Updated FlightGoggles binary to v2.0.1. Includes revised environment …

…layout. * FlightGoggles can now take in gate perturbation files. * Per issue #24, FlightGoggles now uses the stable single-threaded graphics jobs pipeline. * Per issue #46, the Unity3D backend no longer tries to connect to a sound card.
mit-aera · Feb 15, 2019 · bf53fb7 · bf53fb7
1 parent 87feeed
commit bf53fb7
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diff --git a/flightgoggles/config/challenges/gate_locations.yaml b/flightgoggles/config/challenges/gate_locations.yaml
@@ -1,40 +1,70 @@
-Gate1:
-  location: [[4.981959, -33.868, 2.459362], [4.98204, -32.328, 2.459362], [4.98204, -32.328, 0.9093618], [4.981959, -33.868, 0.9093618]]
-Gate2:
-  location: [[0.2798283, 33.53575, 2.91987], [2.178032, 33.53575, 2.91987], [2.178032, 33.53575, 1.00934], [0.2798283, 33.53575, 1.00934]]
-Gate3:
-  location: [[-0.3686712, -7.102409, 4.728], [-0.3683307, -5.562408, 4.728], [-0.3683307, -5.562408, 3.177999], [-0.3686712, -7.102409, 3.177999]]
-Gate4:
-  location: [[-30.22717, -14.29427, 7.310443], [-31.76717, -14.29427, 7.310443], [-31.76717, -14.29427, 5.760443], [-30.22717, -14.29427, 5.760443]]
-Gate5:
-  location: [[-20.94317, 14.607, 2.515013], [-20.94283, 16.147, 2.515013], [-20.94283, 16.147, 0.965013], [-20.94317, 14.607, 0.965013]]
-Gate6:
-  location: [[16.172, 37.02346, 6.646554], [17.712, 37.02346, 6.646554], [17.712, 37.02346, 5.096554], [16.172, 37.02346, 5.096554]]
-Gate7:
-  location: [[16.2506, 41.63, 11.32092], [17.79061, 41.63, 11.32092], [17.79061, 41.63, 9.770914], [16.2506, 41.63, 9.770914]]
-Gate8:
-  location: [[-3.430186, 11.79953, 6.122593], [-3.430186, 12.97997, 6.122593], [-3.430186, 11.79952, 4.911986], [-3.430186, 12.97997, 4.911986]]
-Gate9:
-  location: [[-5.997018, -12.31385, 2.091845], [-7.242405, -12.31385, 2.091845], [-5.997017, -12.31385, 0.8146315], [-7.242405, -12.31385, 0.8146315]]
-Gate10:
-  location: [[18.11066, 3.631382, 7.096623], [16.39142, 3.631481, 7.096623], [18.11066, 3.631382, 5.333448], [16.39142, 3.631481, 5.333448]]
-Gate11:
-  location: [[-27.21191, 2.542845, 6.864708], [-28.61609, 2.542946, 6.864708], [-27.21191, 2.542845, 5.424644], [-28.61609, 2.542946, 5.424644]]
-Gate12:
-  location: [[18.40823, 13.60605, 9.143385], [16.33437, 14.09245, 9.143507], [18.90706, 15.73291, 9.14324], [16.83319, 16.21931, 9.143364]]
-Gate13:
-  location: [[1.12582, 12.32796, 3.30625], [3.533821, 12.32796, 3.30625], [3.533821, 12.32796, 0.7242498], [1.12582, 12.32796, 0.7242498]]
-Gate14:
-  location: [[-8.53418, -29.71203, 3.30625], [-6.12618, -29.71203, 3.30625], [-6.12618, -29.71203, 0.7242498], [-8.53418, -29.71203, 0.7242498]]
-Gate15:
