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Install with ROS

Prerequisites

If you did not do it already, please install the following packages.

sudo apt-get update && apt-get install -y --no-install-recommends \
   build-essential \
   cmake \
   libzmqpp-dev \
   libopencv-dev

Get ROS

You can use this framework with the Robot Operating System (ROS) and you therefore first need to install it (Desktop-Full Install) by following the steps described in the ROS Installation.

Gazebo

To install Gazebo checkout out their documentation.

Or in short

  • ROS Melodic and newer: use Gazebo version 9.x sudo apt-get install gazebo9
  • ROS Kinetic and newer: use Gazebo version 7.x sudo apt-get install gazebo7
  • ROS Indigo: use Gazebo version 2.x sudo apt-get install gazebo2

ROS Dependencies

Install system and ROS dependencies (on Ubuntu 20.04, replace python-vcstool with python3-vcstool ):

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

Before continuing, make sure that your protobuf compiler version is 3.0.0. To check this out, type in a terminal protoc --version. If This is not the case, then check out this guide on how to do it.

Get catkin tools

Get catkin tools with the following commands:

sudo apt-get install python-pip 
sudo pip install catkin-tools

Create a catkin workspace

Create a catkin workspace with the following commands by replacing <ROS VERSION> with the actual version of ROS you installed:

cd
mkdir -p catkin_ws/src
cd catkin_ws
catkin config --init --mkdirs --extend /opt/ros/$ROS_DISTRO --merge-devel --cmake-args -DCMAKE_BUILD_TYPE=Release

Install Flightmare

Clone the repository

cd ~/catkin_ws/src
git clone https://github.com/uzh-rpg/flightmare.git

Clone dependencies:

vcs-import < flightmare/flightros/dependencies.yaml

Build:

catkin build

Add sourcing of your catkin workspace and FLIGHTMARE_PATH environment variable to your .bashrc file:

echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
echo "export FLIGHTMARE_PATH=~/catkin_ws/src/flightmare" >> ~/.bashrc
source ~/.bashrc

Download Flightmare Unity Binary Download the Flightmare Unity Binary RPG_Flightmare.tar.xz for rendering from the Releases and extract it into the /path/to/flightmare/flightrender.

Now, you can move to Basic Usage with ROS and run the example.

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