Ros use same settings as airsim

AirSim/AirLib/include/api/RpcLibClientBase.hpp

@@ -101,7 +101,7 @@ class RpcLibClientBase {
  msr::airlib::WheelStates simGetWheelStates(const std::string& vehicle_name = "") const;
 
  std::vector<std::string> simSwapTextures(const std::string& tags, int tex_id = 0, int component_id = 0, int material_id = 0);
-
+ std::string getSettingsString() const;
 protected:
  void* getClient();
  const void* getClient() const;

AirSim/AirLib/include/api/WorldSimApiBase.hpp

@@ -60,6 +60,7 @@ class WorldSimApiBase {
 
  virtual std::unique_ptr<std::vector<std::string>> swapTextures(const std::string& tag, int tex_id = 0, int component_id = 0, int material_id = 0) = 0;
  virtual vector<MeshPositionVertexBuffersResponse> getMeshPositionVertexBuffers() const = 0;
+ virtual std::string getSettingsString() const = 0;
 };
 
 

AirSim/AirLib/include/common/AirSimSettings.hpp

@@ -328,6 +328,8 @@ struct AirSimSettings {
  std::string speed_unit_label = "m\\s";
  std::map<std::string, std::unique_ptr<SensorSetting>> sensor_defaults;
 
+ std::string settings_text_ = "";
+
 public: //methods
  static AirSimSettings& singleton()
  {
@@ -367,6 +369,7 @@ struct AirSimSettings {
  static void initializeSettings(const std::string& json_settings_text)
  {
  try {
+ singleton().settings_text_ = json_settings_text;
  Settings::loadJSonString(json_settings_text);
  }
  catch (std::exception &ex) {

AirSim/AirLib/src/api/RpcLibClientBase.cpp

@@ -366,6 +366,10 @@ void RpcLibClientBase::cancelLastTask(const std::string& vehicle_name)
 {
  pimpl_->client.call("cancelLastTask", vehicle_name);
 }
+std::string RpcLibClientBase::getSettingsString() const
+{
+ return pimpl_->client.call("getSettingsString").as<std::string>();
+}
 
 //return value of last task. It should be true if task completed without
 //cancellation or timeout

AirSim/AirLib/src/api/RpcLibServerBase.cpp

@@ -89,6 +89,9 @@ RpcLibServerBase::RpcLibServerBase(ApiProvider* api_provider, const std::string&
  pimpl_->server.bind("getMinRequiredClientVersion", []() -> int {
  return 1;
  });
+ pimpl_->server.bind("getSettingsString", [&]() -> std::string {
+ return getWorldSimApi()->getSettingsString();
+ });
 
  pimpl_->server.bind("simPause", [&](bool is_paused) -> void { 
  getWorldSimApi()->pause(is_paused); 

UE4Project/Plugins/AirSim/Source/WorldSimApi.cpp

@@ -248,4 +248,9 @@ std::vector<WorldSimApi::MeshPositionVertexBuffersResponse> WorldSimApi::getMesh
  responses = UAirBlueprintLib::GetStaticMeshComponents();
  }, true);
  return responses;
-}
+}
+
+std::string WorldSimApi::getSettingsString() const
+{
+ return msr::airlib::AirSimSettings::singleton().settings_text_;
+}

UE4Project/Plugins/AirSim/Source/WorldSimApi.h

@@ -49,6 +49,7 @@ class WorldSimApi : public msr::airlib::WorldSimApiBase {
  virtual void simPlotTransforms(const std::vector<Pose>& poses, float scale, float thickness, float duration, bool is_persistent) override;
  virtual void simPlotTransformsWithNames(const std::vector<Pose>& poses, const std::vector<std::string>& names, float tf_scale, float tf_thickness, float text_scale, const std::vector<float>& text_color_rgba, float duration) override;
  virtual std::vector<MeshPositionVertexBuffersResponse> getMeshPositionVertexBuffers() const override;
+ virtual std::string getSettingsString() const override;
 
 private:
  ASimModeBase* simmode_;

python/fsds/client.py

@@ -196,4 +196,12 @@ def getCarState(self, vehicle_name = 'FSCar'):
 
  def getRefereeState(self):
  referee_state_raw = self.client.call('getRefereeState')
- return RefereeState.from_msgpack(referee_state_raw)
+ return RefereeState.from_msgpack(referee_state_raw)
+
+ def getSettingsString(self):
+ """
+ Fetch the settings text being used by AirSim
+ Returns:
+ str: Settings text in JSON format
+ """
+ return self.client.call('getSettingsString')

ros/src/fsds_ros_bridge/src/airsim_ros_wrapper.cpp

@@ -11,8 +11,9 @@ AirsimROSWrapper::AirsimROSWrapper(const ros::NodeHandle& nh, const ros::NodeHan
  airsim_client_lidar_(host_ip)
 {
  try {
- auto settingsText = this->readTextFromFile(common_utils::FileSystem::getConfigFilePath());
- msr::airlib::AirSimSettings::initializeSettings(settingsText);
+ airsim_client_.confirmConnection();
+ std::string settings_text = airsim_client_.getSettingsString();
+ msr::airlib::AirSimSettings::initializeSettings(settings_text);
 
  msr::airlib::AirSimSettings::singleton().load();
  for (const auto &warning : msr::airlib::AirSimSettings::singleton().warning_messages)

ros2/src/fsds_ros2_bridge/src/airsim_ros_wrapper.cpp

@@ -13,8 +13,9 @@ AirsimROSWrapper::AirsimROSWrapper(const std::shared_ptr<rclcpp::Node>& nh, cons
  static_tf_pub_(this->nh_)
 {
  try {
- auto settingsText = this->readTextFromFile(common_utils::FileSystem::getConfigFilePath());
- msr::airlib::AirSimSettings::initializeSettings(settingsText);
+ airsim_client_.confirmConnection();
+ std::string settings_text = airsim_client_.getSettingsString();
+ msr::airlib::AirSimSettings::initializeSettings(settings_text);
 
  msr::airlib::AirSimSettings::singleton().load();
  for (const auto &warning : msr::airlib::AirSimSettings::singleton().warning_messages)