FlightmareRepo

FlightmareRepo is manager of Flightmare which is simulator for studying uav navigation,control and slam etc through repo tool.You can install flightmare through uzh-rpg/flightmare driectly,or you can use this repo for quick start.Attention,Flightmare must be installed with ros.

Platform

• ubuntu18
• ros-melodic
  • sudo apt-get install libgoogle-glog-dev protobuf-compiler ros-$ROS_DISTRO-octomap-msgs ros-$ROS_DISTRO-octomap-ros ros-$ROS_DISTRO-joy python-vcstool
• repo tools
  • mkdir ~/bin && cd ~/bin
  • curl https://mirrors.tuna.tsinghua.edu.cn/git/git-repo -o repo
  • echo "export REPO_URL=https://mirrors.tuna.tsinghua.edu.cn/git/git-repo" >> ~/.zshrc
  • echo "export PATH=~/bin:$PATH" >> ~/.zshrc
  • chmod a+x ~/bin/repo
• protoc 3.0.0
• python 3.6

Fetch Flightmare and Dependency

• mkdir ~/FlightmareRepos && cd ~/FlightmareRepos
• repo init --no-repo-verify -u https://github.com/kongdaqing/SimFlightmare.git -m default.xml -b master
• repo sync

Build Flightmare

• cd src
• catkin_init_workspace
• catkin_make

Download Unity Binary

• Click the link and find title Download Flightmare Unity Binary,then click Download buttom to download the Flightmare Unity Binary RPG_Flightmare.tar.xz for rendering from the Releases and extract it into the ~/FlightmareRepos/src/flightmare/flightrender.

Run Flightmare

• source devel/setup.zsh
• roslaunch flightros rotors_gazebo.launch

First Fly

You will see coarse quadrotor model in the gazebo and realistic quadrotor and enviroment model in the unity,RPG QUADROTOR GUI display states of quadrotor.

• connect joystick
• click connect bottom on the RPG QUADROTOR GUI
• click "Arm Bridge" and control quadrotor with joystick