FROM ubuntu:22.04 WORKDIR /ardupilot ARG DEBIAN_FRONTEND=noninteractive ARG USER_NAME=ardupilot ARG USER_UID=1000 ARG USER_GID=1000 RUN groupadd ${USER_NAME} --gid ${USER_GID}\ && useradd -l -m ${USER_NAME} -u ${USER_UID} -g ${USER_GID} -s /bin/bash RUN apt-get update && apt-get install --no-install-recommends -y \ lsb-release \ sudo \ tzdata \ bash-completion COPY Tools/environment_install/install-prereqs-ubuntu.sh /ardupilot/Tools/environment_install/ COPY Tools/completion /ardupilot/Tools/completion/ # Create non root user for pip ENV USER=${USER_NAME} RUN echo "ardupilot ALL=(ALL) NOPASSWD:ALL" > /etc/sudoers.d/${USER_NAME} RUN chmod 0440 /etc/sudoers.d/${USER_NAME} RUN chown -R ${USER_NAME}:${USER_NAME} /${USER_NAME} USER ${USER_NAME} ENV SKIP_AP_EXT_ENV=1 SKIP_AP_GRAPHIC_ENV=1 SKIP_AP_COV_ENV=1 SKIP_AP_GIT_CHECK=1 RUN Tools/environment_install/install-prereqs-ubuntu.sh -y # add waf alias to ardupilot waf to .ardupilot_env RUN echo "alias waf=\"/${USER_NAME}/waf\"" >> ~/.ardupilot_env # Check that local/bin are in PATH for pip --user installed package RUN echo "if [ -d \"\$HOME/.local/bin\" ] ; then\nPATH=\"\$HOME/.local/bin:\$PATH\"\nfi" >> ~/.ardupilot_env # Create entrypoint as docker cannot do shell substitution correctly RUN export ARDUPILOT_ENTRYPOINT="/home/${USER_NAME}/ardupilot_entrypoint.sh" \ && echo "#!/bin/bash" > $ARDUPILOT_ENTRYPOINT \ && echo "set -e" >> $ARDUPILOT_ENTRYPOINT \ && echo "source /home/${USER_NAME}/.ardupilot_env" >> $ARDUPILOT_ENTRYPOINT \ && echo 'exec "$@"' >> $ARDUPILOT_ENTRYPOINT \ && chmod +x $ARDUPILOT_ENTRYPOINT \ && sudo mv $ARDUPILOT_ENTRYPOINT /ardupilot_entrypoint.sh # Set the buildlogs directory into /tmp as other directory aren't accessible ENV BUILDLOGS=/tmp/buildlogs # Cleanup RUN sudo apt-get clean \ && sudo rm -rf /var/lib/apt/lists/* /tmp/* /var/tmp/* ENV CCACHE_MAXSIZE=1G ENTRYPOINT ["/ardupilot_entrypoint.sh"] CMD ["bash"]