merge dev/ros remote

Author: yun-long

.gitignore

@@ -1,9 +1,27 @@
-.sass-cache
-.vscode/*
-!.vscode/extensions.json
-externals/*
+# Python
 dist
 *.egg-info
 *.so
 __pycache__
-build
+
+
+# Gitignore
+
+# VScode
+.vscode/
+.vscode/*
+**/.vscode/*
+!.vscode/extensions.json
+
+# General
+build/
+_build/
+.sass-cache
+_posts
+_site
+externals/*
+
+#Flightmare
+flightlib
+flightrl
+flighros

Dockerfile

@@ -2,7 +2,9 @@ FROM ubuntu:18.04
 
 ENV DEBIAN_FRONTEND=noninteractive 
 
+# Installing some essential system packages
 RUN apt-get update && apt-get install -y --no-install-recommends \
+   lsb-release \
    build-essential \
    python3 python3-dev python3-pip \
    cmake \
@@ -11,7 +13,23 @@ RUN apt-get update && apt-get install -y --no-install-recommends \
    ca-certificates \
    libzmqpp-dev \
    libopencv-dev \
+   gnupg2 \
    && rm -rf /var/lib/apt/lists/*
 
+RUN /bin/bash -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list' && \
+    apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654 
 
+# Installing ROS  Melodic
+RUN apt-get update && apt-get install -y --no-install-recommends \
+   ros-melodic-desktop-full 
+
+# Installing catkin tools
+RUN apt-get update && apt-get install -y python3-setuptools && pip3 install catkin-tools 
+
+RUN /bin/bash cd /home && git clone https://github.com/uzh-rpg/flightmare.git \
+    && echo "export FLIGHTMARE_PATH=/home/flightmare" >> ~/.bashrc
+    && source ~/.bashrc
 
+RUN /bin/bash cd /home/flightmare/flightlib && pip3 install . \
+    && cd /home/flightmare/flightrl && pip3 install . \
+    && 

LICENSE

@@ -0,0 +1,22 @@
+MIT License
+
+Copyright (c) 2020 Robotics and Perception Group, 
+University of Zurich, Switzerland
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.

README.md

@@ -1,9 +1,38 @@
-# Flightmare
+# Flightmare - 左青龙
 
 ![Build Status](https://github.com/uzh-rpg/flightmare/workflows/CPP_CI/badge.svg) ![clang format](https://github.com/uzh-rpg/flightmare/workflows/clang_format/badge.svg)
+![License](https://img.shields.io/badge/License-MIT-blue.svg) ![website]( https://img.shields.io/website-up-down-green-red/https/naereen.github.io.svg)
 
-We present a new modular quadrotor simulator: Flightmare.
+**Flightmare** is a flexible modular quadrotor simulator.
 Flightmare is composed of two main components: a configurable rendering engine built on Unity and a flexible physics engine for dynamics simulation.
 Those two components are totally decoupled and can run independently from each other. 
 Flightmare comes with several desirable features: (i) a large multi-modal sensor suite, including an interface to extract the 3D point-cloud of the scene; (ii) an API for reinforcement learning which can simulate hundreds of quadrotors in parallel; and (iii) an integration with a virtual-reality headset for interaction with the simulated environment.
 Flightmare can be used for various applications, including path-planning, reinforcement learning, visual-inertial odometry, deep learning, human-robot interaction, etc.
+
+**[Website](https://uzh-rpg.github.io/flightmare/)** & 
+**[Documentation](https://flightmare.readthedocs.io/)** 
+
+[![IMAGE ALT TEXT HERE](./docs/flightmare_main.png)](https://youtu.be/m9Mx1BCNGFU)
+
+## Installation
+Installation instructions can be found in our [Wiki](https://github.com/uzh-rpg/flightmare/wiki).
+  
+## Updates
+ *  17.11.2020 [Spotlight](https://youtu.be/8JyrjPLt8wo) Talk at CoRL 2020 
+ *  04.09.2020 Release Flightmare
+
+## Publication
+
+If you use this code in a publication, please cite the following paper **[PDF](http://rpg.ifi.uzh.ch/docs/CoRL20_Yunlong.pdf)**
+
+```
+@article{song2020flightmare,
+    title={Flightmare: A Flexible Quadrotor Simulator},
+    author={Song, Yunlong and Naji, Selim and Kaufmann, Elia and Loquercio, Antonio and Scaramuzza, Davide},
+    booktitle={Conference on Robot Learning},
+    year={2020}
+}
+```
+
+## License
+This project is released under the MIT License. Please review the [License file](LICENSE) for more details.

