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Integrate JSBSim flight dynamics into Project AirSim
This commit introduces JSBSim as a supported flight dynamics engine in Project AirSim. It includes all necessary CMake integration, external dependency setup, and a sample fixed-wing aircraft configuration using JSBSim. Additionally, it adds example Python scripts (`hello_fixed_wing.py`, `hello_helicopter.py`) that demonstrate how to load a JSBSim-based aircraft and interact with it using the simulation API. Note: ✔️ Fully functional on Windows. ⚠️ Not yet supported on Linux.
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‎.gitignore‎

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@@ -376,3 +376,24 @@ env/
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# Simulink cache
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**/slprj
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*.slxc
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# Jsbsim repository files
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core_sim/jsbsim/
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# temporary for Jonathan
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physics/test/CMakeLists.txt
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core_sim/test/CMakeLists.txt
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unreal/Blocks/Plugins/InternalDevUseContent/
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unreal/Blocks/Plugins/ProjectAirSim/SDK/
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unreal/Blocks/Samples/
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# Compilation with Visual Studio
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# TODO: Make this cleaner. This is a temporary fix.
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CMakeFiles/
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CMakeCache.txt
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CTestTestfile.cmake
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*.vcxproj
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*.filters
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*.cmake
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DartConfiguration.tcl
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ProjectAirSimLibs.sln

