Penn RoboRacer Competition Stack
ICRA repository / IROS repository
This is the stack our club raced in the AutoDRIVE RoboRacer Sim-Racing League, which runs entirely in simulation. We entered at ICRA 2026 and again at IROS 2026.
- At ICRA we finished 9th of 72. I mapped the track with pose-graph SLAM in slam_toolbox and computed a minimum-curvature raceline with CMA-ES. The car tracks it with pure pursuit for steering and a PI controller for speed.
- For IROS I added localization with Nav2 AMCL. Pure pursuit is still the default, but kinematic MPC ships in the same image and switches on with controller:=mpc.
- Each entry is a ROS 2 Humble Docker image that connects to the organizers’ Unity simulator over Socket.IO.