added ros container

Docker_PX4/Dockerfile

@@ -9,8 +9,8 @@ ENV LC_ALL C.UTF-8
 RUN apt-get update && apt-get install -y gnupg
 
 
-RUN apt-key adv --fetch-keys https://developer.download.nvidia.com/compute/cuda/repos/ubuntu1804/x86_64/3bf863cc.pub
-RUN apt-key adv --fetch-keys https://developer.download.nvidia.com/compute/machine-learning/repos/ubuntu1804/x86_64/7fa2af80.pub
+#RUN apt-key adv --fetch-keys https://developer.download.nvidia.com/compute/cuda/repos/ubuntu1804/x86_64/3bf863cc.pub
+#RUN apt-key adv --fetch-keys https://developer.download.nvidia.com/compute/machine-learning/repos/ubuntu1804/x86_64/7fa2af80.pub
 
 
 
@@ -65,17 +65,12 @@ RUN apt-get update && apt-get -y --quiet --no-install-recommends install \
 		wget \
 		xsltproc \
 		zip \
+                xterm \
+                vim \
 	&& apt-get -y autoremove \
 	&& apt-get clean autoclean \
 	&& rm -rf /var/lib/apt/lists/{apt,dpkg,cache,log} /tmp/* /var/tmp/*
 
-# gtest
-RUN cd /usr/src/gtest \
-	&& mkdir build && cd build \
-	&& cmake .. && make \
-	&& cp *.a /usr/lib \
-	&& cd .. && rm -rf build
-
 RUN python -m pip install --upgrade pip \
 	&& pip install setuptools pkgconfig wheel \
 	&& pip install argparse argcomplete coverage jinja2 empy numpy requests serial toml pyyaml cerberus
@@ -86,39 +81,6 @@ RUN pip3 install argparse argcomplete coverage cerberus empy jinja2 \
 		requests serial toml pyulog wheel
 
 
-# astyle v2.06
-RUN wget -q https://downloads.sourceforge.net/project/astyle/astyle/astyle%202.06/astyle_2.06_linux.tar.gz -O /tmp/astyle.tar.gz \
-	&& cd /tmp && tar zxf astyle.tar.gz && cd astyle/src \
-	&& make -f ../build/gcc/Makefile && cp bin/astyle /usr/local/bin \
-	&& rm -rf /tmp/*
-
-# Gradle (Required to build Fast-RTPS-Gen)
-RUN wget -q "https://services.gradle.org/distributions/gradle-5.6.2-bin.zip" -O /tmp/gradle-5.6.2-bin.zip \
-	&& mkdir /opt/gradle \
-	&& cd /tmp \
-	&& unzip -d /opt/gradle gradle-5.6.2-bin.zip \
-	&& rm -rf /tmp/*
-
-ENV PATH "/opt/gradle/gradle-5.6.2/bin:$PATH"
-
-# Fast-RTPS
-RUN apt install libssl-dev -y
-RUN git clone --recursive https://github.com/eProsima/Fast-RTPS.git -b 1.8.x /tmp/FastRTPS-1.8.2 \
-	&& cd /tmp/FastRTPS-1.8.2 \
-	&& mkdir build && cd build \
-	&& cmake -DTHIRDPARTY=ON -DSECURITY=ON .. \
-	&& cmake --build . --target install \
-	&& rm -rf /tmp/*
-
-# Fast-RTPS-Gen (required since Fast-RTPS-Gen got split from Fast-RTPS repo since 1.8.x)
-RUN git clone --recursive https://github.com/eProsima/Fast-RTPS-Gen.git -b v1.0.2 /tmp/Fast-RTPS-Gen \
-	&& cd /tmp/Fast-RTPS-Gen \
-	&& gradle assemble \
-	&& cp share/fastrtps/fastrtpsgen.jar /usr/local/share/fastrtps/ \
-	&& cp scripts/fastrtpsgen /usr/local/bin/ \
-	&& rm -rf /tmp/*
-
-
 # create arrow with id 1000 with sudo access
 RUN useradd --shell /bin/bash -u 1000 -c "" -m arrow && usermod -a -G dialout arrow && echo "arrow:arrow" | chpasswd && adduser arrow sudo
 RUN sed -i '/force_color_prompt/s/^#//g' ~/.bashrc
@@ -151,16 +113,6 @@ 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 - \
@@ -225,18 +177,15 @@ RUN wget --quiet http://packages.osrfoundation.org/gazebo.key -O - | apt-key add
 	&& apt-get -y autoremove \
 	&& apt-get clean autoclean \
 	&& rm -rf /var/lib/apt/lists/{apt,dpkg,cache,log} /tmp/* /var/tmp/* \
-	# pip
 	&& pip3 install setuptools wheel \
 	&& pip3 install pyulog matplotlib \
 	&& 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
-# ADD mapproxy.yaml /mapproxy.yaml
 
