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DroneResponse / airsim-integration

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Closed JasonBrauer closed 1 year ago

JasonBrauer commented 1 year ago

implement double to uint64_t + ton conversion before sending pose messages over UDP

JasonBrauer commented 1 year ago

drone position received successfully over UDP with expected precision: gazebo channel drone position -> Screen Shot 2023-02-15 at 2 07 10 PM

airsim / udp receiver drone position -> Screen Shot 2023-02-15 at 2 09 45 PM

JasonBrauer commented 1 year ago

orientation is off because not handling negatives when prepping to send as unsigned uintt64 over udp. Screen Shot 2023-02-15 at 4 19 29 PM

Need to set one bit of uint64 for sign

JasonBrauer commented 1 year ago

Resolved orientation issue by using signed int64 to send data over UDP Gazebo output -> Screen Shot 2023-02-15 at 4 48 18 PM

Udp receiver output -> Screen Shot 2023-02-15 at 4 48 30 PM

slight differences because the printouts are at different rates

JasonBrauer commented 1 year ago

@murphym18 merging as replicated full functionality of the original script, but over UDP.

Still have a little cleanup for future PR, but ready for you to use or reference in containers. Cleanup items:

make sure all caprojects in repo build successfully. getting the following error when building the video sender with cmake on Mac. I think we had the current CMakeLists working on linux though:
standardize function / variable formats
update readme