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Updated matlab toolbox to 3.1. Updated example to use vehicleName arg…
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…ument. Added example for two drones. Added async launch options for drone functions with join argument. Ref Cosys-Lab#32
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@WouterJansen
WouterJansen committed Oct 1, 2024
1 parent c8edc4b commit a930b71
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435 changes: 257 additions & 178 deletions Matlab/AirSimClient.m
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18 changes: 5 additions & 13 deletions Matlab/Cosys-AirSim Matlab API Client.prj
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Expand Up @@ -7,8 +7,8 @@
<param.summary>This a client implementation of the RPC API for Matlab for the Cosys-AirSim simulation framework.</param.summary>
<param.description>This a client implementation of the RPC API for Matlab for the Cosys-AirSim simulation framework. A main class AirSimClient is available which implements all API calls.
Do note that at this point not all functions have been tested and most function documentation was auto-generated. This is still a WIP client.</param.description>
<param.screenshot />
<param.version>3.0.1.0</param.version>
<param.screenshot>D:\BigProjects\Cosys-AirSim-Public\promo\thumbnail_matlab.png</param.screenshot>
<param.version>3.1.0.0</param.version>
<param.output>${PROJECT_ROOT}\Cosys-AirSim Matlab API Client.mltbx</param.output>
<param.products.name>
<item>Aerospace Toolbox</item>
Expand All @@ -35,14 +35,7 @@ Do note that at this point not all functions have been tested and most function
&lt;example name="example" type="html"&gt;
&lt;file type="source"&gt;/html/example.html&lt;/file&gt;
&lt;file type="main"&gt;/example.m&lt;/file&gt;
&lt;file type="thumbnail"&gt;/html/example.png&lt;/file&gt;
&lt;file type="image"&gt;/html/example_01.png&lt;/file&gt;
&lt;file type="image"&gt;/html/example_02.png&lt;/file&gt;
&lt;file type="image"&gt;/html/example_03.png&lt;/file&gt;
&lt;file type="image"&gt;/html/example_04.png&lt;/file&gt;
&lt;file type="image"&gt;/html/example_05.png&lt;/file&gt;
&lt;file type="image"&gt;/html/example_06.png&lt;/file&gt;
&lt;file type="image"&gt;/html/example_07.png&lt;/file&gt;
&lt;file type="thumbnail"/&gt;
&lt;/example&gt;
&lt;/exampleCategory&gt;
&lt;/examples&gt;</param.examples>
Expand All @@ -53,7 +46,7 @@ Do note that at this point not all functions have been tested and most function
<param.getting.started.guide>${PROJECT_ROOT}\doc\GettingStarted.mlx</param.getting.started.guide>
<param.matlabpath.excludes />
<param.javaclasspath.excludes />
<param.exported.on.package>false</param.exported.on.package>
<param.exported.on.package>true</param.exported.on.package>
<param.required.addons />
<param.matlab.project.id />
<param.matlab.project.name />
Expand All @@ -74,7 +67,6 @@ Do note that at this point not all functions have been tested and most function
<param.authnamewatermark />
<param.email />
<param.company />
<param.screenshot />
<param.output />
<param.platforms />
<param.exclude.filters />
Expand All @@ -84,7 +76,6 @@ Do note that at this point not all functions have been tested and most function
<param.registered.apps />
<param.matlabpath.excludes />
<param.javaclasspath.excludes />
<param.exported.on.package />
<param.required.addons />
<param.matlab.project.id />
<param.matlab.project.name />
Expand Down Expand Up @@ -113,6 +104,7 @@ Do note that at this point not all functions have been tested and most function
<file>${PROJECT_ROOT}\demos.xml</file>
<file>${PROJECT_ROOT}\doc</file>
<file>${PROJECT_ROOT}\example.m</file>
<file>${PROJECT_ROOT}\example_twodrones.m</file>
<file>${PROJECT_ROOT}\help</file>
<file>${PROJECT_ROOT}\html</file>
<file>${PROJECT_ROOT}\info.xml</file>
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55 changes: 24 additions & 31 deletions Matlab/example.m
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@@ -1,4 +1,7 @@
%% Example
%
% This example works well with the default example settings found in the docs folder op the repository.
%
% This example will:
% -Connect to AirSim
% -Get/set vehicle pose
Expand All @@ -20,7 +23,7 @@

