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spiri-sdk
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Basic working example

This commit is contained in:
Alex Davies 2024-01-24 11:01:27 -04:00
parent 69ba51fa20
commit 601496f3df
2 changed files with 4 additions and 2 deletions
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2
README.md
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@ -16,3 +16,5 @@ From inside the SDK use the following commands to start gazebo and a virtual dro
cd ~/sdk/ cd ~/sdk/
docker compose up docker compose up
``` ```
Run `gzclient` to launch gazebo, then insert a `3DR Iris` and your simulated drone will be ready for takeoff.

4
skel/spiri-sdk/docker-compose.yaml
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@ -9,7 +9,7 @@ services:
# command: gzserver --verbose /usr/share/gazebo-11/worlds/empty.world # command: gzserver --verbose /usr/share/gazebo-11/worlds/empty.world
command: gzserver --verbose /usr/share/gazebo-11/worlds/citadel_hill_world.world command: gzserver --verbose /usr/share/gazebo-11/worlds/citadel_hill_world.world
ports: ports:
- 127.0.0.1:11345:11345 - "127.0.0.1:11345:11345"
robot-coprocessor-simulation: robot-coprocessor-simulation:
image: git.spirirobotics.com/spiri/px4-sim:master image: git.spirirobotics.com/spiri/px4-sim:master
@ -30,7 +30,7 @@ services:
mavros: mavros:
#This service bridges our mavlink-based robot-coprosessor into ROS #This service bridges our mavlink-based robot-coprosessor into ROS
#In this example it connects to a simulated coprocessor. #In this example it connects to a simulated coprocessor.
image: radarku/mavros image: git.spirirobotics.com/spiri/spiri-sdk-mavros:master
command: roslaunch mavros px4.launch fcu_url:="udp://:14540@robot-coprocessor-simulation:14541" command: roslaunch mavros px4.launch fcu_url:="udp://:14540@robot-coprocessor-simulation:14541"
environment: environment:
- "ROS_MASTER_URI=http://ros-master:11311" - "ROS_MASTER_URI=http://ros-master:11311"