refactor readme / docs, add no view settings, good old housekeeping
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madratman
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baselines/__pycache__
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*pyc
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env/
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ADRL/
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98
README.md
98
README.md
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# AirSim Drone Racing Lab
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## Quickstart
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- [Website](https://microsoft.github.io/AirSim-Drone-Racing-Lab/)
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- [Linux and Windows Binaries](https://github.com/microsoft/AirSim-Drone-Racing-Lab/releases)
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- [Python API Doc](https://microsoft.github.io/AirSim-Drone-Racing-Lab/api.html), [airsimdroneracinglab PyPI package](https://pypi.org/project/airsimdroneracinglab/)
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<img src="https://github.com/madratman/airsim_neurips_gifs/blob/master/imgs/neurips_b99_3_drones.gif?raw=true" width="275"> <img src="https://github.com/madratman/airsim_neurips_gifs/blob/master/imgs/neurips_soccer_field_8_drones.gif?raw=true" width="275"> <img src="https://github.com/madratman/airsim_neurips_gifs/blob/master/imgs/neurips_zhangjiajie_4_drones.gif?raw=true" width="275">
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## Quickstart
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- [Linux and Windows Binaries](https://github.com/microsoft/AirSim-Drone-Racing-Lab/releases)
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- Python API
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- Installation:
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- [`pip install airsimdroneracinglab`](https://pypi.org/project/airsimdroneracinglab/)
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- [API Docs](https://microsoft.github.io/AirSim-Drone-Racing-Lab/api.html)
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Note: If you use this repository in your research, please cite our pre-print, [AirSim Drone Racing Lab](https://arxiv.org/abs/2003.05654).
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```
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@article{madaan2020airsim,
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title={AirSim Drone Racing Lab},
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author={Madaan, Ratnesh and Gyde, Nicholas and Vemprala, Sai and Brown, Matthew and Nagami, Keiko and Taubner, Tim and Cristofalo, Eric and Scaramuzza, Davide and Schwager, Mac and Kapoor, Ashish},
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journal={arXiv preprint arXiv:2003.05654},
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year={2020}
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}
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```
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### Using AirSim Drone Racing Lab Binaries
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#### Downloading
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- Linux
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- Use the [download_linux_binaries.sh](download_linux_binaries.sh) script
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- Python client:
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`pip install airsimdroneracinglab`
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- Windows
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#### Running
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- Linux
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- Running in windowed mode:
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```
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./ADRL/ADRL.sh -windowed
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```
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- Running headless (with rendering of images enabled):
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```
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DISPLAY= ./ADRL/ADRL.sh
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```
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- To disable rendering completely for training planning and / or control policies, you can use:
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```
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./ADRL/ADRL.sh -nullrhi
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```
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Note that `simGetImages` will not work with this option.
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- To increase speed of `simGetImages` / increase speed of Unreal Engine's game thread;
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- Add the `"ViewMode": "NoDisplay"` to your settings.json file, or use [this file](https://gist.github.com/madratman/5fadbb08f65e9c0187ccc1f5090fc086) directly.
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This disables rendering in the main viewport camera.
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Then run the binary with the following options.
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```
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./AirSimDroneRacingLab.sh -windowed -NoVSync -BENCHMARK
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```
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You can also use the Unreal console commands `Stat FPS`, `Stat UnitGraph`, `r.VSync`, `t.maxFPS`. See [Issue #111](https://github.com/microsoft/AirSim-Drone-Racing-Lab/issues/111) for more details.
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- Windows
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- Navigate to the `ADRL/` directory, and double-click `run.bat` (or `ADRL.exe -windowed`)
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## Using Docker
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- Prerequisites:
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- Install [docker-ce](https://docs.docker.com/install/linux/docker-ce/ubuntu/).
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- Complete the desired [post-installation steps for linux](https://docs.docker.com/install/linux/linux-postinstall/) after installing docker.
