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AirGenDrone

Inherits from: AerialDrone AirGen simulation multirotor drone implementation. This class provides an interface to control simulated multirotor drones in AirGen using the MultirotorClient from the pyairgen library.

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Inherited methods

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init

AirGenDrone.__init__(ip: str = '127.0.0.1', port: int = 41461, timeout_value: int = 3600, vehicle_name: str = '')
Initialize a simulated AirGen multirotor client.
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Arguments
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ip (str)
str
IP address of the AirGen server. (default: “127.0.0.1”)
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port (int)
int
Port number for the AirGen server. (default: 41461)
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timeout_value (int)
int
Timeout value for the connection in seconds. (default: 3600)
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vehicle_name (str)
str
Name of the vehicle in the simulation. (default: "")

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takeoff

AirGenDrone.takeoff() -> None
Command the drone to take off and hover.
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Returns
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returns
None

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land

AirGenDrone.land() -> None
Command the drone to land at its current position.
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Returns
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returns
None

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getState

AirGenDrone.getState() -> dict
Get the current state of the drone.
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Returns
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dict
dict
Current state including position, orientation, and velocity.

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getImage

AirGenDrone.getImage(camera_name: str = 'front_center', image_type: str = 'rgb') -> Image
Get an image from the specified camera.
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Arguments
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camera_name (str)
str
Name of the camera in the AirGen scene. (default: “front_center”)
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image_type (str)
str
Image type, one of (“rgb”|“depth”). (default: “rgb”)
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Returns
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Image
Image
Captured image wrapped in the project’s Image type.

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getPosition

AirGenDrone.getPosition() -> Optional[Position]
Get the position of the drone in the world frame.
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Returns
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Optional[Position]
Optional[Position]
Current position of the drone in world coordinates.

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getOrientation

AirGenDrone.getOrientation() -> Optional[Orientation]
Get the orientation of the drone in the world frame.
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Returns
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Optional[Orientation]
Optional[Orientation]
Current orientation as a quaternion (x, y, z, w).

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moveToPosition

AirGenDrone.moveToPosition(position: Position, velocity: float, timeout_sec: float = 60) -> None
Move the drone to a specified position in the world frame.
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Arguments
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position (Position)
Position
required
Target position in meters (x, y, z).
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velocity (float)
float
required
Velocity in m/s.
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timeout_sec (float)
float
Timeout for the operation in seconds. (default: 60)
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Returns
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returns
None

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moveByVelocity

AirGenDrone.moveByVelocity(linear_velocity: Velocity, angular_velocity: Velocity, duration: float = 1.0, frame: str = 'body') -> None
Move the drone with a velocity command in m/s. The command applies for the given duration. For the body frame, velocity is relative to the drone’s orientation. For the world frame, velocity is in the global coordinate system.
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Arguments
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linear_velocity (Velocity)
Velocity
required
Linear velocity in m/s (x, y, z).
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angular_velocity (Velocity)
Velocity
required
Angular velocity in rad/s (z_vel/yaw rate is used).
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duration (float)
float
Duration in seconds for the command to apply. (default: 1.0)
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frame (str)
str
Reference frame for velocity (“body” or “world”). (default: “body”)
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Returns
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returns
None

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cleanup

AirGenDrone.cleanup() -> None
Clean up resources and disarm the drone.
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Returns
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returns
None

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stop

AirGenDrone.stop() -> None
Stop the drone by commanding zero velocity.
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Returns
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returns
None