1. Clone the Repository

git clone [email protected]:Suyannesara/ROS2-px4-gazebo-docker.git

2. Prepare Your Environment 🌐

2.1 First, create a directory for Docker volumes if you don't have one:

mkdir ~/Volumes

2.2 Create a new .env file in the project root by copying .env.example and update the HOST_USER variable with your host username.

3. Build the Image 🛠️

⚠️ Note: The image is large and may take 1.5-2 hours to build. The complete image is located at complete/complete/v0.1.Dockerfile. Use one of the following commands to run it:

# To start the service with ROS Foxy
sudo docker compose up -d ros-px4-foxy

# To start the service with ROS Humble
sudo docker compose up -d ros-px4-humble

# To start both services
docker compose up -d --build

4. Allow Gazebo Permissions 🖥️

Run this command on your terminal (outside the container):

xhost local:docker

5. Start the Container 🚀

Once built, enter the container with:

sudo docker exec -it ros-px4-complete /bin/bash

You can open multiple terminal instances inside the container. To open a new terminal in another bash tab, run the command again.

Tip: Set an alias in your ~/.bashrc to simplify this command.

6. Verifications ✅

Check if ROS2 is recognized:

ros2

If there's an error, run the following inside the container and try ros2 again:

# For ROS Foxy:
source /opt/ros/foxy/setup.bash

# OR

# For ROS Humble:
source /opt/ros/humble/setup.bash

Verify the Ubuntu version:

lsb_release -a

Check if Gazebo opens correctly (it should open an application window):

# For the ROS Foxy container:
gazebo

# OR

# For the ROS Humble container:
gz sim