Docker ROS2 PX4 Environment

This repository contains a Dockerfile and a container.sh script for generating a docker container and a docker image based on Ubuntu 22.04 with :

• ROS 2 Humble
• Gazebo Harmonic
• PX4 v1.16-alpha1
• Micro-XRCE v3.0.1
• ROS 2 package px4_msgs release 1.15
• QGround Control Station

Requirements

It is possible to use on:

• Windows with Windows Subsytem Linux (WSL) and Ubuntu 22.04

• Ubuntu 22.04

Before getting started, ensure you have the following installed on your system:

• Docker

Building the Image

To build the Docker image called px4_ros2, run the following command:

docker build -t px4_ros2 .

This will generate a Docker image with the necessary dependencies for working with PX4 and ROS 2 Humble.

Running the Container

This will open a Docker the container (px4_ros2_cont) where you can work with PX4, ROS 2, and Gazebo.

Windows and WSL

To start an interactive container based on the generated image, run the following command at the same time that Docker Desktop is open:

bash containerWSL_run.sh 

When the container starts:

cd

Ubuntu 22.04

bash container_run.sh 

When the container starts:

cd 

Customization

If you want to modify the PX4, Micro-XRCE, or px4_msgs version, edit the Dockerfile and adjust the corresponding variables.

USER

The following line in the Dockerfile sets the container's username. By default, it is grvc:

ARG USER_NAME=grvc

QGroundControl Version

The Dockerfile downloads QGroundControl following the official guide for Linux.

If the download link for QGroundControl changes, you need to update the following line:

RUN sudo wget https://d176tv9ibo4jno.cloudfront.net/latest/QGroundControl-x86_64.AppImage

Also, if the filename changes, you must update this line as well:

RUN sudo chmod +x QGroundControl-x86_64.AppImage

Contact

If you have any questions or suggestions, feel free to open an issue or a pull request.