2019-11-07 21:31:15 -08:00
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import setup_path
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2018-06-17 04:19:13 -07:00
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import airsim
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2018-06-15 02:59:05 -07:00
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import sys
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import time
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2019-12-12 02:43:57 -08:00
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print("""This script is designed to fly on the streets of the Neighborhood environment
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and assumes the unreal position of the drone is [160, -1500, 120].""")
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2018-06-15 21:27:58 -07:00
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client = airsim.MultirotorClient()
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2018-06-15 02:59:05 -07:00
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client.confirmConnection()
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client.enableApiControl(True)
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2019-11-07 21:31:15 -08:00
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print("arming the drone...")
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2018-11-29 20:01:22 -08:00
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client.armDisarm(True)
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2019-11-16 17:17:13 -08:00
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state = client.getMultirotorState()
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if state.landed_state == airsim.LandedState.Landed:
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2018-11-29 20:01:22 -08:00
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print("taking off...")
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client.takeoffAsync().join()
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else:
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client.hoverAsync().join()
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2018-06-15 02:59:05 -07:00
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2019-11-07 21:31:15 -08:00
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time.sleep(1)
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2019-11-16 17:17:13 -08:00
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state = client.getMultirotorState()
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if state.landed_state == airsim.LandedState.Landed:
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2019-11-07 21:31:15 -08:00
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print("take off failed...")
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sys.exit(1)
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2018-06-15 02:59:05 -07:00
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# AirSim uses NED coordinates so negative axis is up.
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2021-04-29 15:59:31 -07:00
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# z of -5 is 5 meters above the original launch point.
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z = -5
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print("make sure we are hovering at {} meters...".format(-z))
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2019-11-07 21:31:15 -08:00
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client.moveToZAsync(z, 1).join()
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2018-06-15 02:59:05 -07:00
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# see https://github.com/Microsoft/AirSim/wiki/moveOnPath-demo
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# this method is async and we are not waiting for the result since we are passing timeout_sec=0.
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2019-11-07 21:31:15 -08:00
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print("flying on path...")
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2019-12-12 02:43:57 -08:00
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result = client.moveOnPathAsync([airsim.Vector3r(125,0,z),
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airsim.Vector3r(125,-130,z),
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airsim.Vector3r(0,-130,z),
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airsim.Vector3r(0,0,z)],
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2019-11-07 21:31:15 -08:00
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12, 120,
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2018-06-17 04:19:13 -07:00
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airsim.DrivetrainType.ForwardOnly, airsim.YawMode(False,0), 20, 1).join()
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2019-11-09 15:27:48 -08:00
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2019-11-11 14:48:32 -08:00
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# drone will over-shoot so we bring it back to the start point before landing.
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2018-06-15 21:27:58 -07:00
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client.moveToPositionAsync(0,0,z,1).join()
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2019-11-11 20:27:45 -08:00
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print("landing...")
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2018-11-30 21:26:46 -08:00
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client.landAsync().join()
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2019-11-11 20:27:45 -08:00
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print("disarming...")
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2018-06-15 02:59:05 -07:00
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client.armDisarm(False)
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client.enableApiControl(False)
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2019-11-11 20:27:45 -08:00
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print("done.")
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