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| [](https://github.com/CodexLabsLLC/Colosseum/actions/workflows/test_ubuntu.yml) | ||
| [](https://github.com/CodexLabsLLC/Colosseum/actions/workflows/test_macos.yml) | ||
| [](https://github.com/CodexLabsLLC/Colosseum/actions/workflows/test_windows.yml) | ||
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| [](https://discord.gg/y9ZJKKKn8J) | ||
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| ## Looking for more performance? | ||
| The company managing this repo created the SWARM Developer System to help build, simulate and deploy single and | ||
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@@ -13,13 +15,17 @@ multi-agent autonomous systems. Check it out here: [SWARM Developer System](http | |
| Moving forward, we are now using Unreal Engine 5 version 5.03 or greater! If you | ||
| want to use UE4.27, you can use the branch `ue4.27`. | ||
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| ## Unreal Engine Version for Main Branch | ||
| The main branch of this repository **only** supports Unreal Engine 5.2! Please see our other branches | ||
| for other versions that we support. | ||
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| ## Currently Supported Operating Systems | ||
| Below are the list of officially supported Operating Systems, with full Unreal Engine support: | ||
| ### Windows | ||
| - Windows 10 (Latest) | ||
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| ### Linux | ||
| - Ubuntu 18.04 | ||
| - ~~Ubuntu 18.04~~ (NO LONGER SUPPORTED. 18.04 is EOL so we will not be checking this anymore and GitHub doesn't support CI builds) | ||
| - Ubuntu 20.04 | ||
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| **NOTE** Ubuntu 22.04 is not currently supported due to Vulkan support. If this changes, we will notify you here. If you want to use Colosseum on 22.04, we highly recommend that you use Docker. | ||
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| This is a fork of the AirSim repository, which Microsoft decided to shutdown in July of 2022. This fork serves as a waypoint to building a new and better simulation platform. The creater and maintainer of this fork is Codex Laboratories LLC (our website is [here](https://www.codex-labs-llc.com)). Colosseum is one of the underlying simulation systems that we use in our product, the [SWARM Simulation Platform](https://www.swarmsim.io). This platform exists to provide pre-built tools and low-code/no-code autonomy solutions. Please feel free to check this platform out and reach out if interested. | ||
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| ## Join the Community | ||
| We have decided to create a Slack to better allow for community engagement. Join here: [Colosseum Slack](https://join.slack.com/t/colosseum-sim/shared_invite/zt-1qwrbtz1d-WCGpYhJ8sDrYTv8fk50pFg) | ||
| We have decided to create a Discord channel to better allow for community engagement. Join here: [Colosseum Robotics Discord](https://discord.gg/y9ZJKKKn8J). | ||
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| ## Goals and Project Development | ||
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@@ -51,142 +57,6 @@ Click [here](https://docs.google.com/document/d/1doohQTos4v1tg4Wv6SliQFnKNK1MouK | |
| If you want to be apart of the official development team, attend meetings, etc., please utilize the Slack channel (link above) and | ||
| let Tyler Fedrizzi know! | ||
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| **Check out the quick 1.5 minute demo** | ||
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| Quadrotor UAVs in Colosseum | ||
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| [](https://youtu.be/-WfTr1-OBGQ) | ||
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| Cars in Colosseum | ||
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| [](https://youtu.be/gnz1X3UNM5Y) | ||
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| ## How to Get It | ||
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| ### Windows | ||
| [](https://github.com/microsoft/AirSim/actions/workflows/test_windows.yml) | ||
| * [Download binaries](https://github.com/Microsoft/AirSim/releases) | ||
| * [Build it](https://microsoft.github.io/AirSim/build_windows) | ||
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| ### Linux | ||
| [](https://github.com/microsoft/AirSim/actions/workflows/test_ubuntu.yml) | ||
| * [Download binaries](https://github.com/Microsoft/AirSim/releases) | ||
| * [Build it](https://microsoft.github.io/AirSim/build_linux) | ||
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| ### macOS | ||
| [](https://github.com/microsoft/AirSim/actions/workflows/test_macos.yml) | ||
| * [Build it](https://microsoft.github.io/AirSim/build_macos) | ||
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| For more details, see the [use precompiled binaries](docs/use_precompiled.md) document. | ||
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| ## How to Use It | ||
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| ### Documentation | ||
