UE4在新的场景中调用AirSim

一、概述

在官方实现的AirSim中有一个Block的工程可以通过MavLink协议遥控无人机的飞行，但是Block的场景比较单调，缺少真实性。所以可以更换不同的场景来运行AirSim
原来的Block场景：

更换后的场景：

二、下载场景

在【虚幻商城】中找到自己喜欢的场景，然后下载到一个目录下面，记得路径不能有中文，否则会编译出错。
双击*.uptoject打开
点击菜单【文件】-》【生产Visual Studio 2019项目】
CarGame根目录下面也就是CarGame.uproject同一级目录新建文件夹Plugins
把下载的D:\002_UE4\AirSim-1.5.0-windows\Unreal\Environments\Blocks\Plugins下的AirSim复制到CarGame/Plugins下面
使用文本编辑器打开CarGame.uproject添加AirSim插件模块

{"FileVersion": 3,"EngineAssociation": "4.26","Category": "Samples","Description": "","Modules": [{"Name": "VehicleGame","Type": "Runtime","LoadingPhase": "Default"},{"Name": "VehicleGameLoadingScreen","Type": "Runtime","LoadingPhase": "PreLoadingScreen"}],"Plugins": [{"Name": "PhysXVehicles","Enabled": true},{"Name": "RawInput","Enabled": true},{"Name": "AirSim","Enabled": true}],"TargetPlatforms": ["MacNoEditor","WindowsNoEditor"],"EpicSampleNameHash": "2902796019"
}

右键点击CarGame.uproject ->Generate Visual Studio project files
双击打开【CarGame.sln】就可以看到AirSim已经添加到工程中了。

三.配置编译

在工程目录下新建一个项目命名：SelfDemo（自定义的实例），添加一个空的MainCpp.cpp文件。
把AirSim-1.5.0-windows\HelloSpawnedDrones\HelloSpawnedDrones.cpp,中的内容全部复制过来。

