Project Structure#
AutonomyLib#
The majority of the code is located in AutonomyLib
, a self-contained library that can be compiled with any popular C++11
compiler.
AutonomyLib
consists of the following components:
- Physics engine: This is header-only physics engine. It is designed to be fast and extensible to implement different vehicles.
- Sensor models: These are header-only models for the barometer, IMU, GPS and magnetometer.
- Vehicle models: These are header-only models for vehicle configurations and models. Currently, we have implemented model for a multirotor and a configuration for a PX4 quadrotor in the
X config
. There are several different multirotor models defined inMultirotorParams.hpp
, including a hexacopter as well. - API-related files: This part of
AutonomyLib
provides abstract base classes for our APIs and concrete implementations for specific vehicle platforms such asMavLink
. It also contains classes for the RPC client and server.
Apart from these, all common utilities are defined in the common/
subfolder. One important file here is AutonomySimSettings.hpp
, which should be modified if any new fields are to be added in settings.json
.
AutonomySim
supports different firmwares for multirotors such as its own SimpleFlight
, PX4
, and ArduPilot
. Files for communicating with each firmware are placed in their respective subfolders in multirotor/firmwares
.
Vehicle-specific APIs are defined in the api/
subfolder along-with required data structures. The AutonomyLib/src/
directory contains .cpp
files with implementations of various methods defined in the .hpp
files. For e.g. MultirotorApiBase.cpp
contains the base implementation of the multirotor APIs, which can be overridden in the specific firmware files.
Unreal/Plugins/AutonomySim#
This is the only portion of project which is dependent on Unreal engine. We have kept it isolated so we can implement simulator for other platforms as well. The Unreal code takes advantage of its UObject based classes including Blueprints. The Source/
folder contains the C++ files, while the Content/
folder has the blueprints and assets. Some main components are described below:
- SimMode_ classes: The SimMode classes help implement many different modes, such as pure Computer Vision mode, where there is no vehicle or simulation for a specific vehicle (currently car and multirotor). The vehicle classes are located in
Vehicles/
- PawnSimApi: This is the base class for all vehicle pawn visualizations. Each vehicle has their own child (Multirotor|Car|ComputerVision)Pawn class.
- UnrealSensors: Contains implementation of Distance and Lidar sensors.
- WorldSimApi: Implements most of the environment and vehicle-agnostic APIs
Apart from these, PIPCamera
contains the camera initialization, and UnrealImageCapture
& RenderRequest
the image rendering code. AutonomyBlueprintLib
has a lot of utility and wrapper methods used to interface with the UE4 engine.
MavLinkCom#
This is the library developed by our own team member Chris Lovett that provides C++ classes to talk to the MavLink devices. This library is stand alone and can be used in any project. See MavLinkCom for more info.
Sample Programs#
We have created a few sample programs to demonstrate how to use the API. See HelloDrone and DroneShell. DroneShell demonstrates how to connect to the simulator using UDP. The simulator is running a server (similar to DroneServer).
Python Client#
PythonClient contains Python API wrapper files and sample programs demonstrating their uses.
Unreal Engine#
The below figure illustrates how AutonomySim
is loaded and invoked by the Unreal Engine: