安装flightmare

官方仓库
按照flightmare官方的安装教程Install with ROS · uzh-rpg/flightmare Wiki进行安装，虽然如果要进行强化学习的话，flightmare官方推荐使用pip安装，但是为了避免跨度太大，这里还是使用ros安装。

安装前置ROS依赖

创建工作空间

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 --cmake-args -DCMAKE_CXX_FLAGS=-fdiagnostics-color

下载flightmare

cd catkin_ws/src
git clone https://github.com/uzh-rpg/flightmare.git
// 安装依赖
vcs-import < flightmare/flightros/dependencies.yaml

运行编译

catkin build

此处可能会遇到两个问题

1. 下载pybind11与yaml-cpp：如果无法连接GitHub，可能无法自动下载。需要手动下载pybind11，与yaml-cpp

   cd catkin_ws/src/flightmare/flightmare/flightlib/externals
   // 删除过去的编译结果
   rm -f ./*
   git clone https://github.com/pybind/pybind11 pybind11-src
   git clone https://github.com/jbeder/yaml-cpp yaml-src

   然后需要对cmake文件进行修改，优先使用本地文件。
   src/flightmare/flightmare/cmake/pybind11.cmake

   # Download and unpack pybind11 at configure time
   message(STATUS "Getting Pybind11...")
   
   # set(PYBIND11_PYTHON_VERSION 3.6)
   set(PYBIND11_PYTHON_VERSION ${PYTHON_VERSION_STRING})   
   
   set(PYBIND11_INCLUDE_DIR ${PROJECT_SOURCE_DIR}/externals/pybind11-src/include)
   set(PYBIND11_SOURCE_DIR ${PROJECT_SOURCE_DIR}/externals/pybind11-src)
   
   if(EXISTS ${PYBIND11_SOURCE_DIR}/CMakeLists.txt)
     message(STATUS "Using vendored Pybind11 from ${PYBIND11_SOURCE_DIR}")
   else()
     configure_file(
       cmake/pybind11_download.cmake
       ${PROJECT_SOURCE_DIR}/externals/pybind11-download/CMakeLists.txt)
   
     execute_process(COMMAND ${CMAKE_COMMAND} -G "${CMAKE_GENERATOR}" .
       RESULT_VARIABLE result
       WORKING_DIRECTORY ${PROJECT_SOURCE_DIR}/externals/pybind11-download
       OUTPUT_QUIET)
     if(result)
       message(FATAL_ERROR "Cmake Step for Pybind11 failed: ${result}")
     endif()
   
     execute_process(COMMAND ${CMAKE_COMMAND} --build .
       RESULT_VARIABLE result
       WORKING_DIRECTORY ${PROJECT_SOURCE_DIR}/externals/pybind11-download
       OUTPUT_QUIET)
     if(result)
       message(FATAL_ERROR "Build step for Pybind11 failed: ${result}")
     endif()
   
     message(STATUS "Pybind11 downloaded!")
   endif()
   
   add_subdirectory(${PROJECT_SOURCE_DIR}/externals/pybind11-src
                    EXCLUDE_FROM_ALL)
   
   include_directories(SYSTEM "${PROJECT_SOURCE_DIR}/externals/pybind11-src/include")

src/flightmare/flightmare/cmake/yaml.cmake

# Download and unpack eigen at configure time
message(STATUS "Getting yaml-cpp...")

set(YAML_SOURCE_DIR ${PROJECT_SOURCE_DIR}/externals/yaml-src)

if(EXISTS ${YAML_SOURCE_DIR}/CMakeLists.txt)
  message(STATUS "Using vendored yaml-cpp from ${YAML_SOURCE_DIR}")
else()
  configure_file(
    cmake/yaml_download.cmake
    ${PROJECT_SOURCE_DIR}/externals/yaml-download/CMakeLists.txt)

  execute_process(COMMAND ${CMAKE_COMMAND} -G "${CMAKE_GENERATOR}" .
    RESULT_VARIABLE result
    WORKING_DIRECTORY ${PROJECT_SOURCE_DIR}/externals/yaml-download
    OUTPUT_QUIET
    ERROR_QUIET)
  if(result)
    message(FATAL_ERROR "CMake step for yaml-cpp failed: ${result}")
  endif()
  execute_process(COMMAND ${CMAKE_COMMAND} --build .
    RESULT_VARIABLE result
    WORKING_DIRECTORY ${PROJECT_SOURCE_DIR}/externals/yaml-download
    OUTPUT_QUIET
    ERROR_QUIET)
  if(result)
    message(FATAL_ERROR "Build step for yaml-cpp failed: ${result}")
  endif()

