From af14343ba05de20f3f86fe71941a4c577440300f Mon Sep 17 00:00:00 2001 From: vboxuser Date: Tue, 18 Jul 2023 14:52:58 -0400 Subject: [PATCH] added spiri model --- Docker_PX4/Dockerfile | 8 ++++---- compose.yaml | 2 +- 2 files changed, 5 insertions(+), 5 deletions(-) diff --git a/Docker_PX4/Dockerfile b/Docker_PX4/Dockerfile index 8f6177d..9511958 100644 --- a/Docker_PX4/Dockerfile +++ b/Docker_PX4/Dockerfile @@ -296,10 +296,10 @@ RUN cd ~/PX4-Autopilot && DONT_RUN=1 make px4_sitl_default gazebo RUN cp ~/catkin_ws/src/oscillation_ctrl/px4_setup/airframe_changes ~/PX4-Autopilot/platforms/posix/cmake/sitl_target.cmake RUN mkdir -p ~/PX4-Autopilot/Tools/sitl_gazebo/models RUN mkdir -p ~/PX4-Autopilot/Tools/sitl_gazebo/worlds -RUN cp -R ~/catkin_ws/src/oscillation_ctrl/models/* ~/PX4-Autopilot/Tools/sitl_gazebo/models -RUN cp -R ~/catkin_ws/src/oscillation_ctrl/worlds/* ~/PX4-Autopilot/Tools/sitl_gazebo/worlds +RUN cp -R ~/catkin_ws/src/oscillation_ctrl/models/* ~/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models +RUN cp -R ~/catkin_ws/src/oscillation_ctrl/worlds/* ~/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic/worlds RUN cd ~/PX4-Autopilot && DONT_RUN=1 make px4_sitl_default gazebo -RUN cp ~/catkin_ws/src/oscillation_ctrl/px4_setup/firmwareCmake ~/PX4-Autopilot/Tools/sitl_gazebo/ +RUN cp ~/catkin_ws/src/oscillation_ctrl/px4_setup/CMakeLists.txt ~/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic/CMakeLists.txt RUN cd ~/PX4-Autopilot && DONT_RUN=1 make px4_sitl_default gazebo RUN mkdir -p /home/arrow/PX4-Autopilot/ROMFS/px4fmu_common/init.d-posix/airframes RUN cp -R ~/catkin_ws/src/oscillation_ctrl/airframes/18.04/* ~/PX4-Autopilot/ROMFS/px4fmu_common/init.d-posix @@ -308,7 +308,7 @@ RUN bash ~/catkin_ws/src/oscillation_ctrl/px4_setup/px4setup.sh #install QGroundControl RUN echo "arrow" | sudo -S apt-get remove modemmanager -y -RUN echo "arrow" | sudo -S apt install gstreamer1.0-plugins-bad gstreamer1.0-libav gstreamer1.0-gl libqt5gui5 libfuse2 libpulse-dev fuse -y +RUN echo "arrow" | sudo -S apt install gstreamer1.0-plugins-bad gstreamer1.0-libav gstreamer1.0-gl libqt5gui5 libfuse2 libpulse-dev fuse xmlstarlet -y RUN cd ~ && wget https://github.com/mavlink/qgroundcontrol/releases/download/v4.2.6/QGroundControl.AppImage #final setup SHELL ["/bin/bash", "-c"] diff --git a/compose.yaml b/compose.yaml index 230f75f..ba72d1d 100644 --- a/compose.yaml +++ b/compose.yaml @@ -5,7 +5,7 @@ services: source home/arrow/PX4-Autopilot/Tools/simulation/gazebo-classic/setup_gazebo.bash home/arrow/PX4-Autopilot/ home/arrow/PX4-Autopilot//build/px4_sitl_default && export ROS_PACKAGE_PATH=/home/arrow/catkin_ws/src/oscillation_ctrl:/opt/ros/melodic/share:/home/arrow/PX4-Autopilot:/home/arrow/PX4-Autopilot/Tools/sitl_gazebo:/home/arrow/PX4-Autopilot:/home/arrow/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic && - roslaunch px4 multi_uav_mavros_sitl.launch" + roslaunch px4 multi_uav_mavros_sitl_sdf.launch vehicle:=spiri" tty: true privileged: true volumes: