Avi241 / docker-drone

Testing Drone Simulation in dcoker

docker-drone

Testing Drone Simulation in docker

Installation

Docker

You can find these installation instructions here.

Installing Docker

Install docker using convenience script

sudo apt-get install curl
curl -fsSL get.docker.com -o get-docker.sh
sudo sh get-docker.sh

Steps to use docker without having to use sudo

sudo groupadd docker
# Add your user to the docker group.
sudo usermod -aG docker $USER
# Restart computer to see effects

Setting up the workspace on users computer

mkdir -p drone/home

enable access to xhost from the container

xhost +

Run docker and open bash shell

docker run -it --privileged --env="DISPLAY" --env="QT_X11_NO_MITSHM=1" -v ~/drone/home:/home/:rw --volume="/tmp/.X11-unix:/tmp/.X11-unix:rw" -p 14556:14556/udp --name=drone avi241/drone-pc bash

Try running gazebo

gazebo

If gazebo opens successfully Please skip the below step and move to 2D SLAM

If gazebo is unable to run you need to install the nvidia drivers specific to your system . Follow the below steps.

exit from the bash shell of comtainer

exit

stop the container

docker stop drone

remove the container

docker rm drone

Open new terminal and build a different docker container

sudo rm -r ~/drone
mkdir -p drone/home
xhost + 
docker run -it --privileged --env="DISPLAY" --env="QT_X11_NO_MITSHM=1" -v ~/drone/home:/home/:rw --volume="/tmp/.X11-unix:/tmp/.X11-unix:rw" -p 14556:14556/udp --name=drone avi241/xtdrone bash

install ubuntu drivers

apt-get update
apt-get install ubuntu-drivers-common

check your Nvidia drivers

export LC_ALL=C.UTF-8
export LANG=C.UTF-8
ubuntu-drivers devices

Install Nvidia drivers

ubuntu-drivers autoinstall

Try running gazebo again

gazebo

open a new bash shell of this container

docker exec -it drone bash

2D SLAM (open new terminal for running each block of command)

roslaunch px4 indoor3.launch 

roslaunch hector_slam_launch hector_slam_xtdrone.launch

cd ~/XTDrone/communication/
python multirotor_communication.py iris 0

cd ~/XTDrone/sensing/slam/laser_slam/script/
python laser_transfer.py iris 0 2d

cd ~/XTDrone/control/keyboard/
python multirotor_keyboard_control.py iris 1 vel

3D SLAM (open new terminal for each block of command)

roslaunch px4 outdoor1.launch

roslaunch aloam_velodyne aloam_velodyne_HDL_32.launch

cd ~/XTDrone/sensing/slam/laser_slam/script
python laser_transfer.py iris 0 3d

cd ~/XTDrone/communication
python multirotor_communication.py iris 0 

cd ~/XTDrone/control/keyboard
python multirotor_keyboard_control.py iris 1 vel

Steps to control Drone

increse the upward speed greater than 0.30 by pressing i
press b for offboard
press t to arm the drone
drone will rise to some height now press s to hover.
now control the direction of drone with w,x,a,d (forward,backward,left,right)
press s to stop it to any position.