def execute(self):
#self.client.reset()
print('Scanning Has Started\n')
print('Use Keyboard Interrupt \'CTRL + C\' to Stop Scanning\n')
f = open('data.asc', "w")
try:
while True:
lidarData = self.client.getLidarData();
flag = 0
for item in lidarData.point_cloud:
if (flag == 0):
X = item
elif (flag == 1):
Y = item
else:
Z = item
flag = flag + 1
if (flag == 3):
f.write("%f %f %f %d %d %d \n" % (X,Y,Z,255,255,0))
flag=0
else:
pass
except KeyboardInterrupt:
f.close()
pass
#time.sleep(5)
airsim.wait_key('Press any key to reset to original state')
self.client.reset()
print("Done!\n")
def stop(self):
""" Safely reset and release AirSim control """
airsim.wait_key('Press any key to reset to original state')
self.client.armDisarm(False)
self.client.reset()
self.client.enableApiControl(False)
print("Done!\n")
def execute(self):
for i in range(3):
state = self.client.getCarState()
s = pprint.pformat(state)
#print("state: %s" % s)
# go forward
self.car_controls.throttle = 0.5
self.car_controls.steering = 0
self.client.setCarControls(self.car_controls)
print("Go Forward")
time.sleep(3) # let car drive a bit
# Go forward + steer right
self.car_controls.throttle = 0.5
self.car_controls.steering = 1
self.client.setCarControls(self.car_controls)
print("Go Forward, steer right")
time.sleep(3) # let car drive a bit
airsim.wait_key('Press any key to get Lidar readings')
for i in range(1, 3):
lidarData = self.client.getLidarData()
if (len(lidarData.point_cloud) < 3):
print("\tNo points received from Lidar data")
else:
points = self.parse_lidarData(lidarData)
print("\tReading %d: time_stamp: %d number_of_points: %d" %
(i, lidarData.time_stamp, len(points)))
time.sleep(5)
def setTimeOfDay(self, enabled, time_of_day):
if (enabled):
airsim.wait_key('Press any key to change time of day to [{}]'.format(time_of_day))
self.client.simSetTimeOfDay(enabled, time_of_day)
else:
airsim.wait_key('Press any key to change time of day to default time')
self.client.simSetTimeOfDay(enabled)
def execute(self, vehicle_name, lidar_names):
print('Scanning Has Started\n')
print('Use Keyboard Interrupt \'CTRL + C\' to Stop Scanning\n')
existing_data_cleared = False #change to true to superimpose new scans onto existing .asc files
try:
while True:
for lidar_name in lidar_names:
filename = f"{vehicle_name}_{lidar_name}_pointcloud.asc"
if not existing_data_cleared:
f = open(filename, 'w')
else:
f = open(filename, 'a')
lidar_data = self.client.getLidarData(
lidar_name=lidar_name, vehicle_name=vehicle_name)
for i in range(0, len(lidar_data.point_cloud), 3):
xyz = lidar_data.point_cloud[i:i + 3]
f.write("%f %f %f %d %d %d \n" %
(xyz[0], xyz[1], xyz[2], 255, 255, 0))
f.close()
existing_data_cleared = True
except KeyboardInterrupt:
airsim.wait_key('Press any key to stop running this script')
print("Done!\n")
def run(self):
while True:
command = input()
args = command.split(" ")
print("Args given", args)
command_type = args[0]
if command_type.lower() == ARM:
self.arm()
elif command_type.lower() == DISARM:
self.disarm()
elif command_type.lower() == MOVE:
self.move_to_position(args)
elif command_type.lower() == MOVE_PATH:
self.move_on_path(args)
elif command_type.lower() == HOME:
self.home()
elif command_type.lower() == TAKEOFF:
self.takeoff()
elif command_type.lower() == STATE:
self.print_stats()
elif command_type.lower() == KEYBOARD_CONTROL:
self.enter_keyboard_control()
elif command_type.lower() == STOP:
self.stop()
break
else:
print("The command given is not a valid command.")
