Should probably say something like "waiting for client connection"

I understand that nvidia-docker isn't officially supported. However, I have been trying to setup flightGoggles with all its dependencies inside an nvidia-docker container. I have almost everything setup and building just fine on the container, but somehow the flightgogglesRenderer node fails when even simply running "rosrun flightgoggles FlightGoggles.x86_64":

Found path: /home/docker/catkin_ws/devel/.private/flightgoggles/lib/flightgoggles/FlightGoggles.x86_64
Mono path[0] = '/home/docker/catkin_ws/devel/.private/flightgoggles/lib/flightgoggles/FlightGoggles_Data/Managed'
Mono config path = '/home/docker/catkin_ws/devel/.private/flightgoggles/lib/flightgoggles/FlightGoggles_Data/MonoBleedingEdge/etc'
Preloaded 'ScreenSelector.so'
Display 0 'U28E590 27"': 3840x2160 (primary device).
Loading player data from /home/docker/catkin_ws/devel/.private/flightgoggles/lib/flightgoggles/FlightGoggles_Data/data.unity3d
Logging to /home/docker/.config/unity3d/MIT-FAST-Lab/FlightGoggles/Player.log

I would really appreciate any help at all, and then maybe even contribute my setup in form of a pull request. I am sure such a docker container setup will help out a lot of people that are trying hard to get Flight Goggles setup on their workstations. Thank you in advance!

Can anyone provide an interpretation for 4x3 matrix used in case of gate location? what is the reference point for these coordinates?

Thank you

It seems like this file is missing:

Images/keyboard_controller.png

Any work-arounds to install on Ubuntu18.04 LTS? Also shouldn't the latest LTS release also be supported? Thanks! I understand that its tested and built on ROS Kinetic but would like to know if there is a way to use FlightGoggles with ROS Melodic?

Hi all

If I saw this correctly in the source code, ROSClient it at the moment missing the functionality to publish stereo camera images, right?
Do you plan to add this function any time soon?

Thanks a lot,
Best regards

One of the most expensive parts of the render loop is the get_raw_image() call, which returns a native array. Burst could speed up this process significantly using SIMD and bytecode.

I tried setting the arg of render_stereo to 1, however I got an error that two nodes had the same name (camera_left_link). So I went into core.launch and updated the name to camera_right_link. However, then I got the following error:

[ WARN] [1549799539.366419806, 10.066667472]: Could NOT find required uav to camera transform: "uav/camera/center" passed to lookupTransform argument target_frame does not exist. 
[uav/flightgoggles_ros_bridge-7] process has died [pid 17535, exit code 1, cmd /home/koen/catkin_ws/devel/lib/flightgoggles_ros_bridge/ROSClient __name:=flightgoggles_ros_bridge __log:=/home/koen/.ros/log/4b31e4ca-2d2a-11e9-983e-38d5471a2e1e/uav-flightgoggles_ros_bridge-7.log].
log file: /home/koen/.ros/log/4b31e4ca-2d2a-11e9-983e-38d5471a2e1e/uav-flightgoggles_ros_bridge-7*.log

I then went to the contents of ROSClient.cpp and on line 39 I find the following:

//imagePubRight_ = it_.advertiseCamera("/uav/camera/right/image_rect_color", 1);

I tried un-commenting the line above and publishing the contents in the same manner as the left-camera, but with index of 1 (renderOutput.images[1]), however it appears that the rendering engine is not rendering more than one image.

I could deep-dive in the Unity code from an earlier commit (https://github.com/mit-fast/FlightGoggles/tree/042b4a6f5331fa5bf57ec023df530d167226360a/FlightGoggles), however I'm affraid that this might be an older version and incompatible with the current ROSClient.cpp, which might send me even further down the rabbit hole. Even if I would make changes, I understand that I need some copyrighted Unity assets (rendering effects) to rebuild the binary for the simulator.

