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https://github.com/ramamurthy-lab/ros2_drone_sim
Docker-based ROS2 Humble development environment for drone simulation and experimentation.
https://github.com/ramamurthy-lab/ros2_drone_sim
docker docker-compose drone gazebo humble navigation robot-control robotics robotics-simulation ros2 rviz simulation ubuntu x11
Last synced: 2 days ago
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Docker-based ROS2 Humble development environment for drone simulation and experimentation.
- Host: GitHub
- URL: https://github.com/ramamurthy-lab/ros2_drone_sim
- Owner: ramamurthy-lab
- License: mit
- Created: 2025-01-16T04:27:23.000Z (5 days ago)
- Default Branch: main
- Last Pushed: 2025-01-19T00:50:59.000Z (2 days ago)
- Last Synced: 2025-01-19T01:17:53.443Z (2 days ago)
- Topics: docker, docker-compose, drone, gazebo, humble, navigation, robot-control, robotics, robotics-simulation, ros2, rviz, simulation, ubuntu, x11
- Language: Python
- Homepage:
- Size: 38.1 KB
- Stars: 0
- Watchers: 1
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- License: LICENSE
Awesome Lists containing this project
README
# ROS2 Drone Simulation Environment
A Dockererized ROS2 Humble development environment for conducting simulatated robotic experimentation involving Drones.
## Project Structure
```
.
├── connect.sh
├── docker
│ └── Dockerfile
├── docker-compose.yml
├── docker_ros_snippets.md
├── LICENSE
├── README.md
├── script_info.txt
├── scripts
│ └── test_gui.sh
├── setup_x11.sh
├── src
│ ├── README.md
│ └── simple_drone_sim
│ ├── LICENSE
│ ├── package.xml
│ ├── resource
│ ├── setup.cfg
│ ├── setup.py
│ ├── simple_drone_sim
│ └── test
└── start.sh
```
## Quick Start (Recommended)
1. Clone this repository:
```bash
git clone https://github.com/afeawoL/ros2_drone_sim/
cd ros2_drone_sim
```
2. Make the start script executable:
```bash
chmod +x start.sh
```
3. Run the simulation:
```bash
./start.sh
```
The start script will automatically:
- Enable X11 forwarding
- Start the Docker container
- Build the ROS2 packages
- Launch the drone simulation with visualization
## Manual Setup (Alternative)
1. Start the Docker container:
```bash
docker compose build
docker compose up -d
```
2. Enter the container:
```bash
docker compose exec ros2_drone_sim bash
```
3. Inside the container, build and run:
```bash
cd /root/ros2_ws
colcon build --packages-select simple_drone_sim
source install/setup.bash
ros2 launch simple_drone_sim display.launch.py
```
***If rviz fails to run, test X11 forwarding:***
```bash
/root/ros2_ws/scripts/test_gui.sh
```
## Developing ROS Packages
1. Create or modify ROS2 packages in the `src` directory
2. Build packages inside the container:
```bash
cd /root/ros2_ws
colcon build
source install/setup.bash
```
### X11 Forwarding (Notes)
- The setup script (`setup_x11.sh`) configures X11 forwarding for GUI applications
- If you encounter display issues:
1. Make sure X11 is running on your host by running: `./setup_x11.sh)`
2. Restart the container: `docker compose restart`