%Define client
vehicle_name = "airsimvehicle";
airSimClient = AirSimClient(IsDrone=false, ApiControl=false, IP="127.0.0.1", port=41451, vehicleName=vehicle_name);
airSimClient = AirSimClient(IsDrone=false, IP="127.0.0.1", port=41451);

%% Groundtruth labels
% Get groundtruth look-up-table of all objects and their instance
Expand All @@ -36,23 +39,15 @@
poses = airSimClient.getAllObjectPoses(false, false);

% Get vehicle pose
vehiclePoseLocal = airSimClient.getVehiclePose();
vehiclePoseLocal = airSimClient.getVehiclePose(vehicle_name);
vehiclePoseWorld = airSimClient.getObjectPose(vehicle_name, false);

% Get an random object pose or choose if you know the name of one
useChosenObject = false;
% Choose the object to get the pose from (this one is in the Blocks env)
chosenObject = "Cylinder3";

if useChosenObject
finalName = chosenObject;
else
randomIndex = randi(size(groundtruthLUT, 1), 1);
randomName = groundtruthLUT.name(randomIndex);
finalName = randomName;
end

objectPoseLocal = airSimClient.getObjectPose(finalName, true);
objectPoseWorld = airSimClient.getObjectPose(finalName, false);
% Get its pose
objectPoseLocal = airSimClient.getObjectPose(chosenObject, true);
objectPoseWorld = airSimClient.getObjectPose(chosenObject, false);

figure;
subplot(1, 2, 1);
Expand All @@ -76,19 +71,19 @@
drawnow

% Set vehicle pose
airSimClient.setVehiclePose(airSimClient.getVehiclePose().position + [1 1 0], airSimClient.getVehiclePose().orientation)
airSimClient.setVehiclePose(airSimClient.getVehiclePose(vehicle_name).position + [1 1 0], airSimClient.getVehiclePose(vehicle_name).orientation, false, vehicle_name)

%% IMU sensor Data
imuSensorName = "imu";
[imuData, imuTimestamp] = airSimClient.getIMUData(imuSensorName);
[imuData, imuTimestamp] = airSimClient.getIMUData(imuSensorName, vehicle_name)

%% Echo sensor data
% Example plots passive echo pointcloud
% and its reflection directions as 3D quivers

echoSensorName = "echo";
enablePassive = true;
[activePointCloud, activeData, passivePointCloud, passiveData , echoTimestamp, echoSensorPose] = airSimClient.getEchoData(echoSensorName, enablePassive);
[activePointCloud, activeData, passivePointCloud, passiveData , echoTimestamp, echoSensorPose] = airSimClient.getEchoData(echoSensorName, enablePassive, vehicle_name);

figure;
subplot(1, 2, 1);
Expand Down Expand Up @@ -129,7 +124,7 @@

lidarSensorName = "lidar";
enableLabels = true;
[lidarPointCloud, lidarLabels, LidarTimestamp, LidarSensorPose] = airSimClient.getLidarData(lidarSensorName, enableLabels);
[lidarPointCloud, lidarLabels, LidarTimestamp, LidarSensorPose] = airSimClient.getLidarData(lidarSensorName, enableLabels, vehicle_name);

figure;
if ~isempty(lidarPointCloud)
Expand All @@ -151,7 +146,7 @@

gpuLidarSensorName = "gpulidar";
enableLabels = true;
[gpuLidarPointCloud, gpuLidarTimestamp, gpuLidarSensorPose] = airSimClient.getGPULidarData(gpuLidarSensorName);
[gpuLidarPointCloud, gpuLidarTimestamp, gpuLidarSensorPose] = airSimClient.getGPULidarData(gpuLidarSensorName, vehicle_name);

figure;
if ~isempty(gpuLidarPointCloud)
Expand All @@ -168,20 +163,19 @@
zlim([-10 10])
drawnow

%% Cameras
%% Get camera info

% Get camera info
cameraSensorName = "frontcamera";
[intrinsics, cameraSensorPose] = airSimClient.getCameraInfo(cameraSensorName);
[intrinsics, cameraSensorPose] = airSimClient.getCameraInfo(cameraSensorName, vehicle_name);