I tried subscribing to the CompressedImage in /uav/camera/left/image_rect_color/compressedDepth with Python and reading it in an image buffer with OpenCV. but I just get the following output from the image_transport:

Compressed Depth Image Transport - Compression requires single-channel 32bit-floating point or 16bit raw depth images (input format is: bgr8).

My question is:

• Is there a right camera, or depth image, being rendered by Unity? If so: how can we access it? If not: will it be added?

Looking forward to your help!

Kind regards,
Koen

What alternatives are for Mac users to run the Client Bindings cmake build?
libzmqpp-dev is a library for Linux users only and cannot be installed on Mac.

https://docs.unity3d.com/ScriptReference/Rendering.AsyncGPUReadbackRequest.html

FlightGoggles currently drops render requests if the render request queue is backed up. This is to ensure that a high rate render request feed from the client is not buffered in the incoming render queue. However, this can sometimes happen due to intermittent network latency. Sometimes, the user might want to render out some frames without allowing for packet drops. This requires adding a forceRender field to the render request message.

A generalized API struct similar to the "Window" struct currently in use should be created for manipulating arbitrary game objects spawned from arbitrary Prefabs.

The suggested type to add:

    public class GameObject_t
    {
        public string ID { get; set; } # instance ID
        public string prefabID { get; set; } # Prefab name for spawning new instance
        public IList<float> position { get; set; }
        public IList<float> rotation { get; set; }
        // Metadata dictionary with string key and string data.
        public Dictionary<string, string> metadata { get; set; }
     }

This should replace the "Window_t" type currently in use.

If we're running FG on a ec2 p3 server and want to render on a local machine, what are the minimum requirements of that local machine? Are they the same as stated when you run FG locally? GPU and 32GB RAM?

For depth to work correctly, near plane should be 0.01. Far plane should be 100.

However, for the RGB camera, near plane should be 0.01. Far plane should be 1000.

Should cut down on the compile size of the binary. Would also mean that adding a new environment would not require recompiling FlightGoggles.

Short term:

• Throw errors when asked to render something larger than the screen.

Long term:

• Render all cameras to RGBA render textures.
• Show static GUI with FPS and other connection statistics.

When launching via
roslaunch flightgoggles teleopExample.launch
or with
roslaunch 'flightgoggles teleopExample.launch use_external_renderer:=1

... the renderer will appear but close almost immediately.

The following message is returned.
Got a SIGABRT while executing native code. This usually indicates
a fatal error in the mono runtime or one of the native libraries
used by your application.

When launching without the use_external_renderer:=1 argument you can also see the following messge

[uav/flightgogglesRenderer-6] process has died [pid 19209, exit code -6, cmd /home/myws/catkin_ws/devel/lib/flightgoggles/FlightGoggles.x86_64 __name:=flightgogglesRenderer __log:=/home/myws/.ros/log/a8fef8a0-2c98-11e9-90f2-002522d2019b/uav-flightgogglesRenderer-6.log].
log file: /home/myws/.ros/log/a8fef8a0-2c98-11e9-90f2-002522d2019b/uav-flightgogglesRenderer-6*.log

When I dug into the log file it pointed me to another log (Player.log) in the unity3d.
Player.log

Possibly related:
When I attempt to run the roslaunch flightgoggles core.launch instead I get similar behavior to the other ticket "RViz says "No image" #27"
The renderer (FlightGoggles unity window) stays open but continues to show the "waiting for connection from client"
The third_person_drone_follower.rviz window continues to show "No Image"
rostopic echo for /uav/camera/left/image_rect_color and /uav/camera/left/ir_beacons show no messages for those topics.

