microsoft · zimmy87 · Dec 6, 2021 · Feb 4, 2021 · Mar 14, 2021 · Jul 8, 2021
diff --git a/.gitignore b/.gitignore
@@ -381,6 +381,11 @@ ros/logs/
 ros/.catkin_workspace
 ros/src/CMakeLists.txt
 
+# ROS2
+ros2/install/
+ros2/log/
+ros2/src/log
+
 # docs
 docs/README.md
 build_docs/

diff --git a/ros2/src/airsim_interfaces/CMakeLists.txt b/ros2/src/airsim_interfaces/CMakeLists.txt
@@ -0,0 +1,39 @@
+cmake_minimum_required(VERSION 3.5)
+
+project(airsim_interfaces)
+
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+find_package(ament_cmake REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(geometry_msgs REQUIRED)
+find_package(geographic_msgs REQUIRED)
+
+rosidl_generate_interfaces(${PROJECT_NAME}
+  "msg/GimbalAngleEulerCmd.msg"
+  "msg/GimbalAngleQuatCmd.msg"
+  "msg/GPSYaw.msg"
+  "msg/VelCmd.msg"
+  "msg/VelCmdGroup.msg"
+  "msg/CarControls.msg"
+  "msg/CarState.msg"
+  "msg/Altimeter.msg"
+  "msg/Environment.msg"
+  "srv/SetGPSPosition.srv"
+  "srv/Takeoff.srv"
+  "srv/TakeoffGroup.srv"
+  "srv/Land.srv"
+  "srv/LandGroup.srv"
+  "srv/Reset.srv"
+  "srv/SetLocalPosition.srv" DEPENDENCIES std_msgs geometry_msgs geographic_msgs
+)
+
+ament_export_dependencies(rosidl_default_runtime)
+ament_package()
diff --git a/ros2/src/airsim_interfaces/msg/Altimeter.msg b/ros2/src/airsim_interfaces/msg/Altimeter.msg
@@ -0,0 +1,4 @@
+std_msgs/Header header
+float32 altitude
+float32 pressure
+float32 qnh
diff --git a/ros2/src/airsim_interfaces/msg/CarControls.msg b/ros2/src/airsim_interfaces/msg/CarControls.msg
@@ -0,0 +1,8 @@
+std_msgs/Header header
+float32 throttle
+float32 brake
+float32 steering
+bool handbrake
+bool manual
+int8 manual_gear
+bool gear_immediate
diff --git a/ros2/src/airsim_interfaces/msg/CarState.msg b/ros2/src/airsim_interfaces/msg/CarState.msg
@@ -0,0 +1,8 @@
+std_msgs/Header header
+geometry_msgs/PoseWithCovariance pose
+geometry_msgs/TwistWithCovariance twist
+float32 speed
+int8 gear
+float32 rpm
+float32 maxrpm
+bool handbrake
diff --git a/ros2/src/airsim_interfaces/msg/Environment.msg b/ros2/src/airsim_interfaces/msg/Environment.msg
@@ -0,0 +1,8 @@
+std_msgs/Header header
+geometry_msgs/Vector3 position
+geographic_msgs/GeoPoint geo_point
+geometry_msgs/Vector3 gravity
+float32 air_pressure
+float32 temperature
+float32 air_density
+
diff --git a/ros2/src/airsim_interfaces/msg/GPSYaw.msg b/ros2/src/airsim_interfaces/msg/GPSYaw.msg
@@ -0,0 +1,4 @@
+float64 latitude
+float64 longitude
+float64 altitude
+float64 yaw
diff --git a/ros2/src/airsim_interfaces/msg/GimbalAngleEulerCmd.msg b/ros2/src/airsim_interfaces/msg/GimbalAngleEulerCmd.msg
@@ -0,0 +1,6 @@
+std_msgs/Header header
+string camera_name
+string vehicle_name
+float64 roll
+float64 pitch
+float64 yaw
diff --git a/ros2/src/airsim_interfaces/msg/GimbalAngleQuatCmd.msg b/ros2/src/airsim_interfaces/msg/GimbalAngleQuatCmd.msg
@@ -0,0 +1,4 @@
+std_msgs/Header header
+string camera_name
+string vehicle_name
+geometry_msgs/Quaternion orientation
diff --git a/ros2/src/airsim_interfaces/msg/VelCmd.msg b/ros2/src/airsim_interfaces/msg/VelCmd.msg
@@ -0,0 +1 @@
+geometry_msgs/Twist twist
diff --git a/ros2/src/airsim_interfaces/msg/VelCmdGroup.msg b/ros2/src/airsim_interfaces/msg/VelCmdGroup.msg
@@ -0,0 +1,2 @@
+airsim_interfaces/VelCmd vel_cmd
+string[] vehicle_names
diff --git a/ros2/src/airsim_interfaces/package.xml b/ros2/src/airsim_interfaces/package.xml
@@ -0,0 +1,26 @@
+<?xml version="1.0"?>
+<package format="3">
+  <name>airsim_interfaces</name>
+  <version>0.1.0</version>
+  <description>Contains message and service definitions used by the examples.</description>
+  <maintainer email="[email protected]">AAA</maintainer>
