def fly(client: airsim.MultirotorClient, args: argparse.Namespace) -> None:
if args.verbose:
print(
f"[ff] HomeGeoPoint: {Vec3.from_GeoPoint(client.getHomeGeoPoint())}\n"
)
print(
f"[ff] VehiclePose.position: {Vec3.from_Vector3r(client.simGetVehiclePose().position)}\n"
)
initial_state = client.getMultirotorState()
if initial_state.landed_state == airsim.LandedState.Landed:
print(f"[ff] Taking off")
client.takeoffAsync(timeout_sec=8).join()
else:
client.hoverAsync().join() # airsim.LandedState.Flying
#__move_on_path(client, args.flight_path, args.flight_velocity)
#__move_on_box(client, z=-20, side=20, velocity=args.flight_velocity)
if not args.use_viewpoints:
future = client.moveOnPathAsync([
airsim.Vector3r(coord.x, coord.y, coord.z)
for coord in args.flight_path
], args.flight_velocity)
else:
import viewpoints
future = client.moveOnPathAsync(
[airsim.Vector3r(*position) for position in viewpoints.Positions],
args.flight_velocity)
print(f"[ff] Press [space] to take pictures")
ch, img_count, img_responses = msvcrt.getch(), 0, []
while ch == b' ':
img_responses.extend(
client.simGetImages([
airsim.ImageRequest(
ff.CameraName.bottom_center,
airsim.ImageType.Scene,
False,
True # compressed PNG image
)
]))
img_count += 1
print(f" {img_count} pictures taken", end="\r")
ch = msvcrt.getch()
print()
print(f"[ff] Waiting for drone to finish path...", end=" ", flush=True)
future.join()
print(f"done.")
for i, response in enumerate(img_responses):
airsim.write_file(os.path.join(args.output_folder, f"out_{i}.png"),
response.image_data_uint8)
time.sleep(4)
print(f"[ff] Drone reset")
client.reset()
def fly(client: airsim.MultirotorClient, args: argparse.Namespace) -> None:
initial_pose = client.simGetVehiclePose()
initial_state = client.getMultirotorState()
if args.verbose:
ff.print_pose(initial_pose,
to_eularian_angles=airsim.to_eularian_angles)
if initial_state.landed_state == airsim.LandedState.Landed:
print("[ff] Taking off")
client.takeoffAsync(timeout_sec=8).join()
else:
client.hoverAsync().join() # airsim.LandedState.Flying
print("[ff] Flying viewpoints...")
print("[ff] Press [space] to take pictures (or any other key to stop)"
) # TODO
future = _move_by_path(client, args)
img_count = 0
while True:
if msvcrt.kbhit():
if msvcrt.getch() != b" ":
break # https://stackoverflow.com/a/13207813
response, *_ = client.simGetImages([
airsim.ImageRequest(
ff.CameraName.front_center,
airsim.ImageType.Scene,
False,
True, # compressed PNG image
)
])
img_count += 1
print(f" {img_count} pictures taken", end="\r")
airsim.write_file(
os.path.join(args.output_folder, f"out_{img_count}.png"),
response.image_data_uint8,
)
# TODO save poses to .log file
print("camera_position:", response.camera_position) # Vector3r
print("camera_orientation:",
response.camera_orientation) # Quaternionr
print()
print(f"[ff] Waiting for drone to finish path...", end=" ", flush=True)
future.join()
print("done")
time.sleep(4)
client.reset()
print("[ff] Drone reset")
class ImagePublisher(Node):
def __init__(self, rate=60):
super().__init__("airsim_images")
# Create timer for calling publish at predefined rate
self.create_timer(1/rate, self.publish)
# AirSim variables
self._airsim_client = MultirotorClient(ip=os.environ["WSL_HOST_IP"])
# self._camera_name = "front_center"
self._camera_name = "bottom_center"
self._camera_frame_id = "realsense"
self._vehicle_name = self.get_namespace().split("/")[1]
# ROS Publishers
# self._pub_ir = self.create_publisher(Image, "ir/image_raw", 1)
self._pub_color = self.create_publisher(Image, "color/image_raw", 1)
# self._pub_depth = self.create_publisher(Image, "depth/image_raw", 1)
# self._pub_info_ir = self.create_publisher(CameraInfo, "ir/camera_info", 1)
self._pub_info_color = self.create_publisher(CameraInfo, "color/camera_info", 1)
# self._pub_depth = self.create_publisher(Image, "depth/image_raw", 1)
# TF related variables
self.br = TransformBroadcaster(self)
# CV
self.bridge = CvBridge()
# Internal variables
self._cam_info_msgs = {}
self.get_logger().info("Initialized image publisher")
def publish(self):
"""Publish images from AirSim to ROS"""
responses = self._airsim_client.simGetImages([
# uncompressed RGB array bytes
ImageRequest(self._camera_name, ImageType.Scene, compress=False),
# # infrared uncompressed image
# ImageRequest(self._camera_name, ImageType.Infrared, compress=False),
# # floating point uncompressed image
# ImageRequest(self._camera_name, ImageType.DepthPlanner, pixels_as_float=True, compress=False),
], self._vehicle_name)
color_response = responses[0]
# ir_response = responses[1]
# depth_response = responses[2]
header = Header()
header.stamp = self.get_clock().now().to_msg()
# TODO: implement parameter for frame id, also decide on if each separate image type should have a different frame id
# This may mean we should load the ids via ros parameters
header.frame_id = self._camera_frame_id
# Handle cam info it has not been found yet
if self._vehicle_name not in self._cam_info_msgs.keys():
self._cam_info_msgs[self._vehicle_name] = {}
cam_info = self._airsim_client.simGetCameraInfo(self._camera_name, self._vehicle_name)
d_params = self._airsim_client.simGetDistortionParams(self._camera_name, self._vehicle_name)
self.get_logger().info(f"{d_params}")
self.get_logger().info(f"""
HFOV: {cam_info.fov},
PROJ: {cam_info.proj_mat}
""")
# TODO: implement multiple cameras for each lens on realsense and update this method
self._cam_info_msgs[self._vehicle_name]["color"] = construct_info(header, cam_info, color_response.height, color_response.width)
# self._cam_info_msgs[self._vehicle_name]["ir"] = self._cam_info_msgs[self._vehicle_name]["color"]
image_color = construct_image(header, color_response, "bgr8")
# image_ir = construct_image(header, ir_response, "rgb8")
# image_depth = construct_image(header, depth_response, "rgb8")
# TODO: use camera pose from airsim
tfmsg = TransformStamped()
translation = Vector3(x=0., y=0., z=0.)
