MAVLink

display.env

DISPLAY=${DISPLAY}
WAYLAND_DISPLAY=${WAYLAND_DISPLAY}
XDG_RUNTIME_DIR=${XDG_RUNTIME_DIR}
PULSE_SERVER=${PULSE_SERVER}

docker-compose.yml

services:
  sitl:
    build: sitl
    volumes:
      - /tmp/.X11-unix:/tmp/.X11-unix:rw
      - /mnt/wslg:/mnt/wslg:ro
    env_file:
      - display.env
    environment:
      - MAV_0_BROADCAST=1
      - MAV_1_BROADCAST=1
      - MAV_2_BROADCAST=1
    deploy:
      resources:
        reservations:
          devices:
            - driver: nvidia
              count: 1
              capabilities: [gpu]
  proxy:
    build: proxy
    volumes:
      - /tmp/.X11-unix:/tmp/.X11-unix:rw
      - /mnt/wslg:/mnt/wslg:ro
    env_file:
      - display.env
    environment:
      - MPLBACKEND=wxagg
  shark:
    # https://hub.docker.com/r/linuxserver/wireshark
    image: linuxserver/wireshark
    cap_add:
      - NET_ADMIN
    ports:
      - 3000:3000

foo.md

‎‎​

foo.R

library(reticulate)
docker <- import("docker")
client <- docker$DockerClient("tcp://localhost:2375")
# INFO  [mavlink] mode: Normal, data rate: 4000000 B/s on udp port 18570 remote port 14550
# INFO  [mavlink] mode: Onboard, data rate: 4000000 B/s on udp port 14580 remote port 14540
# INFO  [mavlink] mode: Onboard, data rate: 4000 B/s on udp port 14280 remote port 14030
# INFO  [mavlink] mode: Gimbal, data rate: 400000 B/s on udp port 13030 remote port 13280
#
# Usage for Server/daemon process:
#
#     px4 [-h|-d] [-s <startup_file>] [-t <test_data_directory>] [<rootfs_directory>] [-i <instance>] [-w <working_directory>]
#
#     -s <startup_file>      shell script to be used as startup (default=etc/init.d-posix/rcS)
#     <rootfs_directory>     directory where startup files and mixers are located,
#                            (if not given, CWD is used)
#     -i <instance>          px4 instance id to run multiple instances [0...N], default=0
#     -w <working_directory> directory to change to
#     -h                     help/usage information
#     -d                     daemon mode, don't start pxh shell
#
px4sitl <- \(client, port = 14650L) {
  client$containers$run(
    client$images$get(name = "royratcliffe/px4sitl"),
    remove = TRUE,
    detach = TRUE,
    environment = list(DISPLAY = ":0"),
    volumes = list("/run/desktop/mnt/host/wslg/.X11-unix" = list(bind = "/tmp/.X11-unix")),
    ports = list("14550/udp" = port))
}
container <- px4sitl(client)
container$stop()

#' Starts a MAVLink router daemon.
#'
#' Exposes the server-mode endpoints only. Does *not* expose the client-mode
#' endpoints. All endpoints bind to any interface within the container.
#'
#' Assumes the Docker image is currently available. Pull the image first.
#'
#' @param docker.client Docker client.
#' @param server.ports Server ports to expose. There should always be at least
#'   one server port, otherwise the daemon terminates immediately.
#' @param expose.offset Offsets the exposed (server) ports.
mavlink.routerd <- \(docker.client, ...,
                     client.ports = NULL,
                     server.ports = 14445L,
                     expose.offset = 0L,
                     client.ip = "172.17.0.0",
                     server.ip = "0.0.0.0",
                     remove = TRUE) {
  if (!is.null(server.ports)) names(server.ports) <- paste0(server.ports, "/udp")
  e.args <- if (!is.null(client.ports))
    sapply(paste(client.ip, client.ports, sep = ":"), c, "-e")[2:1, ]
  command <- c("mavlink-routerd", "-t", 0L, e.args,
               paste(server.ip, server.ports, sep = ":"), ...)
  message(paste(command, collapse = " "))
  docker.client$containers$run(
    docker.client$images$get(name = "royratcliffe/mavlinkrouter"),
    command = command,
    ports = as.list(server.ports + expose.offset),
    remove = remove,
    detach = TRUE)
}