-  location: [[6.04582, -11.79203, 3.30625], [8.453821, -11.79203, 3.30625], [8.453821, -11.79203, 0.7242498], [6.04582, -11.79203, 0.7242498]]
-Gate16:
-  location: [[-13.73218, 28.64197, 12.65825], [-13.73218, 26.23396, 12.65825], [-13.73218, 26.23396, 10.07625], [-13.73218, 28.64197, 10.07625]]
-Gate17:
-  location: [[-20.57, -13.29803, 3.46425], [-20.57, -15.70603, 3.46425], [-20.57, -15.70603, 0.8822498], [-20.57, -13.29803, 0.8822498]]
-Gate18:
-  location: [[13.51782, 21.76397, 3.61825], [13.51782, 19.35596, 3.61825], [13.51782, 19.35596, 1.03625], [13.51782, 21.76397, 1.03625]]
-Gate19:
-  location: [[15.96136, -17.26184, 12.31488], [18.36892, -17.26184, 12.36067], [18.41802, -17.26184, 9.779139], [16.01046, -17.26184, 9.733349]]
-Gate20:
-  location: [[-25.39118, 25.019, 7.856133], [-22.98318, 25.019, 7.856133], [-22.98318, 25.019, 5.274133], [-25.39118, 25.019, 5.274133]]
+Gate1:
+  location: [[-0.009051204, -34.8755, 3.071861], [-0.008949876, -32.9505, 3.071861], [-0.008949876, -32.9505, 1.134362], [-0.009051204, -34.8755, 1.134362]]
+  perturbation: [2.5, 2.5, 5.0]
+Gate13:
+  location: [[1.237332, 9.001728, 2.9625], [3.162332, 9.001728, 2.9625], [3.162332, 9.001728, 1.025], [1.237332, 9.001728, 1.025]]
+  perturbation: [2.5, 2.5, 5.0]
+Gate3:
+  location: [[-0.3703381, -12.99827, 4.728], [-0.3699976, -11.45827, 4.728], [-0.3699976, -11.45827, 3.177999], [-0.3703381, -12.99827, 3.177999]]
+  perturbation: [0.0, 0.0, 0.0]
+Gate4:
+  location: [[-31.56487, -13.929, 6.99714], [-30.04735, -13.929, 7.259325], [-29.78347, -13.929, 5.731955], [-31.30098, -13.929, 5.469769]]
+  perturbation: [0.0, 0.0, 0.0]
+Gate5:
+  location: [[-20.94317, 14.607, 2.515013], [-20.94283, 16.147, 2.515013], [-20.94283, 16.147, 0.965013], [-20.94317, 14.607, 0.965013]]
+  perturbation: [0.0, 0.0, 0.0]
+Gate7:
+  location: [[16.2506, 41.63, 11.32092], [17.79061, 41.63, 11.32092], [17.79061, 41.63, 9.770914], [16.2506, 41.63, 9.770914]]
+  perturbation: [0.0, 0.0, 0.0]
+Gate8:
+  location: [[-3.430186, 11.79953, 6.122593], [-3.430186, 12.97997, 6.122593], [-3.430186, 11.79952, 4.911986], [-3.430186, 12.97997, 4.911986]]
+  perturbation: [0.0, 0.0, 0.0]
+Gate9:
+  location: [[-6.40867, -12.13678, 4.152941], [-8.208672, -12.13678, 4.152941], [-6.408669, -12.13678, 2.306941], [-8.208672, -12.13678, 2.306941]]
+  perturbation: [0.0, 0.0, 2.0]
+Gate10:
+  location: [[18.15111, 3.631447, 7.229498], [16.35111, 3.63155, 7.229498], [18.15111, 3.631447, 5.383497], [16.35111, 3.63155, 5.383497]]
+  perturbation: [2.0, 2.0, 5.0]
+Gate11:
+  location: [[-27.01367, 2.543159, 7.515942], [-28.81367, 2.543289, 7.515942], [-27.01367, 2.543159, 5.669941], [-28.81367, 2.543289, 5.669941]]
+  perturbation: [0.0, 0.0, 0.0]
+Gate12:
+  location: [[18.40823, 13.60605, 9.143385], [16.33437, 14.09245, 9.143507], [18.90706, 15.73291, 9.14324], [16.83319, 16.21931, 9.143364]]
