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@madratman madratman released this 02 Aug 20:09
· 100 commits to master since this release
v0.1.0-linux
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Learn about vigilant mode.

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='')
Assets 6
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