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PX4Docker
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Updated PX4 version

This commit is contained in:
Matas Keras 2023-06-21 13:33:52 -04:00
parent bf410395d3
commit b9268e8acd
2 changed files with 102 additions and 24 deletions
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Docker_PX4/Dockerfile
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@ -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/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-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 - \ 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' \ && 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 \ && pip3 install catkin_pkg px4tools pymavlink \
&& rm -rf /var/lib/apt/lists/{apt,dpkg,cache,log} /tmp/* /var/tmp/* && 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 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 # ADD mapproxy.yaml /mapproxy.yaml
# install MAVLink headers # install MAVLink headers
@ -253,7 +265,7 @@ ENV CATKIN_WS $ARROW_HOME/catkin_ws
RUN echo "Working Folder is:$ARROW_HOME" RUN echo "Working Folder is:$ARROW_HOME"
# RUN echo "Setting up the workspace" RUN echo "Setting up the workspace"
#Create & build catkin_ws #Create & build catkin_ws
RUN mkdir -p $ARROW_HOME/catkin_ws/src \ RUN mkdir -p $ARROW_HOME/catkin_ws/src \
&& echo "arrow" | sudo -S chown -R arrow:arrow $ARROW_HOME/catkin_ws \ && echo "arrow" | sudo -S chown -R arrow:arrow $ARROW_HOME/catkin_ws \
@ -290,15 +302,71 @@ RUN if [ ! -d "$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 $ARROW_HOME/src \ #RUN if [ ! -d "$ARROW_HOME/src/containers" ]; then \
&& git clone https://github.com/mzahana/containers.git \ # cd $ARROW_HOME/src \
&& cd $ARROW_HOME/src/containers/scripts \ # && git clone https://github.com/mzahana/containers.git \
&& echo "Cloning and building PX4 v1.10.1 ..." \ # && cd $ARROW_HOME/src/containers/scripts \
&& ./setup_px4.sh; fi # && 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 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 update
RUN echo "arrow" | sudo -S apt-get install git 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 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 cd ~/catkin_ws && catkin build
RUN bash ~/catkin_ws/src/oscillation_ctrl/px4_setup/ubuntu_sim_ros_melodic.sh RUN bash ~/catkin_ws/src/oscillation_ctrl/px4_setup/ubuntu_sim_ros_melodic.sh
#RUN git config --global --add safe.directory /home/arrow/Firmware
RUN cd ~/Firmware && make clean && make distclean && DONT_RUN=1 make px4_sitl_default gazebo RUN cd ~/PX4-Autopilot && 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 ~/catkin_ws/src/oscillation_ctrl/px4_setup/airframe_changes ~/PX4-Autopilot/platforms/posix/cmake/sitl_target.cmake
RUN cp -R ~/catkin_ws/src/oscillation_ctrl/models/* ~/Firmware/Tools/sitl_gazebo/models RUN mkdir -p ~/PX4-Autopilot/Tools/sitl_gazebo/models
RUN cp -R ~/catkin_ws/src/oscillation_ctrl/worlds/* ~/Firmware/Tools/sitl_gazebo/worlds RUN mkdir -p ~/PX4-Autopilot/Tools/sitl_gazebo/worlds
RUN cd ~/Firmware && DONT_RUN=1 make px4_sitl_default gazebo RUN cp -R ~/catkin_ws/src/oscillation_ctrl/models/* ~/PX4-Autopilot/Tools/sitl_gazebo/models
RUN cp ~/catkin_ws/src/oscillation_ctrl/px4_setup/firmwareCmake ~/Firmware/Tools/sitl_gazebo/ RUN cp -R ~/catkin_ws/src/oscillation_ctrl/worlds/* ~/PX4-Autopilot/Tools/sitl_gazebo/worlds
RUN cd ~/Firmware && DONT_RUN=1 make px4_sitl_default gazebo RUN cd ~/PX4-Autopilot && DONT_RUN=1 make px4_sitl_default gazebo
RUN mkdir -p /home/arrow/Firmware/ROMFS/px4fmu_common/init.d-posix/airframes RUN cp ~/catkin_ws/src/oscillation_ctrl/px4_setup/firmwareCmake ~/PX4-Autopilot/Tools/sitl_gazebo/
RUN cp -R ~/catkin_ws/src/oscillation_ctrl/airframes/18.04/* ~/Firmware/ROMFS/px4fmu_common/init.d-posix RUN cd ~/PX4-Autopilot && DONT_RUN=1 make px4_sitl_default gazebo
RUN cd ~/Firmware && 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 xterm
RUN echo "arrow" | sudo -S apt-get install -y vim RUN echo "arrow" | sudo -S apt-get install -y vim
RUN echo "arrow" | sudo -S pip install scipy 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 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 -y libpulse-dev
RUN echo "arrow"| sudo -S apt-get install fuse 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