 # install MAVLink headers
 RUN git clone --depth 1 https://github.com/mavlink/c_library_v2.git /usr/local/include/mavlink/v2.0 && rm -rf /usr/local/include/mavlink/v2.0/.git 
@@ -244,11 +193,6 @@ RUN git clone --depth 1 https://github.com/mavlink/c_library_v2.git /usr/local/i
 # Some QT-Apps/Gazebo don't not show controls without this
 ENV QT_X11_NO_MITSHM 1
 
-# Gazebo 7 crashes on VM with OpenGL 3.3 support, so downgrade to OpenGL 2.1
-# http://answers.gazebosim.org/question/13214/virtual-machine-not-launching-gazebo/
-# https://www.mesa3d.org/vmware-guest.html
-#ENV SVGA_VGPU10 0
-
 # Use UTF8 encoding in java tools (needed to compile jMAVSim)
 ENV JAVA_TOOL_OPTIONS=-Dfile.encoding=UTF8
 
@@ -283,16 +227,8 @@ RUN mkdir -p $ARROW_HOME/catkin_ws/src \
 
 RUN echo "arrow" | sudo -S apt-get update && sudo apt-get -y --quiet --no-install-recommends install software-properties-common apt-utils
 
-# Insatll VS Code for easy code development
-RUN echo "arrow" | sudo -S apt-get update && wget -q https://packages.microsoft.com/keys/microsoft.asc -O- | sudo apt-key add -
-RUN echo "arrow" | sudo -S add-apt-repository "deb [arch=amd64] https://packages.microsoft.com/repos/vscode stable main"
-RUN echo "arrow" | sudo -S apt-get update
-RUN echo "arrow" | sudo -S apt-get -y --quiet install code libgbm-dev
-
-# source catkin_ws inside .bashrc
 RUN sed -i '/source ~\/catkin_ws\/devel\/setup.bash/d' $HOME/.bashrc && \
     sed -i 's+source /opt/ros/melodic/setup.bash+source /opt/ros/melodic/setup.bash\nsource ~/catkin_ws/devel/setup.bash+g' $ARROW_HOME/.bashrc
-#RUN cd $ARRROW_HOME && git clone 
 
 # Install some useful ros tf packages
 RUN echo "arrow" | sudo -S  apt-get install ros-melodic-tf-conversions ros-melodic-rqt-tf-tree -y
@@ -307,30 +243,10 @@ RUN git clone  https://git.spirirobotics.com/scorpio1/oscillation_ctrl.git ~/cat
 
 
 
-#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\
@@ -359,13 +275,8 @@ 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
 
