megayeye / robond-quadrotor-unity-simulator

QuadRotor simulator for Controls and Deep Learning projects

RoboND-UnitySim

Prototype project for Robotics NanoDegree
Provides a simulation of a quad drone for controls and deep learning exercises

The project features two main environments ('scenes') to experiment with:

1. quad_indoor: a giant box sized 300m³, with a 1m tiling grid covering all sides.
2. proto4: an outdoor city environment The city scene starts with a menu to choose between controlling the quad for the Controls and Deep Learning projects, and setting up to train the neural network for the Deep Learning project. In the training mode, a human character will spawn in a random place with a random appearance, and a camera follows the person around to record.

Firing up the executable
Find your OS's executable here
Either run from a terminal or edit the app properties, and append either the word indoor or the word outdoor (or city) to the path. If nothing is specified, the indoor scene will be loaded.
For issues connecting the sim to your VM or host OS, see the troubleshooting section at the bottom.

ROS Services and Topics

Quad

quad_rotor/cmd_force

Publish force and torque using a Wrench message.

quad_rotor/cmd_vel

Publish linear and angular velocity using a Twist message

quad_rotor/pose

The Quad publishes its pose to this topic using PoseStamped

quad_rotor/imu

The Quad publishes its velocity/acceleration using an Imu

quad_rotor/gravity

Use this service to toggle gravity on/off using SetBool

quad_rotor/x_force_constrained
quad_rotor/y_force_constrained
quad_rotor/z_force_constrained

Services to constrain movement on an axis using SetBool

quad_rotor/x_torque_constrained
quad_rotor/y_torque_constrained
quad_rotor/z_torque_constrained

Services to constrain rotation on an axis using SetBool

quad_rotor/reset_orientation

Service to reset the Quad's orientation, of type SetBool (data ignored)

quad_rotor/set_pose

Service to set the Quad's position and orientation directly, using SetPose (see Assets/Scripts/Ros/SetPose.srv)

quad_rotor/clear_path

Service to reset the path planner's current path, of type SetBool (data ignored)

quad_rotor/set_path

Service to set a path to follow, of type SetPath (see Project/Assets/Scripts/Ros/SetPath.srv). Path must contain 2+ waypoints

Camera

quad_rotor/camera_pose_type

Service to set the camera's pose, of type SetInt (see Project/Assets/Scripts/Ros/SetInt.srv). Poses are:
0 - Forward / 1 - Side / 2 - Top / 3 - Iso / 4 - Free

quad_rotor/camera_distance

Set the distance of the camera to the Quad, of type SetFloat (see Project/Assets/Scripts/Ros/SetFloat.srv)

Examples

To publish an upward thrust of 0.1, use this format:

$ rostopic pub /quad_rotor/cmd_force geometry_msgs/Wrench "force:
  x: 0.0
  y: 0.0
  z: 0.1
torque:
  x: 0.0
  y: 0.0
  z: 0.0"

Note: if gravity is on, a force that small won't lift the quad off the ground

To turn on gravity, use the following:

$ rosservice call /quad_rotor/gravity "data: true"

Controlling the Quad and Camera

1. F12: toggle local control on/off
2. WSAD (arrow keys): Move around
3. Space/C: Thrust up/down
4. Q/E: Turn around
5. Scroll wheel: zoom in/out
6. RMB (hold & drag): Rotate camera
7. RMB (click): Reset camera
8. G: Gravity on/off
9. R: Reset quad orientation
10. 1-4: Switch camera views (Front/side/top/Iso)
11. P: Plot waypoint
12. O: Begin following current path
13. I: Clear all waypoints
14. L: Toggle this info on/off
15. Esc: Quit

Capturing images for deep learning (city only):

1. Fire up the executable with the city environment. Select DL Training from the menu
2. To begin recording, press R to bring up the dialog and choose where to save the recording. Select or create a convenient folder, such as in your Desktop or Documents, and confirm, and recording begins.
3. Images are captured from two cameras - one that sees the environment as you do, and one that sees in black&white as shown at the bottom right. The images are captured once every 3 seconds or so.
4. To stop recording, press R again, or simply close the executable (Esc)

Troubleshooting

ros_settings.txt
Included in the project and the executables is a config file named ros_settings.txt. This file can be used to control which IP the sim tries to connect to. Depending on your host OS and whether you're running Ros in a VM or locally, you may or may not need to modify this file for the sim to successfully talk to ros. The file begins in a a format like this:

{
	"vm-ip" : "192.168.30.111",
	"vm-port" : 11311,
	"vm-override" : true,
	"host-ip": "0.0.0.0",
	"host-override" : false
}

The first line:

"vm-ip" : "192.168.30.111",

Sets the IP where Ros is running.

"vm-port" : 11311,

This one is the port where Ros is running. You'll almost never need to modify this.

"vm-override" : true,

This controls whether the above info is used or not. If you run Ros in a VM, keep this to true. If you're running Ros locally, set it to false and sim will use 127.0.0.1.

"host-ip": "0.0.0.0",

This value can override the sim's IP to respond to requests if you're having trouble publishing or subscribing to topics, or calling services. This mostly happens when running the sim itself in Ubuntu or Debian, which have an entry in /etc/hosts linking your host's hostname to the address 127.0.1.1, which Ros (in the sim) usually has issues with. You could instead modify your hosts file, at your own risk.

"host-override" : false

If you need to change host-ip, you'll want to set this to true.

If you modify any settings in the file, you'll need to stop and play (in the Editor) or relaunch the sim afterward.

Ros is connected but topics or services are not working
If the sim appears to be connected but you're not able to publish to topics or call services, and you're not running the sim from a Linux host, your VM may be passing its hostname instead of its IP with these requests. To fix it, you'll need to set the environment variable ROS_IP. It should look something like this:

ROS_IP=192.168.30.111

With the IP being your VM's IP.
To have it set automatically, add a line like the following to your .bashrc:

export ROS_IP=`echo $(hostname -I)`

And then just run the following to reload .bashrc:

source ~/.bashrc

And relaunch the sim (or Unity). You should now be able to properly publish topics and call services.

Services work, subscribing works, publishing doesn't If this happens, whichever platform you're on, go ahead and edit the ros_settings file; Set host-override to True and set host-ip to your host's IP address. Stop any topics being published, relaunch the sim, and it should work.