Prerequisites and Testing Setup

Minimum Local Hardware Requirements

A Vulkan-supported GPU with >=2.1GB of VRAM.
Native Ubuntu 16.04 installation with ROS Kinetic on x86/x64.
Virtual machines do not have native access to the GPU and therefore are not supported.
nvidia-docker2 does not currently support the Vulkan API and therefore cannot run the FlightGoggles renderer binary (see workarounds in issue #46).

Tested Hardware

We have tested this project on two different setups: High end Desktop computer with:

Processor: Intel i9 extreme (i9-7980XE)
RAM: 32Gb
GPU: Titan V

AWS instances:

p3.2xlarge
g3s.xlarge

For teleoperation, we use a Logitech Gamepad F310 or a keyboard. Other gamepads can work, but you must remap the buttons and pots in the universal_teleop configuration node.

Software and Hardware Requirements

We use Ubuntu 16.04 and ROS Kinetic exclusively. Other versions are not officially supported.

For running the renderer in Ubuntu Linux, NVidia driver version >=384.130 is required. GPUs and GPU driver versions from other manufacturers may work, but are not officially supported.

Prior to installing our software make sure to have ROS and Catkin tools installed: http://wiki.ros.org/kinetic/Installation/Ubuntu

sudo apt install python-rosinstall python-rosinstall-generator python-wstool build-essential
sudo apt-get install python-catkin-tools
sudo apt install python-wstool
pip install catkin_pkg