Jumping point for sims in gazebo using ros2 and px4
Fork this repo, clone it. cd into the repo.
Initialize submodules:
git submodule init
git submodule update --recursive
Note: --recursive is important!
Clone PX4-Autopilot:
git clone git@github.com:dasc-lab/PX4-Autopilot.git
Note: this isnt installed as a git submodule due to some issues with how submodules are treated during PX4-Autopilot's build.
The folder should now have a structure similar to:
.
├── colcon_ws
│ └── src
│ ├── experiment
│ ├── px4_msgs
│ ├── px4_ros_com
│ └── robot-framework
├── docker-compose.yaml
├── Dockerfile
├── LICENSE
├── PX4-Autopilot
└── README.md
Build docker:
docker compose build
Launch container:
docker compose up
Enter the docker container.
Build PX4-Autopilot library:
cd /root/PX4-Autopilot
DONT_RUN=1 make px4_sitl_rtps gazebo
Note, since this builds PX4, and the build is also mounted into the docker, rebooting the docker container does not require rebuilding the PX4-Autopilot. However, if you make changes in PX4-Autopilot, please rebuild PX4-Autopilot.
Build colcon_ws:
cd /root/colcon_ws
colcon build --symlink-install
Source the environment:
source /opt/ros/galactic/setup.bash
source /root/colcon_ws/install/setup.bash
These lines have been added to the ~/.bashrc, so they may not be needed in every new terminal.
Since the colcon_ws is mounted using the docker_compose.yaml any code changes made in or outside the docker container will remain saved (and therefore git commitable). If you have made changes to the base setup that you think other users will benefit from, please raise a pull request.
Open GGC (outside the docker environment)
Run the launch file:
ros2 run experiment launch_exp.py
For some nodes, you might want/need to specify that they should be using sim time. Launch the node using a ros param:
ros2 run <pkg> <node_name> --ros-args -p use_sim_time:=True
To test functionality, you can make the drone takeoff using the buttons in QGC.