In challenge_easy.yaml and challenge_medium.yaml there's a full path reference for results_location:

flightgoggles_uav_dynamics:
  init_pose: [0.3, 52.0, 2.5, 0.0, 0.0, -0.707, 0.707]
challenge_name: "Challenge Easy"
timeout: 200.0
gate_names: ['Gate2']
gate_width: 0.3
results_location: "/home/medusa/catkin_ws/results.yaml"

results_location should be set to "results.yaml". Then reporter.py won't throw any errors:

Gate0:
  Location: [1.4192394106882913, 33.62932049696014, 1.6184728829302426]
  Name: Gate2
  Success: 'True'
  Time: 4.608334502
Result: Challenge Completed

I'm a little bit confused because I thought 2.0.1 changed to single threaded.bf53fb7

I'm having the "unhandled NULL exception" issue, so I tried to use the 2.0.0 no multithread renderer with FG 2.0.2. But now clock scaling doesn't seem to work and the rviz 3d display is unsynchronized with the rendered image.

2.0.2 with 2.0.0 no multithread renderer:
rostopic hz /tf
average rate: 960.000

2.0.0 with 2.0.0 no multithread renderer:
average rate: 120.000

Temporarily deleted for testing new Vulkan render pipeline.

Instead, the camera controller should instantiate an RGBD camera with FPV mouse/keyboard controls.

fresh 16.04 install of ROS kinetic and NVIDIA 410.93... Following the README sequence getting an exception below. Not sure how report and fix this...

