ROS2 command in terminal.

[YunwooLee94]

I am trying to fly a drone using ROS2 wrapper.
Could you share an example of using "ros2 topic pub" on the terminal to publish "airsim_node/<drone_name>/vel_cmd_body_frame" in order to control a drone using ROS2 wrapper?

ros2 topic pub -r 10 /airsim_node/Drone1/vel_cmd_world_frame airsim_interfaces/msg/VelCmd twist:
\ \ linear:
\ \ \ \ x:\ 0.0
\ \ \ \ y:\ 0.0
\ \ \ \ z:\ 1.0
\ \ angular:
\ \ \ \ x:\ 0.0
\ \ \ \ y:\ 0.0
\ \ \ \ z:\ 0.0\

This causes following errors.

yaml.scanner.ScannerError: mapping values are not allowed here
in "", line 1, column 15:
twist: linear: x: 0.0 y: 0.0 z: 1.0 ...

In addition, I use ros-foxy.

Thanks all

[YunwooLee94]

Instead of using "tab", I used "{twist: {linear:{x: 0.0, y: 0.0, z: -1.0}, angular:{x: 0.0, y: 0.0, z: 0.0}}}".
And it worked.

[Robotgir]

@YunwooLee94
I am trying to run a basic example of roswrapper and airsim. drone takeoff!
Below is my setup.

• airsim and UR in docker container by runing the command ./run_airsim_image_binary.sh airsim_binary:11.3.1-devel-ubuntu18.04 Blocks/LinuxNoEditor/Blocks.sh -windowed -ResX=1080 -ResY=720'
• roswrapper in docker container by running the command docker run --rm -it --network=test_network --name ros2wrapper -v :/home/testuser/AirSim airsim-ros2:latest bash
• until this point i am able to run both docker containers and start blocks environment via airsim related container and run airsim_node via roswrapper vontainer, i have made sure these both docker containers communicate via a test_network i created. i can ping from one container to another.

The Problem !
when i run ros2 service list i dont see the takeoff, land and other publishers and subscribers listed in the doccumentation page here

Can you please tell me if i am missing any crusial step inbetween? and how to proceed from here?

Many Thanky in advance!!

[Robotgir]

Hi All, when i looked at the output of the launching the airsim_node via the launch file, i noticed that the airsim_node is named as [airsim_node-2], this number means the number of similar nodes that are running. Ideally we need only one airsim_node running. so instead of running the launch file i just launched the aursim_node using ros2 run airsim_ros_pkgs airsim_node command, and the out put is
waiting for the connection xxxx

THis means that the roswrapper is not connected to the airsim simulation environment or?
how should i make sure that they are connected? how did you guys manage to set it up?, in the doccumentation i did not come across any extra step to connect the roswrapper docker and airsim from binary docker.
Any pointers or help is welcome please!

Thanks in advance.