ROS - All sensors and car support

AirLib/include/vehicles/car/api/CarApiBase.hpp

@@ -68,6 +68,16 @@ class CarApiBase : public VehicleApiBase  {
               kinematics_estimated(kinematics_estimated_val), timestamp(timestamp_val)
         {
         }
+
+        //shortcuts
+        const Vector3r& getPosition() const
+        {
+            return kinematics_estimated.pose.position;
+        }
+        const Quaternionr& getOrientation() const
+        {
+            return kinematics_estimated.pose.orientation;
+        }
     };
 
 public:
@@ -151,4 +161,4 @@ class CarApiBase : public VehicleApiBase  {
 
 
 }} //namespace
-#endif
+#endif

docs/airsim_ros_pkgs.md

@@ -9,11 +9,11 @@ Verify version by `gcc --version`
 
 - Ubuntu 16.04
   * Install [ROS kinetic](https://wiki.ros.org/kinetic/Installation/Ubuntu)
-  * Install mavros packages: `sudo apt-get install ros-kinetic-mavros*`
+  * Install tf2 sensor and mavros packages: `sudo apt-get install ros-kinetic-tf2-sensor-msgs ros-kinetic-mavros*`
 
 - Ubuntu 18.04
   * Install [ROS melodic](https://wiki.ros.org/melodic/Installation/Ubuntu)
-  * Install mavros packages: `sudo apt-get install ros-melodic-mavros*`
+  * Install tf2 sensor and mavros packages: `sudo apt-get install ros-melodic-tf2-sensor-msgs ros-melodic-mavros*`
 
 - Install [catkin_tools](https://catkin-tools.readthedocs.io/en/latest/installing.html)
     `sudo apt-get install python-catkin-tools` or
@@ -60,7 +60,7 @@ GPS coordinates corresponding to global NED frame. This is set in the airsim's [
 This the current GPS coordinates of the drone in airsim. 
 
 - `/airsim_node/VEHICLE_NAME/odom_local_ned` [nav_msgs/Odometry](https://docs.ros.org/api/nav_msgs/html/msg/Odometry.html)   
-Odometry in NED frame wrt take-off point.  
+Odometry in NED frame (default name: odom_local_ned, launch name and frame type are configurable) wrt take-off point.  
 
 - `/airsim_node/VEHICLE_NAME/CAMERA_NAME/IMAGE_TYPE/camera_info` [sensor_msgs/CameraInfo](https://docs.ros.org/api/sensor_msgs/html/msg/CameraInfo.html)
 
@@ -69,6 +69,19 @@ Odometry in NED frame wrt take-off point.
 
 - `/tf` [tf2_msgs/TFMessage](https://docs.ros.org/api/tf2_msgs/html/msg/TFMessage.html)
 
+- `/airsim_node/VEHICLE_NAME/altimeter/SENSOR_NAME` [airsim_ros_pkgs::Altimeter] This the current altimeter reading for altitude, pressure, and QNH (https://en.wikipedia.org/wiki/QNH)
+
+- `/airsim_node/VEHICLE_NAME/imu/SENSOR_NAME` [sensor_msgs::Imu] (http://docs.ros.org/api/sensor_msgs/html/msg/Imu.html)
+  IMU sensor data
+
+- `/airsim_node/VEHICLE_NAME/magnetometer/SENSOR_NAME` [sensor_msgs::MagneticField] (http://docs.ros.org/api/sensor_msgs/html/msg/MagneticField.html)
+  Meausrement of magnetic field vector/compass
+
+- `/airsim_node/VEHICLE_NAME/distance/SENSOR_NAME` [sensor_msgs::Range] (http://docs.ros.org/api/sensor_msgs/html/msg/Range.html)
+  Meausrement of distance from an active ranger, such as infrared or IR
+
+- `/airsim_node/VEHICLE_NAME/lidar/SENSOR_NAME` [sensor_msgs::PointCloud2] (http://docs.ros.org/api/sensor_msgs/html/msg/PointCloud2.html)
+  LIDAR pointcloud
 
 #### Subscribers: 
 - `/airsim_node/vel_cmd_body_frame` [airsim_ros_pkgs/VelCmd](https://github.com/microsoft/AirSim/tree/master/ros/src/airsim_ros_pkgs/msg/VelCmd.msg)    
@@ -83,6 +96,9 @@ Odometry in NED frame wrt take-off point.
 - `/gimbal_angle_quat_cmd` [airsim_ros_pkgs/GimbalAngleQuatCmd](https://github.com/microsoft/AirSim/tree/master/ros/src/airsim_ros_pkgs/msg/GimbalAngleQuatCmd.msg)   
   Gimbal set point in quaternion.    
 
