Airsim和ROS直连（自带飞控）

安装Airsim

git clone https://github.com/Microsoft/AirSim.git
cd AirSim
./setup.sh
./build.sh

安装好了之后编译ROS包

cd AirSim/ros
catkin build -DCMAKE_C_COMPILER=gcc-8 -DCMAKE_CXX_COMPILER=g++-8
catkin build

编译两次就好了

打开airsim_ros_pkgs的airsim_node.launch

修改配置把host修改成你UE4的IP

<launch>
	<arg name="output" default="screen"/>
	<arg name="publish_clock" default="false"/>
	<arg name="is_vulkan" default="true"/>
	<arg name="host" default="192.168.1.12" />

	<node name="airsim_node" pkg="airsim_ros_pkgs" type="airsim_node" output="$(arg output)">
		<param name="is_vulkan" type="bool" value="false" /> 
		<!-- ROS timer rates. Note that timer callback will be processed at maximum possible rate, upperbounded by the following ROS params -->
		<param name="update_airsim_img_response_every_n_sec" type="double" value="0.05" /> 
		<param name="update_airsim_control_every_n_sec" type="double" value="0.01" />
		<param name="update_lidar_every_n_sec" type="double" value="0.01" />
		<param name="publish_clock" type="bool" value="$(arg publish_clock)" />
		<param name="host_ip" type="string" value="$(arg host)" />
	</node>

	<!-- Static transforms -->
	<include file="$(find airsim_ros_pkgs)/launch/static_transforms.launch"/>
</launch>

source devel/setup.bash;
roslaunch airsim_ros_pkgs airsim_node.launch;

就可以了

roslaunch airsim_ros_pkgs rviz.launch;