tfmsg.transform.translation = translation
tfmsg.transform.rotation = Quaternion(x=0., y=0., z=0., w=1.)
tfmsg.child_frame_id = self._camera_frame_id
tf_header = Header()
tf_header.stamp = header.stamp
tfmsg.header = tf_header
tfmsg.header.frame_id = "world"
self.br.sendTransform(tfmsg)
self._pub_color.publish(image_color)
# self._pub_ir.publish(image_ir)
# self._pub_depth.publish(image_depth)
self._pub_info_color.publish(self._cam_info_msgs[self._vehicle_name]["color"])
class Drone(Thread):
def __init__(self, telemetry: Telemetry):
super(Drone, self).__init__()
self.daemon = True
self._exit = False
self.telemetry = telemetry
self.client: Optional[MultirotorClient] = None
self.connect()
self.controller = Controller(self.client, self.telemetry)
self.collision_type = CollisionType.NONE
def run(self):
while not self._exit:
try:
self._process()
except BufferError:
pass
except KeyboardInterrupt:
self.shutdown()
def _process(self):
self.update_telemetry()
if self.is_collision():
self.process_collision()
elif self.telemetry.collision_mode:
self.stop_collision()
else:
self.controller.check_progress()
time.sleep(0.1)
def shutdown(self):
self._exit = True
self.client.enableApiControl(False)
self.client.reset()
def connect(self):
self.client = MultirotorClient()
self.client.confirmConnection()
self.client.enableApiControl(True)
self.client.getBarometerData()
# region TELEMETRY
def update_telemetry(self):
multirotor_state = self.client.getMultirotorState()
self.telemetry.landed_state = multirotor_state.landed_state
self.telemetry.ned_position = multirotor_state.kinematics_estimated.position
self.telemetry.linear_velocity = multirotor_state.kinematics_estimated.linear_velocity
self.telemetry.gps_position = self.client.getGpsData().gnss.geo_point
self.telemetry.gps_home = self.client.getHomeGeoPoint()
self.telemetry.quaternion = self.client.simGetVehiclePose().orientation
self.get_front_camera_image()
self.get_bottom_camera_image()
def get_bottom_camera_image(self):
self.client.simSetCameraOrientation('0',
Quaternionr(0.0, -0.7, 0.0, 0.5))
bottom_camera_data = self.client.simGetImages([
airsim.ImageRequest("0",
airsim.ImageType.DepthPlanner,
pixels_as_float=True)
])
self.telemetry.terrain_collision.process_image(bottom_camera_data[0])
def get_front_camera_image(self):
self.client.simSetCameraOrientation('0',
Quaternionr(0.0, 0.0, 0.0, 1.0))
front_camera_data = self.client.simGetImages([
airsim.ImageRequest("0",
airsim.ImageType.DepthPlanner,
pixels_as_float=True)
])
self.telemetry.wall_collision.process_image(front_camera_data[0])
# endregion
# region COLLISION
def is_collision(self):
collision = (self.telemetry.wall_collision.collision
or self.telemetry.terrain_collision.collision)
return collision
def process_collision(self):
wall_collision = self.telemetry.wall_collision.collision
terrain_collision = self.telemetry.terrain_collision.collision
if wall_collision:
if terrain_collision:
self.wall_collision()
self.collision_type = CollisionType.BOTH
else:
self.wall_collision()
self.collision_type = CollisionType.WALL
else:
if terrain_collision:
self.terrain_collision()
self.collision_type = CollisionType.TERRAIN
else:
self.collision_type = CollisionType.NONE
def wall_collision(self):
if (self.collision_type != CollisionType.WALL
and self.collision_type != CollisionType.BOTH):
self.telemetry.collision_mode = True
self.client.moveToZAsync(-500, settings.COLLISION_SPEED)
def terrain_collision(self):
if self.collision_type != CollisionType.TERRAIN:
if self.telemetry.ned_position.z_val < -8:
self.telemetry.collision_mode = True
target = self.telemetry.target_position
actual = self.telemetry.ned_position
self.client.moveToPositionAsync(target.x_val, target.y_val,
actual.z_val - 1,
settings.COLLISION_SPEED)
def stop_collision(self):
self.controller.send_position()
self.telemetry.collision_mode = False