px4-gz-docker

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

The ./work directory setup

run ./get_src.sh to clone each repo

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

Please build ros_gz from source. see ros-gz

Build and run

To build the image

docker compose build

To run multiple drones

./run_dev.sh

To access the shell of each service, in two different terminals run

Terminal 1: docker exec -u user -it px4_gz-px4_gz-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 PX4_GZ_MODEL=x500 ./build/px4_sitl_default/bin/px4 -i 1 to start px4_sitl instance 1 with x500 in gz-garden.

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

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
• ROS_DOMAIN_ID Separate each container into its own domain (Is it still necessary since each SITL instance has a unique namespace?)