Add Docker Compose PX4 SITL, ROS 2, Foxglove, DDS, and MAVROS stack

.gitignore

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 .venv
 /.idea/
-.vscode/
+.vscode/
+
+# Byte-compiled / optimized / DLL files
+__pycache__/
+*.py[codz]
+*$py.class
+
+# C extensions
+*.so
+
+# Distribution / packaging
+.Python
+build/
+develop-eggs/
+dist/
+downloads/
+eggs/
+.eggs/
+lib/
+lib64/
+parts/
+sdist/
+var/
+wheels/
+share/python-wheels/
+*.egg-info/
+.installed.cfg
+*.egg
+MANIFEST
+
+# PyInstaller
+#   Usually these files are written by a python script from a template
+#   before PyInstaller builds the exe, so as to inject date/other infos into it.
+*.manifest
+*.spec
+
+# Installer logs
+pip-log.txt
+pip-delete-this-directory.txt
+
+# Unit test / coverage reports
+htmlcov/
+.tox/
+.nox/
+.coverage
+.coverage.*
+.cache
+nosetests.xml
+coverage.xml
+*.cover
+*.py.cover
+*.lcov
+.hypothesis/
+.pytest_cache/
+cover/
+
+# Translations
+*.mo
+*.pot
+
+# Django stuff:
+*.log
+local_settings.py
+db.sqlite3
+db.sqlite3-journal
+
+# Flask stuff:
+instance/
+.webassets-cache
+
+# Scrapy stuff:
+.scrapy
+
+# Sphinx documentation
+docs/_build/
+
+# PyBuilder
+.pybuilder/
+target/
+
+# Jupyter Notebook
+.ipynb_checkpoints
+
+# IPython
+profile_default/
+ipython_config.py
+
+# pyenv
+#   For a library or package, you might want to ignore these files since the code is
+#   intended to run in multiple environments; otherwise, check them in:
+# .python-version
+
+# pipenv
+#   According to pypa/pipenv#598, it is recommended to include Pipfile.lock in version control.
+#   However, in case of collaboration, if having platform-specific dependencies or dependencies
+#   having no cross-platform support, pipenv may install dependencies that don't work, or not
+#   install all needed dependencies.
+# Pipfile.lock
+
+# UV
+#   Similar to Pipfile.lock, it is generally recommended to include uv.lock in version control.
+#   This is especially recommended for binary packages to ensure reproducibility, and is more
+#   commonly ignored for libraries.
+# uv.lock
+
+# poetry
+#   Similar to Pipfile.lock, it is generally recommended to include poetry.lock in version control.
+#   This is especially recommended for binary packages to ensure reproducibility, and is more
+#   commonly ignored for libraries.
+#   https://python-poetry.org/docs/basic-usage/#commit-your-poetrylock-file-to-version-control
+# poetry.lock
+# poetry.toml
+
+# pdm
+#   Similar to Pipfile.lock, it is generally recommended to include pdm.lock in version control.
+#   pdm recommends including project-wide configuration in pdm.toml, but excluding .pdm-python.
+#   https://pdm-project.org/en/latest/usage/project/#working-with-version-control
+# pdm.lock
+# pdm.toml
+.pdm-python
+.pdm-build/
+
+# pixi
+#   Similar to Pipfile.lock, it is generally recommended to include pixi.lock in version control.
+# pixi.lock
+#   Pixi creates a virtual environment in the .pixi directory, just like venv module creates one
+#   in the .venv directory. It is recommended not to include this directory in version control.
+.pixi/*
+!.pixi/config.toml
+
+# PEP 582; used by e.g. github.com/David-OConnor/pyflow and github.com/pdm-project/pdm
+__pypackages__/
+
+# Celery stuff
+celerybeat-schedule*
+celerybeat.pid
+
+# Redis
+*.rdb
+*.aof
+*.pid
+
+# RabbitMQ
+mnesia/
+rabbitmq/
+rabbitmq-data/
+
+# ActiveMQ
+activemq-data/
+
+# SageMath parsed files
+*.sage.py
+
+# Environments
+.env
+.envrc
+.venv
+env/
+venv/
+ENV/
+env.bak/
+venv.bak/
+
+# Spyder project settings
+.spyderproject
+.spyproject
+
+# Rope project settings
+.ropeproject
+
+# mkdocs documentation
+/site
+
+# mypy
+.mypy_cache/
+.dmypy.json
+dmypy.json
+
+# Pyre type checker
+.pyre/
+
+# pytype static type analyzer
+.pytype/
+
+# Cython debug symbols
+cython_debug/
+
+# PyCharm
+#   JetBrains specific template is maintained in a separate JetBrains.gitignore that can
+#   be found at https://github.com/github/gitignore/blob/main/Global/JetBrains.gitignore
+#   and can be added to the global gitignore or merged into this file.  For a more nuclear
+#   option (not recommended) you can uncomment the following to ignore the entire idea folder.
+# .idea/
+
+# Abstra
+#   Abstra is an AI-powered process automation framework.
+#   Ignore directories containing user credentials, local state, and settings.
+#   Learn more at https://abstra.io/docs
+.abstra/
+
+# Visual Studio Code
+#   Visual Studio Code specific template is maintained in a separate VisualStudioCode.gitignore 
+#   that can be found at https://github.com/github/gitignore/blob/main/Global/VisualStudioCode.gitignore
+#   and can be added to the global gitignore or merged into this file. However, if you prefer, 
+#   you could uncomment the following to ignore the entire vscode folder
+# .vscode/
+# Temporary file for partial code execution
+tempCodeRunnerFile.py
+
+# Ruff stuff:
+.ruff_cache/
+
+# PyPI configuration file
+.pypirc
+
+# Marimo
+marimo/_static/
+marimo/_lsp/
+__marimo__/
+
+# Streamlit
+.streamlit/secrets.toml