+  perturbation: [0.0, 0.0, 0.0]
+Gate23:
+  location: [[-9.328671, 7.773174, 2.942941], [-11.12867, 7.773277, 2.942941], [-9.328669, 7.773174, 1.096941], [-11.12867, 7.773277, 1.096941]]
+  perturbation: [5.0, 5.0 ,5.0]
+Gate6:
+  location: [[-9.14867, 30.62316, 3.820941], [-10.94867, 30.62329, 3.820941], [-9.148668, 30.62316, 1.974941], [-10.94867, 30.62329, 1.974941]]
+  perturbation: [0.0, 0.0, 2.0]
+Gate2:
+  location: [[0.8248205, 27.86797, 4.16025], [3.834821, 27.86797, 4.16025], [3.834821, 27.86797, 0.9327497], [0.8248205, 27.86797, 0.9327497]]
+  perturbation: [0.0, 1.0, 5.0]
+Gate14:
+  location: [[-8.674376, -29.53623, 4.25625], [-6.545984, -27.40784, 4.25625], [-6.545984, -27.40784, 1.02875], [-8.674376, -29.53623, 1.02875]]
+  perturbation: [1.0, 1.0, 5.0]
+Gate15:
+  location: [[5.744822, -11.79203, 4.16025], [8.75482, -11.79203, 4.16025], [8.75482, -11.79203, 0.9327497], [5.744822, -11.79203, 0.9327497]]
+  perturbation: [0.0, 2.5, 5.0]
+Gate16:
+  location: [[-13.73218, 28.64197, 12.65825], [-13.73218, 26.23396, 12.65825], [-13.73218, 26.23396, 10.07625], [-13.73218, 28.64197, 10.07625]]
+  perturbation: [0.0, 0.0, 0.0]
+Gate17:
+  location: [[-20.57, -13.29803, 3.46425], [-20.57, -15.70603, 3.46425], [-20.57, -15.70603, 0.8822498], [-20.57, -13.29803, 0.8822498]]
+  perturbation: [0.0, 0.0, 0.0]
+Gate18:
+  location: [[13.51782, 21.76397, 3.61825], [13.51782, 19.35596, 3.61825], [13.51782, 19.35596, 1.03625], [13.51782, 21.76397, 1.03625]]
+  perturbation: [0.0, 0.0, 0.0]
+Gate19:
+  location: [[15.96136, -17.26184, 12.31488], [18.36892, -17.26184, 12.36067], [18.41802, -17.26184, 9.779139], [16.01046, -17.26184, 9.733349]]
+  perturbation: [0.0, 0.0, 0.0]
+Gate20:
+  location: [[-25.39118, 25.019, 7.856133], [-22.98318, 25.019, 7.856133], [-22.98318, 25.019, 5.274133], [-25.39118, 25.019, 5.274133]]
+  perturbation: [0.0, 0.0, 0.0]
+Gate21:
+  location: [[15.68563, 38.50578, 8.376249], [17.81402, 40.63416, 8.376249], [17.81402, 40.63416, 5.14875], [15.68563, 38.50578, 5.14875]]
+  perturbation: [0.0, 0.0, 2.0]
+Gate22:
+  location: [[4.803625, -27.37584, 4.18125], [6.932016, -29.50423, 4.18125], [6.932016, -29.50423, 0.9537499], [4.803625, -27.37584, 0.9537499]]
+  perturbation: [1.0, 1.0, 5.0]
+
diff --git a/flightgoggles/launch/core.launch b/flightgoggles/launch/core.launch
@@ -4,7 +4,9 @@
   <arg name="use_external_renderer" default="0" />
   <arg name="ignore_collisions" default="false" />
   <arg name="render_stereo" default="0" />
-  <arg name="run_challenges" default="1" />  
+  <arg name="run_challenges" default="1" /> 
+  <arg name="gate_locations" value=""/> 
+  <arg name="render_quality" value="Fastest"/>
 
