add px4-sitl command

README.md

@@ -126,6 +126,22 @@ An example of connection to the whole system is show below.
 
 <img src="https://github.com/ZilantRobotics/innopolis_vtol_dynamics/wiki/assets/welcome/use_case_3.png" alt="drawing" width="800"/>
 
+### 1.4. SITL if you don't have the hardware
+
+SITL mode is out of the scope of the interests of this simulator. But anyway, it happens that you need to test something and you don't have the required hardware in your hand. So, you can run the flight stack and the dynamics on your PC:
+
+Run the HITL dynamics as usual, but choose MAVLink mode, for example:
+
+```bash
+./scripts/sim.py mq  # mq stands for PX4 Mavlink Quadcopter
+```
+
+Run the PX4 flight stack. You can either build and run it according to PX4 official instructions, or use our Dockerfile to build and ru neverything in a single command:
+
+```bash
+./scripts/sim.py px4-sitl iris
+```
+
 ## 2. USAGE
 
 The simulator is distributed as a Docker image. To simplify the interraction with Docker, a `./scripts/sim.py` script was written. The script configures all the necessary Docker flags, performs automatic firmware upload, configuration, creates a CAN interface, and generally provides a simple interface to interact with the simulator.
@@ -151,7 +167,7 @@ pip install -r requirements.txt
 To build docker image, type:
 
 ```bash
-./scripts/sim.py b # build
+./scripts/sim.py b # b stands for build
 ```
 
 > An image on dockerhub usually is not up to date, so it's better to build manually

configs/vehicles/px4_v1_15_0_mavlink_quadcopter.yaml

@@ -0,0 +1,3 @@
+mode: mavlink
+alias: mq
+sim_config: px4_v1_15_0_mavlink_quadcopter

configs/vehicles/px4_v1_15_0_mavlink_quadplane_vtol.yaml

@@ -0,0 +1,3 @@
+mode: mavlink
+alias: mv4
+sim_config: px4_v1_15_0_mavlink_quadplane_vtol

scripts/command.py

@@ -16,6 +16,8 @@ class SimCommand:
     info: Optional[str]
     sim_config: Optional[str] = None
     args: Optional[list] = None
+    need_upload_firmware: bool = False
+    need_load_parameters: bool = False
 
     def check(self, command: str) -> bool:
         if isinstance(command, str):
@@ -58,10 +60,32 @@ def create_list_from_directory(dir_with_yaml_files) -> list:
                 commands.append(cmd)
         return commands
 
-COMMANDS = [
-    SimCommand(name="build", alias='b', mode=None, info="Build the Docker image"),
-    SimCommand(name="kill", alias='', mode=None, info="Kill the running Docker container"),
-    SimCommand(name="monitor", alias='', mode=None, info="Just monitor"),
-    SimCommand(name="rviz", alias='', mode=None, info="Run RVIZ"),
-    *SimCommand.create_list_from_directory(dir_with_yaml_files=VEHICLES_DIR)
-]
+class CommandsManager:
+    COMMANDS = [
+        SimCommand(name="build", alias='b', mode=None, info="Build the Docker image"),
+        SimCommand(name="kill", alias='', mode=None, info="Kill the running Docker container"),
+        SimCommand(name="monitor", alias='', mode=None, info="Just monitor"),
+        SimCommand(name="rviz", alias='', mode=None, info="Run RVIZ"),
+        SimCommand(name="px4-sitl", alias='', mode=None, info="Run PX4 SITL Flight Stack"),
+        *SimCommand.create_list_from_directory(dir_with_yaml_files=VEHICLES_DIR)
+    ]
+
+    @staticmethod
+    def get_all_commands():
+        return CommandsManager.COMMANDS
+
+    @staticmethod
+    def get_help():
+        header = f'{"Command":<36} {"Alias":<10} {"Info"}\n'
+
+        commands_details = []
+        for cmd in CommandsManager.COMMANDS:
+            command_detail = f"{cmd.name:<36} {cmd.alias or '':<10} {cmd.info or ''}"
+            commands_details.append(command_detail)
+
+        return header + '\n'.join(commands_details)
+
+    @staticmethod
+    def parse_command(command: list) -> Optional[SimCommand]:
+        command = next((cmd for cmd in CommandsManager.COMMANDS if cmd.check(command)), None)
+        return command

