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MDEAGEWTMDEAGEWT
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add dockerfile, scripts
1 parent 2397c53 commit b498a85

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‎docker/.dockerignore‎

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# Ignore Git repository files
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.git
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.gitignore
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.gitmodules
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# Ignore ROS 2 build artifacts
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build/
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install/
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log/
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# Ignore IDE/editor configurations
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.vscode/
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.idea/
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# Ignore Python cache files
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__pycache__/
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# Ignore temporary and backup files
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*.swp
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*.swo
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*.bak
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*.tmp
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# Ignore development environment and temporary files
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.devenv/
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colcon_ws.log
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# Ignore secret environment variable files (if any)
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.env
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.env.*

‎docker/Dockerfile‎

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FROM px4io/px4-dev-simulation-jammy
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LABEL maintainer="kmk <kmk6061602@gmail.com>"
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ENV ROS_DISTRO=humble
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RUN apt update && apt install -y \
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git \
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sudo
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RUN echo user ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/user \
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&& chmod 0440 /etc/sudoers.d/user
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# install ros2 humble
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RUN apt update && apt install -y locales \
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&& locale-gen en_US en_US.UTF-8 \
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&& update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8 \
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&& export LANG=en_US.UTF-8 \
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&& apt install -y software-properties-common \
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&& add-apt-repository universe \
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&& apt update && apt install curl -y \
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&& curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg \
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&& echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null \
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&& apt update && apt upgrade -y \
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&& apt install -y ros-$ROS_DISTRO-desktop \
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python3-colcon-common-extensions \
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&& apt -y autoremove \
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&& apt clean autoclean \
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&& rm -rf /var/lib/apt/lists/{apt,dpkg,cache,log} /tmp/* /var/tmp/*
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RUN git config --global http.postBuffer 524288000
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# Install Micro XRCE-DDS Agent v3.0.1
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RUN git clone --branch v3.0.1 https://github.com/eProsima/Micro-XRCE-DDS-Agent.git /tmp/Micro-XRCE-DDS-Agent \
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&& cd /tmp/Micro-XRCE-DDS-Agent \
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&& mkdir build \
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&& cd build \
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&& cmake .. \
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&& make -j$(nproc) \
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&& make install && ldconfig \
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&& rm -rf /tmp/Micro-XRCE-DDS-Agent
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WORKDIR /home/user
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USER user
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RUN mkdir realgazebo
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WORKDIR /home/user/realgazebo
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RUN git clone --branch realgazebo-1.14 https://github.com/SUV-Lab/RealGazebo-PX4-Autopilot.git --recursive \
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&& git clone https://github.com/SUV-Lab/RealGazebo-ROS2.git --recursive
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RUN cd /home/user/realgazebo/RealGazebo-PX4-Autopilot && ./Tools/setup/ubuntu.sh --no-nuttx
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USER root
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RUN curl -sSL http://get.gazebosim.org | sh
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RUN apt update \
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&& apt install -y ros-$ROS_DISTRO-gazebo-ros-pkgs \
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ros-$ROS_DISTRO-gazebo-ros \
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xterm \
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&& apt-get -y autoremove \
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&& apt-get clean autoclean \
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&& rm -rf /var/lib/apt/lists/{apt,dpkg,cache,log} /tmp/* /var/tmp/*
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RUN pip3 install gdown
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USER user
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RUN cd /home/user/realgazebo/RealGazebo-PX4-Autopilot \
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&& ./Tools/download_ctrack.sh \
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&& DONT_RUN=1 make px4_sitl_default gazebo-classic \
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&& cd /home/user/realgazebo/RealGazebo-ROS2 \
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&& . /opt/ros/humble/setup.sh \
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&& colcon build --symlink-install
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USER root
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# Add setup file at bashrc
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RUN echo "source /opt/ros/$ROS_DISTRO/setup.bash" >> /home/user/.bashrc \
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&& echo "source /home/user/realgazebo/RealGazebo-ROS2/install/setup.bash" >> /home/user/.bashrc \
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&& chown user:user /home/user/.bashrc
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# Entrypoint
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COPY scripts/entrypoint.sh /usr/local/bin/entrypoint.sh
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RUN chmod +x /usr/local/bin/entrypoint.sh
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ENTRYPOINT ["/usr/local/bin/entrypoint.sh"]
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CMD ["/bin/bash"]