Dockerfile

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+FROM ros:humble-ros-base
+
+SHELL ["/bin/bash", "-c"]
+
+ENV ROS_DISTRO=humble \
+    ROS_WS=/ws
+
+RUN apt-get update && apt-get install -y --no-install-recommends \
+    build-essential \
+    cmake \
+    git \
+    python3-colcon-common-extensions \
+    python3-yaml \
+    python3-scipy \
+    python3-pymap3d \
+    ros-humble-mavros \
+    ros-humble-mavros-extras \
+    ros-humble-mavros-msgs \
+    ros-humble-foxglove-bridge \
+  && rm -rf /var/lib/apt/lists/*
+
+RUN if [ -x /opt/ros/${ROS_DISTRO}/lib/mavros/install_geographiclib_datasets.sh ]; then \
+      /opt/ros/${ROS_DISTRO}/lib/mavros/install_geographiclib_datasets.sh; \
+    fi
+
+WORKDIR ${ROS_WS}
+RUN mkdir -p ${ROS_WS}/src
+
+ARG PX4_MSGS_BRANCH=main
+RUN git clone -b ${PX4_MSGS_BRANCH} https://github.com/PX4/px4_msgs.git ${ROS_WS}/src/px4_msgs
+
+ARG MICRO_XRCE_AGENT_VERSION=v2.4.3
+RUN git clone -b ${MICRO_XRCE_AGENT_VERSION} https://github.com/eProsima/Micro-XRCE-DDS-Agent.git /tmp/Micro-XRCE-DDS-Agent \
+  && mkdir -p /tmp/Micro-XRCE-DDS-Agent/build \
+  && cd /tmp/Micro-XRCE-DDS-Agent/build \
+  && cmake .. \
+  && make -j"$(nproc)" \
+  && make install \
+  && ldconfig /usr/local/lib/ \
+  && rm -rf /tmp/Micro-XRCE-DDS-Agent
+
+COPY . ${ROS_WS}/src/mavinsight
+
+RUN source /opt/ros/${ROS_DISTRO}/setup.bash \
+  && colcon build --symlink-install
+
+COPY docker/ros_entrypoint.sh /ros_entrypoint.sh
+RUN chmod +x /ros_entrypoint.sh
+
+ENTRYPOINT ["/ros_entrypoint.sh"]

Dockerfile.px4

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+FROM px4io/px4-sitl:latest
+
+COPY docker/px4_entrypoint.sh /opt/px4/bin/px4-entrypoint-mavinsight.sh
+RUN chmod +x /opt/px4/bin/px4-entrypoint-mavinsight.sh
+
+ENTRYPOINT ["/opt/px4/bin/px4-entrypoint-mavinsight.sh"]

docker-compose.yml

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+services:
+  px4:
+    build:
+      context: .
+      dockerfile: Dockerfile.px4
+    image: mavinsight-px4-sitl
+    stdin_open: true
+    tty: true
+    init: true
+    environment:
+      - ROS_DOMAIN_ID=0
+      - PX4_UXRCE_DDS_PORT=8888
+    ports:
+      # Foxglove websocket bridge.
+      - "8765:8765/tcp"
+      # Do not publish 14550/udp by default. QGroundControl binds that host
+      # port for UDP AutoConnect, and Docker publishing it causes:
+      # "Link UDP Link (AutoConnect): The bound address is already in use".
+
+  ros2:
+    build:
+      context: .
+      dockerfile: Dockerfile
+    init: true
+    depends_on:
+      - px4
+    network_mode: "service:px4"
+    environment:
+      - ROS_DISTRO=humble
+      - ROS_DOMAIN_ID=0
+      - ROS_WS=/ws
+      - SKIP_COLCON_BUILD=0
+      - START_UXRCE_AGENT=1
+      - UXRCE_DDS_PORT=8888
+      - START_MAVROS=1
+      - MAVROS_NAMESPACE=uas4
+      - MAVROS_FCU_URL=udp://:14540@127.0.0.1:14580
+      - FOXGLOVE_PORT=8765
+      - MAVINSIGHT_LAUNCH=launch_all_vehicles_no_tba.launch.py
+    volumes:
+      - .:/ws/src/mavinsight:rw

docker/px4_entrypoint.sh

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+#!/bin/sh
+set -e
+
+# Detect install prefix. SIH uses /opt/px4, Gazebo uses /opt/px4-gazebo.
+if [ -d /opt/px4-gazebo ]; then
+    PX4_PREFIX=/opt/px4-gazebo
+else
+    PX4_PREFIX=/opt/px4
+fi
+
+# On Docker Desktop, host.docker.internal lets PX4 send MAVLink packets to
+# QGroundControl on the host without publishing the QGC UDP port from Docker.
+DOCKER_HOST_IP=$(getent ahostsv4 host.docker.internal 2>/dev/null | awk '/STREAM/ {print $1; exit}')
+
+if [ -n "$DOCKER_HOST_IP" ]; then
+    sed -i "s/mavlink start -x -u/mavlink start -x -t $DOCKER_HOST_IP -u/g" \
+        "$PX4_PREFIX/etc/init.d-posix/px4-rc.mavlink"
+fi
+
+# The ROS container shares this container's network namespace, so the
+# MicroXRCEAgent is reachable from PX4 on localhost.
+exec "$PX4_PREFIX/bin/px4" "$@"