gimpelzhang / airsim_ros

AirSim ROS packages: modified ros wrapper for airsim, and some vslam related tools. (Mainly focused on Car SimMode)

airsim_ros packages

AirSim ROS packages: modified ros wrapper for airsim, and some vslam related tools. (Mainly focused on Car SimMode).

A demo City simulation environment in unreal is provided.

Package overview

• airsim_ros_pkgs: Modified ros wrapper for airsim
• airsim_car_teleop: A keyboard teleop ros node to control the simulating Car in airsim
• settings: Vslam simulation tests setting files
• simu_tools: Simulation related tools for handling the trajectory ground truth & dataset postprocessing

Features

• Campared with the original ROS node, the stereo images timestamps sync problem is solved(ref). Now the timestamp difference between a left and a right image is at max 0.003 second (ubuntu 16.04, 32G, ros-kinetic, UE 4.24, no GPU).

### A ROS node for the Car SimMode, according to the original repo of microsoft/AirSim:
roslaunch airsim_ros_pkgs airsim_car_with_joy_control.launch

### A self-written ROS node for the Car SimMode (No longer maintained, since microsoft/AirSim supports Car ROS node now)
roslaunch airsim_ros_pkgs airsim_car_node.launch

• If you do not have a joy control hardware, here is a keyboard control node for the Car simulated with the ROS node above. Usage:

roslaunch airsim_car_teleop airsim_car_teleop_joy.launch

• Simulation tools are provided to convert the car trajectory ground truth rostopic to a txt file (TUM), for evaluation postprocessing purpose. If there are any unexpected empty images in the dataset (with the phenomenon: an opencv Exception "Image is wrongly formed: height * step != size or 0 * 0 != 1" raised), there is a python script to remove them.

### Either use the pose recorder node to record the ground truth during simulation: 
roslaunch simu_tools car_pose_recorder output_filename rostopic_name

### Or use the python script /simu_tools/scripts/groundtruth_extractor.py to extract the ground truth from a rosbag. 
./groundtruth_extractor.py

### To move the empty images:
./images_remove.py

• Along with the releases, an editable demo City simulation environment is provided to test the ROS wrapper (for linux only). The AirSim plugin in this environment is a modified version from this repo: GimpelZhang/AirSim, which is trying to solve the simulation speed problem in the Car SimMode ClockSpeed setting.

More applications in vslam:

Known bugs:

1. The weather option doesn't work. Described in the [issue](https://github.com/microsoft/AirSim/issues/2957)

2. Empty images occasionally occur in output image rostopics. Temporarily the solution is images_remove.py

airsim_ros's Issues

There is a problem when compiling code

Thank you！

IMU data problem

在结合imu数据的双目视觉slam算法测试当中，使用car ros node录制的数据集，在只用双目数据时，观察输出的前端VO结果非常准确。
但是一旦应用imu数据，前端后端都会产生极大误差，imu到双目的转换矩阵参数的估计看上去也不准确不稳定。

可能与car ros node中输出的imu数据的坐标轴有关。

Car ROS node launch error during using released environment

在使用如Neighborhood等Linux版的已生成好的仿真环境时，使用multirotor的ros node可以正常启动，但是使用car的ros node时，就会报错：

terminate called after throwing an instance of 'std::runtime_error'
what(): Duration is out of dual 32-bit range
[airsim_car_node-2] process has died [pid 19990, exit code -6, cmd /data/AirSim/ros/devel/lib/airsim_ros_pkgs/airsim_car_node __name:=airsim_car_node __log:=/home/junchuan/.ros/log/245b0d9e-bc1d-11ea-8d8b-00d86127892a/airsim_car_node-2.log].
log file: /home/junchuan/.ros/log/245b0d9e-bc1d-11ea-8d8b-00d86127892a/airsim_car_node-2*.log

Error in timestamps sync modification in ROS node for Car SimMode

按multirotor节点修改car节点后，catkin_make通过，但启动block后，roslaunch节点报错如下：

simmode_name: Car
Imu
Waiting for connection -
Connected!

Client Ver:1 (Min Req:1), Server Ver:1 (Min Req:1)
Waiting for connection -
Connected!

Client Ver:1 (Min Req:1), Server Ver:1 (Min Req:1)
Waiting for connection -
Connected!

Client Ver:1 (Min Req:1), Server Ver:1 (Min Req:1)
[ INFO] [1592457229.954081444]: Car control 5.000000ms
AirsimCarROSWrapper Initialized!
[ INFO] [1592457230.365428773]: Grab image cost 393.392000ms Length 2 name drone_1
[ INFO] [1592457230.365685748]: 1592457203058666496
[ INFO] [1592457230.365856012]: 1592457203058966528
terminate called after throwing an instance of 'std::future_error'
what(): std::future_error: Broken promise
[airsim_car_node-2] process has died [pid 25520, exit code -6, cmd /data/AirSim/ros/devel/lib/airsim_ros_pkgs/airsim_car_node __name:=airsim_car_node __log:=/home/junchuan/.ros/log/7dec9cd4-b122-11ea-932f-00d86127892a/airsim_car_node-2.log].
log file: /home/junchuan/.ros/log/7dec9cd4-b122-11ea-932f-00d86127892a/airsim_car_node-2*.log