forked from scorpio1/PX4Docker
Updated PX4 version
This commit is contained in:
parent
bf410395d3
commit
b9268e8acd
|
|
@ -151,7 +151,17 @@ ARG TOKEN
|
|||
RUN echo "arrow" | sudo -S apt-key adv --fetch-keys https://developer.download.nvidia.com/compute/cuda/repos/ubuntu1804/x86_64/3bf863cc.pub
|
||||
|
||||
RUN echo "arrow" | sudo -S apt-key adv --fetch-keys https://developer.download.nvidia.com/compute/machine-learning/repos/ubuntu1804/x86_64/7fa2af80.pub
|
||||
|
||||
#RUN echo "arrow" | sudo -S apt-get install python3.8 -y
|
||||
#RUN echo "arrow" | sudo -S update-alternatives --install /usr/bin/python3 python3 /usr/bin/python3.8 1
|
||||
#RUN cd /usr/lib/python3/dist-packages/gi/ \
|
||||
# && echo "arrow" | sudo -S ln -s _gi.so _gi.cpython-38-x86_64-linux-gnu.so
|
||||
#RUN echo "arrow" | sudo -S apt remove python3-apt -y \
|
||||
# && echo "arrow" | sudo -S apt autoremove -y \
|
||||
# && echo "arrow" | sudo -S apt autoclean -y \
|
||||
# && echo "arrow" | sudo -S apt install python3-apt -y
|
||||
#RUN pip3 install --upgrade pip
|
||||
#RUN ln -s /usr/lib/python3/dist-packages/apt_pkg.cpython-36m-x86_64-linux-gnu.so /usr/lib/python3/dist-packages/apt_pkg.so
|
||||
RUN pip3 install --upgrade pip
|
||||
|
||||
RUN wget --quiet http://packages.osrfoundation.org/gazebo.key -O - | apt-key add - \
|
||||
&& sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -sc` main" > /etc/apt/sources.list.d/gazebo-stable.list' \
|
||||
|
|
@ -221,9 +231,11 @@ RUN wget --quiet http://packages.osrfoundation.org/gazebo.key -O - | apt-key add
|
|||
&& pip3 install catkin_pkg px4tools pymavlink \
|
||||
&& rm -rf /var/lib/apt/lists/{apt,dpkg,cache,log} /tmp/* /var/tmp/*
|
||||
|
||||
#RUN python3.8 -m pip install --ignore-installed PyGObject
|
||||
|
||||
RUN echo "source /opt/ros/melodic/setup.bash" >> /home/arrow/.bashrc
|
||||
|
||||
RUN pip install Shapely Pillow MapProxy uwsgi
|
||||
#RUN pip install Shapely Pillow MapProxy uwsgi
|
||||
# ADD mapproxy.yaml /mapproxy.yaml
|
||||
|
||||
# install MAVLink headers
|
||||
|
|
@ -253,8 +265,8 @@ ENV CATKIN_WS $ARROW_HOME/catkin_ws
|
|||
|
||||
RUN echo "Working Folder is:$ARROW_HOME"
|
||||
|
||||
# RUN echo "Setting up the workspace"
|
||||
# Create & build catkin_ws
|
||||
RUN echo "Setting up the workspace"
|
||||
#Create & build catkin_ws
|
||||
RUN mkdir -p $ARROW_HOME/catkin_ws/src \
|
||||
&& echo "arrow" | sudo -S chown -R arrow:arrow $ARROW_HOME/catkin_ws \
|
||||
&& cd ~/catkin_ws \
|
||||
|
|
@ -290,15 +302,71 @@ RUN if [ ! -d "$ARROW_HOME/src" ]; then \
|
|||
|
||||
|
||||
|
||||
RUN git clone https://git.spirirobotics.com/scorpio1/oscillation_ctrl.git ~/catkin_ws/src/oscillation_ctrl
|
||||
|
||||
|
||||
|
||||
RUN if [ ! -d "$ARROW_HOME/src/containers" ]; then \
|
||||
cd $ARROW_HOME/src \
|
||||
&& git clone https://github.com/mzahana/containers.git \
|
||||
&& cd $ARROW_HOME/src/containers/scripts \
|
||||
&& echo "Cloning and building PX4 v1.10.1 ..." \
|
||||
&& ./setup_px4.sh; fi
|
||||
|
||||
#RUN if [ ! -d "$ARROW_HOME/src/containers" ]; then \
|
||||
# cd $ARROW_HOME/src \
|
||||
# && git clone https://github.com/mzahana/containers.git \
|
||||
# && cd $ARROW_HOME/src/containers/scripts \
|
||||
