UBC UAS ArduPilot Software-in-the-Loop Simulator Docker Container

UASITL is a docker container that can be used to run one or more ArduPilot SITL simulators.

Connections

[SkyLink]---<tcp/mavlink>---[UASITL]

Dependencies

• Docker

Installation

The image can be directly pulled from DockerHub:

docker pull ubcuas/uasitl:latest

The image can also be built locally:

./configure.sh
docker build --tag ubcuas/uasitl:latest x86/

The image can be built using a custom Ardupilot repository:

./configure.sh
[email protected]:ubcuas/accupilot.git docker build --build-arg SSH_PRIVATE_KEY="$SSH_PRIVATE_KEY" --tag ubcuas/uasitl:accupilot x86/

Please note the bash variable $SSH_PRIVATE_KEY needs to be a valid ssh private key. If you are building on command line you can do this in one shot like so: --build-arg SSH_PRIVATE_KEY="$(cat ~/.ssh/id_rsa)". ARDUPILOT_REPO is an ssh git url to an ardupilot repository. WARNING: Building locally bakes your private SSH key into the docker image, do NOT share this image with others.

Usage

To launch a single ArduCopter SITL on host TCP port 5760:

docker run --rm -p 5760-5780:5760-5780 -it ubcuas/uasitl:latest

To start 3 ArduCopter SITLs on host TCP ports 5760, 5770 and 5780:

docker run --rm -p 5760-5780:5760-5780 --env NUMCOPTERS=3 -it uasitl

Troubleshooting

Contact Eric Mikulin