// Copyright (c) Microsoft Corporation. All rights reserved.
// Licensed under the MIT License.#include "common/common_utils/StrictMode.hpp"
STRICT_MODE_OFF
#ifndef RPCLIB_MSGPACK
#define RPCLIB_MSGPACK clmdep_msgpack
#endif // !RPCLIB_MSGPACK
#include "rpc/rpc_error.h"
STRICT_MODE_ON#include "vehicles/multirotor/api/MultirotorRpcLibClient.hpp"
#include "common/common_utils/FileSystem.hpp"
#include <iostream>
#include <chrono>
#include <cstdlib>
#include <thread>void runSingleClient(uint16_t port, int ordinal)
{using namespace msr::airlib;const char host[] = "localhost";float timeout_s = 60;try{MultirotorRpcLibClient *client = new MultirotorRpcLibClient(host, port, timeout_s);std::cout << "Confirming connections..." << std::endl;client->confirmConnection();std::string vehicle_name = "UAV_" + std::to_string(ordinal);std::cout << "Vehicle name:" << vehicle_name << std::endl;Pose pose(Vector3r(0, 5.0f * (ordinal + 1), 0), Quaternionr(0, 0, 0, 0));client->simAddVehicle(vehicle_name, "simpleflight", pose, "");// This is a bit crude, but give it a moment to settle on the ground, else takeoff will failstd::this_thread::sleep_for(std::chrono::duration<double>(2));// moveByVelocityZ is an offboard operation, so we need to set offboard mode.client->enableApiControl(true, vehicle_name);client->armDisarm(true, vehicle_name);auto ground_pos = client->getMultirotorState(vehicle_name).getPosition();float groundZ = ground_pos.z(); // current position (NED coordinate system).  float takeoff_timeout = 5;std::cout << "Initiating takeoff for " << vehicle_name << "..." << std::endl;client->takeoffAsync(takeoff_timeout, vehicle_name)->waitOnLastTask();std::cout << "Completed takeoff for " << vehicle_name << "..." << std::endl;const float speed = 3.0f;// switch to explicit hover mode so that this is the fallback when // move* commands are finished.std::cout << "Initiating hover for " << vehicle_name << "..." << std::endl;client->hoverAsync(vehicle_name)->waitOnLastTask();std::cout << "Completed hover for " << vehicle_name << "..." << std::endl;auto position = client->getMultirotorState(vehicle_name).getPosition();float duration = 1;float z = position.z(); // current position (NED coordinate system).  // Altitude difference between each platform, in metersconst float altitude_delta = 1.0f;z -= ordinal * altitude_delta;float timeout = 10.0f;client->moveToZAsync(z, speed, timeout, YawMode(), -1.0f, 1.0f, vehicle_name)->waitOnLastTask();std::cout << "Completed move to z " << z << " for " << vehicle_name << "..." << std::endl;std::cout << "Flying in a 10m box pattern at 3 m/s velocity" << std::endl;const float size = 5.0f;duration = size / speed;DrivetrainType drivetrain = DrivetrainType::ForwardOnly;YawMode yaw_mode(true, 0);position = client->getMultirotorState(vehicle_name).getPosition();std::cout << "Position of " << port << ": " << position << std::endl;z = position.z(); // current position (NED coordinate system).  std::cout << "moveByVelocityZ(" << speed << ", 0, " << z << "," << duration << ")" << std::endl;client->moveByVelocityZAsync(speed, 0, z, duration, drivetrain, yaw_mode, vehicle_name);std::this_thread::sleep_for(std::chrono::duration<double>(duration));std::cout << "moveByVelocityZ(0, " << speed << "," << z << "," << duration << ")" << std::endl;client->moveByVelocityZAsync(0, speed, z, duration, drivetrain, yaw_mode, vehicle_name);std::this_thread::sleep_for(std::chrono::duration<double>(duration));std::cout << "moveByVelocityZ(" << -speed << ", 0, " << z << "," << duration << ")" << std::endl;client->moveByVelocityZAsync(-speed, 0, z, duration, drivetrain, yaw_mode, vehicle_name);std::this_thread::sleep_for(std::chrono::duration<double>(duration));std::cout << "moveByVelocityZ(0, " << -speed << "," << z << "," << duration << ")" << std::endl;client->moveByVelocityZAsync(0, -speed, z, duration, drivetrain, yaw_mode, vehicle_name);std::this_thread::sleep_for(std::chrono::duration<double>(duration));client->moveToZAsync(groundZ - 0.5f, speed, timeout, YawMode(), -1.0f, 1.0f, vehicle_name)->waitOnLastTask();std::cout << "Hovering..." << std::endl;client->hoverAsync(vehicle_name)->waitOnLastTask();client->enableApiControl(true, vehicle_name);std::cout << "Landing..." << std::endl;client->landAsync(timeout, vehicle_name)->waitOnLastTask();std::this_thread::sleep_for(std::chrono::duration<double>(5));std::cout << "Disarming..." << std::endl;client->armDisarm(false, vehicle_name);std::cout << "Done!..." << std::endl;delete client;std::this_thread::sleep_for(std::chrono::duration<double>(50));}catch (rpc::rpc_error&  e){std::string msg = e.get_error().as<std::string>();std::cout << "Exception raised by the API, something went wrong." << std::endl << msg << std::endl;}
}int main(int argc, char *argv[])
{using namespace msr::airlib;uint16_t rpc_port = 41451;int num_platforms = 1;std::cout << "argc is " << argc << std::endl;if (argc > 1){std::cout << "Num plats string: " << argv[1] << std::endl;num_platforms = static_cast<uint16_t>(std::stoi(argv[1]));}std::cout << "First port is " << rpc_port << std::endl;std::cout << "Num platforms: " << num_platforms << std::endl;std::cout << "Making clients..." << std::endl;try{std::cout << "Press Enter to begin..." << std::endl;std::cin.get();std::vector<std::thread> clientThreads;// Count down, so the first one can easily go the highest (without knowing count)int client_ordinal = num_platforms - 1;for (int i = 0; i < num_platforms; i++){clientThreads.push_back(std::thread(runSingleClient, rpc_port, client_ordinal));client_ordinal--;std::this_thread::sleep_for(std::chrono::duration<double>(0.1));}for (auto &toJoin : clientThreads){toJoin.join();}}catch (rpc::rpc_error&  e){std::string msg = e.get_error().as<std::string>();std::cout << "Exception raised by the API, something went wrong." << std::endl << msg << std::endl;}return 0;
}

选择配置项，注意：一定要选Debug x64
配置包含目录
配置附加库目录
添加附加依赖项

如果配置正确的话，一次就会编译成功！

四、运行CarGame

编译CarGame

如果电脑配置不高的话，可能需要一段时间。编译完成以后按【Ctrl+F5】运行，发现弹出以下对话框。

解决办法：打开ue->【文件】-》【烘焙Windows的内容】

经过一段较长时间的运行，完成以后，
设置游戏模式，在【世界场景设置】-》游戏模式重载：AirSimGameMode

使用【独立进场游戏】运行

弹出对话框选择载具【是】汽车【否】无人机，我们选择无人机。
然后运行【SelfDemo】选中项目【SelfDemo】按【Ctrl+F5】运行。点击【回车】就可以运行无人机了

aaa

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