# && echo "Cloning and building PX4 v1.10.1 ..." \
|
||||
# && cp ~/catkin_ws/src/oscillation_ctrl/px4_setup/px4setup.sh ~/src/containers/scripts/setup_px4.sh \
|
||||
# && bash ./setup_px4.sh; fi
|
||||
|
||||
#RUN echo "arrow" | sudo -S apt-get install python3.8 -y
|
||||
#RUN echo "arrow" | sudo -S update-alternatives --install /usr/bin/python3 python3 /usr/bin/python3.8 1
|
||||
#RUN echo "arrow" | sudo -S apt remove python3-apt -y \
|
||||
# && echo "arrow" | sudo -S apt autoremove -y \
|
||||
# && echo "arrow" | sudo -S apt autoclean -y \
|
||||
# && echo "arrow" | sudo -S apt install python3-apt -y
|
||||
#RUN pip install pybind11
|
||||
#RUN pip3 install --upgrade pip
|
||||
#RUN pip3 install pybind11
|
||||
#RUN pip3 install cython
|
||||
#RUN pip3 install numpy
|
||||
RUN pip3 install --user jsonschema
|
||||
RUN cd $ARROW_HOME \
|
||||
&& git clone https://github.com/PX4/PX4-Autopilot.git --recursive \
|
||||
&& cd PX4-Autopilot \
|
||||
#&& git checkout 601c588294973caf105b79a23f7587c6b991bb05 \
|
||||
&& echo 'argcomplete \n\
|
||||
argparse>=1.2 \n\
|
||||
cerberus \n\
|
||||
coverage \n\
|
||||
empy>=3.3 \n\
|
||||
future \n\
|
||||
jinja2>=2.8 \n\
|
||||
jsonschema \n\
|
||||
kconfiglib \n\
|
||||
lxml \n\
|
||||
matplotlib>=3.0.* \n\
|
||||
numpy>=1.13 \n\
|
||||
nunavut>=1.1.0 \n\
|
||||
packaging \n\
|
||||
pandas>=0.21 \n\
|
||||
pkgconfig \n\
|
||||
psutil \n\
|
||||
pygments \n\
|
||||
wheel>=0.31.1 \n\
|
||||
pymavlink \n\
|
||||
pyros-genmsg \n\
|
||||
pyserial \n\
|
||||
pyulog>=0.5.0 \n\
|
||||
pyyaml \n\
|
||||
requests \n\
|
||||
setuptools>=39.2.0 \n\
|
||||
six>=1.12.0 \n\
|
||||
toml>=0.9' > Tools/setup/requirements.txt \
|
||||
#&& git checkout 601c588294973caf105b79a23f7587c6b991bb05 \
|
||||
&& echo "arrow" | sudo -S bash ./Tools/setup/ubuntu.sh \
|
||||
&& echo "arrow" | sudo -SH pip3 install kconfiglib \
|
||||
#&& git submodule deinit -f src/lib/events/libevents \
|
||||
#&& git submodule update --init --recursive \
|
||||
#&& git submodule sync --recursive \
|
||||
#&& git submodule update --init --recursive \
|
||||
&& DONT_RUN=1 make px4_sitl_default gazebo
|
||||
|
||||
|
||||
RUN echo "export PATH=\$PATH:/home/arrow/.local/bin:/home/arrow/.local/bin" >> /home/arrow/.bashrc
|
||||
|
|
@ -311,21 +379,27 @@ RUN echo "export CUDA_HOME=/usr/local/cuda" >> /home/arrow/.bashrc
|
|||
RUN echo "arrow" | sudo -S apt-get update
|
||||
RUN echo "arrow" | sudo -S apt-get install git
|
||||
|
||||
RUN git clone https://git.spirirobotics.com/scorpio1/oscillation_ctrl.git ~/catkin_ws/src/oscillation_ctrl
|
||||
#RUN git clone https://git.spirirobotics.com/scorpio1/oscillation_ctrl.git ~/catkin_ws/src/oscillation_ctrl && cd $ARROW_HOME/catkin_ws/src/oscillation_ctrl/px4_setup && bash ./px4setup.sh
|
||||
RUN echo "arrow" | sudo -S apt install ros-melodic-tf2-geometry-msgs
|
||||
#RUN rosdep update
|
||||
#RUN cd ~/catkin_ws && catkin config --extend /opt/ros/melodic
|
||||
#RUN source ~/catkin_ws/deve/setup.bash
|
||||
RUN cd ~/catkin_ws && catkin build
|
||||
RUN bash ~/catkin_ws/src/oscillation_ctrl/px4_setup/ubuntu_sim_ros_melodic.sh
|
||||
|
||||
RUN cd ~/Firmware && make clean && make distclean && DONT_RUN=1 make px4_sitl_default gazebo
|
||||
