Sensors from JSON and more by ACLeighner · Pull Request #2821 · microsoft/AirSim

ACLeighner · 2020-07-01T06:41:35Z

Proposing a few changes here:
-Added ability to load parameters for JSON for Barometer, Distance Sensor, IMU, GPS, Magnetometer
-Small change to python types doc, fixes a change I proposed before with better datatypes (float vs quaternion) for distance sensor
-Small change to documentation on linux build, sometimes deleting the 'binaries' and 'intermediate' folders in your unreal project after rebuilding airsim can fix errors where unreal tries to open content that doesnt exist anymore and causes the 'try rebuilding from source' error
-small change to move on path, replaces the position PID to use the velocity PID when traveling at constant altitude, elimnates shake problems

TODO:
-did not update documentation to show the new fields available for settings...

ghost · 2020-07-01T06:41:47Z

All CLA requirements met.

rajat2004

Great PR! Adding settings for all the sensors will be a great addition. Just a few comments -

Would be great if the indentation would be consistent, tabs and spaces are intermixed, will be better to use 4 spaces throughout
There's an open PR #2807 which exposes the settings for Distance sensor, along with adding an option for drawing debug point like Lidar. It might be better to do all the Distance sensor changes in that PR since will make it easier to review and avoid merge conflicts

rajat2004 · 2020-07-01T10:09:52Z

Unreal/Plugins/AirSim/AirSim.uplugin

-  "Version" : "1.3.1",
-  "VersionName": "1.3.1",
+  "Version" : "1.2.0",
+  "VersionName": "1.2.0",


Probably unintentional change, should be reversed

rajat2004 · 2020-07-01T10:12:57Z

docs/build_linux.md

  * If this is the case then look for *.gch file(s) that follows after that message, delete them and try again. Here's [relevant thread](https://answers.unrealengine.com/questions/412349/linux-ue4-build-precompiled-header-fatal-error.html) on Unreal Engine forums.
  * If you see other compile errors in console then open up those source files and see if it is due to changes you made. If not, then report it as issue on GitHub.
+  * Additionally, if you are having trouble rebuilding the plugin in UE4 after making changes to the AirSim library, you may need to manually delete the binaries and intermediate folders in both your Unreal Project folder, and in the UnrealProject/Plugin/AirSim folder.  This will force clang to recompile both the UE4 project and plugin and may resolve issues of "clang could not find file x"



Maybe add a line here regarding clean.sh which does all this

rajat2004 · 2020-07-01T10:14:35Z

AirLib/include/sensors/imu/ImuSimpleParams.hpp

    https://www.invensense.com/wp-content/uploads/2015/02/MPU-6000-Datasheet1.pdf
    For Allan Variance/Deviation plots see http://www.invensense.com/wp-content/uploads/2015/02/MPU-3300-Datasheet.pdf
    */
+    Pose relative_pose;


I don't see this being used anywhere?

yes, although relative pose is being consumed in the initialization of settings, it is not incorporated into the sensor model.

@ACLeighner can you either remove this setting or make the corresponding changes in the sensor model. (My guess would be you were in the middle of doing the same?)

rajat2004 · 2020-07-01T10:14:54Z

AirLib/include/sensors/gps/GpsSimpleParams.hpp

    real_T update_frequency = 50;    //Hz
    real_T startup_delay = 1;        //sec

+    Pose relative_pose;


rajat2004 · 2020-07-01T10:29:30Z

Also, I'm not very sure about exposing each setting of the sensors such as noise, but if a user is modifying those, then they probably know what they're doing, so shouldn't be a problem. Though some explanation for all of them will need to be added

madratman · 2020-07-24T06:58:17Z

AirLib/include/sensors/imu/ImuSimpleParams.hpp

    https://www.invensense.com/wp-content/uploads/2015/02/MPU-6000-Datasheet1.pdf
    For Allan Variance/Deviation plots see http://www.invensense.com/wp-content/uploads/2015/02/MPU-3300-Datasheet.pdf
    */
+    Pose relative_pose;


yes, although relative pose is being consumed in the initialization of settings, it is not incorporated into the sensor model.

