[ros] fix lidar tf, added docs and examples

README.md

@@ -15,7 +15,7 @@ Cars in AirSim
 [![AirSim Car Demo Video](docs/images/car_demo_video.png)](https://youtu.be/gnz1X3UNM5Y)
 
 ## What's New
-
+* A ROS wrapper for multirotors is available. See [airsim_ros_pkgs](https://github.com/microsoft/AirSim/blob/master/ros/src/airsim_ros_pkgs) for the ROS API, and [airsim_tutorial_pkgs](https://github.com/microsoft/AirSim/blob/master/ros/src/airsim_tutorial_pkgs) for tutorials. 
 * [Added sensor APIs for Barometer, IMU, GPS, Magnetometer, Distance Sensor](https://microsoft.github.io/AirSim/docs/sensors.md) 
 * Added support for [docker in ubuntu](https://microsoft.github.io/AirSim/docs/docker_ubuntu) 
 * Added Weather Effects and [APIs](https://microsoft.github.io/AirSim/docs/apis#weather-apis)

ros/src/airsim_ros_pkgs/README.md

@@ -37,50 +37,43 @@ Let's look at the ROS API for both nodes:
 
 ### AirSim ROS Wrapper Node
 #### Publishers:
-- `/airsim_node/home_geo_point` [airsim_ros_pkgs/GPSYaw](msg/GPSYaw.msg)   
-GPS coordinates corresponding to home/spawn point of the drone. These are set in the airsim's settings.json file under the `OriginGeopoint` key. Please see `settings.json`'s [documentation](https://microsoft.github.io/AirSim/docs/settings/). 
-
+- `/airsim_node/origin_geo_point` [airsim_ros_pkgs/GPSYaw](msg/GPSYaw.msg)   
+GPS coordinates corresponding to global NED frame. This is set in the airsim's [settings.json](https://microsoft.github.io/AirSim/docs/settings/) file under the `OriginGeopoint` key. 
 
-- `/airsim_node/global_gps` [sensor_msgs/NavSatFix](https://docs.ros.org/api/sensor_msgs/html/msg/NavSatFix.html)   
+- `/airsim_node/VEHICLE_NAME/global_gps` [sensor_msgs/NavSatFix](https://docs.ros.org/api/sensor_msgs/html/msg/NavSatFix.html)   
 This the current GPS coordinates of the drone in airsim. 
 
-- `/airsim_node/odom_local_ned` [nav_msgs/Odometry](https://docs.ros.org/api/nav_msgs/html/msg/Odometry.html)   
+- `/airsim_node/VEHICLE_NAME/odom_local_ned` [nav_msgs/Odometry](https://docs.ros.org/api/nav_msgs/html/msg/Odometry.html)   
 Odometry in NED frame wrt take-off point.  
-
-- `/airsim_node/vehicle_state` [mavros_msgs/State](https://docs.ros.org/api/mavros_msgs/html/msg/State.html)   
-  Currently, the drone is always `armed`. Hence, there is only one state. 
 
-- `/CAMERA_NAME/IMAGE_TYPE/camera_info` [sensor_msgs/CameraInfo](https://docs.ros.org/api/sensor_msgs/html/msg/CameraInfo.html)
+- `/airsim_node/VEHICLE_NAME/CAMERA_NAME/IMAGE_TYPE/camera_info` [sensor_msgs/CameraInfo](https://docs.ros.org/api/sensor_msgs/html/msg/CameraInfo.html)
 
-- `/CAMERA_NAME/IMAGE_TYPE` [sensor_msgs/Image](https://docs.ros.org/api/sensor_msgs/html/msg/Image.html)   
+- `/airsim_node/VEHICLE_NAME/CAMERA_NAME/IMAGE_TYPE` [sensor_msgs/Image](https://docs.ros.org/api/sensor_msgs/html/msg/Image.html)   
   RGB or float image depending on image type requested in settings.json.
 
 - `/tf` [tf2_msgs/TFMessage](https://docs.ros.org/api/tf2_msgs/html/msg/TFMessage.html)
 
 
 #### Subscribers: 
-- `/vel_cmd_body_frame` [airsim_ros_pkgs/VelCmd](msg/VelCmd.msg)    
+- `/airsim_node/vel_cmd_body_frame` [airsim_ros_pkgs/VelCmd](msg/VelCmd.msg)    
   Ignore `vehicle_name` field, leave it to blank. We will use `vehicle_name` in future for multiple drones.
 
