Configuration

The FlightForge simulator is highly configurable. This page will guide you through the configuration options available to you. The configuration is done using the ROS package mrs_uav_unreal_simulation. The default configuration file is located in mrs_uav_unreal_simulation/config/unreal_simulator.yaml.

Main Parameters

Simulation and Clock Rates

• simulation_rate: Defines the rate at which the simulation runs in Hz. The default value is 250.0 Hz.
• clock_rate: Sets the rate of the simulation clock in Hz. The default value is 250.0 Hz.

Realtime Factor

• realtime_factor: Determines the desired real-time factor of the simulation. The default value is 1.0, which means the simulation runs in real-time.
• dynamic_rtf: If set to true, the real-time factor is automatically adjusted so that the fastest sensor is always rendered at the desired rate. The default value is true.

Collisions and Graphics

• collisions: Enables or disables collisions in the simulation. The default value is true.
• graphics_settings: Controls the level of graphics detail. Possible values are:
  • 0 or "low"
  • 1 or "medium"
  • 2 or "high"
  • 4 or "epic"
  • 5 or "cinematic"
  • The default value is "medium".

World and Environment

• world_name: Specifies the environment or world to simulate. Available options are:
  • "valley"
  • "forest"
  • "infinite_forest"
  • "warehouse"
  • "cave"
  • "erding_airbase"
  • "temesvar"
  • "electric_towers"
  • "race_1"
  • "race_2"
  • "industial_warehouse"
  • "service_tunnel"
  • "dead_spruce_forest"
  • The default value is "infinite_forest".
• weather_type: Sets the type of weather in the simulation. Possible values are:
  • "sunny"
  • "cloudy"
  • "foggy"
  • "rain"
  • "rain_light"
  • "rain_thunderstorm"
  • "sand_dust_calm"
  • "sand_dust_storm"
  • "snow"
  • "snow_blizzards"
  • The default value is "foggy".
• daytime:
  • hour: Sets the hour of the day (0-23). The default value is 7.
  • minute: Sets the minute of the hour (0-59). The default value is 30.

Forest Generation Settings

These settings apply only to the "forest" world.

• ueds_forest_density: Adjusts the density of the forest clutter. Values range from 1 (high density) to 10 (low density). The default value is 6.
• ueds_forest_hilly_level: Controls the hilliness of the terrain. Values range from 1 (totally flat) to 5 (most hilly). The default value is 3.

Sensors

The sensors section allows you to configure various sensors available for the simulated drone.

Rangefinder

• enabled: Enables or disables the rangefinder. The default value is true.
• rate: Sets the update rate of the rangefinder in Hz. The default value is 10.0 Hz.

Lidar

• enabled: Enables or disables the lidar sensor. The default value is false.
• rate: Sets the update rate of the lidar in Hz. The default value is 10.0 Hz.
• horizontal_fov_left: Defines the left horizontal field of view in degrees. The default value is 180.0 degrees.
• horizontal_fov_right: Defines the right horizontal field of view in degrees. The default value is 180.0 degrees.
• vertical_fov_up: Defines the upper vertical field of view in degrees. The default value is 52.0 degrees.
• vertical_fov_down: Defines the lower vertical field of view in degrees. The default value is 7.0 degrees.
• horizontal_rays: Sets the number of horizontal rays. The default value is 128.
• vertical_rays: Sets the number of vertical rays. The default value is 64.
• offset_x, offset_y, offset_z: Define the positional offset of the lidar sensor from the drone's origin in meters.
• rotation_pitch, rotation_roll, rotation_yaw: Set the rotational offset of the lidar sensor in degrees.
• beam_length: Specifies the maximum range of the lidar beam in meters. The default value is 20.0 m.
• noise:
  • enabled: Enables or disables noise in the lidar measurements. The default value is true.
  • std_at_1m: Sets the standard deviation of noise at 1 meter in meters. The default value is 0.01 m.
  • std_slope: Defines the slope of noise increase with distance. The default value is 0.2.
• show_beams: Currently broken. Intended to visualize lidar beams.
• lidar_segmented:
  • enabled: Enables or disables segmented lidar data. The default value is false.
  • rate: Sets the update rate of segmented lidar data in Hz. The default value is 10.0 Hz.
• lidar_intensity:
  • enabled: Enables or disables lidar intensity measurements. The default value is false.
  • rate: Sets the update rate of lidar intensity data in Hz. The default value is 10.0 Hz.
  • values: Defines intensity values for different materials (e.g., grass, road, tree, etc.).
  • noise:
    • enabled: Enables or disables noise in intensity measurements. The default value is true.
    • std_at_1m: Sets the standard deviation of intensity noise at 1 meter. The default value is 0.59.
    • std_slope: Defines the slope of intensity noise increase with distance. The default value is 0.81.