# that's enough fun for now. let's quit cleanly
airsim.wait_key("When ready to kill")
self.client.enableApiControl(False)
def execute(self):
for i in range(3):
state = self.client.getCarState()
s = pprint.pformat(state)
#print("state: %s" % s)
# go forward
self.car_controls.throttle = 0.5
self.car_controls.steering = 0
self.client.setCarControls(self.car_controls)
print("Go Forward")
time.sleep(3) # let car drive a bit
# Go forward + steer right
self.car_controls.throttle = 0.5
self.car_controls.steering = 1
self.client.setCarControls(self.car_controls)
print("Go Forward, steer right")
time.sleep(3) # let car drive a bit
airsim.wait_key('Press any key to get Lidar readings')
for i in range(1,3):
lidarData = self.client.getLidarData();
if (len(lidarData.point_cloud) < 3):
print("\tNo points received from Lidar data")
else:
points = self.parse_lidarData(lidarData)
print("\tReading %d: time_stamp: %d number_of_points: %d" % (i, lidarData.time_stamp, len(points)))
print("\t\tlidar position: %s" % (pprint.pformat(lidarData.pose.position)))
print("\t\tlidar orientation: %s" % (pprint.pformat(lidarData.pose.orientation)))
time.sleep(5)
def initializeAirSimClient(client):
client.confirmConnection()
client.enableApiControl(True)
client.armDisarm(True)
state = client.getMultirotorState()
s = pprint.pformat(state)
print("state: %s" % s)
imu_data = client.getImuData()
s = pprint.pformat(imu_data)
print("imu_data: %s" % s)
barometer_data = client.getBarometerData()
s = pprint.pformat(barometer_data)
print("barometer_data: %s" % s)
magnetometer_data = client.getMagnetometerData()
s = pprint.pformat(magnetometer_data)
print("magnetometer_data: %s" % s)
gps_data = client.getGpsData()
s = pprint.pformat(gps_data)
print("gps_data: %s" % s)
airsim.wait_key('Press any key to takeoff')
client.takeoffAsync().join()
state = client.getMultirotorState()
print("state: %s" % pprint.pformat(state))
airsim.wait_key(
'Press any key to move vehicle to (-10, 10, -10) at 5 m/s')
def stop(self):
airsim.wait_key('Press any key to reset to original state')
self.client.reset()
self.client.enableApiControl(False)
print("Done!\n")
def stop(self):
airsim.wait_key('Press any key to reset to original state')
self.client.reset()
self.client.enableApiControl(False)
print("Done!\n")
def setTimeOfDay(self, enabled, time_of_day):
if (enabled):
airsim.wait_key(
'Press any key to change time of day to [{}]'.format(
time_of_day))
self.client.simSetTimeOfDay(enabled, time_of_day)
else:
airsim.wait_key(
'Press any key to change time of day to default time')
self.client.simSetTimeOfDay(enabled)
def enter_edit_mode(client: airsim.MultirotorClient,
points: List[Vector3r]) -> None:
mode = EditMode.TRANSLATING
step = 1.0
total = {
EditMode.TRANSLATING:
Vector3r(0, 0, 0),
# EditMode.ROTATING: Vector3r(0, 0, 0),
EditMode.SCALING:
Vector3r(1, 1, 1),
}
try:
while True:
key = ord(airsim.wait_key())
if key == 224: # arrow keys
arrow_key = ArrowKey(ord(airsim.wait_key()))
client.simFlushPersistentMarkers()
if mode == EditMode.TRANSLATING:
delta = {
ArrowKey.Up: Vector3r(step, 0, 0),
ArrowKey.Down: Vector3r(-step, 0, 0),
ArrowKey.Left: Vector3r(0, -step, 0),
ArrowKey.Right: Vector3r(0, step, 0),
}[arrow_key]
points = [point + delta for point in points]
total[EditMode.TRANSLATING] += delta
elif mode == EditMode.SCALING:
factor = {
ArrowKey.Up: 1 + step * 0.1,
ArrowKey.Down: 1 - step * 0.1,
ArrowKey.Left: 1 - step * 0.1,
ArrowKey.Right: 1 + step * 0.1,
}[arrow_key]
points = [point * factor for point in points]
total[EditMode.SCALING] *= factor
else:
assert False # TODO handle other edit modes for rotating and scaling
client.simPlotPoints(points,
Rgba.Blue,
POINT_CLOUD_POINT_SIZE,
is_persistent=True)
elif key == 27: # esc
ff.log("TRANSLATING:", total[EditMode.TRANSLATING])
ff.log("SCALING:", total[EditMode.SCALING])
return
else:
if key == ord(b"["):
step /= 2.0
elif key == ord(b"]"):
step *= 2.0
elif key == ord(b"\t"):
mode = EditMode.next(mode)
ff.log(f"{mode=} {step=}")
except KeyboardInterrupt:
return
def prepare(self):
# connect to the AirSim simulator
self.client = airsim.MultirotorClient()
self.client.confirmConnection()
self.client.enableApiControl(True)
self.client.armDisarm(True)
state = self.client.getMultirotorState()
s = pprint.pformat(state)
print("state: %s" % s)
airsim.wait_key('Press any key to takeoff')
def execute(self):
#self.client.reset()
print('Scanning Has Started\n')
print('Use Keyboard Interrupt \'CTRL + C\' to Stop Scanning\n')
f = open('data.asc', "w")
try:
while True:
lidarData = self.client.getLidarData()
[q0, q1, q2, q3] = [
lidarData.pose.orientation.w_val,
lidarData.pose.orientation.x_val,
lidarData.pose.orientation.y_val,
lidarData.pose.orientation.z_val
]
rotationMatrix = np.array(([
1 - 2 * (q2 * q2 + q3 * q3), 2 * (q1 * q2 - q3 * q0),
2 * (q1 * q3 + q2 * q0)
], [
2 * (q1 * q2 + q3 * q0), 1 - 2 * (q1 * q1 + q3 * q3),
2 * (q2 * q3 - q1 * q0)
], [
2 * (q1 * q3 - q2 * q0), 2 * (q2 * q3 + q1 * q0),
1 - 2 * (q1 * q1 + q2 * q2)
]))
flag = 0
XYZ = np.zeros((3, 1))
for item in lidarData.point_cloud:
if (flag == 0):
XYZ[0, 0] = item
elif (flag == 1):
XYZ[1, 0] = item
else:
XYZ[2, 0] = item
flag = flag + 1
if (flag == 3):
[correctedX, correctedY,
correctedZ] = np.matmul(rotationMatrix, XYZ)
finalX = correctedX + lidarData.pose.position.x_val
finalY = correctedY + lidarData.pose.position.y_val
finalZ = correctedZ + lidarData.pose.position.z_val
f.write("%f %f %f %d %d %d \n" %
(finalX, finalY, finalZ, 255, 255, 0))
flag = 0
else:
pass
except KeyboardInterrupt:
f.close()
pass
#time.sleep(5)
airsim.wait_key('Press any key to reset to original state')
self.client.reset()
print("Done!\n")
def start(client, navigators, iterations=1, snapshots=3):
for nav in navigators:
print(f"arming the drone ({nav.name})...")
