Linux/ROS Installation

ROS only runs natively in Linux so we are only supporting using the simulator in Ubuntu at this time. If you do not have ROS Melodic installed, follow the instructions from


You will need the following dependences:

  • tf2_geometry_msgs

  • ackermann_msgs

  • joy

  • map_server

Install them using

sudo apt-get install ros-melodic-tf2-geometry-msgs ros-melodic-ackermann-msgs ros-melodic-joy ros-melodic-map-server

The full list of dependencies can be found in the package.xml file.


To install the simulator package, clone the simulator repository into your catkin workspace:

cd ~/catkin_ws/src
git clone

Then run catkin_make to build it:

cd ~/catkin_ws
source devel/setup.bash

Quick Start

To run the simulator on its own, run:

roslaunch f1tenth_simulator simulator.launch

This will launch everything you need for a full simulation: roscore, the simulator, a preselected map, a model of the racecar, and the joystick server.


Full simulation launched.