airsim_tutorial_pkgs.md

AirSim ROS Tutorials

This is a set of sample AirSim settings.jsons, roslaunch and rviz files to give a starting point for using AirSim with ROS.
See airsim_ros_pkgs for the ROS API.

Setup

$ cd PATH_TO/AirSim/ros
$ catkin build airsim_tutorial_pkgs

Examples

Single drone with monocular and depth cameras, and lidar

• Settings.json - front_stereo_and_center_mono.json

$ source PATH_TO/AirSim/ros/devel/setup.bash
$ roscd airsim_tutorial_pkgs
$ cp settings/front_stereo_and_center_mono.json ~/Documents/AirSim/settings.json

## Start your unreal package or binary here

$ roslaunch airsim_ros_pkgs airsim_node.launch;

# in a new pane / terminal
$ roslaunch airsim_tutorial_pkgs front_stereo_and_center_mono.launch

The above would start rviz with tf's, registered RGBD cloud using depth_image_proc using the depth_to_pointcloud launch file, and the lidar point cloud.

Two drones, with cameras, lidar, IMU each

• Settings.json - two_drones_camera_lidar_imu.json

$ source PATH_TO/AirSim/ros/devel/setup.bash
$ roscd airsim_tutorial_pkgs
$ cp settings/two_drones_camera_lidar_imu.json ~/Documents/AirSim/settings.json

## Start your unreal package or binary here

$ roslaunch airsim_ros_pkgs airsim_node.launch;
$ roslaunch airsim_ros_pkgs rviz.launch

You can view the tfs in rviz. And do a rostopic list and rosservice list to inspect the services avaiable.

Twenty-five drones in a square pattern

• Settings.json - twenty_five_drones.json

$ source PATH_TO/AirSim/ros/devel/setup.bash
$ roscd airsim_tutorial_pkgs
$ cp settings/twenty_five_drones.json ~/Documents/AirSim/settings.json

## Start your unreal package or binary here

$ roslaunch airsim_ros_pkgs airsim_node.launch;
$ roslaunch airsim_ros_pkgs rviz.launch

You can view the tfs in rviz. And do a rostopic list and rosservice list to inspect the services avaiable.