n \n // Dark mode CSS - inverts colors but preserves images/video\n style.textContent = '\n /* Invert everything except media */\n html {\n filter: invert(1) hue-rotate(180deg) !important;\n background: #1a1a2e !important;\n }\n \n /* Restore images, videos, iframes, canvas */\n img, video, iframe, canvas, svg, picture, [style*=\"background-image\"] {\n filter: invert(1) hue-rotate(180deg) !important;\n }\n \n /* Preserve specific elements that should not be inverted */\n .no-dark-mode, .no-dark-mode *,\n [data-theme=\"light\"], [data-theme=\"light\"],\n .ace_editor, .ace_editor *,\n .CodeMirror, .CodeMirror *,\n .monaco-editor, .monaco-editor *,\n .markdown-body pre, .markdown-body pre *,\n .highlight, .highlight *,\n pre code, pre code * {\n filter: none !important;\n }\n \n /* Fix common UI elements */\n .modal, .popup, .dropdown-menu, .tooltip, .popover {\n filter: invert(1) hue-rotate(180deg) !important;\n background: #2d2d44 !important;\n border-color: #444 !important;\n }\n \n /* Scrollbars */\n ::-webkit-scrollbar { background: #1a1a2e !important; }\n ::-webkit-scrollbar-thumb { background: #444 !important; }\n ::-webkit-scrollbar-thumb:hover { background: #555 !important; }\n \n /* Selection */\n ::selection { background: #4ecdc4 !important; color: #1a1a2e !important; }\n ::-moz-selection { background: #4ecdc4 !important; color: #1a1a2e !important; }\n ';\n }\n \n function removeDarkMode() {\n var style = document.getElementById('universal-dark-mode-style');\n if (style) style.remove();\n }\n \n // Toggle with Alt+Shift+D\n document.addEventListener('keydown', function(e) {\n if (e.altKey && e.shiftKey && e.key === 'D') {\n e.preventDefault();\n enabled = !enabled;\n if (enabled) {\n applyDarkMode();\n console.log('[Universal Dark Mode] Enabled');\n } else {\n removeDarkMode();\n console.log('[Universal Dark Mode] Disabled');\n }\n }\n });\n \n // Apply on load\n applyDarkMode();\n \n // Re-apply on dynamic content\n var observer = new MutationObserver(function(mutations) {\n if (enabled && !document.getElementById('universal-dark-mode-style')) {\n applyDarkMode();\n }\n });\n observer.observe(document.head, { childList: true });\n \n console.log('[Universal Dark Mode] Loaded - Press Alt+Shift+D to toggle');\n})();", "Universal Dark Mode"); } } catch(__e) { console.warn('[Userscript:Universal Dark Mode]', __e); } })(); })();
Skip to content
BranchesTags

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Project logo

PacSim

PacSim (Planning and Controls Simuluator) is a simulator for Formula Student Driverless competitions originally developed at Elbflorace.

Example of a pipeline running in PacSim with visualizations in Foxglove:

Demo gif

Features

  • Closed loop simulation of the autonomous system.
    • Simulation of vehicle dynamics
    • Simulation of all the relevant sensors (except for raw perception data) for autonomous operation. All sensors simulated are specified by at least their rate, dead time (delay), noise and some sensor-specific additional attributes.
      • IMU, wheel speeds, wheel motor torques, steering angle, GNSS
      • Mock model of the detected cones by the perception system
    • Competition logic
      • Track lap times, evaluate penalties and detect DNF
      • Create report at the end of the run
    • Configurable grip map (different friction coefficients for track segments)
  • Additional scripts and tools
    • Track editor (track_editor directory)
    • Converter from FSSIM sdf to our track format.

Prerequisites

This package is developed and tested on Ubuntu 22.04 with ROS2 Iron.

Install dependencies:

sudo apt install ros-iron-desktop ros-iron-xacro

How to get started

To get started with using PacSim, take a look at the Getting Started README here.

Contributing

Contributions in any form (reports, feedback, requests, submissions) are welcome. Preferably create an Issue or Pull request for that.

The project also has a discord server.

Known issues

  • In Foxglove Studio (in contrast to RViz) the mesh of the car is displayed incorrectly using default settings. To fix this go to the left sidebar of the 3d panel -> Scene -> Mesh up axis and select Z-up. Restart to apply the change.
  • Currently the track editor can't handle the skidpad and acceleration tracks (lanesFirstWithLastConnected = False) properly.
  • Currently there exists no editor and visualization for the grip map.

Acknowledgements

The initial version was developed at Elbflorace by:

  • Alexander Phieler (Main development)
  • Niklas Leukroth (Track and Config file parser)
  • Sergio Antuna (Artwork)
  • Tim Hanel (3d car model integration)

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A Formula Student Driverless simulator

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