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Mayankm96Mayankm96
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added ROS client package in python
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‎PythonClient/ros/airsim_ros_client/.gitignore‎

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research/
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devel/
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logs/
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build/
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bin/
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lib/
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msg_gen/
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srv_gen/
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msg/*Action.msg
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msg/*ActionFeedback.msg
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msg/*ActionGoal.msg
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msg/*ActionResult.msg
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msg/*Feedback.msg
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msg/*Goal.msg
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msg/*Result.msg
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msg/_*.py
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# Bag files
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*.bag
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# Generated by dynamic reconfigure
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*.cfgc
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/cfg/cpp/
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/cfg/*.py
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# Ignore generated docs
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*.dox
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*.wikidoc
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# eclipse stuff
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.project
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.cproject
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# qcreator stuff
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CMakeLists.txt.user
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srv/_*.py
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*.pcd
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*.pyc
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qtcreator-*
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*.user
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/planning/cfg
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/planning/docs
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/planning/src
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*~
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CATKIN_IGNORE
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# Prerequisites
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# C extensions
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*.so
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# Distribution / packaging
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.Python
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build/
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develop-eggs/
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lib/
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lib64/
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parts/
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sdist/
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var/
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wheels/
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*.egg-info/
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.installed.cfg
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*.egg
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MANIFEST
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# PyInstaller
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*.manifest
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coverage.xml
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*.cover
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*.sage.py
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# Spyder project settings
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# mkdocs documentation
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# mypy
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.mypy_cache/

‎PythonClient/ros/airsim_ros_client/CMakeLists.txt‎

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cmake_minimum_required(VERSION 2.8.3)
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project(airsim_ros_client)
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## Find catkin macros and libraries
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find_package(catkin REQUIRED COMPONENTS
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rospy
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sensor_msgs
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geometry_msgs
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nav_msgs
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tf2_ros
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)
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###################################
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## catkin specific configuration ##
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###################################
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## The catkin_package macro generates cmake config files for your package
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catkin_package(
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# INCLUDE_DIRS include
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# LIBRARIES airsim_python_wrapper
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# CATKIN_DEPENDS rospy sensor_msgs geometry_msgs nav_msgs tf2_ros
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# DEPENDS system_lib
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)
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###########
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## Build ##
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###########
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## Specify additional locations of header files
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include_directories(
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${catkin_INCLUDE_DIRS}
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)

‎PythonClient/ros/airsim_ros_client/README.md‎

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# airsim_ros_client
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## Overview
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This repository is meant to integrate ROS and AirSim plugin using the python APIs available for the simulator.
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The `airsim_ros_client` package has been tested under ROS Kinetic and Ubuntu 16.04LTS. The source code is released under [MIT Licence](LICENSE).
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## Installation
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#### Dependencies
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Install the python depenencies:
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```bash
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# AirSim APIs
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pip install airsim
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```
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#### Building
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* To build from source, clone the latest version from this repository into your catkin workspace
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```bash
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mkdir -p ~/catkin_ws/src
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cd ~/catkin_ws/src
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git clone https://github.com/Mayankm96/airsim_ros_wrapper.git
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```
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* To compile the package:
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```bash
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cd ~/catkin_ws
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catkin_make
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source devel/setup.bash
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```
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#### Running AirSim in Unreal Engine
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Before running the nodes in the package, you need to run Airsim plugin in the Unreal Engine. In case you are unfamiliar on how to do so, refer to the tutorials available [here](https://github.com/Microsoft/AirSim#tutorials).
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A sample `settings.json` file used to run the simulator with the ROS package is available [here](docs/settings.json). Copy it to the `~/Documents/AirSim` directory to use the package without any further modifications.
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## Usage
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### Running the `tf` publisher of drone model (DJI M100)
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To use the [`urdf`](urdf) model of the drone used in AirSim simulator, then run:
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```
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roslaunch airsim_ros_wrapper publish_tf.launch
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```
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__NOTE:__ In the modified blueprint of the drone for UE4, all cameras are downward-facing.
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### Running image publisher
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Change the IP and Port configurations in [`pubImages.launch`](launch/pubImages.launch) to match the settings in which Airsim is running. Then:
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```
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roslaunch airsim_ros_wrapper pubImages.launch
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```
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## Nodes
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### airsim_img_publisher
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This is a client node at ([`img_publisher.py`](scripts/img_publisher.py)) interfaces with the AirSim plugin to retrieve the drone's pose and camera images **(rgb, depth)**.
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#### Published Topics
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* **`/airsim/rgb/image_raw`** ([sensor_msgs/Image])
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The rgb camera images in `rgba8` encoding.
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* **`/airsim/depth`** ([sensor_msgs/Image])
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The depth camera images in `32FC1` encoding.
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* **`/airsim/camera_info`** ([sensor_msgs/CameraInfo])
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The rgb camera paramters.
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* **`/airsim/depth/camera_info`** ([sensor_msgs/CameraInfo])
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The depth camera paramters.
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* **`/airsim/pose`** ([geometry_msgs/PoseStamped])
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The position/orientation of the quadcoper (`base_link`)
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* **`/odom`** ([nav_msgs/Odometry])
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The odometry of the quadcoper (`base_link`) in the `world` frame
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* **`/tf`**
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tf tree with the origin (`world`), the position/orientation of the quadcoper (`base_link`)
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#### Parameters
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* **Camera parameters:** `Fx`, `Fy`, `cx`, `cz`, `width`, `height`
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* **Publishing frequency:** `loop_rate`
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### airsim_follow_trajectory
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This is a client node at ([`follow_trajectory.py`](scripts/follow_trajectory.py)) interfaces with the AirSim plugin to follow a trajectory.
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#### Subscribed Topics
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* **`/trajectory/spline_marker_array`** ([visualization_msgs/MarkerArray])
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An array of waypoints to follow.
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#### Parameters
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* **Velocity:** `velocity`
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[sensor_msgs/Image]: http://docs.ros.org/api/sensor_msgs/html/msg/Image.html
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[sensor_msgs/CameraInfo]: http://docs.ros.org/api/sensor_msgs/html/msg/CameraInfo.html
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[geometry_msgs/PoseStamped]: http://docs.ros.org/melodic/api/geometry_msgs/html/msg/PoseStamped.html
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[nav_msgs/Odometry]: http://docs.ros.org/melodic/api/nav_msgs/html/msg/Odometry.html
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[visualization_msgs/MarkerArray]: http://docs.ros.org/melodic/api/visualization_msgs/html/msg/MarkerArray.html/Odometry.html

‎PythonClient/ros/airsim_ros_client/docs/dji_m100.png‎

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