‎docker/scripts/entrypoint.sh‎

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#!/bin/bash
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# Start virtual X server in the background
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# - DISPLAY default is :99, set in dockerfile
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# - Users can override with `-e DISPLAY=` in `docker run` command to avoid
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# running Xvfb and attach their screen
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if [[ -x "$(command -v Xvfb)" && "$DISPLAY" == ":99" ]]; then
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echo "Starting Xvfb"
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Xvfb :99 -screen 0 1600x1200x24+32 &
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fi
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# Check if the ROS_DISTRO is passed and use it
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# to source the ROS environment
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if [ -n "${ROS_DISTRO}" ]; then
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source "/opt/ros/$ROS_DISTRO/setup.bash"
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fi
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# Use the LOCAL_USER_ID if passed in at runtime
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if [ -n "${LOCAL_USER_ID}" ]; then
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echo "Starting with UID : $LOCAL_USER_ID"
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chown -R "$LOCAL_USER_ID:$LOCAL_USER_ID" /home/user || true
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# modify existing user's id
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usermod -u $LOCAL_USER_ID user
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# run as user
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exec gosu user "$@"
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else
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exec "$@"
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fi

‎scripts/edit_realgazebo.sh‎

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container_name="edit_realgazebo"
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docker stop "$container_name" 2>/dev/null
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docker rm "$container_name" 2>/dev/null
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docker run --gpus all -it --privileged \
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-e DISPLAY=$DISPLAY \
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--env="QT_X11_NO_MITSHM=1" \
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-e NVIDIA_DRIVER_CAPABILITIES=all \
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-v /tmp/.X11-unix:/tmp/.X11-unix \
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-v /dev:/dev:rw \
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-u user \
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--hostname $(hostname) \
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--network host \
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--name "$container_name" aware4docker/realgazebo-dev:0.1 bash
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‎scripts/example.yaml‎

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# example.yaml
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px4_target:
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# - A mapping of build targets identified by unique numeric keys.
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0 : /home/user/realgazebo/RealGazebo-PX4-Autopilot
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# 1: /path/to/your/PX4-Autopilot
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vehicles:
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# - Each entity is identified by a unique numeric key (e.g., 0, 1, 2, 3).
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# - 'type': Specifies the type of the entity.
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# - 'build_target': References the PX4 target defined above, determining which PX4-Autopilot build to use.
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# - 'spawnpoint' : Defines the spawn location in a 3D space using coordinates and a yaw value (in radians) (x, y, z, yaw).
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0 :
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type : iris
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build_target : 0
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spawnpoint : (18.846, 7.80, -1.75, -3.14)
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1 :
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type : lc_62
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build_target : 0
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spawnpoint : (18.846, -19.053, -1, -3.14)
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2 :
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type : x500
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build_target : 0
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spawnpoint : (18.846, -29.643, -0.75, -3.14)
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3 :
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type : iris
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build_target : 0
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spawnpoint : (-24.458, -12.013, -0.2, -3.14)
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4 :
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type : iris
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build_target : 0
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spawnpoint : (-24.458, 16.23, -0.2, -3.14)
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5 :
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type : rover
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build_target : 0
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spawnpoint : (25.8707, 14.751, -1, -3.14)
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6 :
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type : rover
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build_target : 0
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spawnpoint : (25.8707, -36.317, -0.7, -3.14)
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7 :
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type : rover
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build_target : 0
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spawnpoint : (25.8707, -10.5, -0.5, -3.14)
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8 :
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type : boat
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build_target : 0
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spawnpoint : (-281.27, -225.26, 8.5, -1.57)
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9 :
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type : wamv
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build_target : 0
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spawnpoint : (-265.74, -215.94, 8.5, -1.57)
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‎scripts/run_control_multi_vehicle.sh‎

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docker exec -it -u user realgazebo bash -c "source /opt/ros/humble/setup.bash && source /home/user/realgazebo/RealGazebo-ROS2/install/setup.bash && ros2 launch realgazebo control_multi_vehicle.launch.py"