client.armDisarm(True, nav.name)
# AirSim uses NED coordinates so negative axis is up
# for simplicity we'll consider no drone has already tookoff
async_call_list = []
for nav in navigators:
async_call_list.append(client.takeoffAsync(timeout_sec=10, vehicle_name=nav.name))
for task in async_call_list:
task.join() # waits for the task to complete
airsim.wait_key('Press any key to move the drones')
async_call_list = []
z_list = []
state_list = [client.getMultirotorState(nav.name) for nav in navigators]
start_list = []
for idx, nav in enumerate(navigators):
z = -nav.altitude + nav.home.z_val
z_list.append(z)
start = state_list[idx].kinematics_estimated.position
start_list.append(start)
print("{} climbing to position: {},{},{}".format(nav.name, start.x_val, start.y_val, z))
async_call_list.append(client.moveToPositionAsync(start.x_val, start.y_val, z, nav.speed,
vehicle_name=nav.name))
for idx, task in enumerate(async_call_list):
task.join() # waits for the task to complete
navigators[idx].z = z_list[idx] # FIXME
# TODO orbit and take images
airsim.wait_key('Press any key to reset to original state')
async_call_list = []
land_list = []
for idx, nav in enumerate(navigators):
if nav.z < nav.home.z_val:
print(f"{nav.name} descending")
async_call_list.append(
client.moveToPositionAsync(start_list[idx].x_val, start_list[idx].y_val, nav.home.z_val - 5,
velocity=2, vehicle_name=nav.name))
land_list.append(nav)
for task in async_call_list:
task.join() # waits for the task to complete
async_call_list = []
for nav in land_list:
async_call_list.append(client.landAsync(timeout_sec=40, vehicle_name=nav.name))
for task in async_call_list:
task.join() # waits for the task to complete
for nav in navigators:
client.armDisarm(False, nav.name)
def execute(self, vehicle_name, lidar_names):
print('Scanning Has Started\n')
print('Use Keyboard Interrupt \'CTRL + C\' to Stop Scanning\n')
existing_data_cleared = False #change to true to superimpose new scans onto existing .asc files
try:
while True:
for lidar_name in lidar_names:
filename = f"{vehicle_name}_{lidar_name}_pointcloud.asc"
if not existing_data_cleared:
f = open(filename, 'w')
else:
f = open(filename, 'a')
lidar_data = self.client.getLidarData(
lidar_name=lidar_name, vehicle_name=vehicle_name)
orientation = lidar_data.pose.orientation
q0, q1, q2, q3 = orientation.w_val, orientation.x_val, orientation.y_val, orientation.z_val
rotation_matrix = np.array(([
1 - 2 * (q2 * q2 + q3 * q3), 2 * (q1 * q2 - q3 * q0),
2 * (q1 * q3 + q2 * q0)
], [
2 * (q1 * q2 + q3 * q0), 1 - 2 * (q1 * q1 + q3 * q3),
2 * (q2 * q3 - q1 * q0)
], [
2 * (q1 * q3 - q2 * q0), 2 * (q2 * q3 + q1 * q0),
1 - 2 * (q1 * q1 + q2 * q2)
]))
position = lidar_data.pose.position
for i in range(0, len(lidar_data.point_cloud), 3):
xyz = lidar_data.point_cloud[i:i + 3]
corrected_x, corrected_y, corrected_z = np.matmul(
rotation_matrix, np.asarray(xyz))
final_x = corrected_x + position.x_val
final_y = corrected_y + position.y_val
final_z = corrected_z + position.z_val
f.write("%f %f %f %d %d %d \n" %
(final_x, final_y, final_z, 255, 255, 0))
f.close()
existing_data_cleared = True
except KeyboardInterrupt:
airsim.wait_key('Press any key to stop running this script')
print("Done!\n")
def execute(self):
print("arming the drone...")
self.client.armDisarm(True)
state = self.client.getMultirotorState()
s = pprint.pformat(state)
#print("state: %s" % s)
airsim.wait_key('Press any key to takeoff')
self.client.takeoffAsync().join()
state = self.client.getMultirotorState()
#print("state: %s" % pprint.pformat(state))
airsim.wait_key('Press any key to move vehicle to (-10, 10, -10) at 5 m/s')
self.client.moveToPositionAsync(-10, 10, -10, 5).join()
self.client.hoverAsync().join()
airsim.wait_key('Press any key to get Lidar readings')
for i in range(1,5):
lidarData = self.client.getLidarData();
if (len(lidarData.point_cloud) < 3):
print("\tNo points received from Lidar data")
else:
points = self.parse_lidarData(lidarData)
print("\tReading %d: time_stamp: %d number_of_points: %d" % (i, lidarData.time_stamp, len(points)))
print("\t\tlidar position: %s" % (pprint.pformat(lidarData.pose.position)))
print("\t\tlidar orientation: %s" % (pprint.pformat(lidarData.pose.orientation)))
time.sleep(5)
def execute(self):
print("arming the drone...")
