This page describes simulation of a single agent dynamics and imagery. In this scenario, a user can use a keyboard or joystick to operate the agent or interface their autonomy code to the dynamics simulation by publishing rateThrust messages to the appropriate topic.
Use one of the following launch files as appropriate.
To run example environment with joystick/keyboard teleoperation for multirotors
roslaunch flightgoggles teleopExample.launch
To run core multirotor simulation framework without teleoperation
roslaunch flightgoggles core.launch
To run example environment with joystick/keyboard teleoperation for car
roslaunch flightgoggles teleopExampleCar.launch
To run core car simulation framework without teleoperation
roslaunch flightgoggles coreCar.launch
The FlightGoggles binary might take up to 30 seconds to load. In the development build, asset loading to the GPU has not yet been optimized.
If you'd like to keep the FlightGoggles render alive between tests to avoid waiting for the renderer to load, you can pass the argument use_external_renderer:=1 to the appropriate launch file and run the renderer separately as follows:
rosrun flightgoggles FlightGoggles.x86_64
Default Controls
For human teleoperation, a Logitech F310 controller or normal QWERTY keyboard can be used. Please refer to Manual Flight Control.