Skip to content

Latest commit

 

History

History
50 lines (31 loc) · 2.48 KB

README.md

File metadata and controls

50 lines (31 loc) · 2.48 KB
Raw

ros2_satellite_aerial_view_simulator

ROS 2 wrapper node for https://github.com/ricardodeazambuja/AerialViewGenerator

See it in use here: https://github.com/ricardodeazambuja/ros2_open_voc_landing_heatmap

TL;DR;

$ git clone https://github.com/ricardodeazambuja/ros2_satellite_aerial_view_simulator.git

$ colcon build --symlink-install --packages-select ros2_satellite_aerial_view_simulator

$ setup install/setup.bash

$ ros2 launch ros2_satellite_aerial_view_simulator aerialview.launch.py

$ ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args -r teleop_twist_keyboard:cmd_vel:=/quadctrl/flying_sensor/ctrl_twist_sp

By default it will publish:

  • the coordinate frames (tf) between map and flying_sensor
  • RGB image as if it was from a camera mounted on a gimbal that always points downwards (/carla/flying_sensor/rgb_down/image)
  • fake depth image (constant value) just because I needed it for my own stuff (/carla/flying_sensor/depth_down/image)

The topics are all parameters, check the launch file and the parameters in the main script.

Tested only using my own docker image running ROS 2 Galactic (ricardodeazambuja/ros2_quad_sim_python).

image

ROS 2 and the necessary packages

All the instructions can be found in the Dockerfile:

Get the script to launch ROS 2

Don't forget to turn the script executable to make life easier ($ chmod +x launch_ros2_desktop.sh).

Launch the container

If you don't want to create your own docker image, you can spawn containers using this command:

$ ./launch_ros2_desktop.sh -g --image ricardodeazambuja/ros2_quad_sim_python

If you still want to use the same container to save some memory, you need to take note of the containers name (it will be ros2- plus five random characters). Here is how to check the topics without launching a new container (the container's name in this case is ros2-bb93a782c4):

$ docker exec -t ros2-bb93a782c4 bash -i -c "ros2 topic list"