airsim之settings解析

settings.json存放的位置

ubuntu： ~/Documents/Airsim

可用的设置和默认值

“SimMode”： 选择car或者miltimotor
“ViewMode”： 选择FlyWithMe（for drones）或者 SpringArmChase（for cars)
"SettingsVersion"是必须的，设为1.2

OriginGeopoint

此设置指定放置在环境中的“”Player Start“ 的纬度、经度和高度，使用该变换计算车辆的原点。请注意，该API使用的坐标都是国际单位制的NED系统，这意味着每辆车在NED系统中从（0，0，0）开始。计算“origingeopoint”中指定的地理坐标的时间设置。
NED系统即：north (x+) east(y+) down(z+) 与gazebo只有z相反

APIs for car

setCarControls：
可以设置throttle（节气门）/ steering（转向） / handbrake（手刹） / auto/manual gear（自动或手动驾驶）
getCarState：
获取speed current gear 和6个运动学参数（position orientation linear/angular velocity linear/angular acceleration）
除了angular velocity和acceleration 在车坐标系下，其他在世界坐标系 且均为NED系统

#include <iostream>
#include "vehicles/car/api/CarRpcLibClient.hpp"

int main() 
{
    msr::airlib::CarRpcLibClient client;
    client.enableApiControl(true); //this disables manual control
    CarControllerBase::CarControls controls;

    std::cout << "Press enter to drive forward" << std::endl; std::cin.get();
    controls.throttle = 1;
    client.setCarControls(controls);

    std::cout << "Press Enter to activate handbrake" << std::endl; std::cin.get();
    controls.handbrake = true;
    client.setCarControls(controls);

    std::cout << "Press Enter to take turn and drive backward" << std::endl; std::cin.get();
    controls.handbrake = false;
    controls.throttle = -1;
    controls.steering = 1;
    client.setCarControls(controls);

    std::cout << "Press Enter to stop" << std::endl; std::cin.get();
    client.setCarControls(CarControllerBase::CarControls());

    return 0;
}

sensors

每个传感器有自己对应的num：

相机

• 相机没有num

int getStereoAndDepthImages() 
{
    using namespace std;
    using namespace msr::airlib;
    
    typedef VehicleCameraBase::ImageRequest ImageRequest;
    typedef VehicleCameraBase::ImageResponse ImageResponse;
    typedef VehicleCameraBase::ImageType ImageType;

    //for car use
    //msr::airlib::CarRpcLibClient client;
    msr::airlib::MultirotorRpcLibClient client;

    //get right, left and depth images. First two as png, second as float16.
    vector<ImageRequest> request = { 
        //png format
        ImageRequest("0", ImageType::Scene),
        //uncompressed RGB array bytes
        ImageRequest("1", ImageType::Scene, false, false),       
        //floating point uncompressed image  
        ImageRequest("1", ImageType::DepthPlanner, true) 
    };

    const vector<ImageResponse>& response = client.simGetImages(request);
    //do something with response which contains image data, pose, timestamp etc
}

• barometer 气压计：1
• imu ：2
• gps ：3
• magnetometer 磁力计：4
• Distance Sensor ：5
• Lidar ：6

默认传感器：

• 飞行器：barometer imu gps magnetometer
• 车：gps

"DefaultSensors": {
    "Barometer": {
         "SensorType": 1,
         "Enabled" : true
    },
    "Imu": {
         "SensorType": 2,
         "Enabled" : true
    },
    "Gps": {
         "SensorType": 3,
         "Enabled" : true
    },
    "Magnetometer": {
         "SensorType": 4,
         "Enabled" : true
    },
    "Distance": {
         "SensorType": 5,
         "Enabled" : true
    },
    "Lidar2": { 
         "SensorType": 6,
         "Enabled" : true,
         "NumberOfChannels": 4,
         "PointsPerSecond": 10000
    }
},

C++ API

• Barometer

msr::airlib::BarometerBase::Output getBarometerData(const std::string& barometer_name, const std::string& vehicle_name);

• IMU

msr::airlib::ImuBase::Output getImuData(const std::string& imu_name = "", const std::string& vehicle_name = "");

• GPS

msr::airlib::GpsBase::Output getGpsData(const std::string& gps_name = "", const std::string& vehicle_name = "");

• Distance sensor

msr::airlib::DistanceBase::Output getDistanceSensorData(const std::string& distance_sensor_name = "", const std::string& vehicle_name = "");

• Lidar
  参考之前的