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Adds airsim_ros package supporting Redtail simulations in AirSim #93

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Adds airsim_ros package supporting Redtail simulations in AirSim #93

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a793ae0
Adds airsim_ros package supporting Redtail simulations in AirSim
TritonSailor Sep 21, 2018
bc08305
add settings file for AirSim settings.json.example
TritonSailor Sep 25, 2018
f7cc3df
adds AirSim settings.json examples for win64 and linux
TritonSailor Sep 27, 2018
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203 changes: 203 additions & 0 deletions ros/packages/airsim_ros/CMakeLists.txt
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cmake_minimum_required(VERSION 2.8.3)
project(airsim_ros)

## Compile as C++11, supported in ROS Kinetic and newer
# add_compile_options(-std=c++11)

## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
roscpp
rospy
std_msgs
geometry_msgs
sensor_msgs
ros_numpy
mavros_msgs
)

## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)


## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()

################################################
## Declare ROS messages, services and actions ##
################################################

## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
## * add a build_depend tag for "message_generation"
## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
## but can be declared for certainty nonetheless:
## * add a exec_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
## * add "message_generation" and every package in MSG_DEP_SET to
## find_package(catkin REQUIRED COMPONENTS ...)
## * add "message_runtime" and every package in MSG_DEP_SET to
## catkin_package(CATKIN_DEPENDS ...)
## * uncomment the add_*_files sections below as needed
## and list every .msg/.srv/.action file to be processed
## * uncomment the generate_messages entry below
## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)

## Generate messages in the 'msg' folder
# add_message_files(
# FILES
# Message1.msg
# Message2.msg
# )

## Generate services in the 'srv' folder
# add_service_files(
# FILES
# Service1.srv
# Service2.srv
# )

## Generate actions in the 'action' folder
# add_action_files(
# FILES
# Action1.action
# Action2.action
# )

## Generate added messages and services with any dependencies listed here
# generate_messages(
# DEPENDENCIES
# std_msgs
# )

################################################
## Declare ROS dynamic reconfigure parameters ##
################################################

## To declare and build dynamic reconfigure parameters within this
## package, follow these steps:
## * In the file package.xml:
## * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
## * In this file (CMakeLists.txt):
## * add "dynamic_reconfigure" to
## find_package(catkin REQUIRED COMPONENTS ...)
## * uncomment the "generate_dynamic_reconfigure_options" section below
## and list every .cfg file to be processed

## Generate dynamic reconfigure parameters in the 'cfg' folder
# generate_dynamic_reconfigure_options(
# cfg/DynReconf1.cfg
# cfg/DynReconf2.cfg
# )

###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if your package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
# INCLUDE_DIRS include
# LIBRARIES redsim
# CATKIN_DEPENDS roscpp rospy std_msgs
# DEPENDS system_lib
)

###########
## Build ##
###########

## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
# include
${catkin_INCLUDE_DIRS}
)

## Declare a C++ library
# add_library(${PROJECT_NAME}
# src/${PROJECT_NAME}/redsim.cpp
# )

## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

## Declare a C++ executable
## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages don't collide
# add_executable(${PROJECT_NAME}_node src/redsim_node.cpp)

## Rename C++ executable without prefix
## The above recommended prefix causes long target names, the following renames the
## target back to the shorter version for ease of user use
## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")

## Add cmake target dependencies of the executable
## same as for the library above
# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

## Specify libraries to link a library or executable target against
# target_link_libraries(${PROJECT_NAME}_node
# ${catkin_LIBRARIES}
# )

#############
## Install ##
#############

# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html

## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
# install(PROGRAMS
# scripts/my_python_script
# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

## Mark executables and/or libraries for installation
# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node
# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

## Mark cpp header files for installation
# install(DIRECTORY include/${PROJECT_NAME}/
# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
# FILES_MATCHING PATTERN "*.h"
# PATTERN ".svn" EXCLUDE
# )

## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
# # myfile1
# # myfile2
# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )

