Installation and Getting Started¶
FlyVR is developed and tested on Ubuntu 12.04 on the amd64 architecture using NVIDIA graphics.
curl -sL https://raw.github.com/strawlab/flyvr/master/docs/install-flyvr.sh | sudo bash
Testing the basic installation¶
Once FlyVR is installed, you should be able to run a quick demo by typing:
# setup ROS environment variables source /opt/ros/ros-flyvr.hydro/setup.bash # launch the demo roslaunch flyvr demo_display_server.launch
If that opens a graphics window showing a 3D scene, FlyVR is installed and running properly.
Configuring a new display¶
The most important part of FlyVR is the Display Server. This is the program that draws on a single display. If you need multiple physical displays, you will run multiple display servers. (A single display server can drive multiple virtual displays, as explained in the glossary.) We need to tell the Display Server about your display.
FlyVR uses ROS to handle configuration. To bootstrap a new system, begin by copying a default configuration file into a new location:
roscd flyvr/config cp rosparamconfig.yaml my_display.yaml
Edit this new
my_display.yaml to reflect your display. Much of this YAML
file should be self-explanatory. On initial setup, the most critical information is the contents of the
display: key are the X windows parameters
screenNum and the window geometry parameters
windowDecoration. FlyVR does not switch your graphics mode, so set
these values such that the display server will completely utilize your display.
You can test your new configuration by creating a new ROS launch file which will load these parameters.
roscd flyvr/launch cp demo_display_server.launch my_test.launch
Edit this new
my_test.launch file and change the name of the configuration .yaml file to refer to the file you
created above. Now, run this new launch file:
roslaunch flyvr my_test.launch
The displayed window should now have the properties you specified in
Running the pinhole calibration wizard¶
(To be continued...)