VR4_Robotics

This repository is the project of virtual reality for robotics course.

Quick Start

Step 1:

Open PowerShell and run the ubuntu 20.04

wsl --distribution Ubuntu-20.04

Step 2: Set Desktop GUI

Follow link to setup desktop GUI Start RDP with

sudo /etc/init.d/xrdp start

Now, open Remote Desktop on your Windows host machine, and connect to localhost:3390

Step 3:

Run Airsim on Windows and ROS wrapper on WSL 2

export WSL_HOST_IP=$(cat /etc/resolv.conf | grep nameserver | awk '{print $2}')

Step 4:

Launch rosnodes

source devel/setup.bash

roslaunch airsim_ros_pkgs airsim_node.launch output:=screen host:=$WSL_HOST_IP

roslaunch airsim_tutorial_pkgs front_stereo_and_center_mono.launch

Step 5:

Now open .sln file with visual studio 2022 and open project file and press F5 to run. This will launch the envoronment in unreal engine

Step 6:

Press play and this will start the simulation with drone

Step 7:

Clone this repository as it contains the package to teloperate drone in the environment. Now launch airsim_teleop to control the drone to teleoperate in the environment

rosrun airsim_teleop teleop_twist_keyboard2.py

roslaunch rtabmap_launch rtabmap.launch \
    rtabmap_args:="--delete_db_on_start --Optimizer/GravitySigma 0.3" \
    depth_topic:=/airsim_node/Drone_1/camera_1/DepthPlanar/compressed \
    rgb_topic:=/airsim_node/Drone_1/camera_1/Scene/compressed \
    camera_info_topic:=/airsim_node/Drone_1/camera_1/Scene/camera_info \
    approx_sync:=false \
    wait_imu_to_init:=true \
    imu_topic:=/airsim_node/Drone_1/imu/imu_1