Please read general API doc first if you haven't already. This document describes C++ examples and other C++ specific details.
Fastest way to get started is to open AirSim.sln in Visual Studio 2017. You will see Hello Car and Hello Drone examples in the solution. These examples will show you the include paths and lib paths you will need to setup in your VC++ projects. If you are using Linux then you will specify these paths either in your cmake file or on compiler command line.
- Include folders:
$(ProjectDir)..\AirLib\deps\rpclib\include;include;$(ProjectDir)..\AirLib\deps\eigen3;$(ProjectDir)..\AirLib\include
- Dependencies:
rpc.lib
- Lib folders:
$(ProjectDir)\..\AirLib\deps\MavLinkCom\lib\$(Platform)\$(Configuration);$(ProjectDir)\..\AirLib\deps\rpclib\lib\$(Platform)\$(Configuration);$(ProjectDir)\..\AirLib\lib\$(Platform)\$(Configuration)
Here's how to use AirSim APIs using Python to control simulated car (see also Python example):
// ready to run example: https://github.com/Cosys-Lab/Cosys-AirSim/blob/main/HelloCar/main.cpp
#include <iostream>
#include "vehicles/car/api/CarRpcLibClient.hpp"
int main()
{
msr::airlib::CarRpcLibClient client;
client.enableApiControl(true); //this disables manual control
CarControllerBase::CarControls controls;
std::cout << "Press enter to drive forward" << std::endl; std::cin.get();
controls.throttle = 1;
client.setCarControls(controls);
std::cout << "Press Enter to activate handbrake" << std::endl; std::cin.get();
controls.handbrake = true;
client.setCarControls(controls);
std::cout << "Press Enter to take turn and drive backward" << std::endl; std::cin.get();
controls.handbrake = false;
controls.throttle = -1;
controls.steering = 1;
client.setCarControls(controls);
std::cout << "Press Enter to stop" << std::endl; std::cin.get();
client.setCarControls(CarControllerBase::CarControls());
return 0;
}
Here's how to use AirSim APIs using Python to control simulated car (see also Python example):
// ready to run example: https://github.com/Cosys-Lab/Cosys-AirSim/blob/main/HelloDrone/main.cpp
#include <iostream>
#include "vehicles/multirotor/api/MultirotorRpcLibClient.hpp"
int main()
{
using namespace std;
msr::airlib::MultirotorRpcLibClient client;
cout << "Press Enter to enable API control" << endl; cin.get();
client.enableApiControl(true);
cout << "Press Enter to arm the drone" << endl; cin.get();
client.armDisarm(true);
cout << "Press Enter to takeoff" << endl; cin.get();
client.takeoffAsync(5)->waitOnLastTask();
cout << "Press Enter to move 5 meters in x direction with 1 m/s velocity" << endl; cin.get();
auto position = client.getMultirotorState().getPosition(); // from current location
client.moveToPositionAsync(position.x() + 5, position.y(), position.z(), 1)->waitOnLastTask();
cout << "Press Enter to land" << endl; cin.get();
client.landAsync()->waitOnLastTask();
return 0;
}
- Examples of how to use internal infrastructure in AirSim in your other projects
- DroneShell app shows how to make simple interface using C++ APIs to control drones
- Python APIs