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SAFMC IDP FYP 2023#

AirSim#

Installation

Follow instructions for building Unreal Engine 4.27 from here

Build AirSim using our repo tested for Ubuntu 22.04 LTS. 

git clone https://github.com/TL-NUS-CFS/AirSim.gitcd AirSim./setup.sh./build.sh

Launching AirSim

  • Run this command to launch the Blocks project in Unreal Engine.
<UnrealEngine_path>/Engine/Binaries/Linux/UE4Editor <AirSim_path>/Unreal/Environments/Blocks/Blocks.uproject

  • If you get prompts to convert project, look for More Options or Convert-In-Place option. If you get prompted to build, choose Yes. If you get prompted to disable AirSim plugin, choose No.

  • If you get a compilation error, compile using mono

    1. cd ~/AirSim/Unreal/Environments/Blocks && ./clean.sh

    2. Install [mono-complete] (https://www.mono-project.com/download/stable/#download-lin)
    3. Make symlinks

      sudo ln -s /usr/bin/mono /bin/mono && sudo ln -s /usr/lib/mono /lib/mono

    4. Rebuild the Blocks project

      ~/UnrealEngine/Engine/Binaries/ThirdParty/Mono/Linux/bin/mono ~/UnrealEngine/Engine/Binaries/DotNET/UnrealBuildTool.exe Development Linux -Project=/home/andrew/AirSim/Unreal/Environments/Blocks/Blocks.uproject -TargetType=Editor -Progress

    5. Start UE4Editor from command line:

      ~/UnrealEngine/Engine/Binaries/Linux/UE4Editor

    6. Click More > Browse. Browse to the Blocks Project

      ~/AirSim/Unreal/Environments/Blocks/Blocks.uproject

    7. Error shows up "This project was made with a different version of the Unreal Engine.". Click "More Options" > "Skip conversion"

  • After Unreal Editor loads, press Play button.

Using AirSim

AirSim can be interacted with through the Python and C++ AirSim API. There is a ROS and ROS2 wrapper that interfaces between ROS and the AirSim C++ API.

AirSim ROS2 Wrapper

  • Launching the wrapper
  • AirSim settings configuration
  • Subscribers
  • Publishers
  • Services
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