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At the minimum, the page tells you how torun docker without root, and other useful setup options.
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- Install [nvidia-docker2](https://github.com/NVIDIA/nvidia-docker/wiki/Installation-(version-2.0)).
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- Dockerfile:
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We provide a sample [dockerfile](docker/Dockerfile) you can modify.
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It downloads the training and qualification binaries automatically, and installs the python client.
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By default, it uses Ubuntu 18.04 and CUDA 10.0 with OpenGL, and is build on top of [nvidia/cudagl:10.0-devel-ubuntu18.04](https://hub.docker.com/r/nvidia/cudagl).
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This can be changed of course, as explained in the following section.
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- Building the docker image:
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You can use [build_docker_image.py](docker/build_docker_image.py) to build the dockerfile above (or your own custom one)
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**Usage** (with default arguments)
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```shell
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cd docker/;
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python3 build_docker_image.py \
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--dockerfile Dockerfile \
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--base_image nvidia/cudagl:10.0-devel-ubuntu18.04 \
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-- target_image airsim_neurips:10.0-devel-ubuntu18.04
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```
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- Running the docker image:
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See [docker/run_docker_image.sh](docker/run_docker_image.sh) to run the docker image:
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**Usage**
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- for running default image, training binaries, in windowed mode:
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`$ ./run_docker_image.sh "" training`
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- for running default image, training binaries, in headless mode:
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`$ ./run_docker_image.sh "" training headless`
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- for running a custom image in windowed mode, pass in you image name and tag:
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`$ ./run_docker_image.sh DOCKER_IMAGE_NAME:TAG`
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- for running a custom image in headless mode, pass in you image name and tag, followed by "headless":
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`$ ./run_docker_image.sh DOCKER_IMAGE_NAME:TAG headless`
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- [Linux](docs/using_binaries.md#linux)
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- [Windows](docs/using_binaries.md#windows)
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- [Docker on Linux](docs/docker.md)
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## AirSim Drone Racing Lab Features and API
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- The API is documented at [airsimdroneracinglab API doc](https://microsoft.github.io/AirSim-Drone-Racing-Lab/api.html)
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- The API is documented [here](https://microsoft.github.io/AirSim-Drone-Racing-Lab/api.html)
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## Questions
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Please open a Github Issue on **this** repository (not [AirSim](https://github.com/microsoft/AirSim)) for any technical questions associated with AirSim Drone Racing Lab.
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## Using Docker with Linux Binaries
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- Prerequisites:
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- Install [docker-ce](https://docs.docker.com/install/linux/docker-ce/ubuntu/).
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- Complete the desired [post-installation steps for linux](https://docs.docker.com/install/linux/linux-postinstall/) after installing docker.
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At the minimum, the page tells you how torun docker without root, and other useful setup options.
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- Install [nvidia-docker2](https://github.com/NVIDIA/nvidia-docker/wiki/Installation-(version-2.0)).
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- Dockerfile:
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We provide a sample [dockerfile](docker/Dockerfile) you can modify.
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It downloads the training and qualification binaries automatically, and installs the python client.
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By default, it uses Ubuntu 18.04 and CUDA 10.0 with OpenGL, and is build on top of [nvidia/cudagl:10.0-devel-ubuntu18.04](https://hub.docker.com/r/nvidia/cudagl).
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This can be changed of course, as explained in the following section.
