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AirSim
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PythonClient/car/drive_straight.py
51 строка
1 KB
Андрей Васильченко
сборка под ubuntu 26.04
08 июл 2026, 10:15
08 июл 2026, 10:15
d53c5a2
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import setup_path import airsim #from keras.models import load_model import sys import numpy as np #if (len(sys.argv) != 2): # print('usage: python drive.py <modelName>') # sys.exit() #print('Loading model...') #model = load_model(sys.argv[1]) # connect to the AirSim simulator client = airsim.CarClient() client.confirmConnection() client.enableApiControl(True) car_controls = airsim.CarControls() car_controls.steering = 0 car_controls.throttle = 0 car_controls.brake = 0 image_buf = np.zeros((1, 144, 256, 3)) state_buf = np.zeros((1,4)) def get_image(): image = client.simGetImages([airsim.ImageRequest("0", airsim.ImageType.Scene, False, False)])[0] image1d = np.fromstring(image.image_data_uint8, dtype=np.uint8) image_rgb = image1d.reshape(image.height, image.width, 3) return image_rgb while (True): car_state = client.getCarState() print('car speed: {0}'.format(car_state.speed)) if (car_state.speed < 20): car_controls.throttle = 1.0 else: car_controls.throttle = 0.0 #state_buf[0] = np.array([car_controls.steering, car_controls.throttle, car_controls.brake, car_state.speed]) #model_output = model.predict([image_buf, state_buf]) #car_controls.steering = float(model_output[0][0]) car_controls.steering = 0 print('Sending steering = {0}, throttle = {1}'.format(car_controls.steering, car_controls.throttle)) client.setCarControls(car_controls)