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:

   git clone https://github.com/afeawoL/ros2_drone_sim/
   cd ros2_drone_sim

2. Make the start script executable:

   chmod +x start.sh

3. Run the simulation:

   ./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:

   docker compose build
   docker compose up -d

2. Enter the container:

   docker compose exec ros2_drone_sim bash

3. Inside the container, build and run:

   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:

/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:

   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