+- `/airsim_node/VEHICLE_NAME/car_cmd` [airsim_ros_pkgs/CarControls]
+  Throttle, brake, steering and gear selections for control. Both automatic and manual transmission control possible, see the car_joy.py script for use.
+
 #### Services:
 - `/airsim_node/VEHICLE_NAME/land` [airsim_ros_pkgs/Takeoff](https://docs.ros.org/api/std_srvs/html/srv/Empty.html)
 
@@ -92,20 +108,40 @@ Odometry in NED frame wrt take-off point.
  Resets *all* drones
 
 #### Parameters:
+- `/airsim_node/world_frame_id` [string]   
+  Set in: `$(airsim_ros_pkgs)/launch/airsim_node.launch`   
+  Default: world_ned   
+  Set to "world_enu" to switch to ENU frames automatically
+
+- `/airsim_node/odom_frame_id` [string]   
+  Set in: `$(airsim_ros_pkgs)/launch/airsim_node.launch`   
+  Default: odom_local_ned   
+  If you set world_frame_id to "world_enu", the default odom name will instead default to "odom_local_enu"
+
+- `/airsim_node/coordinate_system_enu` [boolean]   
+  Set in: `$(airsim_ros_pkgs)/launch/airsim_node.launch`   
+  Default: false   
+  If you set world_frame_id to "world_enu", this setting will instead default to true
+
 - `/airsim_node/update_airsim_control_every_n_sec` [double]   
   Set in: `$(airsim_ros_pkgs)/launch/airsim_node.launch`   
-  Default: 0.01 seconds.    
+  Default: 0.01 seconds.   
   Timer callback frequency for updating drone odom and state from airsim, and sending in control commands.    
   The current RPClib interface to unreal engine maxes out at 50 Hz.   
-  Timer callbacks in ROS run at maximum rate possible, so it's best to not touch this parameter. 
+  Timer callbacks in ROS run at maximum rate possible, so it's best to not touch this parameter.
 
 - `/airsim_node/update_airsim_img_response_every_n_sec` [double]   
   Set in: `$(airsim_ros_pkgs)/launch/airsim_node.launch`   
-  Default: 0.01 seconds.    
+  Default: 0.01 seconds.   
   Timer callback frequency for receiving images from all cameras in airsim.    
   The speed will depend on number of images requested and their resolution.   
   Timer callbacks in ROS run at maximum rate possible, so it's best to not touch this parameter. 
 
+- `/airsim_node/publish_clock` [double]   
+  Set in: `$(airsim_ros_pkgs)/launch/airsim_node.launch`   
+  Default: false   
+  Will publish the ros /clock topic if set to true.    
+
 ### Simple PID Position Controller Node 
 
 #### Parameters:

ros/src/airsim_ros_pkgs/CMakeLists.txt

@@ -34,9 +34,12 @@ find_package(catkin REQUIRED COMPONENTS
   rospy
   sensor_msgs
   std_msgs
+  geographic_msgs
+  geometry_msgs
   std_srvs
   tf2
   tf2_ros
+  tf2_sensor_msgs
 )
 
 add_message_files(
@@ -46,6 +49,10 @@ add_message_files(
   GPSYaw.msg
   VelCmd.msg
   VelCmdGroup.msg
+  CarControls.msg
+  CarState.msg
+  Altimeter.msg
+  Environment.msg
 )
 
 add_service_files(
@@ -63,6 +70,7 @@ generate_messages(
   DEPENDENCIES
   std_msgs
   geometry_msgs
+  geographic_msgs
 )
 
 catkin_package(