ss24-flightmare-simulation-parametrisation

Table of Contents

Serial Number	Documentation	Link to the Docs
0	Introduction	Introduction
1	Installation
1.1	Install Unity	Unity Installation Guide
1.2	Prerequisites for RPG flightmare	RPG Flightmare Installation Guide
2	Setup
2.1	Python Setup	Setup with Python
2.2	ROS Setup	Setup with ROS
2.3	Unity Configuration	Unity Configuration and Customization
3	Usage (Python & ROS)	Usage
4	FAQ	FAQ
5	Troubleshoot	Troubleshoot

Introduction

Flightmare Simulator is flexible modular quadrotor simulator.It contain two main components. A configurable rendering engine built on Unity and a flexible physics engine for dynamics simulation Flightmare comes with several desirable features

• A large multi-modal sensor suite,It includes an interface to extract the 3D point-cloud of the scene
• An api which can stimulate 100s of drone
• Can be intergrated with virtual-reality headset

Prerequisites for Installation

knowledge in Ubuntu and ROS + Python We have followed the instructions provided on Flightmare installation guide:

Installation Flightmare with ROS 1:

• Requirments

  • cmake v3.28.4
  • gcc v9.40
  • openmpi v4.03
  • opencv v4.5.5
  • Zeromq v4.3.2
  • profibus v3.20.3
  • octomap ros

A detailed instruction on install all the above mentioned packages are given here.

Installation Flightmare with python:

• Requirments

  • cmake v3.28.4
  • gcc v9.40
  • openmpi v4.03
  • opencv v4.5.5
  • Zeromq v4.3.2
  • tensorflow v1.15

A detailed instruction on install all the above mentioned packages are given here.

Frequently Asked Questions (FAQ)

More common issues can be found here.

1. How do I install the Flightmare simulator on a fresh Linux installation?

To install the Flightmare simulator on a fresh Linux installation, refer to the Setup Guide

For troubleshoot and possible solutions, refer to the Troubleshooting

2. How do I modify simulation parameters?

You can modify simulation parameters by editing the configuration file or using ROS topics. Here's how:

• Configuration File: Edit the launch file rotors_gazebo.launch to set parameters like environment, drone model, wind speed, and sun location.

• ROS Topics: Use ROS topics to dynamically change parameters during simulation.

For example, to change the wind speed, you can update the wind_speed value in the configuration file:

{
    "wind_speed": 10
}

Then, launch the simulator with the updated configuration.

3. How do I troubleshoot common installation issues?

If you encounter issues during installation, refer to the Troubleshooting Guide. This page has issues commonly faced during installation or setup, and steps that were taken in order to solve them.

4. How do I run the simulation with the Garrulus forest floor model?

To run the simulation with the Garrulus forest floor model:

1. Ensure the model file is placed in the right directory.
2. Modify the configuration file to specify the environment:

   {
       "environment": "garrulus_forest_floor"
   }

3. Launch the simulator using the ROS launch file:

   roslaunch flightmare rotors_gazebo.launch

The simulator should now load with the specified environment model.

5. How do I set up and use the bootable SSD for development and testing?

To set up and use the bootable SSD:

1. Format the SSD:

   sudo mkfs.ext4 /dev/sdX

2. Mount the SSD:

   sudo mount /dev/sdX /mnt

3. Copy Project Files:

   sudo cp -r /path/to/flightmare_project /mnt

4. Install Dependencies:

   sudo chroot /mnt /bin/bash
   cd /flightmare_project
   ./setup.sh
   exit

5. Unmount the SSD:

   sudo umount /mnt

You can now boot from the SSD on a lab PC and follow the setup guide to run the simulator. Refer to the Flightmare Installation and Setup Guide for further instructions to run the project.