README.md

KNR Drone Simulation - README

Installation Instructions

1. Install Docker

Ensure you have Docker installed on your system. You can follow the official installation guide:
Docker Installation Guide

2. Install NVIDIA Container Toolkit

For systems with NVIDIA GPUs, install the NVIDIA Container Toolkit (official installation guide):

distribution=$(. /etc/os-release;echo $ID$VERSION_ID) curl -fsSL https://nvidia.github.io/libnvidia-container/gpgkey | sudo gpg --dearmor -o /usr/share/keyrings/nvidia-container-toolkit-keyring.gpg

curl -s -L https://nvidia.github.io/libnvidia-container/$distribution/libnvidia-container.list | \
    sed 's#deb https://#deb [signed-by=/usr/share/keyrings/nvidia-container-toolkit-keyring.gpg] https://#g' | \
    sudo tee /etc/apt/sources.list.d/nvidia-container-toolkit.list

sudo apt update
sudo apt install -y nvidia-container-toolkit
sudo systemctl restart docker

3. Pull the KNR Drone Simulation Docker Image

Download the prebuilt Docker image from Docker Hub:

docker image pull dierust/knr_ap_sim:latest

4. Start the Docker Container

First you should source your graphic session to docker:

echo "xhost +local:docker" >> ~/.bashrc

Navigate to the docker/docker_ap directory and execute the setup script:
If your host has nvidia gpu:

cd docker/docker_ap
./setup_container_gpu.sh dierust/knr_ap_sim:latest

If your host doesnt have nvidia gpu:

cd docker/docker_ap
./setup_container_cpu.sh dierust/knr_ap_sim:latest

Once executed, you will be attached to the newly created Docker container.

Note:
In some cases, the provided setup scripts may not work correctly and the container might not mount the src directory as expected (for example, you see an empty container after running ls).
If this happens, you can start the container manually with the following command (replace /absolute/path/to/Dron_symulacja/src with the full path to your src directory on your machine):

docker run --gpus all -it   --name knr_drone   -v /absolute/path/to/Dron_symulacja/src:/root/ros_ws/src   -e DISPLAY=$DISPLAY   -v /tmp/.X11-unix:/tmp/.X11-unix   --device /dev/dri   dierust/knr_ap_sim:latest

For systems without NVIDIA GPU, remove the `--gpus all` flag:
```bash
docker run -it   --name knr_drone   -v /absolute/path/to/Dron_symulacja/src:/root/ros_ws/src   -e DISPLAY=$DISPLAY   -v /tmp/.X11-unix:/tmp/.X11-unix   --device /dev/dri   dierust/knr_ap_sim:latest

5. ROS2 Workspace and Build Process

Inside the container:

cd ~/ros_ws
colcon build
source install/setup.bash

6. Run Webots Simulation and ROS2 Packages

To launch the Webots simulator along with required ROS2 packages:

ros2 launch drone_bringup drone_simulation.launch.py

7. Run ArduPilot SITL (Software-in-the-Loop)

To start the ArduPilot SITL environment, open new terminal and run the following command outside the Docker container:

./run_ardupilot_sitl.sh

First run can take a while since ardupilot will build required components.

8. Drone control

You have two options to control the drone:

• Option A – custom mission
  Write your own test_mission node/script and run it using:

  ./run_test_mission.sh
  

9. Managing the Docker Container

Detach from the container (keep it running):

Press Ctrl + P then Ctrl + Q

Reattach to a running container (no need to create new every time):

docker attach knr_drone

Start a stopped container:

docker start knr_drone

Stop the container:

docker stop knr_drone

10. Important Notes

• The src directory is shared between the host and the Docker container. In the container, it is located at ~/ros_ws/src.
• Your development code should be placed inside this directory to be visible in the container.
• After stopping the container, its memory persists. However, if the container is removed, all data outside the shared src directory will be lost.
• Keep everything in the src directory to prevent data loss.
• If you encounter any issues, contact: piotrek2995 / prujasiedomnie / DieRust on Discord.