   <group ns="/uav">
 
@@ -20,28 +22,37 @@
     </node>
 
     <!-- FlightGoggles Renderer -->
-    <node name="flightgogglesRenderer" pkg="flightgoggles" type="FlightGoggles.x86_64" unless="$(arg use_external_renderer)"/>
+    <!-- Only run renderer if not using external renderer -->
+    <group unless="$(arg use_external_renderer)">
+        <node name="flightgogglesRenderer" pkg="flightgoggles" type="FlightGoggles.x86_64" if="$(eval gate_locations == '')"
+        args="-screen-quality $(arg render_quality)"/>
+        <!-- Perturb gate locations if needed -->
+        <node name="flightgogglesRenderer" pkg="flightgoggles" type="FlightGoggles.x86_64" unless="$(eval gate_locations == '')"
+        args="-screen-quality $(arg render_quality) -obstacle-perturbation-file '$(find flightgoggles)/config/perturbations/perturbed_gates_$(arg gate_locations).yaml'"/>
+    </group>
+
 
     <!-- FlightGoggles ROS Bridge -->
-    <node name="flightgoggles_ros_bridge" pkg="flightgoggles_ros_bridge" type="ROSClient" output="screen" />
+    <node name="flightgoggles_ros_bridge" pkg="flightgoggles_ros_bridge" type="ROSClient" output="screen" >
+    <param name="render_stereo" type="bool" value="$(arg render_stereo)" />
+    </node>
 
     <!-- FlightGoggles IR Marker visualizer -->
     <node name="flightgoggles_marker_visualizer" pkg="flightgoggles_marker_visualizer" type="flightgoggles_marker_visualizer" />
 
     <!--Run RVIZ for visualization-->
-    <node type="rviz" name="rviz" pkg="rviz" args="-d $(find flightgoggles)/rviz/third_person_drone_follower.rviz" />
+    <node type="rviz" name="rviz" pkg="rviz" args="-d $(find flightgoggles)/rviz/third_person_drone_follower.rviz" unless="$(arg render_stereo)"/>
+    <node type="rviz" name="rviz" pkg="rviz" args="-d $(find flightgoggles)/rviz/third_person_drone_follower_stereo.rviz" if="$(arg render_stereo)"/>
 
-    <!--Static transforms for 20cm stereo baseline -->
+    <!--Static transforms for 15cm stereo baseline -->
     <node pkg="tf2_ros" type="static_transform_publisher"
-          name="camera_left_link" args="0 0.1 0 -1.57079632679 0 -1.57079632679 uav/uav/imu uav/camera/left  "
-          if="$(arg render_stereo)"/>
+          name="camera_left_link" args="0 0.0 0 -1.57079632679 0 -1.57079632679 uav/imu uav/camera/left  " unless="$(arg render_stereo)"/>
     <node pkg="tf2_ros" type="static_transform_publisher"
-          name="camera_left_link" args="0 -0.1 0 -1.57079632679 0 -1.57079632679 uav/imu uav/camera/right  "
-          if="$(arg render_stereo)"/>
-    <!--Centered camera (for monocular camera operation)-->
+          name="camera_left_link" args="0 0.075 0 -1.57079632679 0 -1.57079632679 uav/imu uav/camera/left  " if="$(arg render_stereo)"/>
     <node pkg="tf2_ros" type="static_transform_publisher"
-          name="camera_left_link" args="0 0 0 -1.57079632679 0 -1.57079632679 'uav/imu' 'uav/camera/center'"
-          unless="$(arg render_stereo)" />
+          name="camera_right_link" args="0 -0.075 0 -1.57079632679 0 -1.57079632679 uav/imu uav/camera/right  " if="$(arg render_stereo)"/>
+
+    <param name="/uav/camera/render_stereo" value="$(arg render_stereo)" />
 
     <!--Static transform for ENU to NED world-->
     <node pkg="tf2_ros" type="static_transform_publisher"

diff --git a/flightgoggles/renderer_version/FlightGoggles_Data.tar.gz.md5 b/flightgoggles/renderer_version/FlightGoggles_Data.tar.gz.md5
@@ -1 +1 @@
-7322a3165e02cc0c023336816df41b5d
+1b20eadda0a13e129189f8724ce4e2c6
diff --git a/flightgoggles/rviz/third_person_drone_follower.rviz b/flightgoggles/rviz/third_person_drone_follower.rviz
@@ -56,8 +56,8 @@ Visualization Manager:
       Frame Timeout: 15
       Frames:
         All Enabled: false
-        uav/camera/center:
-          Value: false
+        uav/camera/left:
+          Value: true
         uav/imu:
           Value: true
         world:
@@ -72,7 +72,7 @@ Visualization Manager:
       Tree:
         world:
           uav/imu:
-            uav/camera/center:
+            uav/camera/left:
               {}
           world/ned:
             {}
@@ -115,7 +115,7 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz/ThirdPersonFollower
-      Distance: 1.59713197
+      Distance: 11.8637562
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.0599999987
         Stereo Focal Distance: 1

