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Build AutonomySim on Linux#

The current recommended and tested environment is Ubuntu 18.04 LTS. Theoretically, you can build on other distros as well, but we haven't tested it.

There are two options:

  1. Build inside Docker containers
  2. Build on your host machine

Docker#

Please see instructions here

Host machine#

Pre-build Setup#

Build Unreal Engine#

  • Make sure you are registered with Epic Games. This is required to get source code access for Unreal Engine.
  • Clone Unreal in your favorite folder and build it (this may take a while!). Note: We only support Unreal >= 4.27 at present. We recommend using 4.27.
# go to the folder where you clone GitHub projects
git clone -b 4.27 git@github.com:EpicGames/UnrealEngine.git
cd UnrealEngine
./Setup.sh
./GenerateProjectFiles.sh
make

Build AutonomySim#

  • Clone AutonomySim and build it:
# go to the folder where you clone GitHub projects
git clone https://github.com/nervosys/AutonomySim.git
cd AutonomySim

By default AutonomySim uses clang 8 to build for compatibility with UE 4.27. The setup script will install the right version of cmake, llvm, and eigen.

./setup.sh
./build.sh
# use ./build.sh --debug to build in debug mode

Build Unreal Environment#

Finally, you will need an Unreal project that hosts the environment for your vehicles. AutonomySim comes with a built-in "Blocks Environment" which you can use, or you can create your own. Please see setting up Unreal Environment if you'd like to setup your own environment.

How to Use AutonomySim#

Once AutonomySim is setup:

  • Go to UnrealEngine installation folder and start Unreal by running ./Engine/Binaries/Linux/UE4Editor.
  • When Unreal Engine prompts for opening or creating project, select Browse and choose AutonomySim/Unreal/Environments/Blocks (or your custom Unreal project).
  • Alternatively, the project file can be passed as a commandline argument. For Blocks: ./Engine/Binaries/Linux/UE4Editor <autonomysim_path>/Unreal/Environments/Blocks/Blocks.uproject
  • If you get prompts to convert project, look for More Options or Convert-In-Place option. If you get prompted to build, choose Yes. If you get prompted to disable AutonomySim plugin, choose No.
  • After Unreal Editor loads, press Play button.

See Using APIs and settings.json for various options available for AutonomySim usage.

Tip

Go to 'Edit->Editor Preferences', in the 'Search' box type 'CPU' and ensure that the 'Use Less CPU when in Background' is unchecked.

[Optional] Setup Remote Control (Multirotor Only)#

A remote control is required if you want to fly manually. See the remote control setup for more details.

Alternatively, you can use APIs for programmatic control or use the so-called Computer Vision mode to move around using the keyboard.