gym_bridge

ROS2 node that bridges the F1TENTH Gym environment with ROS2.

GymBridge

Bases: Node

ROS2 node that bridges the F1TENTH Gym environment with ROS2.

__init__()

Initialize the GymBridge node.

drive_callback(drive_msg)

Callback function for the drive subscription.

drive_timer_callback()

Callback function for the drive timer subscription.

ego_reset_callback(pose_msg)

Callback function for the ego reset subscription.

opp_drive_callback(drive_msg)

Callback function for the opponent drive subscription.

opp_reset_callback(pose_msg)

Callback function for the opponent reset subscription.

recording_timer_callback()

Callback function for the recording timer subscription.

teleop_callback(twist_msg)

Callback function for the teleop subscription.

timer_callback()

Callback function for the timer subscription.

Publishes scans, odometry and /base_link transform at scan_freqHz. Publishes lidar and wheel transforms at 1Hz.

main(args=None)

Main function for the GymBridge node.