Merge pull request #1135 from TritonSailor/ROS

ROS: add sample airsim ROS nodes for PythonClient and ROS integration…

Author: sytelus

PythonClient/ROS/car_image_raw.py

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+#!/usr/bin/env python
+
+# Example ROS node for publishing AirSim images.
+
+import rospy
+
+# ROS Image message
+from sensor_msgs.msg import Image
+
+# AirSim Python API
+from AirSimClient import *
+
+def airpub():
+    pub = rospy.Publisher("airsim/image_raw", Image, queue_size=1)
+    rospy.init_node('image_raw', anonymous=True)
+    rate = rospy.Rate(10) # 10hz
+
+    # connect to the AirSim simulator 
+    client = CarClient()
+    client.confirmConnection()
+
+    while not rospy.is_shutdown():
+         # get camera images from the car
+        responses = client.simGetImages([
+            ImageRequest(1, AirSimImageType.Scene, False, False)])  #scene vision image in uncompressed RGBA array
+
+        for response in responses:
+            img_rgba_string = response.image_data_uint8
+
+        # Populate image message
+        msg=Image() 
+        msg.header.stamp = rospy.Time.now()
+        msg.header.frame_id = "frameId"
+        msg.encoding = "rgba8"
+        msg.height = 360  # resolution should match values in settings.json 
+        msg.width = 640
+        msg.data = img_rgba_string
+        msg.is_bigendian = 0
+        msg.step = msg.width * 4
+
+        # log time and size of published image
+        rospy.loginfo(len(response.image_data_uint8))
+        # publish image message
+        pub.publish(msg)
+        # sleep until next cycle
+        rate.sleep()
+
+
+if __name__ == '__main__':
+    try:
+        airpub()
+    except rospy.ROSInterruptException:
+        pass

PythonClient/ROS/car_pose.py

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+#!/usr/bin/env python
+
+import rospy
+import tf
+from std_msgs.msg import String
+from geometry_msgs.msg import PoseStamped
+from AirSimClient import *
+import time
+
+
+def airpub():
+    pub = rospy.Publisher("airsimPose", PoseStamped, queue_size=1)
+    rospy.init_node('airpub', anonymous=True)
+    rate = rospy.Rate(10) # 10hz
+
+    # connect to the AirSim simulator 
+    client = CarClient()
+    client.confirmConnection()
+
+#    start = time.time()
+
+
+    while not rospy.is_shutdown():
+
+        # get state of the car
+        car_state = client.getCarState()
+        pos = car_state.kinematics_true.position
+        orientation = car_state.kinematics_true.orientation
+#        milliseconds = (time.time() - start) * 1000
+
+
+        # populate PoseStamped ros message
+        simPose = PoseStamped()
+        simPose.pose.position.x = pos.x_val
+        simPose.pose.position.y = pos.y_val
+        simPose.pose.position.z = pos.z_val
+        simPose.pose.orientation.w = orientation.w_val
+        simPose.pose.orientation.x = orientation.x_val
+        simPose.pose.orientation.y = orientation.y_val
+        simPose.pose.orientation.z = orientation.z_val
+        simPose.header.stamp = rospy.Time.now()
+        simPose.header.seq = 1
+        simPose.header.frame_id = "simFrame"
+        
+        # log PoseStamped message
+        rospy.loginfo(simPose)
+        #publish PoseStamped message
+        pub.publish(simPose)
+        # sleeps until next cycle 
+        rate.sleep()
+
+
+if __name__ == '__main__':
+    try:
+        airpub()
+    except rospy.ROSInterruptException:
+        pass

PythonClient/ROS/drone_image_raw.py

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+#!/usr/bin/env python
+
+# Example ROS node for publishing AirSim images.
+
+import rospy
+
+# ROS Image message
+from sensor_msgs.msg import Image
+
+# AirSim Python API
+from AirSimClient import *
+
+def airpub():
+    pub = rospy.Publisher("airsim/image_raw", Image, queue_size=1)
+    rospy.init_node('image_raw', anonymous=True)
+    rate = rospy.Rate(10) # 10hz
+
+    # connect to the AirSim simulator 
+    client = MultirotorClient()
+    client.confirmConnection()
+
+    while not rospy.is_shutdown():
+         # get camera images from the car
+        responses = client.simGetImages([
+            ImageRequest(1, AirSimImageType.Scene, False, False)])  #scene vision image in uncompressed RGBA array
+
+        for response in responses:
+            img_rgba_string = response.image_data_uint8
+
+        # Populate image message
+        msg=Image() 
+        msg.header.stamp = rospy.Time.now()
+        msg.header.frame_id = "frameId"
+        msg.encoding = "rgba8"
+        msg.height = 360  # resolution should match values in settings.json 
+        msg.width = 640
+        msg.data = img_rgba_string
+        msg.is_bigendian = 0
+        msg.step = msg.width * 4
+
+        # log time and size of published image
+        rospy.loginfo(len(response.image_data_uint8))
+        # publish image message
+        pub.publish(msg)
+        # sleep until next cycle
+        rate.sleep()
+
+
+if __name__ == '__main__':
+    try:
+        airpub()
+    except rospy.ROSInterruptException:
+        pass

docs/ros.md

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+# How to use AirSim with Robot Operating System (ROS)
+
+AirSim and ROS can be integrated using C++ or Python.  Some example ROS nodes are provided demonstrating how to publish
+data from AirSim as ROS topics.
+
+# Python
+
+## Prerequisites
+
+These instructions are for Ubuntu 16.04, ROS Kinetic, UE4 4.18 or higher, and latest AirSim release.
+You should have these components installed and working before proceding.
+
+## Setup
+
+
+### Create a new ROS package in your catkin workspace following these instructions.  
+
+Create a new ROS package called airsim or whatever you like.
+
+[Create ROS package](http://wiki.ros.org/ROS/Tutorials/CreatingPackage)
+
+If you don't already have a catkin workspace, you should first work through the ROS beginner tutorials.
+
+### Add AirSim ROS node examples to ROS package
+
+In the ROS package directory you made, run '''mkdir scripts''' to create a folder for your Python code.
+Copy the ros examples from the AirSim/PythonClient directory to your ROS package. Change the code below to match
+your AirSim and catkin workspace paths.
+
+```cp AirSim/PythonClient/ROS/*.py ../catkin_ws/src/airsim/scripts```
+
+
+### Build ROS AirSim package
+
+Change directory to your top level catkin workspace folder i.e. ```cd ~/catkin_ws```  and run ```catkin_make```
+This will build the airsim package.  Next, run ```source devel/setup.bash``` so ROS can find the new package.
+You can add this command to your ~/.bashrc to load your catkin workspace automatically.
+
+## How to run ROS AirSim nodes
+
+First make sure UE4 is running an airsim project, the car or drone should be selected, and the simulations is playing.
+Examples support car or drone.  Make sure to have the correct vehicle for the ros example running. 
+
+The example airsim nodes can be run using ```rosrun airsim example_name.py``` The output of the node 
+can be viewed in another terminal by running ```rostopic echo /example_name```  You can view a list of the
+topics currently published via tab completion after typing ```rostopic echo``` in the terminal.
+Rviz is a useful visualization tool that can display the published data. 
+
+# C++ (coming soon)