self.client.armDisarm(True)
state = self.client.getMultirotorState()
s = pprint.pformat(state)
#print("state: %s" % s)
airsim.wait_key('Press any key to takeoff')
self.client.takeoffAsync().join()
state = self.client.getMultirotorState()
#print("state: %s" % pprint.pformat(state))
airsim.wait_key(
'Press any key to move vehicle to (-10, 10, -10) at 5 m/s')
self.client.moveToPositionAsync(-10, 10, -10, 5).join()
self.client.hoverAsync().join()
airsim.wait_key('Press any key to get Lidar readings')
for i in range(1, 5):
lidarData = self.client.getLidarData()
if (len(lidarData.point_cloud) < 3):
print("\tNo points received from Lidar data")
else:
points = self.parse_lidarData(lidarData)
print("\tReading %d: time_stamp: %d number_of_points: %d" %
(i, lidarData.time_stamp, len(points)))
time.sleep(5)
def _start_keyboard_controller(cls, client, drone_name, cur_yaw, scale,
speed, is_mininet_enabled):
# create helpers
screenshot_helper = screenshotHelper(drone_name, client)
mininet_helper = mininetHelper() if is_mininet_enabled else None
display_info = (
'Press AWSD,R(up)F(down)QE(turn left/right) key to move the drone.\n'
'Press P to take images.\n'
'Press B key to reset to original state.\n'
'Press O key to release API control.\n'
'drone will be moved {}m with speed {}m/s.\n').format(
scale, speed)
while True:
pressed_key = airsim.wait_key(display_info).decode('utf-8').upper()
log.info("pressed_key={}".format(pressed_key))
if pressed_key == 'P':
image_file_list = screenshot_helper.do_screenshot(
is_display=True)
if mininet_helper is not None:
mininet_helper.send_image(image_file_list[0])
elif pressed_key == 'O':
client.enableApiControl(False, drone_name)
break
elif pressed_key == 'B':
client.reset()
else:
move_xyz_yaw = cls._DIRECTION_DICT.get(pressed_key, None)
if move_xyz_yaw is None:
log.error('invalid key')
continue
# connect to the AirSim simulator
dx, dy, dz, cur_yaw = cls._compute_abs_direction(
cur_yaw, scale, move_xyz_yaw)
result = cls._move_drone(client,
drone_name,
dx,
dy,
dz,
cur_yaw,
speed,
mininet_helper=mininet_helper)
assert result == True
def execute(self):
print("arming the drone...")
self.client.armDisarm(True)
state = self.client.getMultirotorState()
s = pprint.pformat(state)
#print("state: %s" % s)
airsim.wait_key('Press any key to takeoff')
self.client.takeoffAsync().join()
state = self.client.getMultirotorState()
#print("state: %s" % pprint.pformat(state))
self.client.hoverAsync().join()
airsim.wait_key('Press any key to get Boundary readings')
boundary = self.client.simGetBoundary()
print(boundary)
airsim.wait_key('Press any key to set Boundary')
self.client.simEnableCustomBoundaryData(True)
for i in range(1, 5):
boundary = Boundary()
boundary.pos = state.kinematics_estimated.position
scale = 10 / i
z = boundary.pos.z_val
boundary.boundary = [
Vector3r(scale, -scale, z),
Vector3r(-scale, scale, z),
Vector3r(scale, scale, z),
Vector3r(-scale, -scale, z)
]
self.client.simSetBoundary(boundary)
boundary = self.client.simGetBoundary()
print(boundary)
time.sleep(1)
# In settings.json first activate computer vision mode:
# https://github.com/Microsoft/AirSim/blob/master/docs/image_apis.md#computer-vision-mode
import setup_path
import airsim
import pprint
import tempfile
import os
import time
pp = pprint.PrettyPrinter(indent=4)
client = airsim.VehicleClient()
airsim.wait_key('Press any key to get camera parameters')
for camera_id in range(2):
camera_info = client.simGetCameraInfo(str(camera_id))
print("CameraInfo %d: %s" % (camera_id, pp.pprint(camera_info)))
airsim.wait_key('Press any key to get images')
tmp_dir = os.path.join(tempfile.gettempdir(), "airsim_drone")
print ("Saving images to %s" % tmp_dir)
try:
for n in range(3):
os.makedirs(os.path.join(tmp_dir, str(n)))
except OSError:
if not os.path.isdir(tmp_dir):
raise
for x in range(50): # do few times
client.enableApiControl(True, "Drone6")
client.enableApiControl(True, "Drone7")
client.enableApiControl(True, "Drone8")
client.enableApiControl(True, "Drone9")
client.armDisarm(True, "Drone1")
client.armDisarm(True, "Drone2")
client.armDisarm(True, "Drone3")
client.armDisarm(True, "Drone4")
client.armDisarm(True, "Drone5")
client.armDisarm(True, "Drone6")
client.armDisarm(True, "Drone7")
client.armDisarm(True, "Drone8")
client.armDisarm(True, "Drone9")
# airsim.wait_key('Press any key to takeoff')
# client.takeoffAsync().join()
airsim.wait_key('Press any key to takeoff')
f1 = client.takeoffAsync(vehicle_name="Drone1")
f2 = client.takeoffAsync(vehicle_name="Drone2")
f3 = client.takeoffAsync(vehicle_name="Drone3")
f4 = client.takeoffAsync(vehicle_name="Drone4")
f5 = client.takeoffAsync(vehicle_name="Drone5")
f6 = client.takeoffAsync(vehicle_name="Drone6")
f7 = client.takeoffAsync(vehicle_name="Drone7")
f8 = client.takeoffAsync(vehicle_name="Drone8")
f9 = client.takeoffAsync(vehicle_name="Drone9")
f1.join()
f2.join()
f3.join()
f4.join()
f5.join()
f6.join()
for i in range(0, 6):
vehicle_name = "Drone{}".format(i)
pose_obj = client.simGetObjectPose(vehicle_name)
# pose_obj = client.simGetVehiclePose(vehicle_name=vehicle_name)
print('{} is at {}'.format(vehicle_name, pose_obj.position))
pose_obj.position.x_val = pos_init[i][0]
pose_obj.position.y_val = pos_init[i][1]
pose_obj.position.z_val = pos_init[i][2]
success = client.simSetObjectPose(vehicle_name, pose_obj, True)
# time.sleep(1)
pose_obj = client.simGetObjectPose(vehicle_name)
print('{} is at {}'.format(vehicle_name, pose_obj.position))
airsim.wait_key("Success: {}")
airsim.wait_key("Success: {}")
for i in range(0, 6):
vehicle_name = "Drone{}".format(i)
multirotor_state = client.getMultirotorState(vehicle_name=vehicle_name)
landed = multirotor_state.landed_state
if landed == airsim.LandedState.Landed:
print("taking off...")