-- `/vel_cmd_world_frame` [airsim_ros_pkgs/VelCmd](msg/VelCmd.msg)    
+- `/airsim_node/vel_cmd_world_frame` [airsim_ros_pkgs/VelCmd](msg/VelCmd.msg)    
   Ignore `vehicle_name` field, leave it to blank. We will use `vehicle_name` in future for multiple drones.
 
 - `/gimbal_angle_euler_cmd` [airsim_ros_pkgs/GimbalAngleEulerCmd](msg/GimbalAngleEulerCmd.msg)   
   Gimbal set point in euler angles.    
-  Use `front_center`, `front_right`, or `front_left` as `camera_name` parameter in the message field.    
-  Ignore `vehicle_name`.
 
 - `/gimbal_angle_quat_cmd` [airsim_ros_pkgs/GimbalAngleQuatCmd](msg/GimbalAngleQuatCmd.msg)   
   Gimbal set point in quaternion.    
-  Use `front_center`, `front_right`, or `front_left` as `camera_name` parameter in the message field.    
-  Ignore `vehicle_name`.
 
 #### Services:
-- `/airsim_node/land` [std_srvs/Empty](https://docs.ros.org/api/std_srvs/html/srv/Empty.html)
+- `/airsim_node/VEHICLE_NAME/land` [airsim_ros_pkgs/Takeoff](https://docs.ros.org/api/std_srvs/html/srv/Empty.html)
 
-- `/airsim_node/reset` [std_srvs/Empty](https://docs.ros.org/api/std_srvs/html/srv/Empty.html)
+- `/airsim_node/takeoff` [airsim_ros_pkgs/Takeoff](https://docs.ros.org/api/std_srvs/html/srv/Empty.html)
 
-- `/airsim_node/takeoff` [std_srvs/Empty](https://docs.ros.org/api/std_srvs/html/srv/Empty.html)
+- `/airsim_node/reset` [airsim_ros_pkgs/Reset](https://docs.ros.org/api/std_srvs/html/srv/Empty.html)
+ Resets *all* drones
 
 #### Parameters:
 - `/airsim_node/update_airsim_control_every_n_sec` [double]   
@@ -123,18 +116,18 @@ Odometry in NED frame wrt take-off point.
   Default: 0.01 seconds
 
 #### Services:
-- `/airsim_node/gps_goal` [Request: [msgs/airsim_ros_pkgs/GPSYaw](msgs/airsim_ros_pkgs/GPSYaw)]   
+- `/airsim_node/VEHICLE_NAME/gps_goal` [Request: [msgs/airsim_ros_pkgs/GPSYaw](msgs/airsim_ros_pkgs/GPSYaw)]   
   Target gps position + yaw.   
   In **absolute** altitude. 
 
-- `/airsim_node/local_position_goal` [Request: [msgs/airsim_ros_pkgs/XYZYaw](msgs/airsim_ros_pkgs/XYZYaw)   
-  Target local position + yaw in NED frame.   
+- `/airsim_node/VEHICLE_NAME/local_position_goal` [Request: [msgs/airsim_ros_pkgs/XYZYaw](msgs/airsim_ros_pkgs/XYZYaw)   
+  Target local position + yaw in global NED frame.   
 
 #### Subscribers:
-- `/airsim_node/home_geo_point` [airsim_ros_pkgs/GPSYaw](msg/GPSYaw.msg)   
+- `/airsim_node/origin_geo_point` [airsim_ros_pkgs/GPSYaw](msg/GPSYaw.msg)   
   Listens to home geo coordinates published by `airsim_node`.  
 
