hisazumi / aprisrc-sitl

How to connect this container

1. Launch the container in your host side

docker run -p 8080:80 hisazumi/aprisrc-sitl:latest

2. Access http://localhost:8080 from your Web broswer

Control a quad-copter in the simulator manually

1. Execute the Gazebo simulator. Double click 'simulator.sh' on the desktop to launch Gazebo simulator. Wait a minute.

2. Open LXTerminal and execute ./Desktop/sitl.sh to launch the Software-in-the-Loop env of ArduPilot. Wait a minute.

3. Input follwing commands into SITL temrinal launched at 2.:

mode guided
arm throttle
takeoff 1

Control a quad-copter from a C++ program

1. Build sample source codes. Open LXTerminal and execute commands as follows:

cd catkin
catkin build

and relaunch LXTerminal (or just execute bash) to reload ~/.bashrc

2. Edit catkin_ws/src/iq_gnc/CMakefile.txt to enable to build gnc_tutorial.cpp. Remove '#' the head of the lines as follows:

206: add_executable(gnc_example src/gnc_tutorial.cpp)
207: target_link_libraries(gnc_example ${catkin_LIBRARIES})

3. Execute the Gazebo simulator. Double click 'simulator.sh' on the desktop to launch Gazebo simulator. Wait a minute.

4. Execute ./Desktop/sitl.sh in new tab in terminal to launch the Software-in-the-Loop env of ArduPilot. Wait a minute.

5. Launch apm in new tab in terminal:

roslaunch iq_sim apm.launch

6. Launch sample code in new tab:

rosrun iq_gnc gnc_example

7. Finally change mode to guided in sitl.sh terminal

mode guided

References

• Base container https://hub.docker.com/r/dorowu/ubuntu-desktop-lxde-vnc/
• ArduPilot https://ardupilot.org/dev/docs/sitl-simulator-software-in-the-loop.html

aprisrc-sitl's Issues

Add shortcut of the BP on the Desktop

Install BridgePoint

Make the container image smaller

The container image is too large (6.5 GB!).

sitl.shをダブルクリックで起動できるようにする

Install sample source codes

add installation instruction of vs 2022 for airsim

https://github.com/hisazumi/aprisrc-sitl/tree/forairsim