client.takeoffAsync(vehicle_name=vehicle_name).join()
else:
print("already flying...")
client.hoverAsync(vehicle_name=vehicle_name).join()
# In settings.json first activate computer vision mode:
# https://github.com/Microsoft/AirSim/blob/master/docs/image_apis.md#computer-vision-mode
import setup_path
import airsim
import pprint
import os
import time
pp = pprint.PrettyPrinter(indent=4)
client = airsim.VehicleClient()
client.confirmConnection()
airsim.wait_key('Press any key to set camera-0 gimble to 15-degree pitch')
client.simSetCameraOrientation("0", airsim.to_quaternion(0.261799, 0, 0)); #radians
airsim.wait_key('Press any key to get camera parameters')
for camera_name in range(5):
camera_info = client.simGetCameraInfo(str(camera_name))
print("CameraInfo %d: %s" % (camera_name, pp.pprint(camera_info)))
airsim.wait_key('Press any key to get images')
for x in range(3): # do few times
z = x * -20 - 5 # some random number
client.simSetVehiclePose(airsim.Pose(airsim.Vector3r(z, z, z), airsim.to_quaternion(x / 3.0, 0, x / 3.0)), True)
responses = client.simGetImages([
airsim.ImageRequest("0", airsim.ImageType.DepthVis),
airsim.ImageRequest("1", airsim.ImageType.DepthPerspective, True),
s = pprint.pformat(imu_data)
print("imu_data: %s" % s)
barometer_data = client.getBarometerData()
s = pprint.pformat(barometer_data)
print("barometer_data: %s" % s)
magnetometer_data = client.getMagnetometerData()
s = pprint.pformat(magnetometer_data)
print("magnetometer_data: %s" % s)
gps_data = client.getGpsData()
s = pprint.pformat(gps_data)
print("gps_data: %s" % s)
airsim.wait_key('Press any key to takeoff')
print("Taking off...")
client.armDisarm(True)
client.takeoffAsync().join()
state = client.getMultirotorState()
print("state: %s" % pprint.pformat(state))
airsim.wait_key('Press any key to move vehicle to (-10, 10, -10) at 5 m/s')
client.moveToPositionAsync(-10, 10, -10, 5).join()
client.hoverAsync().join()
state = client.getMultirotorState()
print("state: %s" % pprint.pformat(state))
# In settings.json first activate computer vision mode:
# https://github.com/Microsoft/AirSim/blob/master/docs/image_apis.md#computer-vision-mode
import airsim
import cv2
import numpy as np
import setup_path
client = airsim.VehicleClient()
client.confirmConnection()
airsim.wait_key('Press any key to set all object IDs to 0')
found = client.simSetSegmentationObjectID("[\w]*", 0, True);
print("Done: %r" % (found))
#for block environment
# airsim.wait_key('Press any key to change one ground object ID')
# found = client.simSetSegmentationObjectID("Ground", 20);
# print("Done: %r" % (found))
# #regex are case insensitive
# airsim.wait_key('Press any key to change all ground object ID')
# found = client.simSetSegmentationObjectID("ground[\w]*", 22, True);
# print("Done: %r" % (found))
##for neighborhood environment
#set object ID for sky
# found = client.simSetSegmentationObjectID("SkySphere", 42, True);
# print("Done: %r" % (found))
top = np.vsplit(gray, 2)[0]
# now look at 4 horizontal bands (far left, left, right, far right) and see which is most open.
# the depth map uses black for far away (0) and white for very close (255), so we invert that
# to get an estimate of distance.
bands = np.hsplit(top, [50, 100, 150, 200])
maxes = [np.max(x) for x in bands]
min = np.argmin(maxes)
distance = 255 - maxes[min]
# sanity check on what is directly in front of us (slot 2 in our hsplit)
current = 255 - maxes[2]
if (current < 20):
client.hoverAsync().join()
airsim.wait_key("whoops - we are about to crash, so stopping!")
pitch, roll, yaw = airsim.to_eularian_angles(
client.simGetVehiclePose().orientation)
if (distance > current + 30):
