Flightmare Simulator

Description

This is an interface that connects ARPL Quadrotor Simulator with the Flightmare Interface

Prerequisites

• Install ARPL_Quadrotor_control https://github.com/arplaboratory/arpl_quadrotor_control (ASK PROF. LOIANNO FOR PERMISSION FIRST BEFORE ACCESSING!!!)
• Install libraries

  sudo dpkg -i /path/to/flightmare_simulator/Ubuntu_2204_libs/libzmqpp-dev_4.1.2-0ubuntu2_amd64.deb
  sudo dpkg -i /path/to/flightmare_simulator/Ubuntu_2204_libs/libzmqpp4_4.1.2-0ubuntu2_amd64.deb
  

• Install Flightlib_ros: https://flightmare.readthedocs.io/en/latest/getting_started/quick_start.html#install-with-ros
• Download the ARPL Specific Unity build Repo (Note: we have our special version Unity game builds are too big for Github):https://drive.google.com/drive/folders/112k4-5et8ZBVgw8d-tvBS8-Xlhh1nVJN?usp=sharing
• Terminator -

sudo add-apt-repository ppa:gnome-terminator

sudo apt-get update

sudo apt-get install terminator

Installation

1. After install the pre-requisites and terminator.
2. Open Terminator
3. catkin build flightmare_simulator

Running Ubuntu 20.04

1. open the x86_64 file from the drive. NOT THE ONE FROM UZH.
2. Make sure NVIDIA X Server is on (Performance Mode) if using GPU. Otherwise the Unity will NOT offload to GPU !!!!
3. run roslaunch flightmare_simulator flightmare_sim.launch Controls just like ARPL_Quadrotor_control

Running POP OS

1. open a terminal

vim ~/.bashrc
export __NV_PRIME_RENDER_OFFLOAD=1;
export __GLX_VENDOR_LIBRARY_NAME=nvidia;

2. Save bashrc

source ~/.bashrc
/path/to/flightmare.x86_64

Input/Output Topic

Input Topic

• The quadrotor is updated based on the /quadrotor/odom

Output Topic

• The Front Camera Images are published to /quadrotor/quadrotor_simulator_so3/unity_drone_cam/compressed
• Camera Matrix Info is published to /quadrotor/quadrotor_simulator_so3/unity_drone_cam/camera_info
• Simulation is done in RVIZ and graphics are handled in Unity. Please realize that Unity ONLY HANDLES Graphics.
• Point Cloud

Files of Note

This is just a modified version of the simulator interface. quadrotor_simulator_base.hpp has all the Unity Mirroring and object spawning

Future Options

Ability to control Apriltag spawn in .yaml file.

Known Bugs and Fixes (USE THE ARPL/flightlib repository ask for permission here)

1. Flightmare random disconnnects. This is caused by the function in /flightmare/flightlib/src/bridges/unity_bridge.cpp as handleOutput()

Replace Blocking message

sub_.receive(msg)

with Non blocking message

if (!sub_.receive(msg, true)) {
  	return false;
   }