Desktop is 1920 x 1080 @ 60 Hz
[Vulkan init] extensions: count=14
[Vulkan init] extensions: name=VK_KHR_display, enabled=1
[Vulkan init] extensions: name=VK_KHR_external_fence_capabilities, enabled=0
[Vulkan init] extensions: name=VK_KHR_external_memory_capabilities, enabled=0
[Vulkan init] extensions: name=VK_KHR_external_semaphore_capabilities, enabled=0
[Vulkan init] extensions: name=VK_KHR_get_physical_device_properties2, enabled=0
[Vulkan init] extensions: name=VK_KHR_get_surface_capabilities2, enabled=0
[Vulkan init] extensions: name=VK_KHR_surface, enabled=1
[Vulkan init] extensions: name=VK_KHR_xcb_surface, enabled=0
[Vulkan init] extensions: name=VK_KHR_xlib_surface, enabled=1
[Vulkan init] extensions: name=VK_EXT_acquire_xlib_display, enabled=0
[Vulkan init] extensions: name=VK_EXT_debug_report, enabled=0
[Vulkan init] extensions: name=VK_EXT_direct_mode_display, enabled=0
[Vulkan init] extensions: name=VK_EXT_display_surface_counter, enabled=0
[Vulkan init] extensions: name=VK_KHR_wayland_surface, enabled=1
Vulkan detection: 2
Initialize engine version: 2018.3.0f2 (6e9a27477296)
GfxDevice: creating device client; threaded=1
[Vulkan init] extensions: count=14
[Vulkan init] extensions: name=VK_KHR_display, enabled=1
[Vulkan init] extensions: name=VK_KHR_external_fence_capabilities, enabled=0
[Vulkan init] extensions: name=VK_KHR_external_memory_capabilities, enabled=0
[Vulkan init] extensions: name=VK_KHR_external_semaphore_capabilities, enabled=0
[Vulkan init] extensions: name=VK_KHR_get_physical_device_properties2, enabled=0
[Vulkan init] extensions: name=VK_KHR_get_surface_capabilities2, enabled=0
[Vulkan init] extensions: name=VK_KHR_surface, enabled=1
[Vulkan init] extensions: name=VK_KHR_xcb_surface, enabled=0
[Vulkan init] extensions: name=VK_KHR_xlib_surface, enabled=1
[Vulkan init] extensions: name=VK_EXT_acquire_xlib_display, enabled=0
[Vulkan init] extensions: name=VK_EXT_debug_report, enabled=0
[Vulkan init] extensions: name=VK_EXT_direct_mode_display, enabled=0
[Vulkan init] extensions: name=VK_EXT_display_surface_counter, enabled=0
[Vulkan init] extensions: name=VK_KHR_wayland_surface, enabled=1
[Vulkan init] extensions: count=55
[Vulkan init] extensions: name=VK_KHR_8bit_storage, enabled=0
[Vulkan init] extensions: name=VK_KHR_16bit_storage, enabled=0
[Vulkan init] extensions: name=VK_KHR_bind_memory2, enabled=0
[Vulkan init] extensions: name=VK_KHR_create_renderpass2, enabled=0
[Vulkan init] extensions: name=VK_KHR_dedicated_allocation, enabled=1
[Vulkan init] extensions: name=VK_KHR_descriptor_update_template, enabled=0
[Vulkan init] extensions: name=VK_KHR_device_group, enabled=0
[Vulkan init] extensions: name=VK_KHR_draw_indirect_count, enabled=0
[Vulkan init] extensions: name=VK_KHR_external_fence, enabled=0
[Vulkan init] extensions: name=VK_KHR_external_fence_fd, enabled=0
[Vulkan init] extensions: name=VK_KHR_external_memory, enabled=0
[Vulkan init] extensions: name=VK_KHR_external_memory_fd, enabled=0
[Vulkan init] extensions: name=VK_KHR_external_semaphore, enabled=0
[Vulkan init] extensions: name=VK_KHR_external_semaphore_fd, enabled=0
[Vulkan init] extensions: name=VK_KHR_get_memory_requirements2, enabled=1
[Vulkan init] extensions: name=VK_KHR_image_format_list, enabled=1
[Vulkan init] extensions: name=VK_KHR_maintenance1, enabled=1
[Vulkan init] extensions: name=VK_KHR_maintenance2, enabled=0
[Vulkan init] extensions: name=VK_KHR_maintenance3, enabled=0
[Vulkan init] extensions: name=VK_KHR_multiview, enabled=0
[Vulkan init] extensions: name=VK_KHR_push_descriptor, enabled=0
[Vulkan init] extensions: name=VK_KHR_relaxed_block_layout, enabled=0
[Vulkan init] extensions: name=VK_KHR_sampler_mirror_clamp_to_edge, enabled=1
[Vulkan init] extensions: name=VK_KHR_sampler_ycbcr_conversion, enabled=0
[Vulkan init] extensions: name=VK_KHR_shader_draw_parameters, enabled=0
[Vulkan init] extensions: name=VK_KHR_storage_buffer_storage_class, enabled=0
[Vulkan init] extensions: name=VK_KHR_swapchain, enabled=1
[Vulkan init] extensions: name=VK_KHR_variable_pointers, enabled=0
[Vulkan init] extensions: name=VK_EXT_blend_operation_advanced, enabled=0
[Vulkan init] extensions: name=VK_EXT_conservative_rasterization, enabled=0
[Vulkan init] extensions: name=VK_EXT_depth_range_unrestricted, enabled=0
[Vulkan init] extensions: name=VK_EXT_descriptor_indexing, enabled=0
[Vulkan init] extensions: name=VK_EXT_discard_rectangles, enabled=0
[Vulkan init] extensions: name=VK_EXT_display_control, enabled=0
[Vulkan init] extensions: name=VK_EXT_global_priority, enabled=0
[Vulkan init] extensions: name=VK_EXT_post_depth_coverage, enabled=0
[Vulkan init] extensions: name=VK_EXT_sample_locations, enabled=0
[Vulkan init] extensions: name=VK_EXT_sampler_filter_minmax, enabled=0
[Vulkan init] extensions: name=VK_EXT_shader_subgroup_ballot, enabled=0
[Vulkan init] extensions: name=VK_EXT_shader_subgroup_vote, enabled=0
[Vulkan init] extensions: name=VK_EXT_shader_viewport_index_layer, enabled=0
[Vulkan init] extensions: name=VK_EXT_vertex_attribute_divisor, enabled=0
[Vulkan init] extensions: name=VK_NV_clip_space_w_scaling, enabled=0
[Vulkan init] extensions: name=VK_NV_dedicated_allocation, enabled=0
[Vulkan init] extensions: name=VK_NV_device_diagnostic_checkpoints, enabled=0
[Vulkan init] extensions: name=VK_NV_fill_rectangle, enabled=0
[Vulkan init] extensions: name=VK_NV_fragment_coverage_to_color, enabled=0
[Vulkan init] extensions: name=VK_NV_framebuffer_mixed_samples, enabled=0
[Vulkan init] extensions: name=VK_NV_geometry_shader_passthrough, enabled=0
[Vulkan init] extensions: name=VK_NV_sample_mask_override_coverage, enabled=0
[Vulkan init] extensions: name=VK_NV_shader_subgroup_partitioned, enabled=0
[Vulkan init] extensions: name=VK_NV_viewport_array2, enabled=0
[Vulkan init] extensions: name=VK_NV_viewport_swizzle, enabled=0
[Vulkan init] extensions: name=VK_NVX_device_generated_commands, enabled=0
[Vulkan init] extensions: name=VK_NVX_multiview_per_view_attributes, enabled=0
Vulkan API version 1.1.82
Vulkan vendor=[NVIDIA] id=[10de]
Vulkan renderer=[GeForce GTX 1080 Ti] id=[1b06]
Vulkan device type 2
Vulkan driverversion=[0x66974000] uint=[1721188352]
Vulkan PSO: cache data not found [path=/tmp/MIT-FAST-Lab/FlightGoggles/vulkan_pso_cache.bin]
Begin MonoManager ReloadAssembly
- Completed reload, in  0.060 seconds
WARNING: Shader Unsupported: 'HDRenderPipeline/Lit' - Pass 'META' has no vertex shader
Vulkan: Internal error compiling expression: "u_xlat107 = (_EnableLightLayers != uint(0u)) ? unity_RenderingLayer.x : 3.57331108e-43;
u_xlat107!=0"
 
