AirSim ROS packages: modified ros wrapper for airsim, and some vslam related tools. (Mainly focused on Car SimMode)
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.
airsim_ros_pkgs
: Modified ros wrapper for airsimairsim_car_teleop
: A keyboard teleop ros node to control the simulating Car in airsimsettings
: Vslam simulation tests setting filessimu_tools
: Simulation related tools for handling the trajectory ground truth & dataset postprocessing### 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### A self-written ROS node for the Car SimMode (No longer maintained, since microsoft/AirSim supports Car ROS node now)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
roslaunch airsim_car_teleop airsim_car_teleop_joy.launch
### 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
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