ROS interface with AirSim

[haider04]

Hi,

Is there any ROS interface available in AirSim or any API's which could do the work?
Actually i want to implement a ROS node with AirSim to check the the possibility of running my CV, AI algorithms working in AirSim?

Any leads to this will be highly appreciated. Thanks!

Regards,
Haider

[CaptainJL]

Hey,
So i am in the same boat at the moment.
I find that the PX4 (multirotor) system connects via mavros, meaning i can control a quadrotor using ROS.
But images don't naturally come out (which i am trying to solve).
The problem i am not even entirely sure how to use cmake, as all the examples are mostly for VisualStudio.

[TritonSailor]

You guys can try the sample ROS nodes I contributed a few days ago. #1135

The example drone_image_raw.py publishes uncompressed rgba image from airsim as ROS /airsim/image_raw topic. You may of course make minor edits to the example, to change AirSim camera, image type, etc.

[Mayankm96]

You may also check the ROS wrapper written by Marcelino Almeida. It can be found out here.

I have added the changes he has mentioned in my fork of AirSim which you may directly build and use.

[sytelus]

I've integrated ROS nodes by @TritonSailor in to master. Note that there have been API changes in v1.2 so I also upgraded these ROS nodes for new APIs.

@Mayankm96 - it would be great to get this code as PR :).

[Mayankm96]

@sytelus There aren't any noteworthy changes yet. I just changed the compiler from clang to gcc and made the appropriate changes as they have been suggested here. I have refactored their C++ ros wrapper to make it more cleaner and easy to understand. Should I send a PR for that instead?

[madratman]

Please see airsim_ros_pkgs and airsim_tutorial_pkgs for a ros wrapper over the multirotor API