ROS wrapper over different ports

[kanishkanarch]

What feature are you suggesting?

Overview:

Currently I am unable to retrieve ROS topics AirSim running on another port on the same machine, so I assume communication of the ROS wrapper with AirSim ports other than 41451 is not implemented yet.

Smaller Details:

Nature of Request:

• Addition
  • ROS wrapper communication with different ports of AirSim, probably as a command-line parameter argument.

Why would this feature be useful?

This will help in using ROS with AirSim running on different ports. For example, I'm using port 41455 for RL training and would like to use ROS for retrieving information in ROS format from the same port. I chose port 41455 because it's just a random nearby port and I'm not likely to interfere with that, so that RL training has no hindrance. My usual testing like SITL/HITL or whatever I want can now be done on the default AirSim port.