ROSflight Unity SIL Simulation

Infrastructure for running a ROSflight software-in-the-loop (SIL) simulation with Unity (see rosflight_unity_simulator).

Getting Started

ROS Setup

1. Clone this repo into your catkin_ws.
2. Clone rosflight into your catkin_ws and git submodule update --init --recursive.
3. catkin build or catkin_make

Unity Setup

1. Install Unity 2018.2.7f1 (on Ubuntu).
2. Clone rosflight_unity_simulator into your favourite location.

Flying Manually

0. Clone rosflight_joy into your catkin_ws and build.
1. After sourcing your catkin_ws, run rosrun rosflight_unity rosflight_unity to start the ROSflight Unity SIL.
2. Press the 'play' button in the rosflight_unity_simulator Unity project.
3. Run rosrun rosflight rosflight_io _udp:=true
4. Plug in your compatible (e.g., Taranis) RC transmitter.
5. Run rosrun rosflight_joy rc_joy RC:=/rosflight_unity/rc_in
6. Set the mixer to 2: rosservice call /param_set MIXER 2
7. Write the autopilot parameters to memory: rosservice call /param_write (params will be written to file, in whatever directory you started the rosflight_unity node)
8. Calibrate the IMU: rosservice call /calibrate_imu
9. Throttle stick down and to the right to arm (down and to the left to disarm).
10. Fly!