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TJU_Lu 2024-11-25 22:26:40 +08:00
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9
README.md
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@ -43,6 +43,8 @@ We will take the directory `~/YOPO` as example in the following.
**1. Flightmare Dependencies**
Make sure that you have already set up the basic dependencies such as ROS, CUDA, and Conda.
```
sudo apt-get update && apt-get install -y --no-install-recommends \
build-essential \
@ -72,14 +74,17 @@ flightrender/
```
**4. Create a conda virtual environment.**
Below are the versions of my python libraries. (You can remove the version numbers if compatibility issues occur in the future.)
```
conda create --name yopo python=3.8
conda activate yopo
conda install pytorch torchvision torchaudio pytorch-cuda=11.8 -c pytorch -c nvidia
conda install pytorch==2.4.1 torchvision==0.19.1 torchaudio==2.4.1 pytorch-cuda=11.8 -c pytorch -c nvidia
pip install opencv-python
pip install gym==0.21.0 stable-baselines3==1.5.0
pip install scipy scikit-build ruamel-yaml==0.17.21 numpy==1.22.3 tensorboard==2.9.1 empy catkin_pkg
pip install scipy==1.10.1 scikit-build==0.18.1 ruamel-yaml==0.17.21 numpy==1.22.3 tensorboard==2.8.0 empy catkin_pkg
```
**5. build the flightlib**
```

2
flightlib/src/ros_nodes/flight_pilot.cpp
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@ -35,7 +35,7 @@ FlightPilot::FlightPilot(const ros::NodeHandle& nh, const ros::NodeHandle& pnh)
setUnity(unity_render_);
connectUnity();
if (!unity_ready_)
ROS_ERROR("Start the gazebo and unity first!");
ROS_ERROR("[FlightRos] Connection Faild! Start the Flightmare Unity First!");
spawnTreesAndSavePointCloud();
timer_main_loop_ = nh_.createTimer(ros::Rate(main_loop_freq_), &FlightPilot::mainLoopCallback, this);