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| View our [detailed documentation](https://microsoft.github.io/AirSim/) on all aspects of Colosseum. | ||
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| ### Manual drive | ||
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| If you have remote control (RC) as shown below, you can manually control the drone in the simulator. For cars, you can use arrow keys to drive manually. | ||
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| [More details](https://microsoft.github.io/AirSim/remote_control) | ||
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|  | ||
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|  | ||
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| ### Programmatic control | ||
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| Colosseum exposes APIs so you can interact with the vehicle in the simulation programmatically. You can use these APIs to retrieve images, get state, control the vehicle and so on. The APIs are exposed through the RPC, and are accessible via a variety of languages, including C++, Python, C# and Java. | ||
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| These APIs are also available as part of a separate, independent cross-platform library, so you can deploy them on a companion computer on your vehicle. This way you can write and test your code in the simulator, and later execute it on the real vehicles. Transfer learning and related research is one of our focus areas. | ||
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| Note that you can use [SimMode setting](https://microsoft.github.io/AirSim/settings#simmode) to specify the default vehicle or the new [ComputerVision mode](https://microsoft.github.io/AirSim/image_apis#computer-vision-mode-1) so you don't get prompted each time you start Colosseum. | ||
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| [More details](https://microsoft.github.io/AirSim/apis) | ||
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| ### Gathering training data | ||
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| There are two ways you can generate training data from Colosseum for deep learning. The easiest way is to simply press the record button in the lower right corner. This will start writing pose and images for each frame. The data logging code is pretty simple and you can modify it to your heart's content. | ||
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| A better way to generate training data exactly the way you want is by accessing the APIs. This allows you to be in full control of how, what, where and when you want to log data. | ||
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| ### Computer Vision mode | ||
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| Yet another way to use Colosseum is the so-called "Computer Vision" mode. In this mode, you don't have vehicles or physics. You can use the keyboard to move around the scene, or use APIs to position available cameras in any arbitrary pose, and collect images such as depth, disparity, surface normals or object segmentation. | ||
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| [More details](https://microsoft.github.io/AirSim/image_apis) | ||
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| ### Weather Effects | ||
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| Press F10 to see various options available for weather effects. You can also control the weather using [APIs](https://microsoft.github.io/AirSim/apis#weather-apis). Press F1 to see other options available. | ||
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|  | ||
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| ## Tutorials | ||
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| - [Video - Setting up Colosseum with Pixhawk Tutorial](https://youtu.be/1oY8Qu5maQQ) by Chris Lovett | ||
| - [Video - Using Colosseum with Pixhawk Tutorial](https://youtu.be/HNWdYrtw3f0) by Chris Lovett | ||
| - [Video - Using off-the-self environments with Colosseum](https://www.youtube.com/watch?v=y09VbdQWvQY) by Jim Piavis | ||
| - [Webinar - Harnessing high-fidelity simulation for autonomous systems](https://note.microsoft.com/MSR-Webinar-AirSim-Registration-On-Demand.html) by Sai Vemprala | ||
| - [Reinforcement Learning with Colosseum](https://microsoft.github.io/AirSim/reinforcement_learning) by Ashish Kapoor | ||
| - [The Autonomous Driving Cookbook](https://aka.ms/AutonomousDrivingCookbook) by Microsoft Deep Learning and Robotics Garage Chapter | ||
| - [Using TensorFlow for simple collision avoidance](https://github.com/simondlevy/AirSimTensorFlow) by Simon Levy and WLU team | ||
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| ## Participate | ||
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| ### Paper | ||
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| More technical details are available in [Colosseum paper (FSR 2017 Conference)](https://arxiv.org/abs/1705.05065). Please cite this as: | ||
| ``` | ||
