visnet-docker

Docker files needed to build images for visnet/px4_sitl simulation in ROS2 and Gazebo

The ./work directory setup

run ./get_src.sh to clone each repo and add AbuDhabi model to px4 gz world (probably will set up submodules soon)

work/
┣ px4/
┣ ros2_ws/
┃ ┗ src/
┃   ┣ px4_msgs/
┃   ┣ ros_gz/
┃   ┗ /
┗ .gitignore

Build and run

To build the image

docker compose build

To run the drone sim

./run_dev.sh

To access the shell of the service, in the terminal run

Terminal: docker exec -u user -it visnet-visnet_1-1 terminator\

To start px4_sitl and ros2 offboard control, split each terminator into 3 panels and run

1. cd px4 && make px4_sitl to build px4_sitl first. (This only need to be built once in one of the container shells)
   PX4_SYS_AUTOSTART=4001 ./build/px4_sitl_default/bin/px4 -i 1 to start px4_sitl instance 1 with x500 in gz-garden.
   In the other container shell start with -i 2

2. MicroXRCEAgent udp4 -p 8888 to start DDS agent for communication with ROS2\

3. cd ros2_ws && colcon build --merge-install to build ros2 packages neccessary for px4-ros-gz communications
   then python3 ros2_ws/src/px4-offboard/px4_offboard/offboard_smooth.py to start the offboard control example.

Environment Variables

• PX4_GZ_MODEL Name of the px4 vehicle model to spawn in gz
• PX4_GZ_MODEL_POSE Spawn pose of the vehicle model, must used with PX4_GZ_MODEL
• PX4_MICRODDS_NS Namespace assigned to the sitl vehicle, normally associated with px4 instances, but can be set mannually