 
@@ -377,39 +288,29 @@ 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 && cd $ARROW_HOME/catkin_ws/src/oscillation_ctrl/px4_setup && bash  ./px4setup.sh
+RUN echo "arrow" | sudo -S pip install scipy
 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 git config --global --add safe.directory /home/arrow/Firmware
 RUN cd ~/PX4-Autopilot && DONT_RUN=1 make px4_sitl_default gazebo
+#setup models for px4
 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 cp -R ~/catkin_ws/src/oscillation_ctrl/models/* ~/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models
+RUN cp -R ~/catkin_ws/src/oscillation_ctrl/worlds/* ~/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic/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 cp ~/catkin_ws/src/oscillation_ctrl/px4_setup/CMakeLists.txt ~/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic/CMakeLists.txt
 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
+
+#install QGroundControl
 RUN echo "arrow" | sudo -S apt-get remove modemmanager -y
-RUN echo "arrow" | sudo -S apt install gstreamer1.0-plugins-bad gstreamer1.0-libav gstreamer1.0-gl -y
-RUN echo "arrow" | sudo -S apt install libqt5gui5 -y
-RUN echo "arrow" | sudo -S apt install libfuse2 -y
+RUN echo "arrow" | sudo -S apt install gstreamer1.0-plugins-bad gstreamer1.0-libav gstreamer1.0-gl libqt5gui5 libfuse2 libpulse-dev fuse xmlstarlet -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
+#final setup
 SHELL ["/bin/bash", "-c"]
 RUN cd ~/PX4-Autopilot\
     && source Tools/simulation/gazebo-classic/setup_gazebo.bash $(pwd) $(pwd)/build/px4_sitl_default \