# we have a 90 degree field of view (pi/2), we've sliced that into 5 chunks, each chunk then represents
# an angular delta of the following pi/10.
change = 0
driving = min
if (min == 0):
change = -2 * pi / 10
elif (min == 1):
change = -pi / 10
elif (min == 2):
import pprint
import setup_path
import tempfile
# connect to the AirSim simulator
num_agents = 10
client = airsim.MultirotorClient()
client.confirmConnection()
for i in range(0, num_agents):
client.enableApiControl(True, "Drone" + str(i))
client.armDisarm(True, "Drone" + str(i))
client.takeoffAsync(1, "Drone" + str(i))
airsim.wait_key('Press any key to continue')
for i in range(0, num_agents):
print(i)
print(client.simGetPositionWRTOrigin("Drone" + str(i)).x_val / 100.0)
print(client.simGetPositionWRTOrigin("Drone" + str(i)).y_val / 100.0)
print(client.simGetPositionWRTOrigin("Drone" + str(i)).z_val / 100.0)
airsim.wait_key('Press any key to reset to original state')
client.armDisarm(False, "Drone1")
client.armDisarm(False, "Drone2")
client.reset()
# that's enough fun for now. let's quit cleanly
client.enableApiControl(False, "Drone1")
import pprint
import setup_path
import airsim
# connect to the AirSim simulator
client = airsim.MultirotorClient()
client.confirmConnection()
client.enableApiControl(True)
client.armDisarm(True)
state = client.getMultirotorState()
s = pprint.pformat(state)
print("state: %s" % s)
airsim.wait_key('Press any key to takeoff')
client.takeoff()
state = client.getMultirotorState()
print("state: %s" % pprint.pformat(state))
airsim.wait_key('Press any key to move vehicle to (-10, 10, -10) at 5 m/s')
client.moveToPosition(-10, 10, -10, 5)
client.hover()
state = client.getMultirotorState()
print("state: %s" % pprint.pformat(state))
airsim.wait_key('Press any key to take images')
# get camera images from the car
client = airsim.MultirotorClient() # connect to the simulator
client.confirmConnection()
client.enableApiControl(True,
vehicle_name="Drone0") # enable API control on Drone0
client.armDisarm(True, vehicle_name="Drone0") # arm Drone0
client.takeoffAsync(vehicle_name="Drone0").join() # let Drone0 take-off
client.moveToPositionAsync(15, -3, -4, 5, vehicle_name="Drone0").join(
) # Drone0 moves to (15, -3, 4) at 5m/s and hovers (note the inverted Z axis)
client.hoverAsync(vehicle_name="Drone0").join(
) # .join() let the script wait for asynchronous (i.e. non-blocking) methods
raw = client.simGetImage(
"bottom_center", airsim.ImageType.Scene, vehicle_name="Drone0"
) # take an image of type "Scene" from the "bottom_center" of "Drone0"
f = open("Drone0a.png", "wb")
f.write(raw) # save the image as a PNG file
f.close()
raw = client.simGetImage(
"bottom_center", airsim.ImageType.Segmentation, vehicle_name="Drone0"
) # take an image of type "Segmentation" from the "bottom_center" of "Drone0"
f = open("Drone0b.png", "wb")
f.write(raw) # save the image as a PNG file
f.close()
airsim.wait_key('Press any key to reset') # press any key
client.armDisarm(False, vehicle_name="Drone0") # disarm Drone0
client.reset() # reset the simulation
client.enableApiControl(False,
vehicle_name="Drone0") # disable API control of Drone0
import numpy as np
import os
import tempfile
import pprint
# connect to the AirSim simulator
client = airsim.MultirotorClient()
client.confirmConnection()
client.enableApiControl(True)
client.armDisarm(True)
state = client.getMultirotorState()
s = pprint.pformat(state)
print("state: %s" % s)
airsim.wait_key('Press any key to takeoff')
client.takeoffAsync().join()
state = client.getMultirotorState()
print("state: %s" % pprint.pformat(state))
airsim.wait_key('Press any key to move vehicle to (-10, 10, -10) at 5 m/s')
client.moveToPositionAsync(-10, 10, -10, 5).join()
client.hoverAsync().join()
state = client.getMultirotorState()
print("state: %s" % pprint.pformat(state))
airsim.wait_key('Press any key to take images')
# get camera images from the car
"X": 8, "Y": 0, "Z": -2
}
}
}
"""
# connect to the AirSim simulator
client = airsim.MultirotorClient()
client.confirmConnection()
client.enableApiControl(True, "Drone1")
client.enableApiControl(True, "Drone2")
client.armDisarm(True, "Drone1")
client.armDisarm(True, "Drone2")
airsim.wait_key('Press any key to takeoff')
f1 = client.takeoffAsync(vehicle_name="Drone1")
f2 = client.takeoffAsync(vehicle_name="Drone2")
f1.join()
f2.join()
state1 = client.getMultirotorState(vehicle_name="Drone1")
s = pprint.pformat(state1)
print("state: %s" % s)
state2 = client.getMultirotorState(vehicle_name="Drone2")
s = pprint.pformat(state2)
print("state: %s" % s)
airsim.wait_key('Press any key to move vehicles')
f1 = client.moveToPositionAsync(-5, 5, -10, 5, vehicle_name="Drone1")
f2 = client.moveToPositionAsync(5, -5, -10, 5, vehicle_name="Drone2")
"""
For connecting to the AirSim drone environment and testing API functionality
"""
import setup_path
import airsim
import os
import tempfile
import pprint
# connect to the AirSim simulator
client = airsim.MultirotorClient()
client.confirmConnection()
client.enableApiControl(True)
client.armDisarm(True)
state = client.getMultirotorState()
s = pprint.pformat(state)
print("state: %s" % s)
client.moveByManualAsync(vx_max = 1E6, vy_max = 1E6, z_min = -1E6, duration = 1E10)
