Pull Request - Point Cloud Publisher #2
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New files: airsim_iface.py - new AirSim-ROS interface node, intended to use PID loops to properly control the car in response to velocity commands published on ROS topic /cmd_vel_mux/input/teleop (change topic in line 259 when using node with robotic path planning) pid.py - PID loop code used by airsim_iface.py for throttle and steering control Instructions for installing dependencies and running have been updated for airsim_iface.py
Added function to convert depth image data from Airsim to XYZRGB point cloud ROS message, based on code from the following repos: https://github.com/Microsoft/AirSim/blob/master/PythonClient/multirotor/point_cloud.py https://github.com/spillai/pybot/blob/master/pybot/externals/ros/pointclouds.py Publisher is currently set to publish point cloud on topic front_center/point_cloud (line 322, airsim_interface.py)
new file: launch/laserscan.launch - launch file for built-in ROS node depthimage_to_laserscan.launch, converting depth image from AirSim virtual depth camera to laser scan data (emulating LIDAR unit) new file: launch/pointcloud.launch - launch file for built-in ROS nodelet point_cloud_xyzrgb, converting depth image into point cloud removed code from airsim_iface.py intended to generate point clouds Note: currently, both files appear to launch their respective nodes correctly, but neither is able to produce valid data.
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I've just updated my Python interface node with code for converting the depth image data from AirSim into ROS Pointcloud2 messages and publishing them. Could someone please look at it? Thank you.