joshuadamanik / px4_gzweb

Docker Environment for PX4 Development with ROS2 Foxy and Gazebo Web Simulation (gzweb)

Docker Environment for PX4 Development with ROS2 Foxy and Gazebo Web Simulation (gzweb)

This repository contains a Dockerfile to build a Docker image for PX4 development with ROS2 Foxy and Gazebo Web Simulation (gzweb). This docker image can be used to run the PX4 SITL simulation on headless infrastructure. The Gazebo client is served via a web browser.

Prerequisites

• Git
• Docker

Build the Docker Image

Clone this repository:

git clone https://github.com/joshuadamanik/px4_gzweb.git --recursive
cd px4_gzweb

Build the Docker image and run the container:

docker build -t px4_gzweb:latest -f Dockerfile-<arch> .
docker run -it --rm --name px4_gzweb
    -v src/PX4-Autopilot:/root/PX4-Autopilot
    -v src/ws_commander:/root/ws_commander
    -p 8080:8080
    -p 14570:14570/udp
    px4_gzweb:latest bash

Or pull the Docker image from Docker Hub:

docker run -it --rm --name px4_gzweb
    -v src/PX4-Autopilot:/root/PX4-Autopilot
    -v src/ws_commander:/root/ws_commander
    -p 8080:8080
    -p 14570:14570/udp
    joshuajdmk/px4_gzweb:<arch> bash

where <arch> is the architecture of your host machine. The following architectures are supported:

• amd64 (x86_64) : Linux, Windows
• arm64 (ARMv8) : macOS

Run the PX4 SITL Simulation

Attach two terminals to the Docker container.

Terminal 1:

cd /root/PX4_Autopilot
HEADLESS=1 make px4_sitl gazebo-classic

Terminal 2:

cd /root/gzweb
npm start

Open a web browser and navigate to http://localhost:8080/. You should see the Gazebo client.

Build and Run the ROS2 Commander

Attach another two terminals to the Docker container.

Terminal 3:

MicroXRCEAgent udp4 -p 8888

Terminal 4:

cd /root/ws_commander
source /opt/ros/foxy/setup.bash
colcon build
source install/setup.bash
ros2 launch px4_ros_com offboard_control.launch.yaml

License

This repository is licensed under the BSD 3-Clause License. See LICENSE for more information.