The purpose of this is to run an ArduPilot SITL from within Docker.
A pre-built Docker image is available on DockerHub at:
https://hub.docker.com/r/radarku/ardupilot-sitl
- To download it, run
docker pull radarku/ardupilot-sitl
- To run it, run
docker run -it --rm -p 5760:5760 radarku/ardupilot-sitl
- To use it with Docker Compose, add the following service to your
docker-compose.yml
file:- You can launch it with
docker-compose up -d
- If you update your
docker-compose.yml
, you can restart your container by runningdocker-compose up -d
without getting the container ID and killing the container manually. See #3 - To check the logs in
ArduCopter.log
, rundocker exec -it "$FOLDER_NAME_ardupilot-sitl_1" watch -n 1 "cat /tmp/ArduCopter.log"
, where you should update$FOLDER_NAME
with the folder containing thedocker-compose.yml
.
- You can launch it with
services:
ardupilot-sitl:
image: radarku/ardupilot-sitl
platform: linux/amd64
tty: true
ports:
- 5760:5760
If you'd rather build the docker image yourself:
docker build --tag ardupilot github.com/radarku/ardupilot-sitl-docker
You can now use the --build-arg
option to specify which branch or tag in the ardupilot
repository you'd like to use. Here's an example:
docker build --tag ardupilot --build-arg COPTER_TAG=Copter-4.0.1 github.com/radarku/ardupilot-sitl-docker
If no COPTER_TAG is supplied, the build will use the default defined in the Dockerfile, currently set at Copter-4.0.3
To run the image:
docker run -it --rm -p 5760:5760 ardupilot
This will start an ArduCopter SITL on host TCP port 5760, so to connect to it from the host, you could:
mavproxy.py --master=tcp:localhost:5760
There are a number of options available to configure the simulator, for example, to run an ArduRover instance on port 5761, you could:
docker run -it --rm -p 5761:5760 --env VEHICLE=APMrover2 ardupilot
We also have an example env.list
file which can help you maintain your options and called like so:
docker run -it --rm -p 5761:5760 --env-file env.list ardupilot
The full list of options and their default values is:
INSTANCE 0
LAT 42.3898
LON -71.1476
ALT 14
DIR 270
MODEL +
SPEEDUP 1
VEHICLE arducopter
So, for example, you could issue a command such as:
docker run -it --rm -p 5761:5760 \
--env VEHICLE=APMrover2 \
--env MODEL=rover-skid \
--env LAT=39.9656 \
--env LON=-75.1810 \
--env ALT=276 \
--env DIR=180 \
--env SPEEDUP=2 \
ardupilot
Vehicles and their corresponding models are listed below:
ArduCopter: octa-quad|tri|singlecopter|firefly|gazebo-
iris|calibration|hexa|heli|+|heli-compound|dodeca-
hexa|heli-dual|coaxcopter|X|quad|y6|IrisRos|octa
APMRover2: rover|gazebo-rover|rover-skid|calibration
ArduSub: vectored
ArduPlane: gazebo-zephyr|CRRCSim|last_letter|plane-
vtail|plane|quadplane-tilttri|quadplane|quadplane-
tilttrivec|calibration|plane-elevon|plane-
tailsitter|plane-dspoilers|quadplane-tri
|quadplane-cl84|jsbsim