microsoft/AirSim-NeurIPS2019-Drone-Racing v0.1.0-linux

Neurips Binaries - Linux

on GitHub

Release Notes:

• Environment Pak files are same as v0.0-linux. No need to re-download.

• Please upgrade airsimneurips python package version to 0.0.7 to use the below-mentioned APIs

  • $ pip install airsimneurips --upgrade

• New APIs():

  • setTrajectoryTrackerGains()

    traj_tracker_gains = airsim.TrajectoryTrackerGains(kp_cross_track = 7.5, kd_cross_track = 0.0, 
                                                        kp_vel_cross_track = 5.0, kd_vel_cross_track = 0.0, 
                                                        kp_along_track = 0.4, kd_along_track = 0.0, 
                                                        kp_vel_along_track = 0.04, kd_vel_along_track = 0.0, 
                                                        kp_z_track = 2.0, kd_z_track = 0.0, 
                                                        kp_vel_z = 0.4, kd_vel_z = 0.0, 
                                                        kp_yaw = 3.0, kd_yaw = 0.1)
    traj_tracker_gains_list = traj_tracker_gains.to_list()
    client.setTrajectoryTrackerGains(gains=traj_tracker_gains_list, vehicle_name='')

  • moveOnSpline()

    • Fits a minimum jerk trajectory to the list of given 3D waypoints (specified by the waypoint_vector3r_list parameter).
      Uses ETHZ-ASL's mav_trajectory_generation as the trajectory planning backend.
    • Tracks the references positions and velocities using a pure pursuit tracking controller. The gains of the pure pursuit tracking controller are set by setTrajectoryTrackerGains() as shown above.
    • Note: setTrajectoryTrackerGains() must be called once before calling moveOnSpline()

    moveOnSplineAsync(waypoint_vector3r_list, vel_max=15.0, acc_max=7.5, add_curr_odom_position_constraint=True, add_curr_odom_velocity_constraint=True, viz_traj=True, vehicle_name = '')

  • moveOnSplineVelConstraintsAsync()

    • Fits a minimum jerk trajectory to the list of given 3D waypoints (specified by the waypoint_vector3r_list parameter), with corresponding 3D velocity vector constraints (specified by the velocity_vector3r_list parameter).
      Uses ETHZ-ASL's mav_trajectory_generation as the trajectory planning backend.

    • Tracks the references positions and velocities using a pure pursuit tracking controllers. The gains of the pure pursuit tracking controllers are set by setTrajectoryTrackerGains() as shown above.

    • Note: setTrajectoryTrackerGains() must be called once before calling moveOnSplineVelConstraintsAsync()

    moveOnSplineVelConstraintsAsync(waypoint_vector3r_list, velocity_vector3r_list, vel_max=15.0, acc_max=7.5, add_curr_odom_position_constraint=True, add_curr_odom_velocity_constraint=True, viz_traj=True, vehicle_name = ''):

  • plot_transform()

        plot_transform(pose_list, vehicle_name='')