RUN cp ~/catkin_ws/src/oscillation_ctrl/px4_setup/airframe_changes ~/Firmware/platforms/posix/cmake/sitl_target.cmake
|
||||
RUN cp -R ~/catkin_ws/src/oscillation_ctrl/models/* ~/Firmware/Tools/sitl_gazebo/models
|
||||
RUN cp -R ~/catkin_ws/src/oscillation_ctrl/worlds/* ~/Firmware/Tools/sitl_gazebo/worlds
|
||||
RUN cd ~/Firmware && DONT_RUN=1 make px4_sitl_default gazebo
|
||||
RUN cp ~/catkin_ws/src/oscillation_ctrl/px4_setup/firmwareCmake ~/Firmware/Tools/sitl_gazebo/
|
||||
RUN cd ~/Firmware && DONT_RUN=1 make px4_sitl_default gazebo
|
||||
RUN mkdir -p /home/arrow/Firmware/ROMFS/px4fmu_common/init.d-posix/airframes
|
||||
RUN cp -R ~/catkin_ws/src/oscillation_ctrl/airframes/18.04/* ~/Firmware/ROMFS/px4fmu_common/init.d-posix
|
||||
RUN cd ~/Firmware && DONT_RUN=1 make px4_sitl_default gazebo
|
||||
#RUN git config --global --add safe.directory /home/arrow/Firmware
|
||||
RUN cd ~/PX4-Autopilot && DONT_RUN=1 make px4_sitl_default gazebo
|
||||
RUN cp ~/catkin_ws/src/oscillation_ctrl/px4_setup/airframe_changes ~/PX4-Autopilot/platforms/posix/cmake/sitl_target.cmake
|
||||
RUN mkdir -p ~/PX4-Autopilot/Tools/sitl_gazebo/models
|
||||
RUN mkdir -p ~/PX4-Autopilot/Tools/sitl_gazebo/worlds
|
||||
RUN cp -R ~/catkin_ws/src/oscillation_ctrl/models/* ~/PX4-Autopilot/Tools/sitl_gazebo/models
|
||||
RUN cp -R ~/catkin_ws/src/oscillation_ctrl/worlds/* ~/PX4-Autopilot/Tools/sitl_gazebo/worlds
|
||||
RUN cd ~/PX4-Autopilot && DONT_RUN=1 make px4_sitl_default gazebo
|
||||
RUN cp ~/catkin_ws/src/oscillation_ctrl/px4_setup/firmwareCmake ~/PX4-Autopilot/Tools/sitl_gazebo/
|
||||
RUN cd ~/PX4-Autopilot && DONT_RUN=1 make px4_sitl_default gazebo
|
||||
RUN mkdir -p /home/arrow/PX4-Autopilot/ROMFS/px4fmu_common/init.d-posix/airframes
|
||||
RUN cp -R ~/catkin_ws/src/oscillation_ctrl/airframes/18.04/* ~/PX4-Autopilot/ROMFS/px4fmu_common/init.d-posix
|
||||
RUN cd ~/PX4-Autopilot && DONT_RUN=1 make px4_sitl_default gazebo
|
||||
RUN bash ~/catkin_ws/src/oscillation_ctrl/px4_setup/px4setup.sh
|
||||
RUN echo "arrow" | sudo -S apt-get install -y xterm
|
||||
RUN echo "arrow" | sudo -S apt-get install -y vim
|
||||
RUN echo "arrow" | sudo -S pip install scipy
|
||||
|
|
@ -336,4 +410,8 @@ RUN echo "arrow" | sudo -S apt install libfuse2 -y
|
|||
RUN cd ~ && wget https://github.com/mavlink/qgroundcontrol/releases/download/v4.2.6/QGroundControl.AppImage
|
||||
RUN echo "arrow" | sudo -S apt-get install -y libpulse-dev
|
||||
RUN echo "arrow"| sudo -S apt-get install fuse
|
||||
|
||||
SHELL ["/bin/bash", "-c"]
|
||||
RUN cd ~/PX4-Autopilot\
|
||||
&& source Tools/simulation/gazebo-classic/setup_gazebo.bash $(pwd) $(pwd)/build/px4_sitl_default \
|
||||
&& export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$(pwd) \
|
||||
&& export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$(pwd)/Tools/simulation/gazebo-classic/sitl_gazebo-classic
|
||||
|
|
|
|||
|
|
@ -16,4 +16,4 @@ sudo apt-get -y update
|
|||
sudo apt -y upgrade
|
||||
sudo apt-get -y install docker-ce docker-ce-cli containerd.io docker-buildx-plugin docker-compose-plugin
|
||||
sudo apt-get -y install docker-compose
|
||||
sudo docker compose up --build
|
||||
sudo docker compose up --build
|
||||
|
|
|
|||
Loading…
Reference in New Issue