From 51481edb0b14bd117f9ef08f1ba5dc0f7ccae256 Mon Sep 17 00:00:00 2001
From: Yunlong <yun-long.song@outlook.com>
Date: Mon, 31 Aug 2020 23:34:59 +0200
Subject: [PATCH] add flightrender

---
 flightrender/.gitignore                    |  2 ++
 flightrender/CMakeLists.txt                | 35 ++++++++++++++++++++++
 flightrender/package.xml                   | 14 +++++++++
 flightros/launch/rotors_gazebo_test.launch |  2 ++
 4 files changed, 53 insertions(+)
 create mode 100644 flightrender/CMakeLists.txt
 create mode 100644 flightrender/package.xml

diff --git a/flightrender/.gitignore b/flightrender/.gitignore
index c46438cdd9..dc1c3c8621 100644
--- a/flightrender/.gitignore
+++ b/flightrender/.gitignore
@@ -3,3 +3,5 @@
 # Except this file
 !.gitignore
 !.clang-format
+!CMakeLists.txt
+!package.xml
\ No newline at end of file
diff --git a/flightrender/CMakeLists.txt b/flightrender/CMakeLists.txt
new file mode 100644
index 0000000000..f869ecbb34
--- /dev/null
+++ b/flightrender/CMakeLists.txt
@@ -0,0 +1,35 @@
+project(flightrender)
+
+cmake_minimum_required(VERSION 3.0.0)
+
+find_package(catkin_simple REQUIRED)
+
+catkin_simple()
+
+# Setup Default Build Type as Release
+if (NOT CMAKE_BUILD_TYPE)
+    set(CMAKE_BUILD_TYPE "Release" CACHE STRING "" FORCE)
+endif ()
+
+# Setup Architcture-specific Flags
+if ("${CMAKE_HOST_SYSTEM_PROCESSOR}" STREQUAL "armv7l")
+    message(STATUS "Using ARMv7 optimized flags!")
+    set(CMAKE_CXX_ARCH_FLAGS " -Wno-psabi -march=armv7-a -mfpu=neon -mfloat-abi=hard -funsafe-math-optimizations")
+elseif ("${CMAKE_HOST_SYSTEM_PROCESSOR}" STREQUAL "aarch64")
+    message(STATUS "Using ARM aarch64 optimized flags!")
+    set(CMAKE_CXX_ARCH_FLAGS " -Wno-psabi -march=armv8-a+crypto -mcpu=cortex-a57+crypto")
+else ()
+    set(CMAKE_CXX_ARCH_FLAGS " -march=native")
+endif ()
+
+# Setup General C++ Flags
+SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++17")
+SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DEIGEN_STACK_ALLOCATION_LIMIT=1048576")
+
+# Setup Release and Debug flags
+set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS} ${CMAKE_CXX_ARCH_FLAGS} -Wall -DNDEBUG")
+set(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS} -Wall -g")
+
+# Finish
+cs_install()
+cs_export()
\ No newline at end of file
diff --git a/flightrender/package.xml b/flightrender/package.xml
new file mode 100644
index 0000000000..108db42dd4
--- /dev/null
+++ b/flightrender/package.xml
@@ -0,0 +1,14 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>flightrender</name>
+  <version>0.0.1</version>
+  <description>Flightmare Render Engine built on Unity</description>
+
+  <maintainer email="song@ifi.uzh.ch">Yunlong Song</maintainer>
+
+  <license>GNU GPL</license>
+
+  <buildtool_depend>catkin</buildtool_depend>
+  <buildtool_depend>catkin_simple</buildtool_depend>
+
+</package>
\ No newline at end of file
diff --git a/flightros/launch/rotors_gazebo_test.launch b/flightros/launch/rotors_gazebo_test.launch
index 4d190939b3..037d7877d8 100644
--- a/flightros/launch/rotors_gazebo_test.launch
+++ b/flightros/launch/rotors_gazebo_test.launch
@@ -5,5 +5,7 @@
       <remap from="flight_pilot/state_estimate" to="ground_truth/odometry" />
     </node>
 
+    <node pkg="flightrender" type="RPG_Flightmare.x86_64" name="rpg_flightmare_render">
+    </node>
 
 </launch>
\ No newline at end of file