| @inproceedings{airsim2017fsr, | ||
| author = {Shital Shah and Debadeepta Dey and Chris Lovett and Ashish Kapoor}, | ||
| title = {AirSim: High-Fidelity Visual and Physical Simulation for Autonomous Vehicles}, | ||
| year = {2017}, | ||
| booktitle = {Field and Service Robotics}, | ||
| eprint = {arXiv:1705.05065}, | ||
| url = {https://arxiv.org/abs/1705.05065} | ||
| } | ||
| ``` | ||
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| ### Contribute | ||
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| Please take a look at [open issues](https://github.com/microsoft/airsim/issues) if you are looking for areas to contribute to. | ||
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| * [More on Colosseum design](https://microsoft.github.io/AirSim/design) | ||
| * [More on code structure](https://microsoft.github.io/AirSim/code_structure) | ||
| * [Contribution Guidelines](CONTRIBUTING.md) | ||
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| ### Who is Using Colosseum? | ||
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| We are maintaining a [list](https://microsoft.github.io/AirSim/who_is_using) of a few projects, people and groups that we are aware of. If you would like to be featured in this list please [make a request here](https://github.com/CodexLabsLLC/Colosseum/issues). | ||
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| ## Contact | ||
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| Join our [GitHub Discussions group](https://github.com/microsoft/AirSim/discussions) to stay up to date or ask any questions. | ||
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| We also have an Colosseum group on [Facebook](https://www.facebook.com/groups/1225832467530667/). | ||
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| ## What's New | ||
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| * [Experimental Support for Unreal Engine 5.0.3](https://github.com/CodexLabsLLC/Colosseum/tree/ue5) | ||
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| For complete list of changes, view our [Changelog](docs/CHANGELOG.md) | ||
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| ## FAQ | ||
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| If you run into problems, check the [FAQ](https://codexlabsllc.github.io/Colosseum/faq) and feel free to post issues in the [Colosseum](https://github.com/CodexLabsLLC/Colosseum/issues) repository. | ||
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| ## Code of Conduct | ||
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| This project has adopted the [Microsoft Open Source Code of Conduct](https://opensource.microsoft.com/codeofconduct/). For more information see the [Code of Conduct FAQ](https://opensource.microsoft.com/codeofconduct/faq/) or contact [[email protected]](mailto:[email protected]) with any additional questions or comments. | ||
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| ## License | ||
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| This project is released under the MIT License. Please review the [License file](LICENSE) for more details. | ||
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,35 +1,19 @@ | ||
| #include <rclcpp/rclcpp.hpp> | ||
| #include "airsim_ros_wrapper.h" | ||
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| int main(int argc, char** argv) | ||
| { | ||
| int main(int argc, char **argv) { | ||
| rclcpp::init(argc, argv); | ||
| rclcpp::NodeOptions node_options; | ||
| node_options.automatically_declare_parameters_from_overrides(true); | ||
| std::shared_ptr<rclcpp::Node> nh = rclcpp::Node::make_shared("airsim_node", node_options); | ||
| std::shared_ptr<rclcpp::Node> nh_img = nh->create_sub_node("img"); | ||
| std::shared_ptr<rclcpp::Node> nh_lidar = nh->create_sub_node("lidar"); | ||
| std::shared_ptr <rclcpp::Node> nh = rclcpp::Node::make_shared("airsim_node", node_options); | ||
| std::shared_ptr <rclcpp::Node> nh_img = nh->create_sub_node("img"); | ||
| std::shared_ptr <rclcpp::Node> nh_lidar = nh->create_sub_node("lidar"); | ||
| std::string host_ip; | ||
| nh->get_parameter("host_ip", host_ip); | ||
| AirsimROSWrapper airsim_ros_wrapper(nh, nh_img, nh_lidar, host_ip); | ||
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| if (airsim_ros_wrapper.is_used_img_timer_cb_queue_) { | ||
| rclcpp::executors::SingleThreadedExecutor executor; | ||
| executor.add_node(nh_img); | ||
| while (rclcpp::ok()) { | ||
| executor.spin(); | ||
| } | ||
| } | ||
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| if (airsim_ros_wrapper.is_used_lidar_timer_cb_queue_) { | ||
| rclcpp::executors::SingleThreadedExecutor executor; | ||
| executor.add_node(nh_lidar); | ||
| while (rclcpp::ok()) { | ||
| executor.spin(); | ||
| } | ||
| } | ||
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| rclcpp::spin(nh); | ||
| rclcpp::executors::MultiThreadedExecutor executor; | ||
| executor.add_node(nh); | ||
| executor.spin(); | ||
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| return 0; | ||
| } |
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