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
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.)
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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 -
ssh [email protected] #*4 Terminals
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cd ws/ROS2/raspi_docker/
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./run_dev.sh container starts
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docker exec -u user -it raspi_docker-px4_gazebo-1 bash
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export ROS_DOMAIN_ID=0 #if cannot see topics published from MicroXRCEDDS
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sudo MicroXRCEAgent serial --dev /dev/serial0 -b 921600 #start agent
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ros2 topic list
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ros2 launch px4_offboard offboard_hardware_position_control.launch.py
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(
PX4_GZ_MODEL
Name of the px4 vehicle model to spawn in gzPX4_GZ_MODEL_POSE
Spawn pose of the vehicle model, must used withPX4_GZ_MODEL
PX4_MICRODDS_NS
Namespace assigned to the sitl vehicle, normally associated with px4 instances, but can be set mannuallyROS_DOMAIN_ID
Separate each container into its own domain (Is it still necessary since each SITL instance has a unique namespace?) )