Skip to content

Latest commit

 

History

History
109 lines (84 loc) · 5.98 KB

opensource.md

File metadata and controls

109 lines (84 loc) · 5.98 KB
Raw

API lookup

  • pdf
  • linux command

Environment Setup

version for many other environments. e.g. cities. Although many of them are for Windows, copy them to related folders.

  • remeber to backup a clean version before you start your own version.

UE4Editor easily crashed

PATH setup im IPython terminal of Spyder

export LD_LIBRARY_PATH=/home/jet/anaconda3/lib:$LD_LIBRARY_PATH work in raw terminal, while not in IPython.

  1. alter to VS Code & write ~/.bashrc & run under base -> PASS
  2. install mklml lib -> FAIL
  3. %env foo=bar, follow the format like other env variables. -> FAIL
  4. copy ~/anaconda3/lib/libmklml_intel.so to the other path ~/anaconda3/lib/python3.5/site-packages/, and chmod -> FAIL
  5. write to ~/.bashrc -> FAIL
  6. conda base env
    1. start from (base) prompt -> FAIL
    2. in ipython workon -> FAIL

update api

Both the open source use on Airsim 1.2.0 or earlier, refer to update api for some substitute. Some of them still work with warinings, while some pop erors.

getPosition( ) getVelocity( ) getCollisionInfo()

  1. WARNING:root:getPosition API is deprecated. For ground-truth please use simGetGroundTruthKinematics() API.
  2. WARNING:root:getVelocity API is deprecated. For ground-truth please use simGetGroundTruthKinematics() API.
  3. WARNING:root:getCollisionInfo API is renamed to simGetCollisionInfo. Please update your code

SOLUTION replace any getPosition( ) as simGetGroundTruthKinematics().position, and getVelocity() as simGetGroundTruthKinematics().linear_velocity. as reference from client.py

    def getPosition(self):
        logging.warning("getPosition API is deprecated. For ground-truth please use simGetGroundTruthKinematics() API." + self.upgrade_api_help)
        return self.simGetGroundTruthKinematics().position
    def getVelocity(self):
        logging.warning("getVelocity API is deprecated. For ground-truth please use simGetGroundTruthKinematics() API." + self.upgrade_api_help)
    return self.simGetGroundTruthKinematics().linear_velocity

Also, getCollisionInfo() is renamed to simGetCollisionInfo().

AirSimDroneSimulator

Based on Keras.

  1. install theano, h5py
  2. run main.py of 3D_path_finding/DQN
    1. change path to DQN
    2. open main.ipynb,download main.py
    3. debug #from DQN.RL_dataset import Dataset -> from RL_dataset import Dataset of RL_dataset.py
    4. Unable to open file (unable to open file: name = 'finalb.h5', errno = 2, error message = 'No such file or directory', flags = 0, o_flags = 0) -> miss finalb.h5 file. -> disable the read of this file -> msgpackrpc.error.RPCError: rpclib: client error C0002: Function 'getHomeGeoPoint' was called with an invalid number of arguments. Expected: 0, got: 1
  3. run main.py of 3D_path_finding/DDQN
    1. ImportError: No module named 'cv2' -> conda install -c conda-forge opencv
    2. RPCError: rpclib: client error C0002: Function 'getHomeGeoPoint' was called with an invalid number of arguments. Expected: 0, got: 1 ->
  4. run test.py of 3D_path_finding/DDQN
  5. captureimages.py of Object_Detection/Faster_R-CNN
    1. RPCError: rpclib: client error C0002: Function 'getHomeGeoPoint' was called with an invalid number of arguments. Expected: 0, got: 1 -> version issue - replace AirSimClient as client

Obstacle Avoidance using DDQN

based on CNTK.

  1. dqn_tr1.py (starter)

    1. moveToPosition() -> moveToPositionAsync()
    2. goHome() -> goHomeAsync()
    3. NameError: name 'AirSimImageType' is not defined -> PASS
    4. warining 
      WARNING:root:getVelocity API is deprecated. For ground-truth please use simGetGroundTruthKinematics() API.
Please see https://github.com/Microsoft/AirSim/blob/master/docs/upgrade_apis.md for more info.
WARNING:root:getPosition API is deprecated. For ground-truth please use simGetGroundTruthKinematics() API.
Please see https://github.com/Microsoft/AirSim/blob/master/docs/upgrade_apis.md for more info.
    5. obstacle setup(TODO)
    6. not receive api call in UE4 (TODO).

  2. NewTestDDQN.py (official)

    1. concated instead of merge -> ValueError: Output tensors to a Model must be the output of a Keras Layer (thus holding past layer metadata). Found: <keras.layers.merge.Concatenate object at 0x7f6f37298860>
    2. TypeError: 'module' object is not callable -> py3 grammer of import
    3. ValueError: Negative dimension size caused by subtracting 8 from 4 for 'conv2d_1/convolution' (op: 'Conv2D') with input shapes: [?,4,84,84], [8,8,84,16]. OR ``
      1. tricks, debug into to see the size, model.input_size, model.output_size after each Conv2D and Max2Dpooling. Likely input is unmatched.
      2. refer codes from keras import backend as K; K.image_data_format() -> 'channels_last' / input_shape = (img_rows, img_cols, 1) PASS

  3. ddqn_example.py (sample code, nothing to do with AirSim)

    1. merge()-> TypeError: 'module' object is not callable
      1. reinstalll tensorflow and keras
    2. concate() -> size unmatch
    3. can concate substitute the expired merge?

ToDo

  1. the CNN, the network match
  2. print action and reward
  3. file and data save

corrupt env

Collide with Plane, Car -> set plane coord, Multirotor -> wait

  1. go on fix -> set the plane coord
  2. copy and work on a new one -> Fail
  3. start over comiple -> Fail