Quick Start Guide - JOCIIIII/PX4-PILS-Runner GitHub Wiki

This quick start guide is written for Ubuntu 22.04 LTS. Certain commands may vary if you use ohter Linux distributions.

1. Cloning the Repository

  • Clone this repository, jociiiii/PX4-PILS-RUNNER to your computer.
  • If you don't have git installed, please install it in advance.
cd ~/
sudo apt update && sudo apt install -y git
git clone https://github.com/jociiiii/PX4-PILS-Runner.git

2. Pull SITL ROS2 Docker Image

  • first, you need to login to the registry.
docker login reg.iacsl.org
  • then, pull the image.
docker pull reg.iacsl.org/a4-vai/sils-container:humble-cuda12.6-tensorrt10.7-cudnn9.7

3. run setup script

cd ~/PX4-SITL-Runner
./scripts/setup.sh

4. Placing the AirSim Binary

  • download unreal engine binary for path planning and path following integration test
  • and path following and collision avoidance integration test binary

Warning

You need to get the private token from the repository. that token is same with login docker repository.

wget -P ~/Documents/A4VAI-SITL/AirSim \
--header="PRIVATE-TOKEN: <token>" https://git.iacsl.org/api/v4/projects/302/packages/generic/demo/1.0.0/demo_pf-ca.tar.gz       

wget -P ~/Documents/A4VAI-SITL/AirSim \
--header="PRIVATE-TOKEN: <token>" https://git.iacsl.org/api/v4/projects/302/packages/generic/demo/1.0.0/demo_pp-pf.tar.gz

tar -xvzf ~/Documents/A4VAI-SITL/AirSim/demo_pf-ca.tar.gz -C ~/Documents/A4VAI-SITL/AirSim
tar -xvzf ~/Documents/A4VAI-SITL/AirSim/demo_pp-pf.tar.gz -C ~/Documents/A4VAI-SITL/AirSim

mv ~/Documents/A4VAI-SITL/AirSim/demo_world ~/Documents/A4VAI-SITL/AirSim/binary
  • default world is path planning and path following integration test
  • if you want to run path following and collision avoidance integration test, you need to change the world to pf-ca binary folder name to binary

5. Running the Simulator

  • You are ready to go. Allow container to attach to your display.
  • Then, run the simulation using the script. The script will automatically download required docker images.
# YOU ONLY NEED TO RUN xhost + ONCE EVERY TIME ON YOU REBOOT YOUR COMPUTER
xhost +
cd ~/PX4-SITL-Runner
./scripts/run.sh gazebo-classic-airsim-sitl test path-following
  • or you can run path planning and path following integration test
cd ~/PX4-SITL-Runner
./scripts/run.sh gazebo-classic-airsim-sitl test pp-pf-integration
  • You can close the simulation by following command
cd ~/PX4-SITL-Runner
./scripts/run.sh gazebo-classic-airsim-sitl stop
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