AirSim配置及遇到问题汇总

AirSim

Home - AirSim

https://github.com/microsoft/AirSim

https://github.com/shuaikangma/AirSim

1. Download Binaries

Download Binaries - AirSim

./Building_99.sh -ResX=640 -ResY=480 -windowed

1. Build for ROS

ROS: AirSim ROS Wrapper - AirSim

# make sure GCC version is 8 or above
sudo apt-get install gcc-8 g++-8
gcc-8 --version

#Install ROS melodic
#Install tf2 sensor and mavros packages:
sudo apt-get install ros-melodic-tf2-sensor-msgs ros-melodic-tf2-geometry-msgs ros-melodic-mavros*
#Install catkin_tools
sudo apt-get install python-catkin-tools #or pip install catkin_tools

#Build AirSim
git clone https://github.com/Microsoft/AirSim.git
cd AirSim
#error may occur because of network setting 
#export http_proxy='http://26.26.26.1:10809'
#export https_proxy='https://26.26.26.1:10809'when run ./setup.sh 
#connect mobile phone network with vpn on
./setup.sh 
./build.sh

#Build ROS package
cd ros
catkin build -DCMAKE_C_COMPILER=gcc-8 -DCMAKE_CXX_COMPILER=g++-8
#catkin build XXX_pkgs -DCMAKE_C_COMPILER=gcc-8 -DCMAKE_CXX_COMPILER=g++-8

#Running and testing
source devel/setup.bash;
roslaunch airsim_ros_pkgs airsim_node.launch;
roslaunch airsim_ros_pkgs rviz.launch;
#Note: If you get an error running roslaunch airsim_ros_pkgs airsim_node.launch, run catkin clean and try again

1. Runing ROS

ROS: AirSim Tutorial Packages - AirSim

1. Control Move

   1. call /airsim_node/takeoff service
   2. publish /airsim_node/vel_cmd_body_frame or /airsim_node/vel_cmd_world_frame to set velocity

   source PATH_TO/AirSim/ros/devel/setup.bash
   roscd airsim_tutorial_pkgs
   #cp settings/two_drones_camera_lidar_imu.json ~/Documents/AirSim/settings.json
   cp settings/single_drone_camera_lidar_imu.json ~/Documents/AirSim/settings.json
   cp settings/single_uav_depth.json ~/Documents/AirSim/settings.json
   cp settings/single_uav_lidar.json ~/Documents/AirSim/settings.json
   
   ## Start your unreal package or binary here
   cd /home/mrmmm/AirSim_Ur/Building99/LinuxNoEditor
   ./Building_99.sh -ResX=1080 -ResY=720 -windowed
   
   cd ~/AirSim_Ur/Wall_block/LinuxNoEditor
   ./Wall_Blocks.sh -ResX=1080 -ResY=720 -windowed
   
   **roslaunch airsim_ros_pkgs airsim_node.launch**
   **roslaunch airsim_ros_pkgs rviz.launch**
   #roslaunch airsim_ros_pkgs uav_joy.launch
   roslaunch drone_exploration uav_joy.launch
   rqt
   
   #SLAM
   roslaunch fast_lio airsim_map.launch
   
   cd ~/slam_ws/ORB_SLAM/ORB_SLAM3_dense_map
   rosrun ORB_SLAM3 RGBD Vocabulary/ORBvoc.txt Examples/RGB-D/rosbag.yaml
   
   #roslaunch airsim_ros_pkgs octomap.launch
   roslaunch drone_exploration octomap.launch
   rosrun octomap_server octomap_saver -f mapfile.ot
   

2. Reset Env

   https://github.com/shuaikangma/AirSim/commit/88258528d094b2fdec1bc0f3a56d423bd12491e0

3. Collision detect

   done

   https://github.com/shuaikangma/AirSim/commit/88258528d094b2fdec1bc0f3a56d423bd12491e0

4. Bug

   If the drone go without control , reboot, may beacuse json

5. SLAM

   https://github.com/microsoft/AirSim/issues/2369

6. LogTemp: Error: Could not open output file to write voxel grid!