Comments (7)
French characters aren't an issue for us in terms of recordkeeping, but it may be some time before the leader board is able to properly display special characters
from airsim-neurips2019-drone-racing.
@ctoumieh thanks for bringing this up.
I realized they do not need to be in different reference frames as simStartRace
just teleports the meshes. The participant can simply get the start pose (via simGetVehiclePose
or simGetMultirotorState
), as done in takeoff_with_moveOnSpline()
in baseline_racer.py
. Relevant snippet:
start_position = self.airsim_client.simGetVehiclePose(vehicle_name=self.drone_name).position
takeoff_waypoint = airsim.Vector3r(start_position.x_val, start_position.y_val, -takeoff_height)
self.airsim_client.moveOnSplineAsync([takeoff_waypoint], vel_max=15.0, acc_max=5.0, add_position_constraint=True, add_velocity_constraint=False,
add_acceleration_constraint=False, viz_traj=self.viz_traj, viz_traj_color_rgba=self.viz_traj_color_rgba, vehicle_name=self.drone_name).join()
from airsim-neurips2019-drone-racing.
"drone_1" is the drone who's results will appear on the leaderboard. With regards to your reference frame issue, this is an expected behavior. Each drone has it's own reference frame based on your settings file, but simGetObjectPose
always returns poses in drone_1
's reference frame. You will have to account for that offset on your own.
(or you can specify in your settings file that both drones spawn into the same position, and then they will share an identical reference frame)
from airsim-neurips2019-drone-racing.
Ok thx!
from airsim-neurips2019-drone-racing.
@msb336 I notice the leaderboard does not display french characters. I already registered with the french team name. Is that an issue or do you prefer characters without accents?
from airsim-neurips2019-drone-racing.
Maybe kinda unrelated but @madratman how do i let drone_2 to move according to fly_through_all_gates_at_once_with_moveOnSpline().join() function ? Is it bugged or am i doing something wrong
What i do is create two objects
baseline_racer = BaselineRacer(drone_name="drone_1",viz_traj_color_rgba=[1.0, 1.0, 0.0, 1.0])
baseline_racer2 = BaselineRacer("drone_2",viz_traj_color_rgba=[1.0, 1.0, 0.0, 1.0])
Start race with either drone(doesn't matter) , initalise them and use take_off Async functions but all my commands apply for drone_1. If i dont create a drone_1 object then race starts but take off function doesn't still apply to neither drones.
I simply couldn't way to fly drone_2 . Didnt change any settings (.json)
Also
print(baseline_racer.airsim_client.simGetVehiclePose())
{ 'orientation': { 'w_val': 0.7071069478988647,
'x_val': -0.0,
'y_val': 0.0,
'z_val': 0.7071065902709961},
'position': { 'x_val': 0.75,
'y_val': -2.0,
'z_val': -3.2671926021575928}}
print(baseline_racer2.airsim_client.simGetVehiclePose())
{ 'orientation': { 'w_val': 0.7071069478988647,
'x_val': -0.0,
'y_val': 0.0,
'z_val': 0.7071065902709961},
'position': { 'x_val': 0.75,
'y_val': -2.0,
'z_val': -3.2671926021575928}}
Returns this , I gave different drone names both using drone_name ="drone_2" and just passing "drone_2"
But using this
print(baseline_racer.airsim_client.simGetVehiclePose("drone_2"))
{ 'orientation': { 'w_val': 0.7071069478988647,
'x_val': -0.0,
'y_val': 0.0,
'z_val': 0.7071065902709961},
'position': { 'x_val': -0.75,
'y_val': -3.0,
'z_val': 2.720752716064453}}
gives correct positions even though baseline object created with "drone_1"
from airsim-neurips2019-drone-racing.
@ugurkanates @ctoumieh @yannbouteiller
we just updated the python client to version 0.3.0.
drone_2 will now fly automatically as soon as you call simstartrace()
Note that for tier=2 and tier=3, simgetobjectpose() will return noisy gate poses now, so baseline_racer.py will follow these noisy poses (and probably hit stuff)
baseline_racer.py will still go through the center of gates if tier=1 is passed to simStartRace
from airsim-neurips2019-drone-racing.
Related Issues (20)
- To delete
- Deploying AirSim-based simulations on real-world systems (UAVs) HOT 1
- Fresh install and have error HOT 7
- FPV camera can not send flying drone images back (only the nonFLY drone camera work) HOT 2
- Any way to download/use just the environments? HOT 4
- How to unblock sim- APIs HOT 1
- simGetDisqualified() not working
- [Linux] AirSimExe no longer working HOT 3
- Increase Maximum Throttle HOT 1
- Race finished after reaching first gate HOT 4
- Gate passed in log file no longer updated after drone 2 overtaking HOT 1
- Fresh install crashes on startup HOT 1
- Camera settings API
- getRotorState Error
- Implementation on Pixhawk
- getting instance segmentation
- Airsim Blocks binary in docker Linux crashes after few iteration HOT 1
- Read ClockSpeed via code
- RPCError when calling simGetImages with several instances of ImageRequest
- This repo is missing important files HOT 1
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