move sim configs out from docker image, so now we can change initial …

…position without rebuid

.dockerignore

@@ -15,6 +15,14 @@
 !scripts/tools/can/create_slcan.sh
 
 !uav_dynamics/timed_roslaunch
-!uav_dynamics/uav_hitl_dynamics
+
+!uav_dynamics/uav_hitl_dynamics/launch
+!uav_dynamics/uav_hitl_dynamics/libs
+!uav_dynamics/uav_hitl_dynamics/scripts
+!uav_dynamics/uav_hitl_dynamics/src
+!uav_dynamics/uav_hitl_dynamics/tests
+!uav_dynamics/uav_hitl_dynamics/urdf
+!uav_dynamics/uav_hitl_dynamics/CMakeLists.txt
+!uav_dynamics/uav_hitl_dynamics/package.xml
 
 !catkin_build.sh

README.md

@@ -93,7 +93,7 @@ How to run:
 
 **Tool 3. 3D-simulator**
 
-> 3D-simulator demo is in process...
+Simulator3d is a digital environment that replicates the world as closely as a robot or UAV would perceive it, with all interactions being facilitated through the same API formats these robots would use in reality. It is avaliable on GitHub: [ZilantRobotics/Simulator3d](https://github.com/ZilantRobotics/Simulator3d).
 
 **Test scenarios**
 
@@ -108,6 +108,30 @@ Cartography	Cartography Scenarios are indended to be used with 3D-simulator.
 Ground Infrastructure	Checking the interaction of unmanned aerial vehicles with ground infrastructure within the framework of air logistics tasks. These scenarios might be a part of the previous scenarios.
 -->
 
+**How to run:**
+
+Download the simulator before the first usage:
+
+```bash
+# 1. Download Simulator3d in Downloads directory.
+cd Downloads
+wget https://github.com/ZilantRobotics/Simulator3d/releases/download/v0.1.19/ZilantSimulator-Linux64-0.1.19.zip
+
+# 2. Unzip it and make it executable
+unzip ZilantSimulator-Linux64-0.1.19.zip
+chmod +x ZilantSimulator.x86_64
+```
+
+Run it:
+
+```bash
+# 1. Run the Simulator3d itself
+./ZilantSimulator.x86_64
+
+# 2. Run rosbridge and sim interface nodes
+./scripts/sim.py 3d
+```
+
 **Key points in 3D simulation**
 
 | Yard | Delivery point | Technopark office parking | Buildings |

scripts/docker_wrapper.py

@@ -23,16 +23,17 @@ def is_valid_sniffer_path(sniffer_path: Optional[str]) -> bool:
     return os.path.exists(sniffer_path)
 
 class DockerWrapper:
+    REPOSITORY_DIR = Path(__file__).parent.parent.absolute()
+    DOCKERFILE_DIR = REPOSITORY_DIR
     COMMON_DOCKER_FLAGS = [
         '--rm',
         '--net=host',
+        f'--volume={REPOSITORY_DIR}/uav_dynamics/uav_hitl_dynamics/config:/catkin_ws/src/uav_hitl_simulator/uav_dynamics/uav_hitl_dynamics/config:ro',
         '-v', '/tmp/.X11-unix:/tmp/.X11-unix:rw',
         '-e', 'DISPLAY=:0',
         '-e', 'QT_X11_NO_MITSHM=1',
         '--privileged',
     ]
-    REPOSITORY_DIR = Path(__file__).parent.parent.absolute()
-    DOCKERFILE_DIR = REPOSITORY_DIR
     @staticmethod
     def build(full_image_name : str, dockerfile_dir: str = DOCKERFILE_DIR) -> None:
         cmd = ['docker', 'build', '-t', full_image_name, dockerfile_dir]