% Get single camera images
%% Get single camera images
% Get images sequentially

cameraSensorName = "front_center";
[rgbImage, rgbCameraIimestamp] = airSimClient.getCameraImage(cameraSensorName, AirSimCameraTypes.Scene);
[segmentationImage, segmentationCameraIimestamp] = airSimClient.getCameraImage(cameraSensorName, AirSimCameraTypes.Segmentation);
[depthImage, depthCameraIimestamp] = airSimClient.getCameraImage(cameraSensorName, AirSimCameraTypes.DepthPlanar);
[annotationImage, annotationCameraIimestamp] = airSimClient.getCameraImage(cameraSensorName, AirSimCameraTypes.Annotation, "TextureTestDirect");
[rgbImage, rgbCameraIimestamp] = airSimClient.getCameraImage(cameraSensorName, AirSimCameraTypes.Scene, vehicle_name);
[segmentationImage, segmentationCameraIimestamp] = airSimClient.getCameraImage(cameraSensorName, AirSimCameraTypes.Segmentation,vehicle_name);
[depthImage, depthCameraIimestamp] = airSimClient.getCameraImage(cameraSensorName, AirSimCameraTypes.DepthPlanar,vehicle_name);
[annotationImage, annotationCameraIimestamp] = airSimClient.getCameraImage(cameraSensorName, AirSimCameraTypes.Annotation, vehicle_name, "TextureTestDirect");
figure;
subplot(4, 1, 1);
imshow(rgbImage)
Expand All @@ -197,14 +191,13 @@
title("Annotation Camera Image")
drawnow

% Get synced camera images
% By combining the image requests they will be synced
% and taken in the same frame
%% Get synced camera images
% By combining the image requests they will be synced and taken in the same frame

cameraSensorName = "front_center";
[images, cameraIimestamp] = airSimClient.getCameraImages(cameraSensorName, ...
[AirSimCameraTypes.Scene, AirSimCameraTypes.Segmentation, AirSimCameraTypes.DepthPlanar, AirSimCameraTypes.Annotation], ...
["", "", "", "GreyscaleTest"]);
vehicle_name, ["", "", "", "TextureTestDirect"]);
figure;
subplot(4, 1, 1);
imshow(images{1})
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54 changes: 54 additions & 0 deletions Matlab/example_twodrones.m
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@@ -0,0 +1,54 @@
%% Example two drones
%
% This works well with the settings below:
%
% {
% "SeeDocsAt": "https://cosys-lab.github.io/settings/",
% "SettingsVersion": 2,
% "ClockSpeed": 1,
% "LocalHostIp": "127.0.0.1",
% "ApiServerPort": 41451,
% "RpcEnabled": true,
% "SimMode": "Multirotor",
% "Vehicles": {
% "Drone1": {
% "VehicleType": "SimpleFlight",
% "AllowAPIAlways": true,
% "X": 0,
% "Y": 0,
% "Z": 0,
% "Yaw": 0
% },
% "Drone2": {
% "VehicleType": "SimpleFlight",
% "AllowAPIAlways": true,
% "X": 5,
% "Y": 0,
% "Z": 0,
% "Yaw": 0
% }
% }
% }

airSimClient = AirSimClient(IsDrone=true, IP="127.0.0.1", port=41451);

airSimClient.setEnableApiControl("Drone1");
airSimClient.setEnableApiControl("Drone2");

airSimClient.setEnableDroneArm("Drone1");
airSimClient.setEnableDroneArm("Drone2");

airSimClient.takeoffAsync("Drone1", 20, true);
airSimClient.takeoffAsync("Drone2", 20, false);

airSimClient.moveToPositionAsync(10, 10, -5, 5, 3e+38, AirSimDrivetrainTypes.MaxDegreeOfFreedom, true, 0, -1, 1, "Drone1", true);
airSimClient.moveToPositionAsync(10, 14, -5, 5, 3e+38, AirSimDrivetrainTypes.MaxDegreeOfFreedom, true, 0, -1, 1, "Drone2", true);

airSimClient.landAsync("Drone1", 60, true);
airSimClient.landAsync("Drone2", 60, false);

airSimClient.setDisableDroneArm("Drone1");
airSimClient.setDisableDroneArm("Drone2");

airSimClient.setDisableApiControl("Drone1");
airSimClient.setDisableApiControl("Drone2");
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