/IntelligentUAVChampionshipSimulator

This the the repo containing all stages of the drone competition, including circle crossing, auto flight and FPV racing.

Primary LanguageDockerfileOtherNOASSERTION

自主无人机竞速模拟器使用说明

简介

RMUA2023赛季综合赛模拟器

使用说明

  1. 安装Nvidia-Docker

确保已安装 Nvidia 驱动

安装docker

  • sudo apt-get install ca-certificates gnupg lsb-release
  • sudo mkdir -p /etc/apt/keyrings
  • curl -fsSL https://download.docker.com/linux/ubuntu/gpg | sudo gpg --dearmor -o /etc/apt/keyrings/docker.gpg
  • echo "deb [arch=$(dpkg --print-architecture) signed-by=/etc/apt/keyrings/docker.gpg] https://download.docker.com/linux/ubuntu $(lsb_release -cs) stable" | sudo tee /etc/apt/sources.list.d/docker.list > /dev/null
  • sudo apt-get update
  • sudo apt-get install docker-ce docker-ce-cli containerd.io docker-compose-plugin

安装nvidia-container-toolkit

  • distribution=$(. /etc/os-release;echo $ID$VERSION_ID)
  • curl -s -L https://nvidia.github.io/nvidia-docker/gpgkey | sudo apt-key add -
  • curl -s -L https://nvidia.github.io/nvidia-docker/$distribution/nvidia-docker.list | sudo tee /etc/apt/sources.list.d/nvidia-docker.list
  • sudo apt-get update && sudo apt-get install -y nvidia-container-toolkit
  • sudo systemctl restart docker

设置用户组，消除 sudo 限制

  • sudo groupadd docker
  • sudo gpasswd -a $USER docker
  • 注销账户并重新登录使新的用户组生效
  • sudo service docker restart

  1. 安装ROS-Noetic

  • sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
  • sudo apt install curl
  • curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
  • sudo apt update
  • sudo apt install ros-noetic-desktop-full
  • sudo apt install python3-catkin-tools

  1. 使用模拟器

本机启动

  • cd /path/to/IntelligentUAVChampionshipSimulator
  • wget https://stg-robomasters-hz-q0o2.oss-cn-hangzhou.aliyuncs.com/uasim_student_230905_r3_shipping.zip
  • unzip uasim_student_230905_r3_shipping.zip
  • mkdir ~/Documents/AirSim
  • cp settings.json ~/Documents/AirSim
  • 渲染模式 ./run_simulator.sh
  • 后台模式 ./run_simulator_offscreen.sh
    注意：脚本中的 -seed 参数为模拟器的随机种子，可根据需要修改
    pic
  • 使用ros查看主题
  • source /opt/ros/noetic/setup.bash
  • rostopic list
    pic

Docker启动

  • cd /path/to/IntelligentUAVChampionshipSimulator
  • docker build -t simulator .
  • ./run_docker_simulator.sh 123
    注意：Docker仅支持后台模式运行,启动脚本后第一个参数 123 是模拟器的随机种子，可根据需要修改
  • 使用ros查看主题
  • source /opt/ros/noetic/setup.bash
  • rostopic list
    pic

ros数据交互

pic

用于获取数据的可订阅的主题

  • 下视相机
    /airsim_node/drone_1/bottom_center/Scene
  • 双目左rgb图
    /airsim_node/drone_1/front_left/Scene
  • 双目右rgb图
    /airsim_node/drone_1/front_right/Scene
  • imu数据
    /airsim_node/drone_1/imu/imu
  • 无人机状态真值
    /airsim_node/drone_1/debug/pose_gt
  • gps数据
    /airsim_node/drone_1/pose
  • 障碍圈位姿真值
    /airsim_node/drone_1/debug/circle_poses_gt
  • 障碍圈参考位姿
    /airsim_node/drone_1/circle_poses
  • 赛道中生成的树的真实位置
    /airsim_node/drone_1/debug/tree_poses_gt
  • 电机输入PWM信号(0:右前, 1:左后, 2:左前, 3:右后)
    /airsim_node/drone_1/rotor_pwm

用于发送指令的主题

  • 姿态控制
    /airsim_node/drone_1/pose_cmd_body_frame
  • 速度控制
    /airsim_node/drone_1/vel_cmd_body_frame
  • 角速度推力控制
    /airsim_node/drone_1/angle_rate_throttle_frame

可用服务

  • 起飞
    /airsim_node/drone_1/takeoff
  • 降落
    /airsim_node/drone_1/land
  • 重置
    /airsim_node/reset

注意:

服务器仅开放 下视相机, 双目左rgb图, 双目右rgb图, gps数据, 障碍圈参考位姿, imu数据， 规则手册中未提及的话题(无人机状态真值, 障碍圈位姿真值, 赛道中生成的树的真实位置, 电机输入PWM信号)仅供调试程序使用。