One parameter world constructor for parallel scripts#155
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enables running script after scripts and multiple service-only scripts
jonyMarino
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enhancement
❌ ProjectAirSim Self-Hosted CI
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enables running script after scripts and multiple service-only scripts
Fixes: #
About
This pull request introduces several new example scripts for controlling drones in a simulation and refactors the client and drone code to support "service-only" mode, where pub-sub topics are disabled if another topic client is already connected. The changes enable running multiple clients (e.g., for multi-vehicle scenarios)
New Example Scripts:
hello_drone_secondary.py, demonstrating how to fly a drone using only service calls (no topic subscriptions), intended for use as a secondary controller.two_drones_split_drone1.pyandtwo_drones_split_drone2.py, which show how to control two drones in a split fashion, with Drone1 loading the scene and Drone2 attaching to the existing world. These scripts illustrate proper usage of topics and service-only mode. [1] [2]Client Refactoring and Service-Only Mode Support:
ProjectAirSimClientclass now detects if a topic client is already connected and, if so, disables topic functionality for subsequent clients (service-only mode). Methods that interact with topics (subscribe, publish, unsubscribe, etc.) now check for this mode and log warnings when operations are skipped. [1] [2] [3] [4] [5] [6] [7]has_topic_client()andis_service_only_mode()methods to the client API for better control and diagnostics.Drone Sensor Topic Setup Improvements:
Drone.set_sensor_topics()to support passive discovery from cached topics if configuration is missing, and to log detailed diagnostics about the topic setup source and endpoints. This ensures drones can still function in service-only mode or when config is incomplete.These changes collectively make the system more robust for multi-client and multi-drone scenarios, and provide clear examples and error handling for users.
How Has This Been Tested?
local tests with scripts provided.
Screenshots and videos (if appropriate):