-- `/airsim_node/odom_local_ned` [nav_msgs/Odometry](https://docs.ros.org/api/nav_msgs/html/msg/Odometry.html)   
+- `/airsim_node/VEHICLE_NAME/odom_local_ned` [nav_msgs/Odometry](https://docs.ros.org/api/nav_msgs/html/msg/Odometry.html)   
   Listens to odometry published by `airsim_node`
 
 #### Publishers:
@@ -152,6 +145,7 @@ Odometry in NED frame wrt take-off point.
     * `/max_yaw_rate_degree` [double]   
   Maximum yaw rate (degrees/second)
 
+### Misc
 #### Windows Subsytem for Linux on Windows 10
 - WSL setup:
   * Get [Windows Subsystem for Linux](https://docs.microsoft.com/en-us/windows/wsl/install-win10)
@@ -165,4 +159,4 @@ Odometry in NED frame wrt take-off point.
   Select `Multiple Windows` in first popup, `Start no client` in second popup, **only** `Clipboard` in third popup. Do **not** select `Native Opengl`.  
   * Open Ubuntu 16.04 / 18.04 session by typing `Ubuntu 16.04`  / `Ubuntu 18.04` in Windows start menu.  
   * Recommended: Install [terminator](http://www.ubuntugeek.com/terminator-multiple-gnome-terminals-in-one-window.html) : `$ sudo apt-get install terminator.` 
-    - You can open terminator in a new window by entering `$ DISPLAY=:0 terminator -u`. 
+    - You can open terminator in a new window by entering `$ DISPLAY=:0 terminator -u`. 

ros/src/airsim_ros_pkgs/src/airsim_ros_wrapper.cpp

@@ -88,7 +88,7 @@ void AirsimROSWrapper::create_ros_pubs_from_settings_json()
     // subscribe to control commands on global nodehandle
     gimbal_angle_quat_cmd_sub_ = nh_private_.subscribe("gimbal_angle_quat_cmd", 50, &AirsimROSWrapper::gimbal_angle_quat_cmd_cb, this);
     gimbal_angle_euler_cmd_sub_ = nh_private_.subscribe("gimbal_angle_euler_cmd", 50, &AirsimROSWrapper::gimbal_angle_euler_cmd_cb, this);
-    origin_geo_point_pub_ = nh_private_.advertise<airsim_ros_pkgs::GPSYaw>("/origin_geo_point", 10);       
+    origin_geo_point_pub_ = nh_private_.advertise<airsim_ros_pkgs::GPSYaw>("origin_geo_point", 10);       
 
     airsim_img_request_vehicle_name_pair_vec_.clear();
     image_pub_vec_.clear();
@@ -980,6 +980,7 @@ void AirsimROSWrapper::lidar_timer_cb(const ros::TimerEvent& event)
                 auto lidar_data = airsim_client_.getLidarData(vehicle_lidar_pair.second, vehicle_lidar_pair.first); // airsim api is imu_name, vehicle_name
                 lck.unlock();
                 sensor_msgs::PointCloud2 lidar_msg = get_lidar_msg_from_airsim(lidar_data); // todo make const ptr msg to avoid copy
+                lidar_msg.header.frame_id = vehicle_lidar_pair.second; // sensor frame name. todo add to doc
                 lidar_msg.header.stamp = ros::Time::now();
                 lidar_pub_vec_[ctr].publish(lidar_msg);
                 ctr++;

ros/src/airsim_tutorial_pkgs/README.md

@@ -0,0 +1,60 @@
+# AirSim ROS Tutorials
+
+This is a set of sample AirSim `settings.json`s, roslaunch and rviz files to give a starting point for using AirSim with ROS.     
+See [airsim_ros_pkgs](https://github.com/microsoft/AirSim/blob/master/ros/src/airsim_ros_pkgs/README.md) for the ROS API.
+
+
+## Setup
+```shell
+$ 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](https://github.com/microsoft/AirSim/blob/master/ros/src/airsim_tutorial_pkgs/settings/front_stereo_and_center_mono.json)
+ ```shell
+ $ 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](https://wiki.ros.org/depth_image_proc) using the [`depth_to_pointcloud` launch file](https://github.com/microsoft/AirSim/master/ros/src/airsim_tutorial_pkgs/launch/front_stereo_and_center_mono/depth_to_pointcloud.launch), and the lidar point cloud. 
+
+
+### Two drones, with cameras, lidar, IMU each
+- Settings.json - [two_drones_camera_lidar_imu.json](https://github.com/microsoft/AirSim/blob/master/ros/src/airsim_tutorial_pkgs/settings/two_drones_camera_lidar_imu.json) 
+
+ ```shell
+ $ 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](https://github.com/microsoft/AirSim/blob/master/ros/src/airsim_tutorial_pkgs/settings/twenty_five_drones.json) 
+
+ ```shell
+ $ 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.