airsim之settings解析 airsim

settings.json存放的位置 【airsim之settings解析】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 #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 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& 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