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invictasim package from autonomous-systems repo

car_keys common_lib control custom_interfaces data_infrastructure ekf_state_est eufs_msgs evaluator fs_msgs inspection invictasim launcher mocker_node motion_lib pacsim pacsim_keys perception perception_sensor_lib planning power_log slam supervisor vehicle_dynamics_node velocity_estimation

ROS Distro
github

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Package Summary

Version	0.0.0
License	TODO: License declaration
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description	🏎️ Formula Student FEUP Autonomous Systems Department Repository
Checkout URI	https://github.com/fs-feup/autonomous-systems.git
VCS Type	git
VCS Version	main
Last Updated	2026-02-10
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

TODO: Package description

Maintainers

leandro

Authors

No additional authors.

src/invictasim/README.md

Invictasim Package

Package Information

Description

This package contains the invictasim simulator built by Formula Student FEUP for the autonomous system.

Features

Vehicle Model: Bicycle kinematic and dynamic model with configurable tire, aerodynamic, and drivetrain parameters
Real-time Simulation: 1000 Hz simulation loop with real-time synchronization
ROS 2 Integration: Publishes simulation state and accepts control inputs via ROS topics

Launch Configurations

invictasim.launch.py: Launches the invictasim simulator node with configuration from workspace config files.

Configuration

All configuration files are located in /home/ws/config/invictasim/:

Main Simulator Configuration:

config.yaml - Simulator parameters:
- Vehicle model selection
- Simulation timestep (default: 0.001s = 1000 Hz)

Global Configuration (Workspace):

/home/ws/config/global/global_config.yaml - System-wide parameters:
- Discipline (autocross, skidpad, acceleration)
- Track name and vehicle frame ID
- Simulation speed ratio (1.0 = real-time)

How to Run

Install Dependencies

./dependencies_install.sh

Compiling

colcon build --packages-up-to invictasim

Testing

colcon test --packages-select invictasim

To check test results:

colcon test-result --all --verbose

Running

Use a launch file:

source ./install/setup.bash # If in a new terminal
ros2 launch invictasim invictasim.launch.py

or run directly:

source ./install/setup.bash # If in a new terminal
ros2 run invictasim invictasim

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	ament_lint_auto
	ament_lint_common
	rclcpp
	std_msgs
	geometry_msgs
	sensor_msgs
	nav_msgs
	tf2
	tf2_ros

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

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API Docs Browse Code

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