  message(STATUS "Yaml downloaded!")
endif()

add_subdirectory(${PROJECT_SOURCE_DIR}/externals/yaml-src
                 ${PROJECT_SOURCE_DIR}/externals/yaml-build
                 EXCLUDE_FROM_ALL)
target_compile_options(yaml-cpp PUBLIC -fPIC -w)

include_directories(SYSTEM "${PROJECT_SOURCE_DIR}/externals/yaml-src/include")
link_directories("${PROJECT_SOURCE_DIR}/externals/yaml-build")

2. C与C++风格混用：flightmare中rotors_hil_interface中可能存在语法混用导致编译失败。需要对以下文件进行修改

   src/rotors_simulator/rotors_hil_interface/include/rotors_hil_interface/hil_interface.h
   src/rotors_simulator/rotors_hil_interface/src/hil_sensor_level_interface.cpp
   src/rotors_simulator/rotors_hil_interface/src/hil_state_level_interface.cpp

hil_interface.h

• 删除：
  • #include <mavros_msgs/mavlink_convert.h>
  • 手工 typedef mavlink::mavlink_message_t mavlink_message_t
  • 条件式 #include <mavlink/v2.0/common/mavlink.h>
• 改为直接包含：
  • #include <mavros_msgs/Mavlink.h>
  • #include <mavlink/v2.0/common/mavlink.h>

hil_sensor_level_interface.cpp

• 新增本地辅助函数：
  ConvertToRosMavlink(const mavlink_message_t&, mavros_msgs::Mavlink&)
• 将原先的：

  mavros_msgs::mavlink::convert(mmsg, *rmsg_hil_gps);
  mavros_msgs::mavlink::convert(mmsg, *rmsg_hil_sensor);

  替换为：

  ConvertToRosMavlink(mmsg, *rmsg_hil_gps);
  ConvertToRosMavlink(mmsg, *rmsg_hil_sensor);

  hil_state_level_interface.cpp
• 同样新增本地 ConvertToRosMavlink(…)
• 将：
  mavros_msgs::mavlink::convert(mmsg, *rmsg_hil_state_qtrn);
  替换为：
  ConvertToRosMavlink(mmsg, *rmsg_hil_state_qtrn);

添加路径

教程中为直接修改bashrc文件，此处选择不修改shell文件，而是设置一个脚本文件，每次在终端中source即可。以.zsh脚本为示例

#!/bin/zsh
source ./devel/setup.zsh
export FLIGHTMARE_PATH= ./src/flightmare

echo -e "\e[1:32m[INFO]env ready.\e[0m"

下载并安装unity二进制文件

安装结果

在flightmare的工作空间中，使用官方示例代码启动roslaunch flightros rotors_gazebo.launch

注意到启动了三个窗口，分别是控制面板、flightmare渲染窗口和gazebo动力学仿真。其中gazebo其实并不必要，只是在这个示例脚本中用gazebo作为动力学仿真，以体现flightmare中画面与动力学的分离。

后续使用

后续建议将整个flightmare文件夹内容（下载依赖、手动加入包、cmake以及库文件修改、加入材质包）打包以便后续使用。每次创建一个基于flightmare的工作空间，都将其解压缩到catkin_ws/src/flightmare路径下，然后在src下创建其他功能包时，依赖项除了常见的roscpp外，还需要加入flightlib。此外，在cmake文件中，需要单独加入一行find_package(OpenCV REQUIRED)，然后在in1clude_directories中加入一行${OpenCV_INCLUDE_DIRS}，在target_link_libraries中加入以下几行内容${OpenCV_LIBRARIES}、yaml-cpp、zmq、zmqpp、stdc++fs。

参考内容

Install with ROS · uzh-rpg/flightmare Wiki
【Flightmare最全教程】基于ROS的Flightmare仿真环境的搭建-CSDN博客