‎CMakeLists.txt‎

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@@ -45,6 +45,7 @@ set(SIMLIBS_TEST_DIR ${CMAKE_BINARY_DIR}/unit_tests)
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set(UE_PLUGIN_SIMLIBS_DIR ${CMAKE_SOURCE_DIR}/unreal/Blocks/Plugins/ProjectAirSim/SimLibs)
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set(UNITY_WRAPPER_DLL_DIR ${CMAKE_SOURCE_DIR}/unity/BlocksUnity/Assets/Plugins)
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set(MATLAB_PHYSICS_DIR ${CMAKE_SOURCE_DIR}/physics/matlab_sfunc)
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set(JSBSIM_CORESIM_DIR ${CMAKE_SOURCE_DIR}/core_sim/jsbsim)
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set(MATLAB_CONTROL_DIR ${CMAKE_SOURCE_DIR}/vehicle_apis/multirotor_api/matlab_sfunc)
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# set(UE_PLUGIN_CESIUM_NATIVE_DIR ${CMAKE_SOURCE_DIR}/unreal/Blocks/Plugins/ProjectAirSim/SimLibs)
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# set(UE_CESIUM_PLUGIN_DIR ${CMAKE_SOURCE_DIR}/unreal/Blocks/Plugins/CesiumForUnreal/)
@@ -72,6 +73,66 @@ elseif(UNIX)
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# set(CESIUM_LINUX_TOOLCHAIN ${UE_CESIUM_PLUGIN_DIR}/extern/unreal-linux-toolchain.cmake)
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endif()
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# Set up dependency: jsbsim
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message("Setting up [jsbsim] dependency as an external project...")
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# CMake external projects don't adopt the parent's CMAKE_MSVC_RUNTIME_LIBRARY setting,
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# so to force /MD non-debug CRT to match UE, build Debug config as Relwithdebinfo and
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# build Release as Release.
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set(JSBSIM_BUILD_TYPE $<IF:$<CONFIG:Debug>,Relwithdebinfo,Release>)
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set(JSBSIM_SRC_DIR ${CMAKE_BINARY_DIR}/_deps/jsbsim/src/jsbsim-repo)
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set(JSBSIM_SHARED_LIB_DIR ${CMAKE_BINARY_DIR}/_deps/jsbsim-install/bin)
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set(JSBSIM_STATIC_LIB_DIR ${CMAKE_BINARY_DIR}/_deps/jsbsim-install/lib)
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set(JSBSIM_INCLUDE_DIR ${CMAKE_BINARY_DIR}/_deps/jsbsim-install/include/JSBSim ${CMAKE_BINARY_DIR}/_deps/jsbsim-install/include/JSBSim/math)
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ExternalProject_Add(jsbsim-repo
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GIT_REPOSITORY https://github.com/JSBSim-Team/jsbsim
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GIT_TAG "v1.1.12"
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GIT_CONFIG "advice.detachedHead=false"
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PREFIX ${CMAKE_BINARY_DIR}/_deps/jsbsim
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BUILD_COMMAND ${CMAKE_COMMAND} --build <BINARY_DIR> --config ${JSBSIM_BUILD_TYPE}
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INSTALL_COMMAND ${CMAKE_COMMAND} --build <BINARY_DIR> --config ${JSBSIM_BUILD_TYPE} --target install
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UPDATE_COMMAND "" # disable update step
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CMAKE_ARGS
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# -DCMAKE_C_COMPILER=${CMAKE_C_COMPILER}
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-DCMAKE_CXX_COMPILER=${CMAKE_CXX_COMPILER}
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-DCMAKE_POSITION_INDEPENDENT_CODE=True
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-DCMAKE_BUILD_TYPE:STRING=${JSBSIM_BUILD_TYPE}
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-DCMAKE_INSTALL_PREFIX:PATH=${CMAKE_BINARY_DIR}/_deps/jsbsim-install
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-DBUILD_SHARED_LIBS=ON
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-DBUILD_PYTHON_MODULE=OFF
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-DBUILD_DOCS=OFF
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TEST_COMMAND "" # disable test step
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BUILD_BYPRODUCTS ${JSBSIM_SHARED_LIB_DIR}/JSBSim.dll ${JSBSIM_STATIC_LIB_DIR}/JSBSim.lib
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BUILD_ALWAYS 1
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)
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ExternalProject_Add_Step(jsbsim-repo post-install
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COMMAND ${CMAKE_COMMAND} -E echo "Copying [jsbsim] library to ${JSBSIM_CORESIM_DIR}"
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COMMAND ${CMAKE_COMMAND} -E copy "${JSBSIM_SHARED_LIB_DIR}/JSBSim.dll" "${JSBSIM_CORESIM_DIR}/lib/$<IF:$<CONFIG:Release>,Release,Debug>/JSBSim.dll"
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COMMAND ${CMAKE_COMMAND} -E copy "${JSBSIM_STATIC_LIB_DIR}/JSBSim.lib" "${JSBSIM_CORESIM_DIR}/lib/$<IF:$<CONFIG:Release>,Release,Debug>/JSBSim.lib"
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#COMMAND ${CMAKE_COMMAND} -E copy "${JSBSIM_LIB_DIR}/JSBSim.pdb" "${JSBSIM_PHYSICS_DIR}/lib/$<IF:$<CONFIG:Release>,Release,Debug>/JSBSim.pdb"
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COMMAND ${CMAKE_COMMAND} -E copy_directory "${JSBSIM_INCLUDE_DIR}" "${JSBSIM_CORESIM_DIR}/include"
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# Copy JSBSim models
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COMMAND ${CMAKE_COMMAND} -E copy_directory "${JSBSIM_SRC_DIR}/aircraft" "${JSBSIM_CORESIM_DIR}/models/aircraft"
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COMMAND ${CMAKE_COMMAND} -E copy_directory "${JSBSIM_SRC_DIR}/engine" "${JSBSIM_CORESIM_DIR}/models/engine"
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COMMAND ${CMAKE_COMMAND} -E copy_directory "${JSBSIM_SRC_DIR}/systems" "${JSBSIM_CORESIM_DIR}/models/systems"
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# TODO: take out if we are not going to use JSBSim scripts
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COMMAND ${CMAKE_COMMAND} -E copy_directory "${JSBSIM_SRC_DIR}/scripts" "${JSBSIM_CORESIM_DIR}/models/scripts"
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DEPENDEES install
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)
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# add jsbsim shared library
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add_library(jsbsim SHARED IMPORTED)
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if(WIN32)
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set_target_properties(jsbsim PROPERTIES
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IMPORTED_LOCATION ${JSBSIM_SHARED_LIB_DIR}/JSBSim.dll
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IMPORTED_IMPLIB ${JSBSIM_STATIC_LIB_DIR}/JSBSim.lib
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)
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else()
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set_target_properties(jsbsim PROPERTIES
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IMPORTED_LOCATION ${JSBSIM_SHARED_LIB_DIR}/libjsbsim.so
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IMPORTED_IMPLIB ${JSBSIM_STATIC_LIB_DIR}/libjsbsim.a
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)
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endif()
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# Set up dependency: nlohmann JSON
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# Directly download single include file json.hpp