(Filename:  Line: 65)

Vulkan: Internal error compiling expression: "u_xlat107 = (_EnableLightLayers != uint(0u)) ? unity_RenderingLayer.x : 3.57331108e-43;
u_xlat107!=0"
 
(Filename:  Line: 65)

WARNING: Shader Unsupported: 'Hidden/HDRenderPipeline/TerrainLit_Basemap' - Pass 'META' has no vertex shader
WARNING: Shader Unsupported: 'HDRenderPipeline/TerrainLit' - Pass 'META' has no vertex shader
requesting resize 1024 x 768
resizing window to 1024 x 768
Desktop is 1920 x 1080 @ 60 Hz
InitializeOrResetSwapChain 1024x768 samples=1
WARNING: Shader Unsupported: 'Hidden/PostProcessing/Uber' - Pass '' has no vertex shader
WARNING: Shader Unsupported: 'Hidden/PostProcessing/Uber' - Pass '' has no vertex shader
UnloadTime: 0.709000 ms
Configuring sockets.
 
(Filename: ./Runtime/Export/Debug.bindings.h Line: 45)

Trying to connect to: 127.0.0.1
 
(Filename: ./Runtime/Export/Debug.bindings.h Line: 45)

Terminated ZMQ sockets.
 
(Filename: ./Runtime/Export/Debug.bindings.h Line: 45)

Configuring sockets.
 
(Filename: ./Runtime/Export/Debug.bindings.h Line: 45)

Sockets bound.
 
(Filename: ./Runtime/Export/Debug.bindings.h Line: 45)

Receiving unhandled NULL exception
#0  0x007f5a6f367ae6 in _nv042glcore
#1  0x00000000963ad6 in std::pow(float, float)
#2  0x000000009a15e3 in std::pow(float, float)
#3  0x00000000965690 in std::pow(float, float)
#4  0x000000009734b1 in std::pow(float, float)
#5  0x00000000918e7d in std::pow(float, float)
#6  0x00000000910d92 in std::pow(float, float)
#7  0x00000000910ec9 in std::pow(float, float)
#8  0x00000000ca3970 in std::pow(float, float)
#9  0x007f5a7584e6ba in start_thread
#10 0x007f5a7558441d in clone

Just a bit off-topic question, the two models of drones you used in research Penguin and Sparrow. Are you running the flight controller code on the Jetson TX1/TX2? Does it meet the hard real-time requirements for a flight controller?

