[fix] update airsim simulation configuration. [doc] added airsim usag…

…e doc.
Hymilex · Aug 27, 2021 · 58ab5b9 · 58ab5b9
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diff --git a/simulation/Airsim/README.md b/simulation/Airsim/README.md
@@ -0,0 +1,53 @@
+Steps to start airsim:
+0. setup env.
+    mkdir -p ~/Downloads/Airsim/ && https://github.com/microsoft/AirSim.git && cd ~/Downloads/Airsim/AirSim && git checkout v1.5.0-linux
+
+    # install airsim with the scripts setup.sh and build.sh manually.
+
+    sudo ln -s  /usr/lib/x86_64-linux-gnu/libstdc++.so.6  /usr/lib/x86_64-linux-gnu/libstdc++.so  # for clang+llvm we need cpplib files end with .so.
+
+    mkdir -p ~/Downloads/Airsim/AirSim/cmake/airsim_sensors && cp ~/GAAS/simulation/src/airsim_sensors/CMakeLists.txt ~/Downloads/Airsim/AirSim/cmake/airsim_sensors/CMakeLists.txt
+
+    cp -r ~/GAAS/simulation/src/airsim_sensors/ ~/Downloads/Airsim/AirSim/
+
+    cd ~/Downloads/Airsim/AirSim && ./build.sh
+
+1. prepare for simulation:
+
+    cp simulation/Airsim/mavros_launch/* /opt/ros/melodic/share/mavros/launch/px4_airsim.launch
+
+    cp ~/GAAS/simulation/Airsim/vehicles/{YOUR_VEHICLE_CONFIG_FILE} ~/Documents/AirSim/settings.json
+
+2. start airsim simulator:
+
+    cd ~/Downloads/Airsim/${MAP_NAME}/LinuxNoEditor && ./${MAP_NAME}.sh
+
+3. start px4 simulation:
+
+    cd ~/Downloads/Airsim/AirSim/PX4/PX4-Autopilot && make px4_sitl_default none_iris
+
+4. start mavros for airsim.
+
+    roslaunch mavros px4_airsim.launch
+
+5. start airsim sensor msgs publisher.
+
+    cd ~/Downloads/Airsim/AirSim/ros && source devel/setup.bash && roslaunch airsim_sensors airsim_sensors.launch
+
+6. (optional) start QGroundControl.
+
+
+
+
+If you wanna use airsim node:
+
+    cd ~/Downloads/Airsim/AirSim/ros && catkin build -DCMAKE_C_COMPILER=gcc-8 -DCMAKE_CXX_COMPILER=g++-8
+    roslaunch airsim_ros_pkgs airsim_node.launch 
+
+You can also run:
+
+    ./scripts/run_airsim.sh
+
+and stop it with:
+
+    ./scripts/stop_airsim.sh
diff --git a/simulation/Airsim/mavros_launch/px4_airsim.launch b/simulation/Airsim/mavros_launch/px4_airsim.launch
@@ -2,7 +2,7 @@
 	<!-- vim: set ft=xml noet : -->
 	<!-- example launch script for PX4 based FCU's -->
 
-	<arg name="fcu_url" default="udp://:14550@localhost:14557" />
+	<arg name="fcu_url" default="udp://:14540@localhost:14557" />
 	<arg name="gcs_url" default="" />
 	<arg name="tgt_system" default="1" />
 	<arg name="tgt_component" default="1" />

diff --git a/simulation/Airsim/vehicles/settings.json.px4.lidar b/simulation/Airsim/vehicles/settings.json.px4.lidar
@@ -4,49 +4,79 @@
     "ClockType": "SteppableClock",
     "Vehicles": {
         "PX4": {
+            "X":-3,
+	    "Y":145,
+	    "Z":0,
             "VehicleType": "PX4Multirotor",
             "UseSerial": false,
             "LockStep": true,
             "UseTcp": true,
             "TcpPort": 4560,
-            "ControlPortLocal": 14540,
+            "ControlPortLocal": 14530,
             "ControlPortRemote": 14580,
             "Sensors":{
                 "Barometer":{
                     "SensorType": 1,
                     "Enabled": true,
                     "PressureFactorSigma": 0.0001825
                 },
+                "Imu": {
+                   "SensorType": 2,
+                   "Enabled": true,
+                   "Roll" : 180,"Pitch": 0, "Yaw" : 0,
+                   "X": 0, "Y": 0, "Z": -1.2
+                },
+		"user_imu": {
+                   "SensorType": 2,
+                   "Enabled": true,
+                   "Roll" : 180,"Pitch": 0, "Yaw" : 0,
+                   "X": 0, "Y": 0, "Z": -1.2
+                },
+
+                "Gps": {
+                   "SensorType": 3,
+                   "Enabled": false
+                },
+                "Magnetometer": {
+                   "SensorType": 4,
+                   "Enabled": true
+                },
+                "Distance": {
+                   "SensorType": 5,
+                   "Enabled": true
+                },
+		"Lidar1": {
+                    "SensorType": 6,
+                    "Enabled": true,	
+		    "Roll" : 180,"Pitch": 0, "Yaw" : 0,
+		    "X": 0, "Y": 0, "Z": -1.2,
+                    "NumberOfChannels": 32,
+                    "PointsPerSecond": 160000,
+                    "RotationsPerSecond": 10,
+                    "VerticalFOVUpper": 45,
+                    "VerticalFOVLower": -45,
+                    "Range": 180,
+                    "ExternalController": false,
+                    "DataFrame": "SensorLocalFrame",
+                    "DrawDebugPoints": false
+                },
+		"Lidar2": {
+                    "SensorType": 6,
+                    "Enabled": true,
+		    "Roll" : 90,"Pitch": 0, "Yaw" : 0,
+		    "X": 0, "Y": 0, "Z": -1.2,
+                    "NumberOfChannels": 32,
+                    "PointsPerSecond": 160000,
+                    "RotationsPerSecond": 10,
+                    "VerticalFOVUpper": 45,
+                    "VerticalFOVLower": -45,
+                    "Range": 180,
+                    "ExternalController": false,
+                    "DataFrame": "SensorLocalFrame",
+                    "DrawDebugPoints": false
+                }
+
 
-            "Imu": {
-               "SensorType": 2,
-               "Enabled": true
-            },
-            "Gps": {
-               "SensorType": 3,
-               "Enabled": false
-            },
-            "Magnetometer": {
-               "SensorType": 4,
-               "Enabled": true
-            },
-            "Distance": {
-               "SensorType": 5,
-               "Enabled": true
-            },
-            "Lidar1": {
-               "SensorType": 6,
-                "Enabled": true,
-                "NumberOfChannels": 32,
-                "PointsPerSecond": 57600,
-                "RotationsPerSecond": 10,
-                "VerticalFOVUpper": 45,
-                "VerticalFOVLower": -45,
-                "Range": 110,
-                "ExternalController": false,
-                "DataFrame": "SensorLocalFrame",
-                "DrawDebugPoints": true
-            }
 
             },
             "Parameters": {