ArduPilot Software-in-the-Loop Simulator Docker Container

The purpose of this container is to run an ArduPilot SITL instance from within Docker. MAVProxy is included, for Gazebo support.

GitHub Packages Container Registry

This repository uses GitHub Actions for CI.

To download a pre-built image, simply:

docker pull ghcr.io/monashuas/ardupilot-sitl-docker

and to run it:

docker run -it --rm -p 5760:5760 ghcr.io/monashuas/ardupilot-sitl-docker

Quick Start

If you'd rather build the docker image yourself:

docker build --tag ardupilot github.com/MonashUAS/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-4.1.0 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-4.1.0

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

Options

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