Issue with multiple vehicles multirotor api

[spencerh-b]

I have place 9 drones with in my environment and I have debugged through the Unreal project as well as my api, I understand how the vehicles are differentiated with in the vehicles_ vector, which is passed onto a bodies vector... ect. I as well have a vauge understanding of how an MultirotorRpcLibClient is created but I am a little confused still on how the Client attains control over a pawn in unreal. However, through all this debbuging I am still unable to control different vehicles through an api, Is it possible to access all vehicles from a single api? I have noticed that all of my vehicles don't have a config name and none of them are the "is_fpv_vehicle" when looking through their pointers with in the vehicals_ vector. I did try to change the "is_fpv_vehical" default to true with in the wrapper, but that didnt seem to change anything. Even when changing the settings.json file I don't get a changed vehicle_config_name. Are the is_fpv_vehical and vehical_config_name_ settings something I can change in Unreal? Boiled down as simple as possible here are my questions and concerns.

Concern 1: No way to change vehicle_config_name and is_fpv_vehicle.

Question 1: How can I control multiple drones individually?

Question 2: Can I control multiple drones individually from 1 api?

Note : Using simpleflight

[spencerh-b]

I managed to figure it out for better or worse by changing the files
SimModeWorldMultiRotor.h/.cpp by making all the drones set up on a different port which was apparently not being changed via the .json file.

[saihv]

Does control work fine with those modifications? (with PythonClient or DroneShell). I have been looking into making similar modifications until a fix is released.

[spencerh-b]

@saihv Yeah it really only takes a couple lines of code. Specifically, the bottom function in SimModeWorldMultiRotor.cpp incrementing the port by utilizing the size of the vehicles vector.

[saihv]

Weird. I tried the exact same thing, and the API port is changing, but the python client doesn't connect to any other port apart from 41451.

[saihv]

My code is at #664 (comment)

[spencerh-b]

@saihv Ohhhh I forgot I as well added into the python client. My apologies. Here is a copy of my AirSimClient
AirSimClient.py.zip

[saihv]

Thanks for the link. Is this the only change you made (adding port number to the call)? Because I have the same change, yet it doesn't work.

def __init__(self, ip, port):
        self.client = msgpackrpc.Client(msgpackrpc.Address(ip, port), timeout = 3600)

[spencerh-b]

@saihv I added a port variable into at least two functions I believe (also the multirotorClient) and then you have to input it when you initialize the drone in your api

[spencerh-b]

`class Airsim_Swarm:

def __init__(self):

    #################

    #Number of Swarm Agents

    self.num_clients = 3

    self.num_cameras = 2

    #############

    '''
    Create list of client drones
    '''
    self.clients = []
    for i in range(0, self.num_clients):
        self.clients.append(MultirotorClient(41451+i))
        self.clients[i].confirmConnection()
        self.clients[i].enableApiControl(True)
        self.clients[i].armDisarm(True)`

[saihv]

I am doing pretty much the same thing. As soon as I try to connect on 41452 or any other ports, Looks like it has nothing to do with ports. Basically if I connect to any of the other elements in the vehicles vector and not the first, I get

WARNING:tornado.general:Connect error on fd 440: WSAECONNREFUSED

Thanks for the help anyway. I will recheck my code to see if I'm missing something. Looks like the API endpoints are not actually being initialized for some reason.

[spencerh-b]

@saihv I have never seen an error like that, try using 41453 to check if that port is maybe being used by a different process

[saihv]

Looks like it's not even because of the port number. Are you using the latest version? Or an older commit?

[spencerh-b]

@saihv Older commit because I am on ubuntu 14.04 otherwise it wont build a62163c

[saihv]

Weirdly, I still have the same issue with that commit. Irrespective of the port numbers, only the first vehicle responds to the API control request, none of the others do. I think I have the same modification as yours in SimModeWorldMultiRotor.cpp, and I was able to verify that all vehicles have a different port assigned by watching the vehicles variable.

vehicle_params_.push_back(std::move(vehicle_params));

std::shared_ptr<MultiRotorConnector> vehicle = std::make_shared<MultiRotorConnector>(
        wrapper, vehicle_params_.back().get(), enable_rpc, api_server_address,
        41454 + vehicle_params_.size() - 1, manual_pose_controller);

[saihv]

I think I figured out what's wrong: don't you also need to do vehicle->startApiServer() for each of the vehicles? Which means your fpv_vehicle_connector should be an array instead of just one

[spencerh-b]

Sorry for the late response I took a little vacation time. Interesting I have been able to have this running and I'm not really sure what the issue is. I have also been able to get this running with python, but it seems as though a fix that utilizes the .json file is necessary for total reliability