PX4 SITL ROS 2

This repository contains all the necessary parts to build and run a docker image with SITL simulation on ROS2 leveraging XRCE to communicate with PX4.

Overview

This repository contains the 3 main components of the simulation:

• PX4 Firmware (with Gazebo SITL)
• XRCE-DDS-Agent to communicate with the simulated PX4
• BRIDGE to communicate the Gazebo simulation topics to ROS2 topics

Simple workflow

build images

Build the tree docker images with: make build

Run simulation

Run the full simulation with: docker compose up

Makefile commands (debug and development purposes)

Build commands

• make build : Build all the docker images
• make build-sitl : Build the PX4 SITL docker image
• make build-xrce : Build the XRCE-DDS-Agent docker image
• make build-bridge : Build the ROS2 bridge docker image

Run commands:

• make run-sitl : Run only the PX4 SITL docker container
• make run-xrce : Run only the XRCE-DDS-Agent docker container
• make run-bridge : Run only the ROS2 bridge docker container
• make run-dev-sitl : Run only the PX4 SITL docker container in dev (interactive bash) mode
• make run-dev-xrce : Run only the XRCE-DDS-Agent docker container in dev (interactive bash) mode
• make run-dev-bridge : Run only the ROS2 bridge docker container in dev (interactive bash) mode

Stop commands:

• make stop : Stop all running containers
• make stop-sitl : Stop only the PX4 SITL docker container
• make stop-xrce : Stop only the XRCE-DDS-Agent docker container
• make stop-bridge : Stop only the ROS2 bridge docker container

Help command:

• make help : Show the help message with all the available commands

Configurations

Simulation assets and configuration

TO BE UPDATED

ROS2 bridge configuration

TO BE UPDATED

PX4 parameters configuration

for the developers

Remember to update the makefile help section when adding new commands and keep the readme consistent !!!