erl_flightmare

This project is a fork of Flightmare from uzh-rpg, See below for the original readme and ruels for citing this work.

build instructions

Build Dependencies

Some dependencies are no longer available from apt and must be installed manually, I recommend having some location for these packages outside tree for this repo, such as ~/packages

git clone git@github.com:zeromq/libzmq.git
cd libzmq
./autogen.sh
./configure && make
sudo make install
sudo ldconfig
cd ../
# Now install ZMQPP
git clone git@github.com:zeromq/zmqpp.git
cd zmqpp
make
make check
sudo make install
make installcheck

At the time of writing this I am using the following commits:

libzmq: 7a7bfa10e6b0e99210ed9397369b59f9e69cef8e
zmqpp: ba4230d5d03d29ced9ca788e3bd1095477db08ae

Install Additional Dependencies

sudo apt-get update && apt-get install -y --no-install-recommends \
    build-essential \
    cmake \
    wget \
    libopencv-dev \
    nlohmann-json3-dev \
    libomp-dev

Build Flightlib

I recommend cloning this in ~/erl/

git clone git@github.com:ExistentialRobotics/erl_flightmare.git

First, add the following to ~/.bashrc or ~/.zshrc, replacing ~/erl/ with the path to this repo.

export FLIGHTMARE_PATH=~/erl/erl_flightmare

cd $FLIGHTMARE_PATH/flightlib/build
cmake ..
make -j
sudo make install

Download Unity Environment

See the releases page of the official repo here or run the following command.

cd erl_flightmare/flightrender
wget https://github.com/uzh-rpg/flightmare/releases/download/0.0.5/RPG_Flightmare.tar.xz
tar xvf RPG_Flightmare.tar.xz

I recomend the following alias to start flightmare from anywhere.

alias flightmare='$FLIGHTMARE_PATH/flightrender/RPG_Flightmare/RPG_Flightmare.x86_64'

ORIGINAL README BELOW

Flightmare - 左青龙

Flightmare is a flexible modular quadrotor simulator. Flightmare is composed of two main components: a configurable rendering engine built on Unity and a flexible physics engine for dynamics simulation. Those two components are totally decoupled and can run independently from each other. Flightmare comes with several desirable features: (i) a large multi-modal sensor suite, including an interface to extract the 3D point-cloud of the scene; (ii) an API for reinforcement learning which can simulate hundreds of quadrotors in parallel; and (iii) an integration with a virtual-reality headset for interaction with the simulated environment. Flightmare can be used for various applications, including path-planning, reinforcement learning, visual-inertial odometry, deep learning, human-robot interaction, etc.

Website & Documentation

Installation

Installation instructions can be found in our Wiki.

Updates

• 17.11.2020 Spotlight Talk at CoRL 2020
• 04.09.2020 Release Flightmare

Publication

If you use this code in a publication, please cite the following paper PDF

@inproceedings{song2020flightmare,
    title={Flightmare: A Flexible Quadrotor Simulator},
    author={Song, Yunlong and Naji, Selim and Kaufmann, Elia and Loquercio, Antonio and Scaramuzza, Davide},
    booktitle={Conference on Robot Learning},
    year={2020}
}

License

This project is released under the MIT License. Please review the License file for more details.