px4-raspi-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/
┗ .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 {NAME_OF_CONTAINER} bash

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

////1. cd px4 && make px4_sitl gazebo-classic to build px4_sitl first. (This only need to be built once in one of the container shells)

////comment(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. sudo MicroXRCEAgent serial --dev /dev/AMA0 -b 921600 to start DDS agent for communication with ROS2 NOTE; higher baud rate required for serial connection over TELEM port. AGENT Disconnects and reconnects over lower baud rate. https://docs.px4.io/main/en/middleware/uxrce_dds.html

3. ssh vibsin@raspberrypi-vrs.local #*4 Terminals

4. cd ws/ROS2/raspi_docker/

5. ./run_dev.sh container starts

6. docker exec -u user -it raspi_docker-px4_gazebo-1 bash

7. export ROS_DOMAIN_ID=0 #if cannot see topics published from MicroXRCEDDS

8. sudo MicroXRCEAgent serial --dev /dev/serial0 -b 921600 #start agent

9. ros2 topic list

10. ros2 launch px4_offboard offboard_hardware_position_control.launch.py

MAVLINK

https://forums.raspberrypi.com/viewtopic.php?t=244827 sudo dtoverlay uart4 additional UART on RASPI -- MAVLINK FORWORDING SIMULATNIOUSLY

sudo nano /boot/config.txt in the config.txt in the last add enable_uart=1 dtoverlay = disable-bt dtoverlay=uart4,txd1_pin=7,rxd1_pin=29 raspi-gpio funcs pinctrl funcs

comment(

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?) )