scripts/docker.sh

@@ -23,8 +23,8 @@ Supported modes (with aliases):
   px4_v1_13_0_dronecan_vtol,dv1130          | DroneCAN    PX4 v1.13       vtol 13070
 -------------------------------------------------------------------------------
   px4_v1_15_0_cyphal_octorotor,co           | Cyphal      PX4 v1.15-beta  Octorotor Coaxial (12001)
-  px4_v1_12_0_mavlink_quadplane_vtol        | MAVLink     PX4 v1.12       vtol 13070
-  px4_v1_12_0_mavlink_quadcopter            | MAVLink     PX4 v1.12       Quadrotor (4001)
+  px4_v1_15_0_mavlink_quadplane_vtol        | MAVLink     PX4 v1.12       vtol 13070
+  px4_v1_15_0_mavlink_quadcopter            | MAVLink     PX4 v1.12       Quadrotor (4001)
   cyphal_and_dronecan                       | 2 CAN       AP  v4.4.0      Copter
 -------------------------------------------------------------------------------
 
@@ -262,8 +262,8 @@ elif [ "$CMD" = "px4_v1_15_0_cyphal_quadcopter" ] || \
     docker_container_run_cyphal
 
 # MAVLink commands:
-elif [ "$CMD" = "px4_v1_12_0_mavlink_quadplane_vtol" ] || \
-     [ "$CMD" = "px4_v1_12_0_mavlink_quadcopter" ] ; then
+elif [ "$CMD" = "px4_v1_15_0_mavlink_quadplane_vtol" ] || \
+     [ "$CMD" = "px4_v1_15_0_mavlink_quadcopter" ] ; then
     vehicle=$CMD
     docker_container_run_mavlink
 

scripts/docker_wrapper.py

@@ -1,6 +1,7 @@
 #!/usr/bin/env python3
 import os
 import re
+import sys
 import time
 import shlex
 import logging
@@ -33,8 +34,8 @@ class DockerWrapper:
     REPOSITORY_DIR = Path(__file__).parent.parent.absolute()
     DOCKERFILE_DIR = REPOSITORY_DIR
     @staticmethod
-    def build(full_image_name : str) -> None:
-        cmd = ['docker', 'build', '-t', full_image_name, DockerWrapper.DOCKERFILE_DIR]
+    def build(full_image_name : str, dockerfile_dir: str = DOCKERFILE_DIR) -> None:
+        cmd = ['docker', 'build', '-t', full_image_name, dockerfile_dir]
         subprocess.run(cmd, check=True)
 
     @staticmethod
@@ -56,11 +57,23 @@ def kill_container_by_id(container_identifier : str) -> None:
         subprocess.run(cmd, check=True)
 
     @staticmethod
-    def run_container(sniffer_path: str,
-                      image_name: str,
-                      sim_config: str,
-                      mode: SimMode) -> Optional[subprocess.Popen]:
-        if not is_valid_sniffer_path(sniffer_path):
+    def interactive(image: str, flags: list = ["--rm", "-it", "--net=host"]) -> None:
+        command = ["docker", "container", "run", *flags, image, "/bin/bash"]
+
+        try:
+            with subprocess.Popen(command, stdin=sys.stdin, stdout=sys.stdout, stderr=sys.stderr) as process:
+                process.wait()
+        except KeyboardInterrupt:
+            print("\nScript interrupted.")
+        except Exception as err:
+            print(f"Error: {err}")
+
+    @staticmethod
+    def run_sim_container(mode: SimMode,
+                          image_name: str,
+                          argument: str,
+                          sniffer_path: Optional[str]=None) -> Optional[subprocess.Popen]:
+        if mode.is_hitl() and not is_valid_sniffer_path(sniffer_path):
             raise RuntimeError(f"CAN-Sniffer has not been found (sniffer_path={sniffer_path})")
 
         if mode == SimMode.CYPHAL_HITL:
@@ -79,6 +92,8 @@ def run_container(sniffer_path: str,
             flags = [
                 *DockerWrapper.COMMON_DOCKER_FLAGS,
             ]
+        else:
+            raise RuntimeError(f"Unknown mode: {mode}")
 
