https://github.com/plusk01/rosflight_unity
ROSflight software-in-the-loop simulation using Unity
https://github.com/plusk01/rosflight_unity
ros rosflight simulation unity
Last synced: 7 months ago
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ROSflight software-in-the-loop simulation using Unity
- Host: GitHub
- URL: https://github.com/plusk01/rosflight_unity
- Owner: plusk01
- Created: 2019-04-13T20:41:37.000Z (almost 7 years ago)
- Default Branch: master
- Last Pushed: 2020-03-15T15:47:20.000Z (almost 6 years ago)
- Last Synced: 2025-03-14T21:36:50.639Z (11 months ago)
- Topics: ros, rosflight, simulation, unity
- Language: C++
- Size: 27.3 KB
- Stars: 2
- Watchers: 3
- Forks: 0
- Open Issues: 0
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Metadata Files:
- Readme: README.md
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README
ROSflight Unity SIL Simulation
==============================
Infrastructure for running a ROSflight software-in-the-loop (SIL) simulation with Unity (see [rosflight_unity_simulator](https://github.com/plusk01/rosflight_unity_simulator)).
## Getting Started
#### ROS Setup
1. Clone this repo into your `catkin_ws`.
2. Clone [rosflight](https://github.com/rosflight/rosflight) into your `catkin_ws` and `git submodule update --init --recursive`.
3. `catkin build` or `catkin_make`
#### Unity Setup
1. Install [Unity 2018.2.7f1](https://forum.unity.com/threads/unity-on-linux-release-notes-and-known-issues.350256/page-2#post-3662605) (on Ubuntu).
2. Clone [rosflight_unity_simulator](https://github.com/plusk01/rosflight_unity_simulator) into your favourite location.
#### Flying Manually
0. Clone [`rosflight_joy`](https://github.com/rosflight/rosflight_joy) into your `catkin_ws` and build.
1. After sourcing your `catkin_ws`, run `rosrun rosflight_unity rosflight_unity` to start the ROSflight Unity SIL.
2. Press the 'play' button in the `rosflight_unity_simulator` Unity project.
3. Run `rosrun rosflight rosflight_io _udp:=true`
4. Plug in your compatible (e.g., Taranis) RC transmitter.
5. Run `rosrun rosflight_joy rc_joy RC:=/rosflight_unity/rc_in`
6. Set the [mixer to 2](http://docs.rosflight.org/en/latest/user-guide/hardware-setup/#motor-layouts): `rosservice call /param_set MIXER 2`
7. Write the autopilot parameters to memory: `rosservice call /param_write` (params will be written to file, in whatever directory you started the `rosflight_unity` node)
8. Calibrate the IMU: `rosservice call /calibrate_imu`
9. Throttle stick down and to the right to arm (down and to the left to disarm).
10. Fly!