API errors in ROS wrapper

[didwjdrl12]

Hi, I am trying to use ROS wrapper with AirSim simulator Unreal engine on Linux (default settings,json file and airsim_node.launch), but

Exception raised by the API:
rpclib: function 'getMultirotorState' (called with 1 arg(s)) threw an exception. The exception contained this information: Vehicle API for 'ComputerVision' is not available. This could either because this is simulation-only API or this vehicle does not exist.
error

This error occurs permanently, and any topic and service do not work.
How can I solve this problem?

[msb336]

It looks like you are operating in computer vision mode. getMultirotorState can only be called on a multirotor vehicle. Can you copy your settings file into the thread?

[didwjdrl12]

Thank you for your reply.
This is my setting.json file.

{
"SeeDocsAt": "https://github.com/Microsoft/AirSim/blob/master/docs/settings.md",
"SettingsVersion": 1.2,
"SimMode": "Multirotor"
}

I set the simmode as Multirotor, I don't know why the ROS wrapper recognize the simmode as ComputerVision

[machenxiang]

Thank you for your reply.
This is my setting.json file.

{
"SeeDocsAt": "https://github.com/Microsoft/AirSim/blob/master/docs/settings.md",
"SettingsVersion": 1.2,
"SimMode": "Multirotor"
}

I set the simmode as Multirotor, I don't know why the ROS wrapper recognize the simmode as ComputerVision

I have the same problem. did you solve it?

[madratman]

Please add a "vehicle" clause in your settings.json. you can look at the ones provided here https://github.com/microsoft/AirSim/tree/master/ros/src/airsim_tutorial_pkgs/settings

[jusevitch]

Sorry to bring up this issue again, but I'm getting the same error despite having a "Vehicles" clause in my settings.json. Here is my settings.json file:

{
    "SeeDocsAt": "https://github.com/Microsoft/AirSim/blob/master/docs/settings.md",
    "SettingsVersion": 1.2,
    "SimMode": "Multirotor",
    "Vehicles": {
        "Drone0": {
            "Pitch": 0,
            "Roll": 0,
            "VehicleType": "SimpleFlight",
            "X": 0.0,
            "Y": 0.0,
            "Yaw": 0,
            "Z": 0
        }
    }
}

Here is the error I receive when launching the airsim_node.launch file in ROS:

error
Exception raised by the API:
rpclib: function 'getMultirotorState' (called with 1 arg(s)) threw an exception. The exception contained this information: Vehicle API for 'ComputerVision' is not available. This could either because this is simulation-only API or this vehicle does not exist.

No messages are published on any of the topics.

Additional details:

• I'm using AirSim built from source on Windows 10 inside the Unreal Engine as described by these instructions.
• I'm running ROS Noetic on WSL 2, Ubuntu 20.04 distribution.

[cthoma20-arc]

I am having the same issue. I copied the settings.json verbatim from here. Running AirSim on Windows 10, with AirSim ROS node running on ROS melodic on a Ubuntu 18.04 VirtualBox VM. Any help would be greatly appreciated! Thanks!

UPDATE! I got it to work. The issue is that you must have the same settings.json file on both the machine running AirSim ROS and the machine running the AirSim environment. I should've known I guess 🤷

[jusevitch]

The solution above works for me. When using WSL 2 on Windows 10 while running AirSim from the Unreal Engine, launching airsim_node.launch from WSL 2 only works when there exist two copies of the exact same settings.json file in both Documents\Airsim in Windows and ~/Documents/AirSim in the WSL 2 file system. If the settings file is missing from either location, I get an error when launching airsim_node.launch.

Given the growing popularity of using ROS in WSL 2, this would probably be worth either putting in the documentation or fixing.