Container Images Used For PX4 SITL Simulation

How-to-Build

• Clone the repositoy including submodules:

git clone https://github.com/kestr31/PX4-SITL-Containers.git --recursive

• Build process is automated using bash script build.sh.
• build.sh allows use of following arguments:
  • all: Build all modified images (AirSim, QGroundControl, ROS2).
  • airsim: Build AirSim image.
  • qgc: Build QGroundControl image.
  • ros2: Build ROS2 image.
• Example usage is as following:

./scripts/build.sh airsim

• You can modify the username in the image name by changing the CONTAINER_BUILD_USERNAME at scripts/include/commonEnv.sh..

Base image and tag are currently hard-coded in the script.

List of Images Used Per SITL Simulation Service

• Services replying on images built using this repository:

  • AirSim: Modified from adamrehn/ue4-runtime:22.04-cudagl12-x11
  • QGroundControl: Submodule from kestr31/QGC-app-docker
  • ROS2: Modified from athackst/dockerfiles (ros2)
    • Based on galactic-cuda.Dockerfile.

• Services relying on images build by the others:

  • PX4-Autopilot: px4io/px4-dev-simulation-focal:2024-05-18
    • Source: PX4/PX4-containers, Tag 2024-05-18
  • Gazebo-Classic: althack/gazebo:gazebo11-base
    • Source: athackst/dockerfiles (gazebo)

Downloading TensorRT debian package

• In order to build the sitl-ros2 image, you need to download the TensorRT debian package.
• Download TensorRT debian package from NVIDIA TensorRT
  • EA Stands for Early Access and GA stands for General Availability. please choose the latest GA version.
  • The package must be for CUDA 11.8 and Ubuntu 22.04.
  • Place the package in the Dockerfile/ROS2 directory.

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