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ROS - All sensors and car support #2743

Merged
merged 36 commits into from
Jul 22, 2020
Merged

ROS - All sensors and car support #2743

merged 36 commits into from
Jul 22, 2020

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e1d1s1
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@e1d1s1 e1d1s1 commented Jun 2, 2020

Many improvements to ROS package "airsim_ros_pkgs"

  • ROS Support for all sensor types
  • Support for ENU frames typical of ground vehicles
  • Better support for multiple agents
  • Option to publish sim /clock topic
  • ROS Joystick support for car via python
  • Bring CarApiBase interface to parity with MultirotorApiBase

Eric Schmidt and others added 30 commits February 10, 2020 16:56
add PhyXCar
661c1be
script to get the enviroment for passing on to vscode GDB debug session
cd1edc5
Got car sensor data working with ROS
f6bda6a
use static_cast
d27b156
control car via API
bcd8b91
joystick control for car
1503943
joystick control node and launch file
5a4caad
Add support for GPS sensor
1bcd148
added magnetometer and barometer sensors
8963275
refactor sensors
dc94a79
debug
a2ec33f
add missing package
b99e6eb
remove unrelated script
59491b2
automatic transmission option
db474f9
publish car state
ce9a786
cleanup and add range-distance sensor
a8a2402
add clock
2eb5085
clock
5c0d171
update clock faster
8ebafa6
clock
f8ecf88
fix some threading and performance issues
a894f9c
refactor for clock and transforms
73c6589
launch args, make clock publishing optional, default to false
f9eb2d7
clean up comment
fefbf18
Merge branch 'master' into addcar
64e913c
working on merge
40376d2
merge upstream changes
ad81e5a 
support ENU for all car frames
remove unrelated script
3312111
Merge branch 'master' into addcar
0265a6d
some final cleanup
86fdd1c
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ghost commented Jun 2, 2020 •
edited by ghost
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rajat2004
rajat2004 reviewed Jun 3, 2020
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This will be a great improvement to the ROS wrapper, thanks!
Can you add some details about the new sensor publishers, etc in airsim_ros_pkgs.md
Just a light lookover, will try to test it out soon

ros/src/airsim_ros_pkgs/package.xml Outdated Show resolved Hide resolved
tools/install_ros_deps.sh Show resolved Hide resolved
@e1d1s1
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e1d1s1 commented Jun 5, 2020

Should be all set for merge. Let me know if you see any other issues.

@phil333
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phil333 commented Jun 18, 2020

nice work on the car interface. I found 1 little issue: Naming the car anything other than drone_1 means no control api, because the ros interface is looking for /airsim_node/drone_1/car_cmd and this is hard-coded. This is not a big deal though if you mention it in the documentation. Would be great to see this addition on the main branch.

@rajat2004 rajat2004 mentioned this pull request Jun 21, 2020
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e1d1s1 commented Jun 24, 2020

nice work on the car interface. I found 1 little issue: Naming the car anything other than drone_1 means no control api, because the ros interface is looking for /airsim_node/drone_1/car_cmd and this is hard-coded. This is not a big deal though if you mention it in the documentation. Would be great to see this addition on the main branch.

You should be able to change the topic via launch config:
node: car_joy
param: car_control_topic

The vehicle name/ID comes out of the airsim config, so if you alter this topic to match it "should" be fine.

@GimpelZhang GimpelZhang mentioned this pull request Jun 28, 2020
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@madratman madratman merged commit a45d470 into microsoft:master Jul 22, 2020
@plushpluto plushpluto mentioned this pull request Jul 25, 2020
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@madratman madratman mentioned this pull request Jul 29, 2020
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@e1d1s1 @phil333 @rajat2004 @madratman