airsim.wait_key('Manual mode is setup. Press any key to send RC data to takeoff')
client.moveByRC(rcdata = airsim.RCData(pitch = 0.0, throttle = 1.0, is_initialized = True, is_valid = True))
airsim.wait_key('Set Yaw and pitch to 0.5')
client.moveByRC(rcdata = airsim.RCData(roll = 0.5, throttle = 1.0, yaw = 0.5, is_initialized = True, is_valid = True))
pose2 = client.simGetObjectPose("PulsingCone");
print("PulsingCone - Position: %s, Orientation: %s" % (pprint.pformat(pose2.position),
pprint.pformat(pose2.orientation)))
# search non-existent object
pose3 = client.simGetObjectPose("Non-Existent"); # should return nan pose
print("Non-Existent - Position: %s, Orientation: %s" % (pprint.pformat(pose3.position),
pprint.pformat(pose3.orientation)))
#------------------------------------ Set new pose ------------------------------------------------
# here we move with teleport enabled so collisions are ignored
pose1.position = pose1.position + airsim.Vector3r(-2, -2, -2)
success = client.simSetObjectPose("OrangeBall", pose1, True);
airsim.wait_key("OrangeBall moved. Success: %i" % (success))
# here we move with teleport enabled so collisions are not ignored
pose2.position = pose2.position + airsim.Vector3r(3, 3, -2)
success = client.simSetObjectPose("PulsingCone", pose2, False);
airsim.wait_key("PulsingCone moved. Success: %i" % (success))
# move non-existent object
success = client.simSetObjectPose("Non-Existent", pose2); # should return nan pose
airsim.wait_key("Non-Existent moved. Success: %i" % (success))
#------------------------------------ Get new pose ------------------------------------------------
pose1 = client.simGetObjectPose("OrangeBall");
print("OrangeBall - Position: %s, Orientation: %s" % (pprint.pformat(pose1.position),
# In settings.json first activate computer vision mode:
# https://github.com/Microsoft/AirSim/blob/master/docs/image_apis.md#computer-vision-mode
import setup_path
import airsim
import numpy as np
client = airsim.VehicleClient()
client.confirmConnection()
airsim.wait_key('Press any key to set all object IDs to 0')
found = client.simSetSegmentationObjectID("[\w]*", 0, True);
print("Done: %r" % (found))
#for block environment
airsim.wait_key('Press any key to change one ground object ID')
found = client.simSetSegmentationObjectID("Ground", 20);
print("Done: %r" % (found))
#regex are case insensitive
airsim.wait_key('Press any key to change all ground object ID')
found = client.simSetSegmentationObjectID("ground[\w]*", 22, True);
print("Done: %r" % (found))
##for neighborhood environment
#set object ID for sky
found = client.simSetSegmentationObjectID("SkySphere", 42, True);
print("Done: %r" % (found))
For connecting to the AirSim drone environment and testing API functionality
"""
import setup_path
import airsim
import os
import tempfile
import pprint
# connect to the AirSim simulator
client = airsim.MultirotorClient()
client.confirmConnection()
client.enableApiControl(True)
client.armDisarm(True)
state = client.getMultirotorState()
s = pprint.pformat(state)
print("state: %s" % s)
client.moveByManualAsync(vx_max=1E6, vy_max=1E6, z_min=-1E6, duration=1E10)
airsim.wait_key(
'Manual mode is setup. Press any key to send RC data to takeoff')
client.moveByRC(rcdata=airsim.RCData(
pitch=0.0, throttle=1.0, is_initialized=True, is_valid=True))
airsim.wait_key('Set Yaw and pitch to 0.5')
client.moveByRC(rcdata=airsim.RCData(
roll=1100, throttle=2000, yaw=0.0, is_initialized=True, is_valid=True))
import setup_path
import airsim
import pprint
import os
import time
pp = pprint.PrettyPrinter(indent=4)
client = airsim.VehicleClient()
client.confirmConnection()
client.reset()
airsim.wait_key('Press any key to set skin age to 1')
client.simCharSetSkinAgeing(1)
airsim.wait_key('Press any key to set skin color to 0.9')
client.simCharSetSkinDarkness(0.9)
#airsim.wait_key('Press any key to set face expression')
#client.simCharSetFaceExpression("BlendShapeNode_Smile", 1);
airsim.wait_key('Press any key to set bone pose')
client.reset()
jaw_pose = airsim.Pose()
jaw_pose.position = airsim.Vector3r(0.002, 0.001, -0.003)
jaw_pose.orientation = airsim.to_quaternion(0, 0, -.15)
client.simCharSetBonePose( "Jaw", jaw_pose);
import os
import pprint
import cv2
import numpy as np
client = airsim.MultirotorClient()
client.confirmConnection()
client.enableApiControl(True)
client.armDisarm(True)
state = client.getMultirotorState()
s = pprint.pformat(state)
print("state: %s" % s)
airsim.wait_key('type something to move')
client.takeoffAsync().join()
client.moveToPositionAsync(-40, 40, -40, 10).join()
client.hoverAsync().join()
state = client.getMultirotorState()
s = pprint.pformat(state)
print("state: %s" % s)
airsim.wait_key('press again to reset')
# exit protocol
client.armDisarm(False)
client.reset()
responses = client.simGetImages([
airsim.ImageRequest("1", airsim.ImageType.DepthPlanner, True)])
response = responses[0]
# get numpy array
img1d = response.image_data_float
# reshape array to 2D array H X W
img2d = np.reshape(img1d,(response.height, response.width))
[pos,yaw,target_dist] = predictControl.get_next_vec(img2d, uav_size, goal, pos)
moveUAV(client,pos,yaw)
if (target_dist < 1):
print('Target reached.')
