Euro Truck Simulator 2 ROS2 Plugin

ETS2 (Euro Truck Simulator 2) & ATS (American Truck Simulator) SDK plug-in to publish telemetry data using ROS2.

Project Structure

• ets_msgs: Messages definitions
• ets_plugin: ETS/ATS plugin library
• ets_cpp_client: Sample C++ client

Supported Environment

This plugin has been developed in Ubuntu 18.04 using ROS2 Crystal and Euro Truck Simulator 2 (v1.34.0.34s). Instructions may vary when using different versions, but with some luck it should work anyway.

Windows is not currently supported.

Prerequisites

• Install ROS2 following Installing ROS2 via Debian Packages
• Install colcon following Colcon Tutorial
• Install ETS or ATS using Steam

Building instructions

1. Create a ROS2 worskpace in a location of your choice: mkdir -p ros2_ws/src
2. Clone the repository inside ros2_ws/src: git clone https://github.com/brunodmt/ets_ros2.git
3. Source the ROS2 environment setup script, selecting the extension based on your shell: source /opt/ros/crystal/setup.<shell>.
4. From ros2_ws, build the project: colcon build --symlink-install. In case you get an error like:

   --- stderr: ets_msgs                         
   CMake Error at /usr/share/cmake-3.10/Modules/FindPackageHandleStandardArgs.cmake:137 (message):
     Could NOT find FastRTPS (missing: FastRTPS_INCLUDE_DIR FastRTPS_LIBRARIES)

run export CMAKE_PREFIX_PATH=$AMENT_PREFIX_PATH:$CMAKE_PREFIX_PATH and try again. 5. Copy the generated plugin library to the ETS folder:

   mkdir  ~/.local/share/Steam/steamapps/common/Euro\ Truck\ Simulator\ 2/bin/linux_x64/plugins
   cp install/ets_plugin/lib/ets_plugin/libetsros2.so ~/.local/share/Steam/steamapps/common/Euro\ Truck\ Simulator\ 2/bin/linux_x64/plugins/

or the ATS folder:

   mkdir ~/.local/share/Steam/steamapps/common/American\ Truck\ Simulator/bin/linux_x64/plugins
   cp install/ets_plugin/lib/ets_plugin/libetsros2.so ~/.local/share/Steam/steamapps/common/American\ Truck\ Simulator/bin/linux_x64/plugins/

1. Source the generated environment setup script, selecting the extension based on your shell: source install/setup.<shell>
2. Run the client with ./install/ets_cpp_client/bin/ets_cpp_client/ets_cpp_client
3. Before running the game for the first time, the Launch Options in Steam need to be updated:
   1. Right click the game in your Steam library
   2. Select properties
   3. Select SET LAUNCH OPTIONS...
   4. Set it to:

      LD_LIBRARY_PATH=/opt/ros/crystal/opt/yaml_cpp_vendor/lib:/opt/ros/crystal/opt/rviz_ogre_vendor/lib:/opt/ros/crystal/lib:<ros2-workspace>/install/ets_msgs/lib:$LD_LIBRARY_PATH %command%

  (making sure to replace `<ros2-workspace>` with your ROS2 workspace path.

1. Run the game