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- Building the docker image:
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You can use [build_docker_image.py](docker/build_docker_image.py) to build the dockerfile above (or your own custom one)
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**Usage** (with default arguments)
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```shell
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cd docker/;
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python3 build_docker_image.py \
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--dockerfile Dockerfile \
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--base_image nvidia/cudagl:10.0-devel-ubuntu18.04 \
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-- target_image airsim_neurips:10.0-devel-ubuntu18.04
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```
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- Running the docker image:
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See [docker/run_docker_image.sh](docker/run_docker_image.sh) to run the docker image:
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**Usage**
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- for running default image, training binaries, in windowed mode:
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`$ ./run_docker_image.sh "" training`
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- for running default image, training binaries, in headless mode:
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`$ ./run_docker_image.sh "" training headless`
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- for running a custom image in windowed mode, pass in you image name and tag:
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`$ ./run_docker_image.sh DOCKER_IMAGE_NAME:TAG`
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- for running a custom image in headless mode, pass in you image name and tag, followed by "headless":
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`$ ./run_docker_image.sh DOCKER_IMAGE_NAME:TAG headless`
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## Using ADRL Binaries
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### Linux
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- Downloading
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- Use the [download_linux_binaries.sh](../download_linux_binaries.sh) script.
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- Python client:
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`pip install airsimdroneracinglab`
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- Running
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- Running in windowed mode:
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```
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./ADRL/ADRL.sh -windowed
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```
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- Running headless (with rendering of images enabled):
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```
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DISPLAY= ./ADRL/ADRL.sh
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```
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- For more command line options, see [here](#command-line-options).
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### Windows
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- Downloading
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- Go to the [release tab](https://github.com/microsoft/AirSim-Drone-Racing-Lab/releases).
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- Download `ADRL.zip` from the latest windows release, and unzip it.
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- Download and move the settings.json file to `~/Documents/AirSim/settings.json`.
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- Python client:
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`pip install airsimdroneracinglab`
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- Running
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- Navigate to the `ADRL/` directory, and double-click `run.bat` (or `ADRL.exe -windowed`)
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- For more command line options, see [here](#command-line-options).
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## Command Line Options
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The following command line options are provided by Unreal Engine, and work in Linux and Windows both.
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Here's a [complete list](https://docs.unrealengine.com/en-US/Programming/Basics/CommandLineArguments/index.html) of possible command line arguments.
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- To disable rendering completely for training planning and / or control policies, you can use:
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```
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./ADRL/ADRL.sh -nullrhi
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```
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Note that `simGetImages` will not work with this option.
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- To increase speed of `simGetImages`:
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- Add `"ViewMode": "NoDisplay"` to your `~/Documents/AirSim/settings.json` file, or replace its contents with [this file](../settings/settings_no_view.json).
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This disables rendering in the main viewport camera.
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Then run the binary with the following options.
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```
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./AirSimDroneRacingLab.sh -windowed -NoVSync -BENCHMARK
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```
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- You can use [Unreal Engine's Stat commands](https://docs.unrealengine.com/en-US/Engine/Performance/StatCommands/index.html) `Stat FPS`, `Stat UnitGraph`, `r.VSync`, `t.maxFPS` for monitoring performance.
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{
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"ClockSpeed": 1,
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"SeeDocsAt": "https://github.com/Microsoft/AirSim/blob/master/docs/settings.md",
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"SettingsVersion": 1.2,
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"SimMode": "Multirotor",
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"ViewMode": "NoDisplay",
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"Vehicles": {
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"drone_1": {
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"Cameras": {
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"fpv_cam": {
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"CaptureSettings": [
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{
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"FOV_Degrees": 90,
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"Height": 240,
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"ImageType": 0,
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"Width": 320
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}
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],
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"Pitch": 0.0,
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"Roll": 0.0,
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"X": 0.25,
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"Y": 0.0,
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"Yaw": 0.0,
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"Z": 0.0
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}
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},
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"Pitch": 0.0,
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"Roll": 0.0,
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"VehicleType": "SimpleFlight",
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"X": 0.0,
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"Y": 0.0,
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"Yaw": 0.0,
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"Z": 0.0
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},
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"drone_2": {
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"Pitch": 0.0,
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"Roll": 0.0,
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"VehicleType": "SimpleFlight",
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"X": 0.0,
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"Y": 0.0,
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"Yaw": 0.0,
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"Z": 0.0
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}
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}
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}
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