‎client/python/example_user_scripts/hello_fixed_wing.py‎

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"""
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Copyright (C) Microsoft Corporation. All rights reserved.
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Demonstrates flying a quadrotor drone with camera sensors.
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"""
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import asyncio
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import math
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from projectairsim import ProjectAirSimClient, Drone, World
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from projectairsim.utils import projectairsim_log
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from projectairsim.image_utils import ImageDisplay
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# Async main function to wrap async drone commands
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async def main():
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# Create a Project AirSim client
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client = ProjectAirSimClient()
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# Initialize an ImageDisplay object to display camera sub-windows
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image_display = ImageDisplay()
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try:
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# Connect to simulation environment
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client.connect()
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# Create a World object to interact with the sim world and load a scene
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world = World(client, "scene_basic_fixed_wing.jsonc", delay_after_load_sec=2)
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# Create a Drone object to interact with a drone in the loaded sim world
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drone = Drone(client, world, "x8")
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#
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## ------------------------------------------------------------------------------
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#
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## Subscribe to chase camera sensor as a client-side pop-up window
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#chase_cam_window = "ChaseCam"
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#image_display.add_chase_cam(chase_cam_window)
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#client.subscribe(
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# drone.sensors["DownCamera"]["scene_camera"],
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# lambda _, chase: image_display.receive(chase, chase_cam_window),
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#)
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#
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## Subscribe to the downward-facing camera sensor's RGB and Depth images
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#rgb_name = "RGB-Image"
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#image_display.add_image(rgb_name, subwin_idx=0)
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#client.subscribe(
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# drone.sensors["DownCamera"]["scene_camera"],
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# lambda _, rgb: image_display.receive(rgb, rgb_name),
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#)
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#
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#depth_name = "Depth-Image"
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#image_display.add_image(depth_name, subwin_idx=2)
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#client.subscribe(
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# drone.sensors["DownCamera"]["depth_camera"],
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# lambda _, depth: image_display.receive(depth, depth_name),
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#)
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#
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#image_display.start()
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#
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## ------------------------------------------------------------------------------
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#
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## Set the drone to be ready to fly
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## JSBSim robot currently does not support control the drone at runtime
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#drone.enable_api_control()
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##set brakes to 1
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#drone.set_brakes(1)
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#drone.arm()
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#
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## ------------------------------------------------------------------------------
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#
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## set takeoff z to 120 meters
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#drone.set_take_off_z(-120)
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#
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## ------------------------------------------------------------------------------
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#
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## Sleep for two seconds to
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#await asyncio.sleep(2)
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#
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## release brakes
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#drone.set_brakes(0)
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#
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#projectairsim_log().info("takeoff_async: starting")
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#takeoff_task = (
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# await drone.takeoff_async(timeout_sec=1200)
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#) # schedule an async task to start the command
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#
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#await takeoff_task
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#projectairsim_log().info("takeoff_async: completed")
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#
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#projectairsim_log().info("Waiting to stabilize altitude... (10 seconds)")
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#await asyncio.sleep(10)
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#
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## ------------------------------------------------------------------------------
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#
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## Command the drone to move to position 1000,1000,-200
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#move_up_task = await drone.move_to_position_async(
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# north=1000, east=1000, down=-200, velocity=33.0, lookahead=100, timeout_sec=60
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#)
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#projectairsim_log().info("Move to position 1000,1000,-200 invoked")
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#
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#await move_up_task
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#projectairsim_log().info("Move to position completed")
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#
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## ------------------------------------------------------------------------------
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#
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## Command vehicle to fly at a specific heading and speed
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#projectairsim_log().info("Heading 90 invoked")
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#heading_45_task = await drone.move_by_heading_async(
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# heading=math.radians(90.0), speed=20.0, duration=10
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#)
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#await heading_45_task
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#projectairsim_log().info("Heading 90 complete.")
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#
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## ------------------------------------------------------------------------------
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#
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## Command the drone to move to position 0,0,-100
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#move_up_task = await drone.move_to_position_async(
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# north=0, east=0, down=-100, velocity=33.0, lookahead=100, timeout_sec=60
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#)
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#projectairsim_log().info("Move to position 0,0,-100 invoked")
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#
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#await move_up_task
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#projectairsim_log().info("Move to position completed")
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## ------------------------------------------------------------------------------
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#
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#projectairsim_log().info("land_async: starting")
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#land_task = await drone.land_async()
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#await land_task
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#projectairsim_log().info("land_async: completed")
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## set brakes to 50%
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#drone.set_brakes(0.5)
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# ------------------------------------------------------------------------------
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# Shut down the drone
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drone.disarm()
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drone.disable_api_control()
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# logs exception on the console
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except Exception as err:
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projectairsim_log().error(f"Exception occurred: {err}", exc_info=True)
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finally:
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# Always disconnect from the simulation environment to allow next connection
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client.disconnect()
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image_display.stop()
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if __name__ == "__main__":
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asyncio.run(main()) # Runner for async main function

