Caixinha: ROS2 + SITL + Gazebo + ArduPilot in Docker

This repository sets up a complete Docker environment for running ArduPilot SITL (Software In The Loop) with ROS2. It is designed to provide a robust and flexible development environment, allowing seamless integration between ArduPilot, Gazebo, and ROS2.

Prerequisites

Before using this setup, ensure that you have the following installed on your system:

• Docker: Install Docker using the instructions below.
• X11 for GUI applications: Required to run graphical applications inside the container (e.g., QGroundControl, Gazebo).

Install Docker

Linux (Tested on Ubuntu 22.04)

sudo apt update
sudo apt install -y ca-certificates curl gnupg
sudo install -m 0755 -d /etc/apt/keyrings
curl -fsSL https://download.docker.com/linux/ubuntu/gpg | sudo tee /etc/apt/keyrings/docker.gpg > /dev/null
sudo chmod a+r /etc/apt/keyrings/docker.gpg
echo "deb [arch=$(dpkg --print-architecture) signed-by=/etc/apt/keyrings/docker.gpg] https://download.docker.com/linux/ubuntu $(lsb_release -cs) stable" | sudo tee /etc/apt/sources.list.d/docker.list > /dev/null
sudo apt update
sudo apt install -y docker-ce docker-ce-cli containerd.io docker-buildx-plugin docker-compose-plugin

To enable Docker without sudo (optional):

sudo groupadd docker
sudo usermod -aG docker $USER
newgrp docker

Windows Setup

1. Download and Install Docker Desktop

   • Get Docker Desktop from Docker’s official website.
   • Follow the installation guide: Windows Install Guide.
   • During installation, enable WSL 2 Backend (recommended).

2. Verify Docker Installation
   Open PowerShell and run:

   docker --version

   If Docker is installed correctly, this command will display the installed version.

3. Enable WSL Integration for Docker

   • Open Docker Desktop on Windows.
   • Go to Settings ⚙️ (click the gear icon).
   • Navigate to Resources > WSL Integration.
   • Find your Ubuntu distribution and toggle it ON.
   • Click Apply & Restart.

4. Launch WSL and Verify Docker
   Open PowerShell and start Ubuntu in WSL:

   wsl -d Ubuntu

   Once inside WSL, confirm that Docker is accessible:

   docker --version

   Now you’re ready to use Docker inside WSL! 🚀

Getting Started

Option 1: Pull Pre-Built Docker Image

If you want to skip building the image manually, you can pull the latest pre-built image from Docker Hub:

docker pull samuelteixeira1/caixinha:latest

To run the container:

docker run -it --runtime=runc \
    --interactive --env=DISPLAY=$DISPLAY \
    --env=QT_X11_NO_MITSHM=1 \
    --volume=/tmp/.X11-unix:/tmp/.X11-unix:rw \
    --volume=$HOME/.ssh:/home/ros/.ssh \
    --name=caixinha_container \
    samuelteixeira1/caixinha:latest

Option 2: Build the Image Manually

1. Clone the Repository

git clone https://github.com/SamuelTeixeira1/caixinha.git
cd caixinha

2. Build the Docker Image

docker build --network=host -t caixinha .

3. Run the Container

docker run -it --runtime=runc \
    --interactive --env=DISPLAY=$DISPLAY \
    --env=QT_X11_NO_MITSHM=1 \
    --volume=/tmp/.X11-unix:/tmp/.X11-unix:rw \
    --volume=$HOME/.ssh:/home/ros/.ssh \
    --name=caixinha_container \
    caixinha

On Windows, add this:

export DISPLAY=:0

To enter an already running container:

docker exec -it caixinha_container /bin/bash

Run ROS 2 ArduPilot Tests

cd ~/ardu_ws/
colcon test --packages-select ardupilot_dds_tests

Build ROS 2 Packages

cd ~/ardu_ws
colcon build --packages-up-to ardupilot_sitl
colcon build --packages-up-to ardupilot_gz_bringup

Testing the Setup

Verify ROS2 Installation

source /opt/ros/humble/setup.bash
ros2 run demo_nodes_cpp talker

In another terminal:

source /opt/ros/humble/setup.bash
ros2 run demo_nodes_py listener

Run SITL Simulation

cd ~/ardupilot/ArduCopter
sim_vehicle.py -v ArduCopter --console --map -w

Run Gazebo Simulation

cd ~/ardu_ws/
source install/setup.bash
ros2 launch ardupilot_gz_bringup iris_runway.launch.py

Test QGroundControl

cd ~
```bash
# Run QGroundControl directly from the AppImage
./QGroundControl.AppImage

Extract QGroundControl AppImage

./QGroundControl.AppImage --appimage-extract ./squashfs-root/QGroundControl

## Additional Commands

Refer to [commands.txt](commands.txt) and [tests.txt](tests.txt) for more setup details.

## Contributions

Contributions are welcome! Feel free to open an issue or submit a pull request.