ROSgazeboPX4

This is the result of the installation guide provided by the IRT.

Build docker container

docker build . -t rosgazebopx4

To allow usage of private repositories (using ssh authentication) use:

docker buildx build --ssh default=$SSH_AUTH_SOCK -t rosgazebo:submodules --target SITL_GAZEBO .

Start the docker container

In your ubuntu systems allow xhost sharing:

xhost +local:root

Then, start docker container using: (see http://wiki.ros.org/docker/Tutorials/GUI)

sudo docker run \
    --net=host \
    --privileged \
    --rm \
    -it \
    --env="DISPLAY" \
    --env="QT_X11_NO_MITSHM=1" \
    --volume="/tmp/.X11-unix:/tmp/.X11-unix:rw" \
    rosgazebopx4 \
    bash

In the docker container, source:

source Tools/simulation/gazebo-classic/setup_gazebo.bash $(pwd) $(pwd)/build/px4_sitl_default
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$(pwd):$(pwd)/Tools/simulation/gazebo-classic/sitl_gazebo-classic

Look at the fancy gazebo with:

roslaunch px4 multi_uav_mavros_sitl.launch

Launch typhoon drone:

make px4_sitl gazebo_typhoon_h480

When done remove xhost priviliges:

xhost -local:root