Time-synced stereo camera for ROS and AirSim

AirSim has been known for impossible to get time-synced stereo camera AirSim#4569, AirSim#4171, AirSim#2784.

The time delay between 2 cameras is varying around 0.05 - 0.15 seconds depends on computer specs.

This repo solves above problem using the computer vision mode inspired by VIODE.

Info

AirSim: v1.8.1 - Linux.

OS: Ubuntu 20.04 (ROS 1 - Noetic).

Unreal Engine: v4.27.

Usage

1. Clone AirSim repo, copy and replace the CMakeList.txt and package.xml into Airsim/ros/src/airsim_ros_pkgs/. Copy stereo_recording_node.cpp to Airsim/ros/src/airsim_ros_pkgs/src and build the code.
2. Record a rosbag with only 2 topics imu/Imu and odom_local_ned.
3. Correct the path and file name of the recoreded rosbag in stereo_recording_node.cpp.
4. Change the settings.json to computer vision mode.
5. Run the stereo_recording_node using rosrun.

Q&A

Contact [email protected] or make an issue for discussion.

PRs are of course welcome.