ROS wrapper for car

[thejeshk]

Hello,

Can anyone please tell me how to use ROS Wrapper for car. I want to use Publish images package -> object detection (YOLO) node and move_base "navigation package" for navigation

But for now I want to use object detection node https://github.com/leggedrobotics/darknet_ros with my Car camera images as input

Thank you
TK

[thejeshk]

I am using

• Ubuntu 18.04
• Airsim 1.3
• ROS Melodic

Vehicle used:

My settings file:

{
"SeeDocsAt": "https://github.com/Microsoft/AirSim/blob/master/docs/settings.md",
"SettingsVersion": 1.2,
"ClockType": "",
"ClockSpeed": 1,
"LocalHostIp": "127.0.0.1",
"RecordUIVisible": true,
"LogMessagesVisible": true,
"ViewMode": "",
"RpcEnabled": true,
"EngineSound": true,
"SimMode": "Car",
"ViewMode": "SpringArmChase",
"ClockSpeed": 1.0,
"PawnPaths": {
"DefaultCar": {"PawnBP": "Class'/AirSim/VehicleAdv/X950R/X950R_Pawn.X950R_Pawn_C'"}
},
"Vehicles": {
"car_1": {
"VehicleType": "PhysXCar",
"DefaultVehicleState": "",
"AutoCreate": true,
"PawnPath": "",
"EnableCollisionPassthrogh": false,
"EnableCollisions": true,
"RC": {
"RemoteControlID": -1
},
"Sensors": {
"Imu" : {
"SensorType": 2,
"Enabled": true
},
"GPS":{
"SensorType": 3,
"Enabled": true
},
"LidarCustom": {
"SensorType": 6,
"Enabled": true,
"NumberOfChannels": 1,
"PointsPerSecond": 10800,
"X": 0,
"Y": 0,
"Z": -1,
"DrawDebugPoints": true
}
},
"Cameras": {
"front_left_custom": {
"CaptureSettings": [
{
"PublishToRos": 1,
"ImageType": 0,
"Width": 672,
"Height": 376,
"FOV_Degrees": 90,
"TargetGamma": 1.5
},
{
"PublishToRos": 1,
"ImageType": 1,
"Width": 672,
"Height": 376,
"FOV_Degrees": 90,
"TargetGamma": 1.5
}
],
"X": 2, "Y": -1, "Z": -1,
"Pitch": 0.0, "Roll": 0.0, "Yaw": 0.0
},
"front_right_custom": {
"CaptureSettings": [
{
"PublishToRos": 1,
"ImageType": 0,
"Width": 672,
"Height": 376,
"FOV_Degrees": 90,
"TargetGamma": 1.5
}
],
"X": 2, "Y": 1, "Z": -1,
"Pitch": 0.0, "Roll": 0.0, "Yaw": 0.0
}
},
"X": 2, "Y": 0, "Z": 0,
"Pitch": 0, "Roll": 0, "Yaw": 0
}
},
"SubWindows": [
{"WindowID": 1, "ImageType": 0, "CameraName": "front_left_custom", "Visible": true},
{"WindowID": 2, "ImageType": 0, "CameraName": "front_right_custom", "Visible": true}
]
}

[GimpelZhang]

Here is a PR which provides the car ros node for AirSim：#2743

It is not merged yet, but I think it will be soon.

[thejeshk]

Thank you @GimpelZhang