‎scripts/run_control_one_drone.sh‎

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docker exec -it -u user realgazebo bash -c "source /opt/ros/humble/setup.bash && source /home/user/realgazebo/RealGazebo-ROS2/install/setup.bash && ros2 launch realgazebo control_one_drone.launch.py"

‎scripts/run_realgazebo.sh‎

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if [ "$#" -ne 2 ]; then
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echo "Usage: $0 <file_path> <server_ip>"
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exit 1
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fi
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if [ ! -f "$1" ]; then
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echo "Error: The specified file does not exist."
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exit 1
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fi
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container_name="realgazebo"
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docker stop "$container_name" 2>/dev/null
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docker rm "$container_name" 2>/dev/null
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docker run --gpus all -d -it --privileged \
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-e DISPLAY=$DISPLAY \
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--env="QT_X11_NO_MITSHM=1" \
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-e NVIDIA_DRIVER_CAPABILITIES=all \
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-v /tmp/.X11-unix:/tmp/.X11-unix \
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-v /dev:/dev:rw \
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--hostname $(hostname) \
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--network host \
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--name "$container_name" aware4docker/realgazebo-dev:0.1
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docker cp $1 "$container_name":/home/user/
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docker exec -u user -it "$container_name" bash -c "source /opt/ros/humble/setup.bash && source /home/user/realgazebo/RealGazebo-ROS2/install/setup.bash && ros2 launch realgazebo realgazebo.launch.py vehicle:=/home/user/$(basename "$1") server_ip:=$2"
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docker stop "$container_name" 2>/dev/null
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docker rm "$container_name" 2>/dev/null

‎src/manager/manager/px4_ros2.py‎

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self.control_setpoint(self.vehicle_local_position_msg_.x, self.vehicle_local_position_msg_.y - 300, self.vehicle_local_position_msg_.z, self.vehicle_local_position_msg_.heading)
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elif self.system_id_ == 2:
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self.control_setpoint(self.vehicle_local_position_msg_.x, self.vehicle_local_position_msg_.y - 300, self.vehicle_local_position_msg_.z, self.vehicle_local_position_msg_.heading)
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elif self.system_id_ == 8:
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self.control_setpoint(self.vehicle_local_position_msg_.x - 100, self.vehicle_local_position_msg_.y, self.vehicle_local_position_msg_.z, self.vehicle_local_position_msg_.heading)
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elif self.system_id_ == 6:
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self.control_setpoint(self.vehicle_local_position_msg_.x, self.vehicle_local_position_msg_.y - 300, self.vehicle_local_position_msg_.z, self.vehicle_local_position_msg_.heading)
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elif self.system_id_ == 7:
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self.control_setpoint(self.vehicle_local_position_msg_.x, self.vehicle_local_position_msg_.y - 300, self.vehicle_local_position_msg_.z, self.vehicle_local_position_msg_.heading)
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elif self.system_id_ == 9:
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self.control_setpoint(self.vehicle_local_position_msg_.x - 100, self.vehicle_local_position_msg_.y, self.vehicle_local_position_msg_.z, self.vehicle_local_position_msg_.heading)
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elif self.system_id_ == 10:
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self.control_setpoint(self.vehicle_local_position_msg_.x - 100, self.vehicle_local_position_msg_.y, self.vehicle_local_position_msg_.z, self.vehicle_local_position_msg_.heading)
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else:
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self.control_setpoint(self.vehicle_local_position_msg_.x, self.vehicle_local_position_msg_.y - 70, self.vehicle_local_position_msg_.z, self.vehicle_local_position_msg_.heading)
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‎src/realgazebo/launch/realgazebo.launch.py‎

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declared_arguments.append(
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DeclareLaunchArgument(
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'vehicle',
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# default_value='/home/user/ws/Colosseum/ros2/src/realgazebo/yaml/example.yaml',
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default_value='/home/kmk/docker/colosseum_ws/ws/ros2_ws/src/realgazebo/yaml/example.yaml',
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description='path to yaml file ex)/home/user/cisim3/Colosseum/ros2/src/realgazebo/yaml/example.yaml'
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default_value='/home/user/realgazebo/RealGazebo-ROS2/src/realgazebo/yaml/example.yaml',
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description='path to yaml file ex)/home/user/realgazebo/RealGazebo-ROS2/src/realgazebo/yaml/example.yaml'
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)
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)
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