Client bindings for the FlightGoggles hardware in-the-loop simulation environment.
Quick start instructions can be found here
├── build
│ └─── bin # Client executables will be placed here.
│
├── CMakeLists.txt # Top level compilation flags. Enable ROS
│ # > binding compilation here.
├── README.md
├── launch # ROS launch files
│ └── flightGogglesClient.launch
├── package.xml # ROS package.xml
├── README.md
└── src
├── CMakeLists.txt
├── Common # Low level client code for FlightGoggles
│ ├── CMakeLists.txt
│ ├── FlightGogglesClient.cpp # Main client library.
│ ├── FlightGogglesClient.hpp
│ ├── json.hpp # External json parsing library.
│ ├── jsonMessageSpec.hpp # FlightGoggles message API spec. Check here
│ │ # > to see what settings are available.
│ └── transforms.hpp # Handles transformations from ROS-like coordinates
│ # > to Unity3D coordinates.
├── GeneralClient # A simple example client that publishes
│ ├── CMakeLists.txt # > and subscribes to FlightGoggles images
│ ├── GeneralClient.cpp # > using OpenCV bindings.
│ └── GeneralClient.hpp
└── ROSClient # Beta ROS-aware extension of the base FlightGoggles client
├── CMakeLists.txt # > that subscribes to poses and outputs images over ROS.
├── ROSClient.cpp # > NOT compiled by default. Edit CMakeLists.txt to enable.
└── ROSClient.hppIf you find this work useful for your research, please cite:
@inproceedings{sayremccord2018visual,
title={Visual-inertial navigation algorithm development using photorealistic camera simulation in the loop},
author={Sayre-McCord, Thomas and
Guerra, Winter and
Antonini, Amado and
Arneberg, Jasper and
Brown, Austin and
Cavalheiro, Guilherme and
Fang, Yajun and
Gorodetsky, Alex and
McCoy, Dave and
Quilter, Sebastian and
Riether, Fabian and
Tal, Ezra and
Terzioglu, Yunus and
Carlone, Luca and
Karaman, Sertac},
booktitle={2018 IEEE International Conference on Robotics and Automation (ICRA)},
year={2018}
}