RGB Camera

• enabled: Enables or disables the RGB camera. The default value is false.
• rate: Sets the update rate of the camera in Hz. The default value is 30.0 Hz.
• enable_hdr: Enables or disables high dynamic range (HDR) imaging. The default value is true.
• enable_temporal_aa: Enables or disables temporal anti-aliasing. The default value is true.
• enable_raytracing: Enables or disables ray tracing. The default value is true.
• width: Sets the image width in pixels. The default value is 640 px.
• height: Sets the image height in pixels. The default value is 480 px.
• fov: Sets the field of view of the camera in degrees. The default value is 120.0 degrees.
• offset_x, offset_y, offset_z: Define the positional offset of the camera from the drone's origin in meters.
• rotation_pitch, rotation_roll, rotation_yaw: Set the rotational offset of the camera in degrees.
• enable_motion_blur: Enables or disables motion blur. The default value is true.
• motion_blur_amount: Controls the amount of motion blur (0.0 - 1.0). The default value is 0.5.
• motion_blur_distortion: Adjusts the distortion of motion blur (0-100). The default value is 50.0.
• rgb_segmented:
  • enabled: Enables or disables segmented image data. The default value is false.
  • rate: Sets the update rate of segmented image data in Hz. The default value is 5.0 Hz.

Stereo Camera

• enabled: Enables or disables the stereo camera. The default value is false.
• rate: Sets the update rate of the stereo camera in Hz. The default value is 10.0 Hz.
• enable_hdr: Enables or disables high dynamic range (HDR) imaging. The default value is true.
• enable_temporal_aa: Enables or disables temporal anti-aliasing. The default value is true.
• enable_raytracing: Enables or disables ray tracing. The default value is true.
• baseline: Sets the distance between the two stereo cameras in meters. The default value is 0.1 m.
• width: Sets the image width in pixels. The default value is 640 px.
• height: Sets the image height in pixels. The default value is 480 px.
• fov: Sets the field of view of the camera in degrees. The default value is 90.0 degrees.
• offset_x, offset_y, offset_z: Define the positional offset of the stereo camera from the drone's origin in meters.
• rotation_pitch, rotation_roll, rotation_yaw: Set the rotational offset of the stereo camera in degrees.

Frames

• world:
  • name: Specifies the name of the world frame. The default value is "simulator_origin".
  • prefix_with_uav_name: Determines whether to prefix the frame name with the UAV's name. The default value is false.
• fcu:
  • name: Specifies the name of the flight control unit (FCU) frame. The default value is "fcu".
  • publish_tf: Determines whether to publish the transform of this frame. The default value is false.
• rangefinder:
  • name: Specifies the name of the rangefinder frame. The default value is "garmin".
  • publish_tf: Determines whether to publish the transform of this frame. The default value is false.

Randomization

• enabled: Enables or disables randomization of initial conditions. The default value is false.
• bounds:
  • x, y, z: Define the bounds for randomization in each axis in meters. The default value is 15.0 m for each axis.

Ground and Input

• ground:
  • enabled: Enables or disables a virtual ground plane. This ground is simulated outside of Unreal and should typically be turned off. The default value is false.
  • z: Sets the height of the virtual ground plane in meters. The default value is 0.0 m.
• input_timeout: Sets the timeout for input in seconds. The default value is 1.0 s.
• iterate_without_input: Determines whether the simulation continues to iterate even without input. The default value is true.
• g: Sets the acceleration due to gravity in m/s^2. The default value is 9.81 m/s^2.
• individual_takeoff_platform:
  • enabled: Enables or disables a temporary takeoff platform placed under the spawn location. This platform disappears after the total thrust exceeds 90% of the hover thrust. The default value is true.