update to run hitl in docker (PX4#44)

HITL in Docker updates
dirksavage88 · Oct 31, 2023 · d21e971 · d21e971
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commit d21e971
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diff --git a/boards/modalai/voxl2/gazebo-docker/Dockerfile b/boards/modalai/voxl2/gazebo-docker/Dockerfile
@@ -44,5 +44,6 @@ WORKDIR /root/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic/
 RUN patch < iris_vision.patch
 RUN rm -rf iris_vision.patch
 
+WORKDIR /root/PX4-Autopilot
 RUN ./Tools/setup/ubuntu.sh
 RUN DONT_RUN=1 make px4_sitl_default gazebo
diff --git a/boards/modalai/voxl2/gazebo-docker/run_hitl.sh b/boards/modalai/voxl2/gazebo-docker/run_hitl.sh
@@ -0,0 +1,5 @@
+#!/bin/bash
+
+VOLUMES="-v /dev:/dev -v /tmp/.X11-unix:/tmp/.X11-unix:ro"
+
+docker run -it --entrypoint "/bin/bash" --rm --privileged --net=host --ipc=host -e DISPLAY=$DISPLAY ${VOLUMES} ubuntu_docker -c "cd /root/PX4-Autopilot && source /root/PX4-Autopilot/Tools/simulation/gazebo-classic/setup_gazebo.bash /root/PX4-Autopilot /root/PX4-Autopilot/build/px4_sitl_default && gazebo Tools/simulation/gazebo-classic/sitl_gazebo-classic/worlds/hitl_iris.world"
diff --git a/boards/modalai/voxl2/gazebo-docker/run.sh → ...s/modalai/voxl2/gazebo-docker/run_sitl.sh b/boards/modalai/voxl2/gazebo-docker/run.sh → ...s/modalai/voxl2/gazebo-docker/run_sitl.sh
diff --git a/boards/modalai/voxl2/target/voxl-px4-hitl-start b/boards/modalai/voxl2/target/voxl-px4-hitl-start
@@ -77,6 +77,9 @@ qshell flight_mode_manager start
 dataman start
 navigator start
 
+# Start microdds_client for ros2 offboard messages from agent over localhost
+microdds_client start -t udp -h 127.0.0.1 -p 8888
+
 qshell pwm_out_sim start -m hil
 qshell dsp_hitl start