         command = [
             "docker",
@@ -87,7 +102,7 @@ def run_container(sniffer_path: str,
             *flags,
             image_name,
             './scripts/run_sim.sh',
-            sim_config
+            argument
         ]
         logger.info(" ".join([shlex.quote(arg) for arg in command]))
 

scripts/mode.py

@@ -16,3 +16,6 @@ def create_from_string(string: str):
             "monitor": SimMode.MONITOR,
         }
         return string_to_mode.get(string)
+
+    def is_hitl(self) -> bool:
+        return self in {SimMode.CYPHAL_HITL, SimMode.DRONECAN_HITL}

scripts/px4-sitl/Dockerfile

@@ -0,0 +1,75 @@
+# This Dockerfile is a hint about how to run PX4 ROS-noetic flight stack in Docker
+# Tested in Ubuntu-22.04 and PX4-Autopolot v1.14.0.
+# Suitable for Quadrotor MAVLink SITL mode of UAV HITL Simulator: https://github.com/RaccoonlabDev/innopolis_vtol_dynamics.git
+# Origin: https://gist.github.com/PonomarevDA/1a600056a3c01cebae878b642dafe6ea
+# Usage:
+# 1. Download:
+# mkdir PX4-Autopilot-Docker && cd PX4-Autopilot-Docker
+# wget https://gist.githubusercontent.com/PonomarevDA/1a600056a3c01cebae878b642dafe6ea/raw/Dockerfile
+# 2. Build the Docker image:
+# docker build -t ponomarevda/px4-sitl .
+# 3. Run in interactive mode:
+# docker container run --rm -it --net=host ponomarevda/px4-sitl /bin/bash
+# 4. Then run launch file:
+# roslaunch px4 px4.launch vehicle:=iris
+# Or run at once:
+# docker run --rm -it --net=host ponomarevda/px4-sitl roslaunch px4 px4.launch vehicle:=iris
+
+ARG ROS_DISTRO=noetic
+
+FROM ros:$ROS_DISTRO
+LABEL description="PX4 MAVLink SITL simulator"
+SHELL ["/bin/bash", "-c"]
+WORKDIR /root/catkin_ws/
+
+# 1. Install basic requirements
+RUN apt-get update                                  &&  \
+    apt-get upgrade -y                              &&  \
+    apt-get install -y git                              \
+                       ros-$ROS_DISTRO-catkin           \
+                       python3-pip                      \
+                       python3-catkin-tools
+
+# 2. Build ROS
+RUN source /opt/ros/$ROS_DISTRO/setup.bash          &&  \
+    git config --global http.sslverify false        &&  \
+    mkdir ~/catkin_ws/src                           &&  \
+    catkin build
+
+# 3. Install PX4 ubuntu requirements
+RUN apt-get install -y wget
+RUN wget https://raw.githubusercontent.com/PX4/PX4-Autopilot/main/Tools/setup/ubuntu.sh && \
+    wget https://raw.githubusercontent.com/PX4/PX4-Autopilot/main/Tools/setup/requirements.txt
+RUN bash ubuntu.sh
+
+# 4. Install PX4 ubuntu sim ros requirements
+RUN wget https://raw.githubusercontent.com/PX4/Devguide/master/build_scripts/ubuntu_sim_ros_melodic.sh
+RUN source /opt/ros/$ROS_DISTRO/setup.bash  && \
+    source ~/catkin_ws/devel/setup.bash     && \
+    bash ubuntu_sim_ros_melodic.sh
+
+# 5. Clone PX4-Autopilot
+RUN git clone --branch main https://github.com/PX4/PX4-Autopilot --recursive ~/PX4-Autopilot
+
+# 6. Build PX4 for VTOL
+RUN cd ~/PX4-Autopilot && DONT_RUN=1 make px4_sitl gazebo_standard_vtol
+
+# 7. Append to .bashrc
+RUN rm ~/.bashrc && cp /etc/skel/.bashrc ~/.bashrc
+RUN source ~/.bashrc                                                && \
+    cd ~/PX4-Autopilot                                              && \
+    echo "source /opt/ros/$ROS_DISTRO/setup.bash"   >> ~/.bashrc    && \
+    echo "source ~/catkin_ws/devel/setup.bash"      >> ~/.bashrc    && \
+    echo "export ROS_PACKAGE_PATH=/opt/ros/noetic/share:~/PX4-Autopilot:~/PX4-Autopilot/Tools/sitl_gazebo" >> ~/.bashrc && \
+    echo "cd ~/PX4-Autopilot"                       >> ~/.bashrc    && \
+    echo "echo Hello, there. This is PX4 Flight Stack container." >> ~/.bashrc    && \
+    echo "echo Your next steps can be:" >> ~/.bashrc && \
+    echo "echo -   roslaunch px4 px4.launch vehicle:=iris" >> ~/.bashrc && \
+    echo "echo -   roslaunch px4 px4.launch vehicle:=standard_vtol" >> ~/.bashrc && \
+    echo "echo For details please visit: https://docs.px4.io/main/en/sim_gazebo_gz/vehicles.html" >> ~/.bashrc && \
+    echo "echo P.S. ROS and PX4 environment variables have been set." >> ~/.bashrc
+
+CMD echo -e "\nContainer has been started!" && \
+    source ~/.bashrc                        && \
+    roslaunch px4 px4.launch vehicle:=iris  && \
+    echo -e "\nContainer has been finished!"