+  <license>Apache License 2.0</license>
+
+  <author email="[email protected]">AAA</author>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <buildtool_depend>rosidl_default_generators</buildtool_depend>
+
+  <depend>std_msgs</depend>
+  <depend>geometry_msgs</depend>
+  <depend>geographic_msgs</depend>
+
+  <exec_depend>rosidl_default_runtime</exec_depend>
+
+  <member_of_group>rosidl_interface_packages</member_of_group>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
diff --git a/ros2/src/airsim_interfaces/srv/Land.srv b/ros2/src/airsim_interfaces/srv/Land.srv
@@ -0,0 +1,3 @@
+bool wait_on_last_task
+---
+bool success
diff --git a/ros2/src/airsim_interfaces/srv/LandGroup.srv b/ros2/src/airsim_interfaces/srv/LandGroup.srv
@@ -0,0 +1,4 @@
+string[] vehicle_names
+bool wait_on_last_task
+---
+bool success
diff --git a/ros2/src/airsim_interfaces/srv/Reset.srv b/ros2/src/airsim_interfaces/srv/Reset.srv
@@ -0,0 +1,4 @@
+# string vehicle_name
+bool wait_on_last_task
+---
+bool success
diff --git a/ros2/src/airsim_interfaces/srv/SetGPSPosition.srv b/ros2/src/airsim_interfaces/srv/SetGPSPosition.srv
@@ -0,0 +1,8 @@
+float64 latitude
+float64 longitude
+float64 altitude
+float64 yaw
+string vehicle_name
+---
+#Response : return success=true, (if async=false && if setpoint reached before timeout = 30sec) || (if async=true && command sent to autopilot)
+bool success
diff --git a/ros2/src/airsim_interfaces/srv/SetLocalPosition.srv b/ros2/src/airsim_interfaces/srv/SetLocalPosition.srv
@@ -0,0 +1,11 @@
+#Request : expects position setpoint via x, y, z
+#Request : expects yaw setpoint via yaw (send yaw_valid=true)
+float64 x
+float64 y
+float64 z
+float64 yaw
+string vehicle_name
+---
+#Response : success=true - (if async=false && if setpoint reached before timeout = 30sec) || (if async=true)
+bool success
+string message
diff --git a/ros2/src/airsim_interfaces/srv/Takeoff.srv b/ros2/src/airsim_interfaces/srv/Takeoff.srv
@@ -0,0 +1,3 @@
+bool wait_on_last_task
+---
+bool success
diff --git a/ros2/src/airsim_interfaces/srv/TakeoffGroup.srv b/ros2/src/airsim_interfaces/srv/TakeoffGroup.srv
@@ -0,0 +1,4 @@
+string[] vehicle_names
+bool wait_on_last_task
+---
+bool success
diff --git a/ros2/src/airsim_ros_pkgs/CMakeLists.txt b/ros2/src/airsim_ros_pkgs/CMakeLists.txt
@@ -0,0 +1,136 @@
+cmake_minimum_required(VERSION 3.5)
+project(airsim_ros_pkgs)
+
+find_package(rclcpp REQUIRED)
+find_package(nav_msgs REQUIRED)
+find_package(geographic_msgs REQUIRED)
+find_package(std_srvs REQUIRED)
+find_package(tf2_ros REQUIRED)
+find_package(tf2_sensor_msgs REQUIRED)
+find_package(rclpy REQUIRED)
+find_package(tf2 REQUIRED)
+find_package(image_transport REQUIRED)
+find_package(geometry_msgs REQUIRED)
+find_package(cv_bridge REQUIRED)
+find_package(tf2_geometry_msgs REQUIRED)
+find_package(sensor_msgs REQUIRED)
+find_package(mavros_msgs REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+find_package(ament_cmake REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(rosidl_typesupport_cpp REQUIRED)
+find_package(rosidl_default_runtime REQUIRED)
+find_package(airsim_interfaces REQUIRED)
+find_package(OpenCV REQUIRED)
+
+set(AIRSIM_ROOT ${CMAKE_CURRENT_SOURCE_DIR}/../../../)
+
+add_subdirectory("${AIRSIM_ROOT}/cmake/rpclib_wrapper" rpclib_wrapper)
+add_subdirectory("${AIRSIM_ROOT}/cmake/AirLib" AirLib)
+add_subdirectory("${AIRSIM_ROOT}/cmake/MavLinkCom" MavLinkCom)
+
+set(CMAKE_CXX_STANDARD 14)
+set(CMAKE_CXX_FLAGS "-O3 -Wall -Wextra -Wnoexcept -Wstrict-null-sentinel")
+set(CXX_EXP_LIB "-nostdinc++ -I/usr/include/c++/8 -I/usr/include/x86_64-linux-gnu/c++/8 -nodefaultlibs 
+-l/usr/lib/x86_64-linux-gnu/libc++.so -l/usr/lib/x86_64-linux-gnu/libc++abi.so