airsim.wait_key('Press any key to continue')
break
# write to png
#imsave(os.path.normpath(os.path.join(tmp_dir, "depth_" + str(z) + '.png')), generate_depth_viz(img2d,5))
#pose = client.simGetPose()
#pp.pprint(pose)
#time.sleep(5)
# currently reset() doesn't work in CV mode. Below is the workaround
client.simSetVehiclePose(airsim.Pose(airsim.Vector3r(0, 0, 0), airsim.to_quaternion(0, 0, 0)), True)
import setup_path
import airsim
import pprint
import os
import time
import math
import tempfile
pp = pprint.PrettyPrinter(indent=4)
client = airsim.VehicleClient()
client.confirmConnection()
airsim.wait_key('Press any key to set camera-0 gimbal to 15-degree pitch')
camera_pose = airsim.Pose(airsim.Vector3r(0, 0, 0),
airsim.to_quaternion(math.radians(15), 0,
0)) #radians
client.simSetCameraPose("0", camera_pose)
airsim.wait_key('Press any key to get camera parameters')
for camera_name in range(5):
camera_info = client.simGetCameraInfo(str(camera_name))
print("CameraInfo %d:" % camera_name)
pp.pprint(camera_info)
tmp_dir = os.path.join(tempfile.gettempdir(), "airsim_cv_mode")
print("Saving images to %s" % tmp_dir)
try:
os.makedirs(tmp_dir)
import setup_path
import airsim
client = airsim.VehicleClient()
client.confirmConnection()
client.simEnableWeather(True)
airsim.wait_key('Press any key to enable rain at 25%')
client.simSetWeatherParameter(airsim.WeatherParameter.Rain, 0.25);
airsim.wait_key('Press any key to enable rain at 75%')
client.simSetWeatherParameter(airsim.WeatherParameter.Rain, 0.75);
airsim.wait_key('Press any key to enable snow at 50%')
client.simSetWeatherParameter(airsim.WeatherParameter.Snow, 0.50);
airsim.wait_key('Press any key to enable maple leaves at 50%')
client.simSetWeatherParameter(airsim.WeatherParameter.MapleLeaf, 0.50);
airsim.wait_key('Press any key to set all effects to 0%')
client.simSetWeatherParameter(airsim.WeatherParameter.Rain, 0.0);
client.simSetWeatherParameter(airsim.WeatherParameter.Snow, 0.0);
client.simSetWeatherParameter(airsim.WeatherParameter.MapleLeaf, 0.0);
airsim.wait_key('Press any key to enable dust at 50%')
client.simSetWeatherParameter(airsim.WeatherParameter.Dust, 0.50);
airsim.wait_key('Press any key to enable fog at 50%')
client.simSetWeatherParameter(airsim.WeatherParameter.Fog, 0.50);
import airsim
import numpy as np
import os
import tempfile
import pprint
import cv2
# connect to the AirSim simulator
client = airsim.MultirotorClient()
client.confirmConnection()
client.enableApiControl(True)
client.armDisarm(True)
import pdb
pdb.set_trace()
state = client.getMultirotorState()
airsim.wait_key('Press any key to takeoff')
client.takeoffAsync().join()
name = 0
x_val, y_val, z_val = 0, 0, -30
#while True:
# pitch = float(input("Pitch"))
# roll = float(input("Roll"))
# z = float(input("Z"))
# yaw = float(input("Yaw"))
# dur = float(input("Duration"))
# client.moveByRollPitchYawZAsync(roll,pitch,yaw,z,dur).join()
client.moveToPositionAsync(x_val,
y_val,
z_val,
5,
yaw_mode=airsim.YawMode(is_rate=False)).join()
# Establish connection with the car
client = airsim.CarClient()
client.confirmConnection()
client.enableApiControl(True)
car_controls = airsim.CarControls()
# Grab the current state of the car and print it out
state = client.getCarState()
s = pprint.pformat(state)
# File writing test: Wait for the user's key press, then write the coordinates to a file
# Wait for the user input to continue
airsim.wait_key('Press any key to continue')
# Grab the raw lidar data
lidarData = client.getLidarData()
# Make sure it is valid
if (len(lidarData.point_cloud) < 3):
print("\tNo points received from Lidar data")
else:
points = parse_lidarData(lidarData)
print("\tReading data with time_stamp: %d number_of_points: %d" %
(lidarData.time_stamp, len(points)))
points_size = len(points)
# Write the points to a file
with open("out.txt", "w") as file:
for image_type in image_type_list
]
###############################################################################
# connect to the AirSim simulator
client = airsim.MultirotorClient()
client.confirmConnection()
client.enableApiControl(True)
client.armDisarm(True)
# state = client.getMultirotorState()
# s = pprint.pformat(state)
# print("state: %s" % s)
airsim.wait_key('Press any key to takeoff')
client.takeoffAsync(timeout_sec=10).join()
# airsim.wait_key('Press any key to move vehicle to (-10, 10, -10) at 5 m/s')
# client.moveToPositionAsync(-10, 10, -10, 5).join()
client.hoverAsync().join()
airsim.wait_key('Press any key to take images')
# get camera images
responses = client.simGetImages(generateImageRequestList(camera_name='0'))
print('Retrieved images: %d' % len(responses))
tmp_dir = os.path.join('.', "airsim_drone")
try:
os.makedirs(tmp_dir)
except OSError:
if not os.path.isdir(tmp_dir):
import setup_path
import airsim
# connect to the AirSim simulator
client = airsim.MultirotorClient()
client.confirmConnection()
client.enableApiControl(True)
client.armDisarm(True)
state = client.getMultirotorState()
s = pprint.pformat(state)
print("state: %s" % s)
airsim.wait_key('Press any key to takeoff')
client.takeoff()
state = client.getMultirotorState()
print("state: %s" % pprint.pformat(state))
airsim.wait_key('Press any key to move vehicle to (-10, 10, -10) at 5 m/s')
client.moveToPosition(-10, 10, -10, 5)
client.hover()
state = client.getMultirotorState()
print("state: %s" % pprint.pformat(state))
airsim.wait_key('Press any key to take images')
# get camera images from the car