GPS Denied Navigation Docker Image

A Docker image for the development environment of the GPS Denied Navigation project.

What is included in the Docker image is

• Ubuntu 22.04 (jammy)
• ROS 2 Humble
• Gazebo Garden
• Development tools required by PX4 firmware + PX4-Autopilot source code

Build Docker Image

Docker should be installed before proceeding with the next steps. See docker installation instructions here

• Clone this package git clone https://github.com/riotu-lab/gps_denied_navigation_docker.git. You will need a GitHub token. Contact the admins for that.
• NOTE If you want to build an image with CUDA (recommended) run

  cd gps_denied_navigation_docker/docker
  make px4-simulation-cuda12.2.0-ubuntu22

This builds a Docker image that has the required PX4-Autopilot source code and the required dependencies, ROS 2 Humble Desktop, and ros2_ws that contains gps_denied_navigation_sim package and other ROS 2 packages.

The Gazebo version in the provided Docker image is Gazebo garden.

Run a Docker Container

There are two ways to provide GitHub authentication for cloning repositories inside the container:

1. Using GitHub Token (HTTPS)

• Obtain a valid GIT_TOKEN from GitHub admins.
• export GIT_USER=github_user_name && export GIT_TOKEN=git_token_that_you_obtained_from_admins
• You can add the above exports to your ~/.bashrc script to avoid exporting them in each new terminal.

2. Using SSH Agent Forwarding (Recommended)

This method is more secure as it doesn't expose your token in environment variables. It assumes you have an SSH key added to your GitHub account and an SSH agent running on your host.

• Ensure your SSH agent is running and has your GitHub key:

  ssh-add -L

  If no keys are listed, add your key: ssh-add ~/.ssh/id_ed25519 (or your specific key).
• The docker_run.sh (or docker_run_wsl.sh) script will automatically detect and mount your SSH agent socket if the SSH_AUTH_SOCK environment variable is set.
• Inside the container, you can optionally configure git to use SSH instead of HTTPS for GitHub URLs:

  git config --global url."git@github.com:".insteadOf "https://github.com/"

  This ensures that any scripts using HTTPS URLs will automatically switch to SSH.

Running the Container

• Run the following script to run and enter the docker container

  cd gps_denied_navigation_docker
  ./docker_run.sh

  This will run a docker container named gpsdnav.

• Once the above script is executed successfully, you should be in the docker container terminal. The docker defualt name is gpsdnav. The username inside the docker and its password is user

Build ros2_ws

• Make sure that you setup your local SSH key with GitHub before you proceed.
• Enter the docker container, and execute the following

cd ~/shared_volume
# Execute the following step, if you have not created the ros2_ws already
mkdir -p ros2_ws/src
cd ros2_ws/src
git clone git@github.com:riotu-lab/gps_denied_navigation_sim.git
cd gps_denied_navigation_sim
./install.sh

The install.sh script clones and builds the PX4-Autopilot in the ~/shared_volume . It also clones necessary drone models inside the corresponding directories in PX4-Autopilot sub-directories.

PX4 Autopilot & ROS 2 Wrokspace

• You can find the ros2_ws and the PX4-Autopilot inside the shared volume. The path of shared volume inside the container is /home/user/shared_volume. The path of the shared volume outside the container is $HOME/gpsdnav_shared_volume.

Run Simulation

• Follow the instructions of the gps_denied_navigation_sim package to run the simulation.
• You can re-enter the docker container by executing the docker_run.sh.