#############
## Testing ##
#############

## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_redsim.cpp)
# if(TARGET ${PROJECT_NAME}-test)
# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()

## Add folders to be run by python nosetests
# catkin_add_nosetests(test)
89 changes: 89 additions & 0 deletions ros/packages/airsim_ros/launch/airsim_apm_rover_sitl.launch
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<launch>
<!--
Launch file for Redtail aisim_ros node with SITL APM rover.
-->


<!-- Start the joystick node -->
<node pkg="joy" type="joy_node" name="joy_node">
</node>


<arg name="airsim_ip" default="192.168.2.1" />

<node pkg="airsim_ros" type="car_image_raw_rgb.py" name="image_raw">
<param name="~airsim_ip" value="$(arg airsim_ip)" />
</node>


<!-- example launch script for ArduPilotMega based FCU's -->
<arg name="fcu_url" default="udp://127.0.0.1:14551@14555" />
<arg name="gcs_url" default="" />
<arg name="tgt_system" default="1" />
<arg name="tgt_component" default="1" />
<arg name="log_output" default="screen" />
<arg name="fcu_protocol" default="v2.0" />
<arg name="respawn_mavros" default="false" />

<include file="$(find mavros)/launch/node.launch">
<arg name="pluginlists_yaml" value="$(find mavros)/launch/apm_pluginlists.yaml" />
<arg name="config_yaml" value="$(find mavros)/launch/apm_config.yaml" />

<arg name="fcu_url" value="$(arg fcu_url)" />
<arg name="gcs_url" value="$(arg gcs_url)" />
<arg name="tgt_system" value="$(arg tgt_system)" />
<arg name="tgt_component" value="$(arg tgt_component)" />
<!--<arg name="log_output" value="$(arg log_output)" />-->
<arg name="fcu_protocol" value="$(arg fcu_protocol)" />
<arg name="respawn_mavros" default="$(arg respawn_mavros)" />
</include>

<arg name="prototxt_path" default="/home/chris/mkdev/redtail/models/pretrained/TrailNet_SResNet-18.prototxt"/>
<arg name="model_path" default="/home/chris/mkdev/redtail/models/pretrained/TrailNet_SResNet-18.caffemodel" />
<arg name="input_layer" default="data" />
<arg name="output_layer" default="out" />
<arg name="data_type" default="fp16" />
<arg name="debug_mode" default="false"/>
<arg name="frame_id" default="/tf_frame" />

<node pkg="caffe_ros" type="caffe_ros_node" name="trails_dnn" output="screen">
<param name="camera_topic" value="/airsim_ros/image_raw" />
<param name="prototxt_path" value="$(arg prototxt_path)" />
<param name="model_path" value="$(arg model_path)" />
<param name="input_layer" value="$(arg input_layer)" />
<param name="output_layer" value="$(arg output_layer)" />
<param name="data_type" value="$(arg data_type)" />
<param name="debug_mode" value="$(arg debug_mode)"/>
<param name="inp_fmt" value="RGB" />

</node>

<arg name="vehicle_type" default="apmrover" />
<arg name="altitude_gain" default="0" />
<arg name="linear_speed" default="2.0" />
<arg name="linear_speed_scale" default="250" />
<arg name="turn_angle_scale" default="500" />
<arg name="dnn_turn_angle" default="55.0" />
<arg name="dnn_lateralcorr_angle" default="40.0" />
<arg name="joy_type" default="xbox_wired" />
<!-- <arg name="log_output" default="screen" />-->

<node pkg="px4_controller" type="px4_controller_node" name="px4_controller" output="$(arg log_output)">
<param name="vehicle_type" value="$(arg vehicle_type)" />
<param name="altitude_gain" value="$(arg altitude_gain)" />
<param name="linear_speed" value="$(arg linear_speed)" />
<param name="linear_speed_scale" value="$(arg linear_speed_scale)" />
<param name="turn_angle_scale" value="$(arg turn_angle_scale)" />
<param name="dnn_turn_angle" value="$(arg dnn_turn_angle)" />
<param name="dnn_lateralcorr_angle" value="$(arg dnn_lateralcorr_angle)" />
<param name="joy_type" value="$(arg joy_type)" />
</node>

