Update ROS PR to match with new APIs

Author: sytelus

PythonClient/PythonClient.pyproj

@@ -93,6 +93,10 @@
     <Compile Include="multirotor\setup_path.py" />
     <Compile Include="multirotor\survey.py" />
     <Compile Include="multirotor\takeoff.py" />
+    <Compile Include="ros\car_image_raw.py" />
+    <Compile Include="ros\car_pose.py" />
+    <Compile Include="ros\drone_image_raw.py" />
+    <Compile Include="ros\setup_path.py" />
     <Compile Include="setup.py">
       <SubType>Code</SubType>
     </Compile>
@@ -105,6 +109,7 @@
     <Folder Include="car\" />
     <Folder Include="computer_vision\" />
     <Folder Include="multirotor\" />
+    <Folder Include="ros\" />
   </ItemGroup>
   <ItemGroup>
     <Content Include="install_packages.bat">

PythonClient/ROS/car_image_raw.py

@@ -2,27 +2,27 @@
 
 # Example ROS node for publishing AirSim images.
 
+import setup_path 
+import airsim
+
 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 = airsim.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
+            airsim.ImageRequest("1", airsim.ImageType.Scene, False, False)])  #scene vision image in uncompressed RGBA array
 
         for response in responses:
             img_rgba_string = response.image_data_uint8

PythonClient/ROS/car_pose.py

@@ -1,10 +1,13 @@
 #!/usr/bin/env python
 
+import setup_path 
+import airsim
+
 import rospy
 import tf
 from std_msgs.msg import String
 from geometry_msgs.msg import PoseStamped
-from AirSimClient import *
+
 import time
 
 
@@ -14,7 +17,7 @@ def airpub():
     rate = rospy.Rate(10) # 10hz
 
     # connect to the AirSim simulator 
-    client = CarClient()
+    client = airsim.CarClient()
     client.confirmConnection()
 
 #    start = time.time()
@@ -24,8 +27,8 @@ def airpub():
 
         # get state of the car
         car_state = client.getCarState()
-        pos = car_state.kinematics_true.position
-        orientation = car_state.kinematics_true.orientation
+        pos = car_state.kinematics_estimated.position
+        orientation = car_state.kinematics_estimated.orientation
 #        milliseconds = (time.time() - start) * 1000
 
 

PythonClient/ROS/drone_image_raw.py

@@ -2,27 +2,28 @@
 
 # Example ROS node for publishing AirSim images.
 
+# AirSim Python API
+import setup_path 
+import airsim
+
 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 = airsim.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
+            airsim.ImageRequest("1", airsim.ImageType.Scene, False, False)])  #scene vision image in uncompressed RGBA array
 
         for response in responses:
             img_rgba_string = response.image_data_uint8

PythonClient/ROS/setup_path.py

@@ -0,0 +1,52 @@
+# Import this module to automatically setup path to local airsim module
+# This module first tries to see if airsim module is installed via pip
+# If it does then we don't do anything else
+# Else we look up grand-parent folder to see if it has airsim folder
+#    and if it does then we add that in sys.path
+
+import os,sys,inspect,logging
+
+#this class simply tries to see if airsim 
+class SetupPath:
+    @staticmethod
+    def getDirLevels(path):
+        path_norm = os.path.normpath(path)
+        return len(path_norm.split(os.sep))
+
+    @staticmethod
+    def getCurrentPath():
+        cur_filepath = os.path.abspath(inspect.getfile(inspect.currentframe()))
+        return os.path.dirname(cur_filepath)
+
+    @staticmethod
+    def getGrandParentDir():
+        cur_path = SetupPath.getCurrentPath()
+        if SetupPath.getDirLevels(cur_path) >= 2:
+            return os.path.dirname(os.path.dirname(cur_path))
+        return ''
+
+    @staticmethod
+    def getParentDir():
+        cur_path = SetupPath.getCurrentPath()
+        if SetupPath.getDirLevels(cur_path) >= 1:
+            return os.path.dirname(cur_path)
+        return ''
+
+    @staticmethod
+    def addAirSimModulePath():
+        # if airsim module is installed then don't do anything else
+        #import pkgutil
+        #airsim_loader = pkgutil.find_loader('airsim')
+        #if airsim_loader is not None:
+        #    return
+
+        parent = SetupPath.getParentDir()
+        if parent !=  '':
+            airsim_path = os.path.join(parent, 'airsim')
+            client_path = os.path.join(airsim_path, 'client.py')
+            if os.path.exists(client_path):
+                sys.path.insert(0, parent)
+        else:
+            logging.warning("airsim module not found in parent folder. Using installed package (pip install airsim).")
+
+SetupPath.addAirSimModulePath()

docs/ros.md

@@ -1,14 +1,13 @@
 # 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.
+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.
+You should have these components installed and working before proceeding
 
 ## Setup
 
@@ -23,11 +22,16 @@ If you don't already have a catkin workspace, you should first work through the
 
 ### 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.
+In the ROS package directory you made, 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```
+```
+# copy package
+mkdir -p ../catkin_ws/src/airsim/scripts/airsim
+cp AirSim/PythonClient/airsim/*.py ../catkin_ws/src/airsim/scripts/airsim
+
+# copy ROS examples
+cp AirSim/PythonClient/ros/*.py ../catkin_ws/src/airsim/scripts
+```
 
 
 ### Build ROS AirSim package