mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-16 17:53:35 +08:00
Ramon Roche
63cec47786
ROS 2 package for coordinating PX4 SIH multi-drone swarm missions via XRCE-DDS. Includes: - swarm_controller.py: orchestrates N drones through 6 phases (EV lock, arm/takeoff, grid hold, circle transition, circle hold, kamikaze dive) with DDS cross-talk filtering for multi-instance XRCE-DDS setups - vision_provider.py: publishes noisy VehicleOdometry from ground truth for EKF2 external vision fusion (placeholder for non-GPS) - swarm_launch.py: ROS 2 launch file for N vision providers + controller - run_swarm.sh: Docker entrypoint that launches PX4 instances, XRCE-DDS agent, and ROS 2 nodes - Dockerfile + build_docker.sh: containerized build with ROS 2 Jazzy, px4_msgs from PX4 source, and the swarm package Validated with 4 drones: all phases complete, 4/4 impacts, ULogs generated per instance (~16 MB each). Signed-off-by: Ramon Roche <mrpollo@gmail.com>
96 lines
3.3 KiB
Docker
96 lines
3.3 KiB
Docker
# ROS 2 Jazzy layer on top of PX4 dev environment
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# For swarm simulation with px4-ros2-interface-lib
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#
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# Build (from PX4-Autopilot root):
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# Tools/simulation/swarm_ros2/build_docker.sh
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#
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# Run:
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# docker run -it --rm -v /path/to/PX4-Autopilot:/px4 px4-swarm-ros2
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#
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FROM px4io/px4-dev:v1.17.0-rc1
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LABEL maintainer="Ramon Roche <mrpollo@gmail.com>"
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ENV DEBIAN_FRONTEND=noninteractive
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ENV ROS_DISTRO=jazzy
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# Add ROS 2 Jazzy repository (Ubuntu 24.04 = noble)
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RUN apt-get update && apt-get install -y --no-install-recommends \
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curl \
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gnupg \
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lsb-release \
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software-properties-common \
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&& curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key \
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-o /usr/share/keyrings/ros-archive-keyring.gpg \
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&& echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] \
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http://packages.ros.org/ros2/ubuntu noble main" \
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> /etc/apt/sources.list.d/ros2.list \
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&& apt-get update \
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&& apt-get install -y --no-install-recommends \
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ros-jazzy-ros-base \
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ros-jazzy-rmw-cyclonedds-cpp \
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python3-colcon-common-extensions \
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python3-rosdep \
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python3-numpy \
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&& rm -rf /var/lib/apt/lists/*
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# Initialize rosdep
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RUN rosdep init 2>/dev/null || true \
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&& su user -c "rosdep update --rosdistro jazzy" 2>/dev/null || true
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# Set ROS 2 middleware to CycloneDDS (better multi-vehicle support)
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ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
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# Build Micro XRCE-DDS Agent from source
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RUN git clone --depth 1 https://github.com/eProsima/Micro-XRCE-DDS-Agent.git /tmp/xrce-agent \
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&& cd /tmp/xrce-agent \
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&& mkdir build && cd build \
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&& cmake .. -DCMAKE_BUILD_TYPE=Release \
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&& make -j$(nproc) \
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&& make install \
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&& ldconfig \
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&& rm -rf /tmp/xrce-agent
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# Build px4_msgs from PX4 source tree msg definitions (ensures type hash match).
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# The build_docker.sh script copies msg/ and srv/ into _px4_msgs_defs/ before build.
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ENV ROS2_WS=/opt/ros2_ws
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COPY _px4_msgs_defs/ /tmp/px4_msg_defs/
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RUN mkdir -p ${ROS2_WS}/src \
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&& cd ${ROS2_WS}/src \
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&& git clone --depth 1 https://github.com/PX4/px4_msgs.git \
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&& rm -rf px4_msgs/msg/*.msg px4_msgs/srv/*.srv \
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&& cp /tmp/px4_msg_defs/msg/*.msg px4_msgs/msg/ \
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&& cp /tmp/px4_msg_defs/srv/*.srv px4_msgs/srv/ \
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&& rm -rf /tmp/px4_msg_defs \
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&& cd ${ROS2_WS} \
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&& . /opt/ros/jazzy/setup.sh \
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&& colcon build --packages-select px4_msgs --cmake-args -DCMAKE_BUILD_TYPE=Release \
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&& rm -rf log
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# Build px4-ros2-interface-lib (depends on px4_msgs built above)
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RUN cd ${ROS2_WS}/src \
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&& git clone --depth 1 --recursive https://github.com/Auterion/px4-ros2-interface-lib.git \
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&& cd ${ROS2_WS} \
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&& . /opt/ros/jazzy/setup.sh \
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&& . install/setup.sh \
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&& colcon build --packages-skip px4_msgs --cmake-args -DCMAKE_BUILD_TYPE=Release \
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&& rm -rf log src
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# Copy swarm_ros2 package and build it
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COPY . ${ROS2_WS}/src/swarm_ros2/
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RUN cd ${ROS2_WS} \
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&& . /opt/ros/jazzy/setup.sh \
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&& . install/setup.sh \
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&& colcon build --packages-select swarm_ros2 \
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&& rm -rf log
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# Source everything on shell entry
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RUN echo "source /opt/ros/jazzy/setup.bash" >> /etc/bash.bashrc \
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&& echo "source ${ROS2_WS}/install/setup.bash" >> /etc/bash.bashrc
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# XRCE-DDS UDP port
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EXPOSE 8888/udp
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WORKDIR ${ROS2_WS}
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CMD ["/bin/bash"]
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