<node pkg="tf" type="static_transform_publisher" name="tf_publisher" args="0 0 0 3.14 0 0 /map $(arg frame_id) 100"/>

<!-- Start airsim rc publisher -->
<node pkg="airsim_ros" type="car_rc.py" name="car_rc">
<param name="~airsim_ip" value="$(arg airsim_ip)" />
</node>

</launch>
25 changes: 25 additions & 0 deletions ros/packages/airsim_ros/launch/apm_sitl.launch
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<launch>
<!-- vim: set ft=xml noet : -->
<!-- example launch script for ArduPilotMega based FCU's -->

<arg name="fcu_url" default="udp://127.0.0.1:14551@14555" />
<arg name="gcs_url" default="" />
<arg name="tgt_system" default="1" />
<arg name="tgt_component" default="1" />
<arg name="log_output" default="screen" />
<arg name="fcu_protocol" default="v2.0" />
<arg name="respawn_mavros" default="false" />

<include file="$(find mavros)/launch/node.launch">
<arg name="pluginlists_yaml" value="$(find mavros)/launch/apm_pluginlists.yaml" />
<arg name="config_yaml" value="$(find mavros)/launch/apm_config.yaml" />

<arg name="fcu_url" value="$(arg fcu_url)" />
<arg name="gcs_url" value="$(arg gcs_url)" />
<arg name="tgt_system" value="$(arg tgt_system)" />
<arg name="tgt_component" value="$(arg tgt_component)" />
<arg name="log_output" value="$(arg log_output)" />
<arg name="fcu_protocol" value="$(arg fcu_protocol)" />
<arg name="respawn_mavros" default="$(arg respawn_mavros)" />
</include>
</launch>
47 changes: 47 additions & 0 deletions ros/packages/airsim_ros/launch/trailnet_debug_airsim.launch
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<launch>
<!--
redtail debug .launch file for aisim_ros node.
-->

<!-- Start the joystick node -->
<node pkg="joy" type="joy_node" name="joy_node">
</node>


<!-- Start airsim image publisher -->
<arg name="airsim_ip" default="192.168.2.1" />

<node pkg="airsim_ros" type="car_image_raw_rgb.py" name="image_raw">
<param name="~airsim_ip" value="$(arg airsim_ip)" />
</node>


<arg name="prototxt_path" default="/home/chris/mkdev/redtail/models/pretrained/TrailNet_SResNet-18.prototxt"/>
<arg name="model_path" default="/home/chris/mkdev/redtail/models/pretrained/TrailNet_SResNet-18.caffemodel" />
<arg name="input_layer" default="data" />
<arg name="output_layer" default="out" />
<arg name="data_type" default="fp16" />
<arg name="debug_mode" default="true"/>
<arg name="frame_id" default="/tf_frame" />

<!-- Start the caffe_ros node -->
<node pkg="caffe_ros" type="caffe_ros_node" name="trails_dnn" output="screen">
<param name="camera_topic" value="/redsim/image_raw" />
<param name="prototxt_path" value="$(arg prototxt_path)" />
<param name="model_path" value="$(arg model_path)" />
<param name="input_layer" value="$(arg input_layer)" />
<param name="output_layer" value="$(arg output_layer)" />
<param name="data_type" value="$(arg data_type)" />
<param name="debug_mode" value="$(arg debug_mode)"/>
<param name="inp_fmt" value="RGB" />

</node>


<node pkg="redtail_debug" type="redtail_debug_node" name="redtail_debug" output="screen">
</node>


<node pkg="tf" type="static_transform_publisher" name="tf_publisher" args="0 0 0 3.14 0 0 /map $(arg frame_id) 100"/>

</launch>
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