scripts/run_sim.sh

@@ -19,8 +19,8 @@ Commands:
   px4_v1_15_0_cyphal_octoplane_vtol       Run dynamics simulator in Cyphal HITL mode for vtol 8 motors airframe.
   cyphal_and_dronecan_inno_vtol           Run dynamics simulator in DroneCan + Cyphal mode for vtol airframe.
                                           This mode uses 2 serial ports and is in the alpha testing stage yet.
-  px4_v1_12_0_mavlink_quadplane_vtol      Run dynamics simulator in MAVLink SITL mode for vtol airframe
-  px4_v1_12_0_mavlink_quadcopter          Run dynamics simulator in MAVLink SITL mode for flight_goggles airframe
+  px4_v1_15_0_mavlink_quadplane_vtol      Run dynamics simulator in MAVLink SITL mode for vtol airframe
+  px4_v1_15_0_mavlink_quadcopter          Run dynamics simulator in MAVLink SITL mode for flight_goggles airframe
 
 Auxilliary commands:
   ros                                     Source ROS and catkin_ws setup.bash files
@@ -173,7 +173,7 @@ cyphal_and_dronecan_inno_vtol() {
         dynamics:=quadcopter
 }
 
-px4_v1_12_0_mavlink_quadplane_vtol() {
+px4_v1_15_0_mavlink_quadplane_vtol() {
     setup_ros
     roslaunch innopolis_vtol_dynamics sitl.launch   \
         logging_type:=standard_vtol                 \
@@ -184,7 +184,7 @@ px4_v1_12_0_mavlink_quadplane_vtol() {
         run_sitl_flight_stack:="false"
 }
 
-px4_v1_12_0_mavlink_quadcopter() {
+px4_v1_15_0_mavlink_quadcopter() {
     setup_ros
     roslaunch innopolis_vtol_dynamics sitl.launch   \
         logging_type:=quadcopter                    \
@@ -218,10 +218,10 @@ elif [ "$1" = "px4_v1_15_0_cyphal_octoplane_vtol" ]; then
     px4_v1_15_0_cyphal_octoplane_vtol
 elif [ "$1" = "cyphal_and_dronecan_inno_vtol" ]; then
     cyphal_and_dronecan_inno_vtol
-elif [ "$1" = "px4_v1_12_0_mavlink_quadplane_vtol" ]; then
-    px4_v1_12_0_mavlink_quadplane_vtol
-elif [ "$1" = "px4_v1_12_0_mavlink_quadcopter" ]; then
-    px4_v1_12_0_mavlink_quadcopter
+elif [ "$1" = "px4_v1_15_0_mavlink_quadplane_vtol" ]; then
+    px4_v1_15_0_mavlink_quadplane_vtol
+elif [ "$1" = "px4_v1_15_0_mavlink_quadcopter" ]; then
+    px4_v1_15_0_mavlink_quadcopter
 elif [ "$1" = "ros" ]; then
     setup_ros
 else