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Settings

Introduction

AirSim uses its own settings file, which is loaded from ~/Documents/AirSim/settings.json, to setup the simulation in UE4. Because the unreal_airsim simulator needs to be aware of the same settings and for ease of use, a single settings file from the unreal_airsim repo is used for both.

Specifiy your required settings (see below) in my_settings.yaml and then use the Config Parser

roslaunch unreal_airsim parse_config_to_airsim.launch source:=path/to/my_settings.yaml

to generate the settings.json for you. The parser still allows you to specify arbitrary AirSim-Settings-fields, but also takes care of e.g. frame conversions and required settings for the simulator to run properly. Make sure to always have matching settings, i.e. load my_settings.yaml into the airsim simulator node and rerun the settings parser and restart the unreal game whenever the settings are changed.

Using the unreal_airsim settings

The unreal_airsim config file is structured into two parts, being the General Settings and Components.

  • The General Settings contain all parameters for the simulator and general settings for AirSim.

  • As of this writing, there exists 2 types of Components: sensors and processors, where sensors specify the sensor setup that is to be simulated, and processors can perform arbitrary pre- or post-processing steps that require access to the simulation. The components are all organized as component_type/name/params. The name is an unique specifier for the component to be built, but aside from default e.g. topic names it has no physical meaning.

All parameters for general settings and sensors are listed in the online_simulator/simulator.h in the Config struct and set in readParamsFromRos(). All parameters for processors can be found in their individual setupFromRos() function.

The parameter naming is such that all unreal_airsim params are in lower_case. To set AirSim params (as in settings.json), just add them with identical name and value in CamelCase to my_settings.yaml. They will be forwarded to the AirSim settings except when they interfere with crucial prerequisites.

An example of how to construct an unreal_airsim settings file is given in cfg/demo.yaml. settings