Airsim.Client

Connects to the Airsim simulator and enables higher level procedures

from UAV.airsim_python_client import MultirotorClient
import UAV.params as params
from UAV.utils import config_dir
import logging
from UAV.airsim.client import AirSimClient

logging.basicConfig(format='%(asctime)-8s,%(msecs)-3d %(levelname)5s [%(filename)10s:%(lineno)3d] %(message)s',
                    datefmt='%H:%M:%S',
                    level=params.LOGGING_LEVEL)
logger = logging.getLogger(params.LOGGING_NAME)

from UAV.utils.display import *
from UAV.utils.sim_linux import *
from matplotlib import pyplot as plt

---

RunSim

 RunSim (name:str='Coastline', resx:int=1600, resy:int=1200,
         windowed:str|None='windowed',
         settings:str|pathlib.Path|None=None)

Run the Airsim simulator

	Type	Default	Details
name	str	Coastline	name of the simulator environment
resx	int	1600	window size x
resy	int	1200	window size y
windowed	str | None	windowed	windowed or fullscreen
settings	str | Path | None	None	settings file

rs = RunSim("AirSimNH", settings=config_dir() / "airsim_settings_high_res.json")

INFO |30.895| uav.RunSim      | sim_linux.: 75 | MainThread | MainProces | Settings file /home/john/PycharmProjects/UAV/config/airsim_settings_high_res.json found.

Starting Airsim  ['/home/john/Airsim/AirSimNH/LinuxNoEditor/AirSimNH/Binaries/Linux/AirSimNH', '-ResX=1600', '-ResY=1200', '-windowed', '-settings=/home/john/PycharmProjects/UAV/config/airsim_settings_high_res.json']
Started Airsim AirSimNH

---

AirSimClient

 AirSimClient (ip='', port:int=41451, timeout_value=3600)

Multirotor Client for the Airsim simulator with higher level procedures

	Type	Default	Details
ip	str		rpc connection address
port	int	41451	rpc connection port
timeout_value	int	3600	timeout for client ping in seconds

---

AirSimClient.place_object

 AirSimClient.place_object (name:str, x:float, y:float, z:float,
                            scale:float=1.0, physics_enabled:bool=False)

Place an object in the simulator First check to see if the asset it is based on exists

	Type	Default	Details
name	str		asset name
x	float		position x
y	float		position y
z	float		position z
scale	float	1.0	scale
physics_enabled	bool	False	physics enabled

asc = AirSimClient()

Connected!
Client Ver:1 (Min Req: 1), Server Ver:1 (Min Req: 1)

asc.place_object("Sofa_02", 5.0, 0.0, -1.0, scale=0.5 )

The sofa can be seen at the location with rs.client.simGetObjectPose("Sofa_02") The sofa can be moved with rs.move_asset(x,y,z,asset_name)

asc.simGetObjectPose("Sofa_02")

<Pose> {   'orientation': <Quaternionr> {   'w_val': nan,
    'x_val': nan,
    'y_val': nan,
    'z_val': nan},
    'position': <Vector3r> {   'x_val': nan,
    'y_val': nan,
    'z_val': nan}}

#### Get image from one camera

---

AirSimClient.get_image

 AirSimClient.get_image (camera_name:str='0', rgb2bgr:bool=False)

Get an image from cameras camera_name

	Type	Default	Details
camera_name	str	0	cameras name
rgb2bgr	bool	False	convert to bgr
Returns	ndarray		image

img = asc.get_image(rgb2bgr=True)
ax = show_image(img)

---

AirSimClient.get_images

 AirSimClient.get_images (camera_names:list=['0'], rgb2bgr:bool=False)

Get images from the simulator of cameras camera_names

	Type	Default	Details
camera_names	list	[‘0’]	cameras names
rgb2bgr	bool	False	convert to rgb
Returns	list		images

cams = ["center", "right", "left", "down"]
imgs = asc.get_images(cams, rgb2bgr=True)

_,axs = plt.subplots(2,2,figsize=(12,10))
for i,ax in enumerate(axs.flatten()): show_image(imgs[i], ax=ax, title=f' {cams[i]}')

rs.exit()

Airsim exited with rc = 143