How to install ROS on Windows: http://wiki.ros.org/Installation/Windows
How to intall ROS on Linux (Ubuntu): http://wiki.ros.org/melodic/Installation/Ubuntu
How to install ROS on MAC: http://wiki.ros.org/kinetic/Installation/OSX/Homebrew/Source
How to use AirSim with ROS: https://microsoft.github.io/AirSim/docs/ros/
The settings.json in this folder contains camera settings that are needed to use the Lane Keep Assist. The resolution and other camera parameters should not be changed unless the LKA ROS node is changed as well
The settings.json also contains settings for Lidar sensor position and its point cloud. The vehicle's starting point in the simulation can also be edited in this file.
All commands below must be run in a ROS console. A ROS console is one which has been setup with the appropriate setup scripts and has the necessary environment variables setup.
It is recommended that developers of the system use Visual Studio Code. It is an open source IDE that contains excellent support Python and ROS APIs.
roscore is the first thing you should run when using ROS.
Creating or building a ROS workspace:
catkin_make when in project folder...
Setup the project
.\devel\setup.bat
Ensure package path is setup: echo %ROS_PACKAGE_PATH%
Getting to the log package where the logs are stored:
roscd log
rosls looks at package without absolute path.
Packages are stored in the src of the project.
Creating a new package:
Ensure that you are in the src directory
catkin_create_pkg <package name>
Build package: Run steps 1 and 2
Enable AirSim to be used with ROS
# From https://microsoft.github.io/AirSim/docs/ros/
# copy package
mkdir -p ../catkin_ws/src/airsim/scripts/airsim
cp AirSim/PythonClient/airsim/*.py ../catkin_ws/src/airsim/scripts/airsim
# copy ROS examples
cp AirSim/PythonClient/ros/*.py ../catkin_ws/src/airsim/scriptsFrom http://wiki.ros.org/ROS/Tutorials/UnderstandingNodes:
rosnode list - lists all nodes running in ROS
rosnode info /<node> - provide more information on the given node
Running a new node:
rosrun <package> <node>
View nodes and their connections
rosrun rqt_graph rqt_graph
rostopic -h - list available commands for rostopic command
echo [topic] - Shows the data published for a topic
list [/topic] - returns all topics currently subed and pubed. (-h for more details)
type [/topic] - returns the message type of the published topic
Can also use 'rosmsg show <msg type>'Publish to a topic from the command line for testing purposes:
rostopic pub [topic] [msg_type] [args]
Ex:
rostopic pub -1 /turtle1/cmd_vel geometry_msgs/Twist -- '[2.0, 0.0, 0.0]' '[0.0, 0.0, 1.8]'
http://wiki.ros.org/ROS/Tutorials/UnderstandingTopics
rosservice -h for further details.
The link above contains the valid type fields of messages and also here: http://wiki.ros.org/msg
Messages are used with Messages are contained in a msg folder in ROS package directories.
The package.xml and the CMakeLists.txt of the package must be updated to allow messages and services in the package.
rosmsg - Command to interact with messages
rossrv - Command to interact with services
Creating Publisher/Subscriber in Rospy: http://wiki.ros.org/ROS/Tutorials/WritingPublisherSubscriber%28python%29 Creating services in Rospy: http://wiki.ros.org/ROS/Tutorials/WritingServiceClient%28python%29
The link above contains an example on how to use the RQT Console and Logger.
rosrun rqt_console rqt_console - Open the console for logging of ROS nodes
rosrun rqt_logger_level rqt_logger_level - Open an application to control verbosity of logging
The link above also contains information on how to create a launch file to start multiple nodes using the roslaunch command and a .launch file.
If you are unable to find the SAVE packages in the windows workspace, please ensure that ROS_PACKAGE_PATH in the devel/setup.bat is setup correctly and there are no spaces in the path. Spaces may create issues for users.
Obstacle Avoidance: obstacle_avoid/scripts/obstacle_avoid.py
Stop Sign Detection: stop_detect/scripts/stop_detect.py
Vehicle control request (Subsumption Arch): controller/scripts/controller.py
Navigation: navigation/
ACC: acc/scripts/acc.py
LKA: lka/scripts/lanedetect.py (Identifys Lanes) and lane_keep.py (Changes steering values)