madratman · 2020-07-24T06:59:20Z

AirLib/include/sensors/imu/ImuSimpleParams.hpp

    https://www.invensense.com/wp-content/uploads/2015/02/MPU-6000-Datasheet1.pdf
    For Allan Variance/Deviation plots see http://www.invensense.com/wp-content/uploads/2015/02/MPU-3300-Datasheet.pdf
    */
+    Pose relative_pose;


@ACLeighner can you either remove this setting or make the corresponding changes in the sensor model. (My guess would be you were in the middle of doing the same?)

madratman · 2020-07-24T07:00:30Z

PythonClient/airsim/types.py

-    max_distance = Quaternionr()
+    distance = np.float32(0)
+    min_distance = np.float32(0)
+    max_distance = np.float32(0)


this can be removed as #2807 is in

madratman · 2020-07-24T07:01:15Z

AirLib/src/vehicles/multirotor/api/MultirotorApiBase.cpp

+    //try to maintain altitude if path was in XY plane only, velocity based control is not as good
    if (std::abs(cur.z() - dest.z()) <= getDistanceAccuracy()) //for paths in XY plan current code leaves z untouched, so we can compare with strict equality
-        moveByVelocityZInternal(velocity_vect.x(), velocity_vect.y(), dest.z(), yaw_mode);
+        moveByVelocityInternal(velocity_vect.x(), velocity_vect.y(), 0, yaw_mode);


can you move the moveOnPath changes to a separate PR?
Can you share a test script to showcase this fixed the shaking issue?

madratman · 2020-07-24T07:01:24Z

Unreal/Plugins/AirSim/AirSim.uplugin

-  "Version" : "1.3.1",
-  "VersionName": "1.3.1",
+  "Version" : "1.2.0",
+  "VersionName": "1.2.0",


madratman · 2020-07-24T07:01:54Z

PythonClient/multirotor/path.py

+z = -70
 print("make sure we are hovering at 7 meters...")
-client.moveToZAsync(z, 1).join()
+client.moveToZAsync(z, 5).join()


why is this change needed, can you please justify it?
seems like a leftover from your testing?

madratman · 2020-07-24T07:02:29Z

Also conflicts need to be resolved.

updated python files

rajat2004 · 2021-02-09T18:20:05Z

@ACLeighner This branch now contains commits not related to the PR, cause its made from the master branch. It'll be best to create a new PR from the original commits using a separate branch if still interested in getting this feature in

jonyMarino · 2021-02-24T17:46:09Z

Hi @ACLeighner! Thanks for your contribution! I think it is time to merge it. Can you rebase your PR and solve the conflicts? Thanks!

evroon · 2021-05-19T20:24:19Z

This issue can be closed, its features have already been merged into master with commit 006d4e2.

jonyMarino · 2021-05-26T20:27:29Z

Thanks, @evroon for highlighting it

ACLeighner added 2 commits June 19, 2020 17:31

added DistanceSensor, fixed shake

00f366f

Added the remaining sensors to be populated by settings.json

f6d169f

rajat2004 reviewed Jul 1, 2020

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madratman suggested changes Jul 24, 2020

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jonyMarino added doc update feature request labels Oct 5, 2020

jonyMarino mentioned this pull request Jan 11, 2021

Noise in AirSim getMultirotorState() and IMU sensor #3269

Closed

ACLeighner added 2 commits January 12, 2021 15:52

autonomy python files

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evroon mentioned this pull request Mar 22, 2021

Sensors from JSON and more #2 #3502

Closed

evroon added a commit to evroon/AirSim that referenced this pull request Mar 22, 2021

Implement feedback on PR microsoft#2821

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ACLeighner added 3 commits April 7, 2021 16:45

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jonyMarino closed this May 26, 2021

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ACLeighner commented Jul 1, 2020

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rajat2004 commented Jul 1, 2020

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madratman commented Jul 24, 2020

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rajat2004 commented Feb 9, 2021

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jonyMarino commented Feb 24, 2021

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evroon commented May 19, 2021

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jonyMarino commented May 26, 2021

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ghost commented Jul 1, 2020 •

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