This is the repository of the F1TENTH Gym environment.

This project is still under heavy developement.

You can find the documentation of the environment here.

• Ubuntu Focal 20.04 (LTS)
• with only CPU

# Install from get.docker.com
curl -fsSL https://get.docker.com -o get-docker.sh
sudo sh get-docker.sh
sudo groupadd docker
sudo usermod -aG docker $USER

curl -fsSL https://nvidia.github.io/libnvidia-container/gpgkey | sudo gpg --dearmor -o /usr/share/keyrings/nvidia-container-toolkit-keyring.gpg \
  && curl -s -L https://nvidia.github.io/libnvidia-container/stable/deb/nvidia-container-toolkit.list | \
    sed 's#deb https://#deb [signed-by=/usr/share/keyrings/nvidia-container-toolkit-keyring.gpg] https://#g' | \
    sudo tee /etc/apt/sources.list.d/nvidia-container-toolkit.list 

sudo apt-get update

sudo apt-get install -y nvidia-container-toolkit nvidia-container-runtime

sudo nvidia-ctk runtime configure --runtime=docker

sudo systemctl restart docker

NOTE: Currently, tested on Ubuntu 20.04 with CPU-only.

# build container (without GPU support)
make build-cpu
# or build container (with GPU support)
# make build-gpu

Open remote container via Vscode (Recommend)

1. Open the folder using vscode
2. Ctrl+P and select 'devcontainer rebuild and reopen in container' Then, you can skip the following commands

# [Optional] Run container via terminal (without GPU support)
make bash-cpu
# Or Run container via terminal (with GPU support)
# make bash-gpu

Then you can run a quick waypoint follow example by:

cd examples
python3 waypoint_follow.py

• Library support issues on Windows. You must use Python 3.8 as of 10-2021
• On MacOS Big Sur and above, when rendering is turned on, you might encounter the error:

ImportError: Can't find framework /System/Library/Frameworks/OpenGL.framework.

You can fix the error by installing a newer version of pyglet:

$ pip3 install pyglet==1.5.11

And you might see an error similar to

gym 0.17.3 requires pyglet<=1.5.0,>=1.4.0, but you'll have pyglet 1.5.11 which is incompatible.

which could be ignored. The environment should still work without error.

If you find this Gym environment useful, please consider citing:

@inproceedings{okelly2020f1tenth,
  title={F1TENTH: An Open-source Evaluation Environment for Continuous Control and Reinforcement Learning},
  author={O’Kelly, Matthew and Zheng, Hongrui and Karthik, Dhruv and Mangharam, Rahul},
  booktitle={NeurIPS 2019 Competition and Demonstration Track},
  pages={77--89},
  year={2020},
  organization={PMLR}
}