Invictasim

Invictasim is the Formula Student FEUP simulator package for autonomous system development. It supports ROS-driven input and SDL keyboard input, publishes vehicle/track/visualization outputs, and runs with configurable vehicle and track models.

Current Package Structure

src/invictasim/
├── include/
│   ├── config/
│   ├── io/
│   │   ├── input/
│   │   └── output/
│   ├── simulator/
│   ├── track/
│   └── vehicle_model/
├── launch/
│   └── invictasim.launch.py
├── resources/
│   ├── meshes/
│   └── tracks/
├── src/
│   ├── config/
│   ├── io/
│   │   ├── input/
│   │   └── output/
│   ├── simulator/
│   ├── track/
│   ├── vehicle_model/
│   └── main.cpp
├── test/
├── CMakeLists.txt
└── package.xml

Runtime Overview

• invictasim executable starts simulator, input adapter, and output adapter.
• Input adapter options:
  • ros: subscribes to /control/command
  • keyboard: opens an SDL window (W/S throttle, A/D steering)
• Output adapter currently available:
  • ros: publishes simulator telemetry, input echo, track, TF, and visualization topics.

Adapter mapping is defined in:

• include/io/input/map.hpp
• include/io/output/map.hpp

Configuration Files Used

Invictasim reads configuration through common_lib::config_load:

• config/invictasim/global.yaml
  • input_adapter, output_adapter, vehicle_model, sim_frequency, track_name, publish_frequencies
• config/global/global_config.yaml
  • global discipline/system parameters used by the simulator context
• config/invictasim/vehicle_models/FSFEUP02.yaml
  • selected vehicle model parameters

Code reference for config loading:

• src/config/config.cpp

Build

From workspace root:

source install/setup.bash
colcon build --packages-select invictasim

Run

From workspace root:

source install/setup.bash
ros2 launch invictasim invictasim.launch.py

Or run the node directly:

source install/setup.bash
ros2 run invictasim invictasim

Keyboard Mode

Set in config/invictasim/global.yaml:

invictasim:
  input_adapter: "keyboard"

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