+-lm -lc -lgcc_s -lgcc
+-lstdc++fs -fmax-errors=10")
+set(RPC_LIB_INCLUDES " ${AIRSIM_ROOT}/external/rpclib/rpclib-2.3.0/include")
+set(RPC_LIB rpc)
+message(STATUS "found RPC_LIB_INCLUDES=${RPC_LIB_INCLUDES}")
+
+set(INCLUDE_DIRS include 
+  ${AIRSIM_ROOT}/AirLib/deps/eigen3
+  ${AIRSIM_ROOT}/AirLib/include
+  ${RPC_LIB_INCLUDES}
+  ${AIRSIM_ROOT}/MavLinkCom/include
+  ${AIRSIM_ROOT}/MavLinkCom/common_utils
+  ${OpenCV_INCLUDE_DIRS}
+  )
+include_directories(${INCLUDE_DIRS})
+
+add_library(airsim_settings_parser src/airsim_settings_parser.cpp)
+target_link_libraries(airsim_settings_parser AirLib)
+
+add_library(pd_position_controller_simple src/pd_position_controller_simple.cpp)
+target_link_libraries(pd_position_controller_simple AirLib)
+ament_target_dependencies(pd_position_controller_simple 
+  rclcpp
+  nav_msgs
+  geometry_msgs
+  airsim_interfaces
+)
+
+add_library(airsim_ros src/airsim_ros_wrapper.cpp)
+target_link_libraries(airsim_ros ${OpenCV_LIBS} yaml-cpp AirLib airsim_settings_parser)
+ament_target_dependencies(airsim_ros 
+  rclcpp
+  sensor_msgs
+  geometry_msgs
+  nav_msgs
+  image_transport
+  tf2_ros
+  cv_bridge
+  airsim_interfaces
+)
+
+add_executable(airsim_node src/airsim_node.cpp)
+target_link_libraries(airsim_node airsim_ros AirLib)
+ament_target_dependencies(airsim_node 
+  rclcpp
+)
+
+add_executable(pd_position_controller_simple_node
+  src/pd_position_controller_simple_node.cpp)
+target_link_libraries(pd_position_controller_simple_node
+  pd_position_controller_simple airsim_ros AirLib)
+ament_target_dependencies(pd_position_controller_simple_node 
+  rclcpp
+)
+
+# rosidl_target_interfaces(airsim_node
+# ${PROJECT_NAME} "rosidl_typesupport_cpp")
+
+# rosidl_target_interfaces(pd_position_controller_simple_node
+#   ${PROJECT_NAME} "rosidl_typesupport_cpp")
+
+install(TARGETS airsim_node pd_position_controller_simple_node
+  DESTINATION lib/${PROJECT_NAME})
+
+install(TARGETS airsim_ros pd_position_controller_simple
+  ARCHIVE
+  DESTINATION lib
+  LIBRARY
+  DESTINATION lib)
+
+install(FILES README.md DESTINATION share/${PROJECT_NAME})
+
+install(DIRECTORY launch rviz DESTINATION share/${PROJECT_NAME})
+
+
+
+ament_export_dependencies(rclcpp)
+ament_export_dependencies(nav_msgs)
+ament_export_dependencies(geographic_msgs)
+ament_export_dependencies(std_srvs)
+ament_export_dependencies(tf2_ros)
+ament_export_dependencies(tf2_sensor_msgs)
+ament_export_dependencies(rclpy)
+ament_export_dependencies(tf2)
+ament_export_dependencies(image_transport)
+ament_export_dependencies(geometry_msgs)
+ament_export_dependencies(cv_bridge)
+ament_export_dependencies(tf2_geometry_msgs)
+ament_export_dependencies(sensor_msgs)
+ament_export_dependencies(mavros_msgs)
+ament_export_dependencies(rosidl_default_generators)
+ament_export_dependencies(ament_cmake)
+ament_export_dependencies(std_msgs)
+ament_export_dependencies(rosidl_default_runtime)
+ament_export_dependencies(airsim_interfaces)
+
+ament_export_include_directories(${INCLUDE_DIRS})
+ament_export_libraries(airsim_settings_parser pd_position_controller_simple
+  airsim_ros)
+
+ament_package()
diff --git a/ros2/src/airsim_ros_pkgs/README.md b/ros2/src/airsim_ros_pkgs/README.md
@@ -0,0 +1,3 @@
+# airsim_ros_pkgs
+
+This page has moved [here](https://github.com/microsoft/AirSim/blob/master/docs/airsim_ros_pkgs.md).
Original file line number	Diff line number	Diff line change
		@@ -0,0 +1,2 @@
		airsim_interfaces/VelCmd vel_cmd
		string[] vehicle_names
Original file line number	Diff line number	Diff line change
		@@ -0,0 +1,3 @@
		# airsim_ros_pkgs

		This page has moved [here](https://github.com/microsoft/AirSim/blob/master/docs/airsim_ros_pkgs.md).