diff --git a/flightgoggles/rviz/third_person_drone_follower_stereo.rviz b/flightgoggles/rviz/third_person_drone_follower_stereo.rviz
@@ -0,0 +1,173 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Status1
+        - /Grid1
+        - /TF1
+        - /TF1/Frames1
+      Splitter Ratio: 0.5
+    Tree Height: 398
+  - Class: rviz/Selection
+    Name: Selection
+  - Class: rviz/Tool Properties
+    Expanded:
+      - /2D Pose Estimate1
+      - /2D Nav Goal1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.588679016
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: Image
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.0299999993
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 100
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Class: rviz/TF
+      Enabled: true
+      Frame Timeout: 15
+      Frames:
+        All Enabled: false
+        uav/camera/left:
+          Value: true
+        uav/camera/right:
+          Value: true
+        uav/imu:
+          Value: true
+        world:
+          Value: true
+        world/ned:
+          Value: true
+      Marker Scale: 1
+      Name: TF
+      Show Arrows: true
+      Show Axes: true
+      Show Names: true
+      Tree:
+        world:
+          uav/imu:
+            uav/camera/left:
+              {}
+            uav/camera/right:
+              {}
+          world/ned:
+            {}
+      Update Interval: 0
+      Value: true
+    - Class: rviz/Image
+      Enabled: true
+      Image Topic: /bounding_box_camera/RGB
+      Max Value: 1
+      Median window: 5
+      Min Value: 0
+      Name: Image
+      Normalize Range: true
+      Queue Size: 2
+      Transport Hint: raw
+      Unreliable: false
+      Value: true
+    - Class: rviz/Image
+      Enabled: true
+      Image Topic: /uav/camera/right/image_rect_color
+      Max Value: 1
+      Median window: 5
+      Min Value: 0
+      Name: Image
+      Normalize Range: true
+      Queue Size: 2
+      Transport Hint: raw
+      Unreliable: false
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Default Light: true
+    Fixed Frame: world
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz/Interact
+      Hide Inactive Objects: true
+    - Class: rviz/MoveCamera
+    - Class: rviz/Select
+    - Class: rviz/FocusCamera
+    - Class: rviz/Measure
+    - Class: rviz/SetInitialPose
+      Topic: /initialpose
+    - Class: rviz/SetGoal
+      Topic: /move_base_simple/goal
+    - Class: rviz/PublishPoint
+      Single click: true
+      Topic: /clicked_point
+  Value: true
+  Views:
+    Current:
+      Class: rviz/ThirdPersonFollower
+      Distance: 1.59713197
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.0599999987
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: 0.104413986
+        Y: -0.0131638646
+        Z: 7.42294446e-07
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.0500000007
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.00999999978
+      Pitch: 0.170202836
+      Target Frame: uav/imu
+      Value: ThirdPersonFollower (rviz)
+      Yaw: 3.02386951
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 1388
+  Hide Left Dock: false
+  Hide Right Dock: true
+  Image:
+    collapsed: false
+  QMainWindow State: 000000ff00000000fd00000004000000000000016a0000021dfc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c00610079007301000002a90000021d000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c000002610000000100000305000003bffc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a0056006900650077007300000003d5000003bf000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b2000000000000000000000002000006980000027bfc0100000004fb0000000a0049006d00610067006501000000000000038b0000005c00fffffffb0000000a0049006d0061006700650100000391000003070000005c00fffffffb0000000a0049006d0061006700650100000000000006980000000000000000fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000069800000082fc0100000002fc00000000000006980000030000fffffffa000000010200000002fb0000000a0049006d0061006700650000000000ffffffff0000000000000000fb0000000800540069006d0065010000052c0000003e0000003b00fffffffb0000000800540069006d00650100000000000004500000000000000000000005280000021d00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: true
+  Width: 1688
+  X: 65
+  Y: 24