I use gstest-gtk to check the axes of my non-xbox controller. I then remap the axes in the example_input.yml file. I also uncommented all the joy_buttons, keys and scale options while doing this. After I make the yml file changes, I run catkin build in the catkin_ws directory, I use roslaunch flightgoggles teleopExample.launch to start the simulator.
When I echo the messages from control_nodes/joy, I see that the joystick axis events are being generated according to the jstest-gtk calibration. However, nothing moves on the simulator. I just see the stationary view from the drone. If I try the keyboard at this moment, it works perfectly. Just that the joy messages don't seem to reach the simuator.

Any suggestions on this? Am I missing any controller remapping steps?

Requires knowing the diameter of the camera, or the shape/size of the drone.

• Change CLI args to only ask for IP address
• Add IP textbox to splashscreen that persists across restarts.

Hi and thanks for releasing FlightGoggles

I met an issue while compiling on Ubuntu18.01 with ROS Melodic.
flightgoggles/flightgoggles_ros_bridge/src/GeneralClient/GeneralClient.cpp uses sleep() and usleep() but neither the header nor the source include it.
It is easily resolved by including unistd.h in the source (preferred) or the header.

Shall I do a pull request or do you fix it quickly by committing?
Thanks a lot!

We remapped the values from a custom joystick and published the values to /uav/inputs/rateThrust.

• The thrust component only seems to take discrete values of ...,8.81,9.81,10.81,...
• The angular rates seem to work only in a binary fashion.

After that, we tried publishing constant data. The same observations were made about the thrust response. But when we publish even a very low rate of 0.0001 continuously, the drone spins out of control.

Could you please explain how we should be controlling the drone through a separate publisher?

Note: We are publishing at 20Hz since that was the same rate at which the teleop was publishing.

Need an example code or something for third person perspective view.

Please provide sample code if available.

Hello,

During the catkin build, flightgoggles package times out and fails the build with the following error:

Errors << flightgoggles:make /home/sniper/catkin_ws/logs/flightgoggles/build.make.000.log
CMake Error at /usr/share/cmake-3.10/Modules/ExternalData.cmake:1121 (message):

Object MD5=7322a3165e02cc0c023336816df41b5d not found at:

http://d34kgw45d3q5oc.cloudfront.net/Public/FlightGoggles/HashedReleases/MD5/7322a3165e02cc0c023336816df41b5d ("Timeout was reached")
ftp://fast-nas.mit.edu/Public/FlightGoggles/HashedReleases/MD5/7322a3165e02cc0c023336816df41b5d ("Timeout was reached")

make[2]: *** [renderer_version/FlightGoggles_Data.tar.gz-hash-stamp] Error 1
make[1]: *** [CMakeFiles/flightgogglesBinaryDownload.dir/all] Error 2
make: *** [all] Error 2

The flight goggles simulator seems to shutdown when the drone crashes into an obstacle. Is there any way to reset the quad to the start position without having to run the launch file from start again?

This project is really interesting however just wondering if it can be use to help drone racing audience see the small drone racing against each other better or not?

Right now our drone racing event facing a problem to broadcast the drone racing as it very fast (80-150 km/h) and very small and not easy to capture with regular camera.

So, I think FlightGoggles project is really promising project.

However our racing course look like this.
Does it possible to using UWB with your project instead of camera tracking and sync drone location in real time to 3D environment?

I am not able to run the FlightGoggles sim on Nvidia TX2. Please let me know that we can use TX2 for this simulator? because when I run it on TX2 it gives me an error. Thank you

Was not specified in readme. Currently using Intel graphics card.

First of all really loved seeing a creative solution to a very important problem. Enabling to experiment in the lab which is almost as if you are doing field test on real drones. Kudos to the team!

