docker base image change

.devcontainer/Dockerfile

@@ -1,4 +1,4 @@
-FROM ghcr.io/dronolab/simulation:latest
+FROM ghcr.io/dronolab/px4-ros2-humble:latest
 
 # Add vscode user with same UID and GID as your host system
 # (copied from https://code.visualstudio.com/remote/advancedcontainers/add-nonroot-user#_creating-a-nonroot-user)
@@ -26,6 +26,10 @@ RUN chown -R $USERNAME:$USERNAME ./
 # Copy to preload the ros packages
 COPY ./ /workspace/$USERNAME/
 
+# Copy gazebo models and worlds
+COPY ./models /PX4-Autopilot/Tools/gz/models
+COPY ./worlds /PX4-Autopilot/Tools/gz/worlds
+
 # Change user
 USER $USERNAME
 
@@ -34,4 +38,4 @@ RUN rosdep update
 RUN rosdep install --from-paths src --ignore-src --rosdistro humble -y
 
 # Source the ROS setup file
-RUN echo "source /opt/ros/humble/setup.bash" >> ~/.bashrc
+RUN echo "source /opt/ros/humble/setup.bash" >> ~/.bashrc

README.md

@@ -11,15 +11,15 @@ Working in a dev container will allow you to have the same environnement as the
 1. Install [Docker Desktop](https://www.docker.com/products/docker-desktop)
 2. Install [Visual Studio Code](https://code.visualstudio.com/)
 3. Install Xserver (We recommend [VcXsrv](https://sourceforge.net/projects/vcxsrv/))
-4. Install the [Remote - Containers](https://marketplace.visualstudio.com/items?itemName=ms-vscode-remote.remote-containers) extension in VSCode
+4. Install the [Dev Containers](https://marketplace.visualstudio.com/items?itemName=ms-vscode-remote.remote-containers) extension in VSCode
 5. Clone and open the repository
 6. Click on the green button in the bottom left corner of VSCode and select "Remote-Containers: Reopen in Container" or use the command palette to do it.
 7. Wait for the container to build
 8. Start Xserver with the ```-nowgl``` option (double click on the shortcut to open it if you use VcXsrv)
 
 ### Linux installation
 
-Same as the windows installation, step 3 and 8 can be skiped.
+Same as the windows installation, step 3 and 8 can be skipped.
 
 Replace the DISPLAY environment variable in the .env file
 ```bash

docker-compose.yml

@@ -8,8 +8,11 @@ services:
       - ./:/workspace/thunderhawk
       - /tmp/.X11-unix:/tmp/.X11-unix
       - /tmp/.Xauthority:/tmp/.Xauthority:rw
-    env_file:
-      - .env
+    environment:
+      - QT_X11_NO_MITSHM=1
+      - DISPLAY=$DISPLAY
+      - XAUTHORITY=$XAUTHORITY
+      - ROS_DOMAIN_ID=96
     command: sleep infinity
     network_mode: "host"
     privileged: true

thunderhawk.repos

@@ -7,4 +7,9 @@ repositories:
   ROS2_PX4_Offboard_Example:
     type: git
     url: https://github.com/ARK-Electronics/ROS2_PX4_Offboard_Example.git
-    version: master
+    version: master
+
+  ros_gz:
+    type: git
+    url: https://github.com/gazebosim/ros_gz.git
+    version: humble