Like all Unreal project, AirSim projects can be packaged. However, I do not recommend you to do so under Ubuntu. Using PX4 SITL in AirSim under Ubuntu can cause the program to crash. We are working on fixing related issues.Also, Unreal needs around 69GB hard disk space with relatively high computational resources. If you do not want to install such a heavy software on your computer, you may choose to do the simulation in Gazebo. The configuration for Gazebo is way easier.
Note：AirSim supports Unreal 4.18, but the background used in this case study is only available in Unreal 4.22. Therefore, we will continue this case study in Unreal 4.22.
Unreal/Environments, there is a default project named
AirSim/Unreal/Enviroments/Blocks. Then open the project in Unreal.
You can edit
(Firmware_Path)/posix-configs/SITL/init/ekf2/iristo configure the settings for the drone
F1key to see a list of shortcuts. You may also open FPS to view FPS at any time.
fcu_urlconfiguration. Start a new launch file with:
vision position fusionin
8. Then, edit the
EKF2_AID_MASKfrom 1 to 8.
In this config file, GPS has been set to
false,and the stereo camera is included.
Note: When using SLAM, go to
Edit >> Editor Preferencein Unreal to turn off the
Use Less CPU when in Background, otherwise the frame rate will be affected.