‎client/python/example_user_scripts/hello_helicopter.py‎

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"""
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Copyright (C) Microsoft Corporation. All rights reserved.
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Demonstrates flying a quadrotor drone with camera sensors.
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"""
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import asyncio
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from projectairsim import ProjectAirSimClient, Drone, World
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from projectairsim.utils import projectairsim_log
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from projectairsim.image_utils import ImageDisplay
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# Async main function to wrap async drone commands
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async def main():
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# Create a Project AirSim client
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client = ProjectAirSimClient()
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# Initialize an ImageDisplay object to display camera sub-windows
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image_display = ImageDisplay()
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try:
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# Connect to simulation environment
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client.connect()
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# Create a World object to interact with the sim world and load a scene
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world = World(client, "scene_basic_helicopter.jsonc", delay_after_load_sec=2)
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# Create a Drone object to interact with a drone in the loaded sim world
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drone = Drone(client, world, "Drone1")
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# ------------------------------------------------------------------------------
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# Subscribe to chase camera sensor as a client-side pop-up window
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chase_cam_window = "ChaseCam"
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image_display.add_chase_cam(chase_cam_window)
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client.subscribe(
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drone.sensors["Chase"]["scene_camera"],
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lambda _, chase: image_display.receive(chase, chase_cam_window),
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)
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# Subscribe to the downward-facing camera sensor's RGB and Depth images
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rgb_name = "RGB-Image"
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image_display.add_image(rgb_name, subwin_idx=0)
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client.subscribe(
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drone.sensors["DownCamera"]["scene_camera"],
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lambda _, rgb: image_display.receive(rgb, rgb_name),
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)
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depth_name = "Depth-Image"
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image_display.add_image(depth_name, subwin_idx=2)
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client.subscribe(
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drone.sensors["DownCamera"]["depth_camera"],
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lambda _, depth: image_display.receive(depth, depth_name),
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)
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image_display.start()
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# ------------------------------------------------------------------------------
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# Set the drone to be ready to fly
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# JSBSim robot currently does not support control the drone at runtime
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# drone.enable_api_control()
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# drone.arm()
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# # ------------------------------------------------------------------------------
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# projectairsim_log().info("takeoff_async: starting")
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# takeoff_task = (
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# await drone.takeoff_async()
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# ) # schedule an async task to start the command
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# # Example 1: Wait on the result of async operation using 'await' keyword
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# await takeoff_task
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# projectairsim_log().info("takeoff_async: completed")
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# # ------------------------------------------------------------------------------
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# # Command the drone to move up in NED coordinate system at 1 m/s for 4 seconds
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# move_up_task = await drone.move_by_velocity_async(
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# v_north=0.0, v_east=0.0, v_down=-1.0, duration=4.0
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# )
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# projectairsim_log().info("Move-Up invoked")
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# await move_up_task
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# projectairsim_log().info("Move-Up completed")
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# # ------------------------------------------------------------------------------
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# # Command the Drone to move down in NED coordinate system at 1 m/s for 4 seconds
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# move_down_task = await drone.move_by_velocity_async(
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# v_north=0.0, v_east=0.0, v_down=1.0, duration=4.0
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# ) # schedule an async task to start the command
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# projectairsim_log().info("Move-Down invoked")
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# # Example 2: Wait for move_down_task to complete before continuing
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# while not move_down_task.done():
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# await asyncio.sleep(0.005)
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# projectairsim_log().info("Move-Down completed")
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# # ------------------------------------------------------------------------------
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# projectairsim_log().info("land_async: starting")
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# land_task = await drone.land_async()
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# await land_task
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# projectairsim_log().info("land_async: completed")
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# # # ------------------------------------------------------------------------------
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# ------------------------------------------------------------------------------
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# sleep for 5 minutes to contiue seeing the camera images
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await asyncio.sleep(300)
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# Shut down the drone
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#drone.disarm()
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#drone.disable_api_control()
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# logs exception on the console
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except Exception as err:
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projectairsim_log().error(f"Exception occurred: {err}", exc_info=True)
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finally:
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# Always disconnect from the simulation environment to allow next connection
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client.disconnect()
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image_display.stop()
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if __name__ == "__main__":
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asyncio.run(main()) # Runner for async main function

‎client/python/example_user_scripts/jsbsim_env_actor.py‎

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"""
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from projectairsim import ProjectAirSimClient, World, EnvActor
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from projectairsim.utils import projectairsim_log
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import asyncio
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async def env_actor_motion_plan(env_actor: EnvActor, world: World):

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