docs/Makefile

@@ -0,0 +1,20 @@
+# Minimal makefile for Sphinx documentation
+#
+
+# You can set these variables from the command line, and also
+# from the environment for the first two.
+SPHINXOPTS    ?=
+SPHINXBUILD   ?= sphinx-build
+SOURCEDIR     = source
+BUILDDIR      = build
+
+# Put it first so that "make" without argument is like "make help".
+help:
+	@$(SPHINXBUILD) -M help "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O)
+
+.PHONY: help Makefile
+
+# Catch-all target: route all unknown targets to Sphinx using the new
+# "make mode" option.  $(O) is meant as a shortcut for $(SPHINXOPTS).
+%: Makefile
+	@$(SPHINXBUILD) -M $@ "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O)

docs/flightmare.png

@@ -0,0 +1,35 @@
+@ECHO OFF
+
+pushd %~dp0
+
+REM Command file for Sphinx documentation
+
+if "%SPHINXBUILD%" == "" (
+	set SPHINXBUILD=sphinx-build
+)
+set SOURCEDIR=source
+set BUILDDIR=build
+
+if "%1" == "" goto help
+
+%SPHINXBUILD% >NUL 2>NUL
+if errorlevel 9009 (
+	echo.
+	echo.The 'sphinx-build' command was not found. Make sure you have Sphinx
+	echo.installed, then set the SPHINXBUILD environment variable to point
+	echo.to the full path of the 'sphinx-build' executable. Alternatively you
+	echo.may add the Sphinx directory to PATH.
+	echo.
+	echo.If you don't have Sphinx installed, grab it from
+	echo.http://sphinx-doc.org/
+	exit /b 1
+)
+
+%SPHINXBUILD% -M %1 %SOURCEDIR% %BUILDDIR% %SPHINXOPTS% %O%
+goto end
+
+:help
+%SPHINXBUILD% -M help %SOURCEDIR% %BUILDDIR% %SPHINXOPTS% %O%
+
+:end
+popd

docs/flightmare_main.png

@@ -0,0 +1,16 @@
+/* 
+override table width restrictions 
+https://rackerlabs.github.io/docs-rackspace/tools/rtd-tables.html
+*/
+@media screen and (min-width: 767px) {
+
+   .wy-table-responsive table td {
+      /* !important prevents the common CSS stylesheets from overriding
+         this as on RTD they are loaded after this stylesheet */
+      white-space: normal !important;
+   }
+
+   .wy-table-responsive {
+      overflow: visible !important;
+   }
+}

docs/make.bat

@@ -0,0 +1,30 @@
+.. raw:: html
+
+    <html>
+    <head>
+    <style>
+    .button {
+      background-color: #2980B9;
+      border: none;
+      color: white;
+      padding: 15px 32px;
+      text-align: center;
+      text-decoration: none;
+      display: inline-block;
+      font-size: 16px;
+      margin: 4px 2px;
+      cursor: pointer;
+      transition-duration: 0.4s;
+    }
+    .button:hover {
+      background-color: white; 
+      color: #2980B9;
+      border: 2px solid #2980B9;
+    }
+    </style>
+    </head>
+    <body>
+    <center><a href="#" class="button">Download</a></center>
+    </body>
+    </html>
+    

docs/source/_images/_getting_started/flightmare_structure.png

@@ -0,0 +1,15 @@
+Title
+-----
+
+.. raw:: html
+
+   <details>
+   <summary>Show command line summary for the quick start installation</summary>
+
+.. code-block::
+
+   lots_of_code = "this text block"
+
+.. raw:: html
+
+   </details>

docs/source/_images/_standalone/add_a_button_for_the_scene.png

@@ -0,0 +1,13 @@
+Function
+========
+
+.. function:: format_exception(etype, value, tb[, limit=None])
+
+   Format the exception with a traceback.
+
+   :param etype: exception type
+   :param value: exception value
+   :param tb: traceback object
+   :param limit: maximum number of stack frames to show
+   :type limit: integer or None
+   :rtype: list of strings