-
Notifications
You must be signed in to change notification settings - Fork 99
Connecting FlightGoggles to an embedded system
Winter Guerra edited this page Mar 21, 2019
·
4 revisions
FlightGoggles is capable of providing hardware-in-the-loop simulation capabilities when connected to a NVIDIA Jetson or other embedded ROS-based system.
- Embedded computing platform running ROS Kinetic and Ubuntu 16.04.
- A capable Windows/Ubuntu/Mac computer for simulation rendering with
>= 2GB VRAM. - A local ethernet connection connecting the simulation computer with the embedded computing platform.
-
Install FlightGoggles ROS framework on the embedded computing platform
- NOTE: To save disk space on the embedded system, do not download the FlightGoggles renderer binary. As noted in the install instructions, passing in
--cmake-args -DFLIGHTGOGGLES_DOWNLOAD_BINARY=OFFtocatkin buildwill disable automatic downloading of the renderer binary.
- NOTE: To save disk space on the embedded system, do not download the FlightGoggles renderer binary. As noted in the install instructions, passing in
- Download the latest release of the FlightGoggles renderer binary from the releases page onto the rendering computer.
- Start the FlightGoggles renderer binary on the rendering computer. Once running, input the IP/hostname of the embedded system.
You are now ready to start the FlightGoggles hardware-in-the-loop simulation. On the embedded system, you can now start the simulation using any of the following commands:
# To run example environment with joystick/keyboard teleoperation
roslaunch flightgoggles teleopExample.launch use_external_renderer:=true
# Stereo teleoperation example. See FAQ for more info on stereo rendering limitations.
roslaunch flightgoggles stereoTeleopExample.launch use_external_renderer:=true
# To run core simulation framework without teleoperation
roslaunch flightgoggles core.launch use_external_renderer:=true