mavproxy.dockerfile

FROM ubuntu:jammy

# https://ardupilot.org/mavproxy/docs/getting_started/download_and_installation.html
RUN apt update \
    && export DEBIAN_FRONTEND=noninteractive \
    && apt-get install -y --no-install-recommends python3-dev python3-opencv python3-wxgtk4.0 python3-pip python3-matplotlib python3-lxml python3-pygame \
    && pip3 install PyYAML mavproxy --user

# Usage: mavproxy.py [options]
#
# Options:
#   -h, --help            show this help message and exit
#   --master=DEVICE[,BAUD]
#                         MAVLink master port and optional baud rate
#   --force-connected     Use master even if initial connection fails
#   --out=DEVICE[,BAUD]   MAVLink output port and optional baud rate
#   --baudrate=BAUDRATE   default serial baud rate
#   --sitl=SITL           SITL output port
#   --streamrate=STREAMRATE
#                         MAVLink stream rate
#   --source-system=SOURCE_SYSTEM
#                         MAVLink source system for this GCS
#   --source-component=SOURCE_COMPONENT
#                         MAVLink source component for this GCS
#   --target-system=TARGET_SYSTEM
#                         MAVLink target master system
#   --target-component=TARGET_COMPONENT
#                         MAVLink target master component
#   --logfile=LOGFILE     MAVLink master logfile
#   -a, --append-log      Append to log files
#   --quadcopter          use quadcopter controls
#   --setup               start in setup mode
#   --nodtr               disable DTR drop on close
#   --show-errors         show MAVLink error packets
#   --speech              use text to speech
#   --aircraft=AIRCRAFT   aircraft name
#   --cmd=CMD             initial commands
#   --console             use GUI console
#   --map                 load map module
#   --load-module=LOAD_MODULE
#                         Load the specified module. Can be used multiple times,
#                         or with a comma separated list
#   --mav10               Use MAVLink protocol 1.0
#   --mav20               Use MAVLink protocol 2.0
#   --auto-protocol       Auto detect MAVLink protocol version
#   --mavversion=MAVVERSION
#                         Force MAVLink Version (1.0, 2.0). Otherwise autodetect
#                         version
#   --nowait              don't wait for HEARTBEAT on startup
#   -c, --continue        continue logs
#   --dialect=DIALECT     MAVLink dialect
#   --rtscts              enable hardware RTS/CTS flow control
#   --moddebug=MODDEBUG   module debug level
#   --mission=MISSION     mission name
#   --daemon              run in daemon mode, do not start interactive shell
#   --non-interactive     do not start interactive shell
#   --profile             run the Yappi python profiler
#   --state-basedir=STATE_BASEDIR
#                         base directory for logs and aircraft directories
#   --version             version information
#   --default-modules=DEFAULT_MODULES
#                         default module list
#   --udp-timeout=UDP_TIMEOUT
#                         Timeout for udp clients in seconds
ENV PATH="$PATH:/root/.local/bin"
CMD [ "mavproxy.py", "--daemon", "--map", "--console" ,"--load-module=graph" ]

sitl.dockerfile

FROM px4io/px4-dev-nuttx-jammy

# The simulator runs *without* upgrading Jammy. It does not display the
# graphics, however. Upgrading fixes it.
RUN apt update && apt upgrade -y

RUN git clone --recurse-submodules https://github.com/PX4/PX4-Autopilot.git
WORKDIR PX4-Autopilot
RUN make

CMD [ "make", "px4_sitl", "jmavsim" ]