一、安装依赖

tf2_geometry_msgs
ackermann_msgs
joy
map_server

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

二、进入工作空间克隆

cd ~/catkin_ws/src
git clone https://github.com/f1tenth/f1tenth_simulator.git

三、编译

cd ~/catkin_ws
catkin_make
source devel/setup.bash

四、运行

roslaunch f1tenth_simulator simulator.launch