I think most remarkable feat of FlightGoggles is its ability to render images so quickly and push these to the drone for onboard processing. Many of the leading VR HMDs in the market (Vive and Rift) still have to tether the headsets with a host machine to be able to deliver the VR content in real-time.

Can you please shed some light how you were able to achieve this untethered? What's the overall latency? is it enough for the drone to avoid oncoming obstacles?

Based on the definition of acro-mode, pressing "W" once followed by "S" bring drone back to rest state. But in case of simulation, number of "W":"S" presses are in the ratio 1:n and this n keeps increasing with simulation time.

Please let me know if their's anything wrong in my understanding of acro-mode control or if i need to set any parameters in environment so that it move's as expected ...

Thank you

In the Teleop mode, even with the keyboard window open and spacebar long pressed, the drone does not move. Same with the Xbox One S controller.

Any way to obtain the current location of the drone ?
I've tried retrieving the values from '/uav/input/rateThrust' hoping it would provide some kind of info from which we could extract the required values. Given below is the output returned by rateThrust.

('[INFO rateThrust]: ', header: 
  seq: 3224
  stamp: 
    secs: 161
    nsecs: 425012914
  frame_id: "uav/imu"
angular_rates: 
  x: 0.0
  y: 0.0
  z: 0.0
thrust: 
  x: 0.0
  y: 0.0
  z: 9.81000041962)

However, the angular rates behave like a binary activation button, which becomes hot only when presses and returns to zero once released. 'z' value in the thrust must be the thrust available , however the x and y values are not changing.
I'm not sure if i'm missing something.
If anyone knows how to get the current location, do reply.
Thank You.

This feature is needed to be able to spawn multiple FlightGoggles instances on multiple GPUs that do not have a screen attached.

we don't have the same hardware performance describes on the README, though we prefer using our local machines rather than AWS instances.
what are the minimum hardware requirements to run the simulator ?

For the Lockheed Martin Challenge, we require stereo camera images. Should we enable the stereo camera by changing the argument "render_stereo" in the "core.launch file"?

When we change this argument, the image feed in rviz is black, but the red dots(ir beacons) seem to be working fine, but the flight goggles video feed is stuck.

Also, during startup the system gets stuck for sometime and the red dots beacon updates seem to be delayed. If you see 3-D position plot in rviz, the simulator backend seems to be working.

We are attaching a video file showing the error.

video

There seems to be a cumulative delay in applying the actions published via uav/input/rateThrust topic.
Is there any way to reduce this?

This project is really interesting however just wondering if it can be use to help drone racing audience see the small drone racing against each other better or not?

Right now our drone racing event facing a problem to broadcast the drone racing as it very fast (80-150 km/h) and very small and not easy to capture with regular camera.

So, I think FlightGoggles project is really promising project.

However our racing course look like this.
Does it possible to using UWB with your project instead of camera tracking and sync drone location in real time to 3D environment?

https://user-images.githubusercontent.com/10154074/44310067-8c8cf680-a3fa-11e8-9a28-e2f3148192db.png

Right now can only instantiate gameobjects that have been baked into the FlightGoggles binary.

Need an api to send an info when the drone/cam has collided.

The Unity renderer crashes after a few minutes. Logs attached.
System is Dell t3600, 16GB ram, AMD 480 GPU.

crashlog1.txt

uav-flightgogglesRenderer-5-stdout.log.txt
Player.log.txt

RViz image window doesn't show any images. The topics window has a warning saying that no image is published in bounding_box/rgb. Maybe I missed something while performing the steps mentioned in the README of the master branch of this repository.

How are the scenes rendered to the image window when trying to simulate locally, are we supposed to download some scene files before running the ros.launch files?

Secondly, the README does mention about AWS, is it a mandatory step while getting FlightGoggles to run? Or is it a provision for users in case the local computer fails to have a good graphic card?

Would it be possible to add a calibration file for the camera(s) of the type that you get from using ROS' calibration tool (http://wiki.ros.org/camera_calibration). Alternatively, a calibration checkerboard making it possible for us to calibrate the camera(s) ourselves.