Which drone do I control for the validation leaderboard?

[ctoumieh]

Hi,

When we upload the files for the validation leaderboard, which drone does it choose to publish its results?
Also, It seems as if the world reference frame for drone_2 is different then that of drone_1 and the one used to get gate poses. While testing, according to simGetVehiclePose drone_2 should be in the middle of the gate whereas it is not (translated by a constant vector). If you try baseline_racer with drone_2, you can see the issue.

Cheers,
CT

[msb336]

"drone_1" is the drone who's results will appear on the leaderboard. With regards to your reference frame issue, this is an expected behavior. Each drone has it's own reference frame based on your settings file, but simGetObjectPose always returns poses in drone_1's reference frame. You will have to account for that offset on your own.

(or you can specify in your settings file that both drones spawn into the same position, and then they will share an identical reference frame)

[ctoumieh]

Ok thx!

[ctoumieh]

@msb336 I notice the leaderboard does not display french characters. I already registered with the french team name. Is that an issue or do you prefer characters without accents?

[msb336]

@ctoumieh

French characters aren't an issue for us in terms of recordkeeping, but it may be some time before the leader board is able to properly display special characters

[madratman]

@ctoumieh thanks for bringing this up.
I realized they do not need to be in different reference frames as simStartRace just teleports the meshes. The participant can simply get the start pose (via simGetVehiclePose or simGetMultirotorState), as done in takeoff_with_moveOnSpline() in baseline_racer.py. Relevant snippet:

        start_position = self.airsim_client.simGetVehiclePose(vehicle_name=self.drone_name).position
        takeoff_waypoint = airsim.Vector3r(start_position.x_val, start_position.y_val, -takeoff_height)

        self.airsim_client.moveOnSplineAsync([takeoff_waypoint], vel_max=15.0, acc_max=5.0, add_position_constraint=True, add_velocity_constraint=False, 
            add_acceleration_constraint=False, viz_traj=self.viz_traj, viz_traj_color_rgba=self.viz_traj_color_rgba, vehicle_name=self.drone_name).join()

[ugurkanates]

Maybe kinda unrelated but @madratman how do i let drone_2 to move according to fly_through_all_gates_at_once_with_moveOnSpline().join() function ? Is it bugged or am i doing something wrong

What i do is create two objects

baseline_racer = BaselineRacer(drone_name="drone_1",viz_traj_color_rgba=[1.0, 1.0, 0.0, 1.0])
baseline_racer2 = BaselineRacer("drone_2",viz_traj_color_rgba=[1.0, 1.0, 0.0, 1.0])

Start race with either drone(doesn't matter) , initalise them and use take_off Async functions but all my commands apply for drone_1. If i dont create a drone_1 object then race starts but take off function doesn't still apply to neither drones.
I simply couldn't way to fly drone_2 . Didnt change any settings (.json)

Also

print(baseline_racer.airsim_client.simGetVehiclePose())
{ 'orientation': { 'w_val': 0.7071069478988647,
'x_val': -0.0,
'y_val': 0.0,
'z_val': 0.7071065902709961},
'position': { 'x_val': 0.75,
'y_val': -2.0,
'z_val': -3.2671926021575928}}

print(baseline_racer2.airsim_client.simGetVehiclePose())
{ 'orientation': { 'w_val': 0.7071069478988647,
'x_val': -0.0,
'y_val': 0.0,
'z_val': 0.7071065902709961},
'position': { 'x_val': 0.75,
'y_val': -2.0,
'z_val': -3.2671926021575928}}

Returns this , I gave different drone names both using drone_name ="drone_2" and just passing "drone_2"

But using this

print(baseline_racer.airsim_client.simGetVehiclePose("drone_2"))
{ 'orientation': { 'w_val': 0.7071069478988647,
'x_val': -0.0,
'y_val': 0.0,
'z_val': 0.7071065902709961},
'position': { 'x_val': -0.75,
'y_val': -3.0,
'z_val': 2.720752716064453}}

gives correct positions even though baseline object created with "drone_1"

[madratman]

@ugurkanates @ctoumieh @yannbouteiller
we just updated the python client to version 0.3.0.
drone_2 will now fly automatically as soon as you call simstartrace()

Note that for tier=2 and tier=3, simgetobjectpose() will return noisy gate poses now, so baseline_racer.py will follow these noisy poses (and probably hit stuff)
baseline_racer.py will still go through the center of gates if tier=1 is passed to simStartRace