Docker_ROS/Dockerfile

@@ -0,0 +1,252 @@
+FROM ubuntu:18.04
+
+SHELL ["/bin/bash","-c"]
+
+ENV DEBIAN_FRONTEND noninteractive
+ENV LANG C.UTF-8
+ENV LC_ALL C.UTF-8
+
+RUN apt-get update && apt-get install -y gnupg
+
+
+#RUN apt-key adv --fetch-keys https://developer.download.nvidia.com/compute/cuda/repos/ubuntu1804/x86_64/3bf863cc.pub
+#RUN apt-key adv --fetch-keys https://developer.download.nvidia.com/compute/machine-learning/repos/ubuntu1804/x86_64/7fa2af80.pub
+
+
+
+RUN apt-get update && apt-get -y --quiet --no-install-recommends install \
+		sudo \
+		nano \
+		gedit \
+		net-tools \
+		iputils-* \
+		bash-completion \
+		autotools-dev \
+		dh-autoreconf \
+		bzip2 \
+		ca-certificates \
+		ccache \
+		cmake \
+		cppcheck \
+		curl \
+		dirmngr \
+		doxygen \
+		file \
+		g++ \
+		gcc \
+		gdb \
+		git \
+		gnupg \
+		gosu \
+		lcov \
+		libfreetype6-dev \
+		libgtest-dev \
+		libpng-dev \
+		lsb-release \
+		make \
+		ninja-build \
+		openjdk-8-jdk \
+		openjdk-8-jre \
+		openssh-client \
+		pkg-config \
+		python-pip \
+		python-pygments \
+		python-setuptools \
+		python-wstool \
+		python3-dev \
+		python3-pip \
+		python3-pygments \
+		python3-setuptools \
+		locate \
+		rsync \
+		shellcheck \
+		tzdata \
+		unzip \
+		wget \
+		xsltproc \
+		zip \
+                xterm \
+                vim \
+	&& apt-get -y autoremove \
+	&& apt-get clean autoclean \
+	&& rm -rf /var/lib/apt/lists/{apt,dpkg,cache,log} /tmp/* /var/tmp/*
+
+RUN python -m pip install --upgrade pip \
+	&& pip install setuptools pkgconfig wheel \
+	&& pip install argparse argcomplete coverage jinja2 empy numpy requests serial toml pyyaml cerberus
+
+# Python 3 dependencies installed by pip
+RUN pip3 install argparse argcomplete coverage cerberus empy jinja2 \
+		matplotlib==3.0.* numpy pkgconfig pyros-genmsg pyulog pyyaml \
+		requests serial toml pyulog wheel
+
+
+# create arrow with id 1000 with sudo access
+RUN useradd --shell /bin/bash -u 1000 -c "" -m arrow && usermod -a -G dialout arrow && echo "arrow:arrow" | chpasswd && adduser arrow sudo
+RUN sed -i '/force_color_prompt/s/^#//g' ~/.bashrc
+RUN sed -i '/force_color_prompt/s/^#//g' /home/arrow/.bashrc
+
+# setup virtual X server
+RUN mkdir /tmp/.X11-unix && \
+	chmod 1777 /tmp/.X11-unix && \
+	chown -R root:root /tmp/.X11-unix
+ENV DISPLAY :99
+
+ENV CCACHE_UMASK=000
+ENV FASTRTPSGEN_DIR="/usr/local/bin/"
+ENV PATH="/usr/lib/ccache:$PATH"
+ENV TERM=xterm
+ENV TZ=UTC
+
+RUN echo "source /etc/profile.d/bash_completion.sh" >> /home/arrow/.bashrc
+
+# SITL UDP PORTS
+EXPOSE 14556/udp
+EXPOSE 14557/udp
+
+
+#start of ros install
+ENV ROS_DISTRO melodic
+ARG TOKEN
+
+
+RUN echo "arrow" | sudo  -S apt-key adv --fetch-keys https://developer.download.nvidia.com/compute/cuda/repos/ubuntu1804/x86_64/3bf863cc.pub
+
+RUN echo "arrow" | sudo  -S  apt-key adv --fetch-keys https://developer.download.nvidia.com/compute/machine-learning/repos/ubuntu1804/x86_64/7fa2af80.pub
+RUN pip3 install --upgrade pip
+
+RUN wget --quiet http://packages.osrfoundation.org/gazebo.key -O - | apt-key add - \
+	&& sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -sc` main" > /etc/apt/sources.list.d/gazebo-stable.list' \
+	&& apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654 \
+	&& sh -c 'echo "deb http://packages.ros.org/ros/ubuntu `lsb_release -sc` main" > /etc/apt/sources.list.d/ros-latest.list' \
+	&& sh -c 'echo "deb http://packages.ros.org/ros-shadow-fixed/ubuntu `lsb_release -sc` main" > /etc/apt/sources.list.d/ros-shadow.list' \
+	&& curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | apt-key add - \
+	&& apt-get update \
+	&& apt-get -y upgrade \
+	&& apt-get -y dist-upgrade \
+	&& DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
+		ant \
+		gazebo9 \
+		gstreamer1.0-plugins-bad \
+		gstreamer1.0-plugins-base \
+		gstreamer1.0-plugins-good \
+		gstreamer1.0-plugins-ugly \
+		libeigen3-dev \
+		libgazebo9-dev \
+		libgstreamer-plugins-base1.0-dev \
+		libimage-exiftool-perl \
+		libopencv-dev \
+		libxml2-utils \
+		pkg-config \
+		protobuf-compiler \
+	  geographiclib-tools \
+		libeigen3-dev \
+		libgeographic-dev \
+		libopencv-dev \
+		python-catkin-tools \
+		python-tk \
+		python3-pip \
+		ros-$ROS_DISTRO-gazebo-ros-pkgs \
+		ros-$ROS_DISTRO-mavlink \
+		ros-$ROS_DISTRO-mavros \
+		ros-$ROS_DISTRO-mavros-extras \
+		ros-$ROS_DISTRO-pcl-conversions \
+		ros-$ROS_DISTRO-pcl-msgs \
+		ros-$ROS_DISTRO-pcl-ros \
+		ros-$ROS_DISTRO-ros-base \
+		ros-$ROS_DISTRO-rostest \
+		ros-$ROS_DISTRO-rosunit \
+		ros-$ROS_DISTRO-xacro \
+		ros-$ROS_DISTRO-tf2-ros \
+		ros-$ROS_DISTRO-roslint \
+		ros-$ROS_DISTRO-rviz \
+		xvfb \
+		python-pil \
+		python-yaml \
+		libgeos-dev \
+		python-lxml \
+		libgdal-dev \
+		build-essential \
+		python-dev \
+		libjpeg-dev \
+		zlib1g-dev \
+		libfreetype6-dev \
+		python-virtualenv \
+		python-rosdep \
+	&& geographiclib-get-geoids egm96-5 \
+	&& apt-get -y autoremove \
+	&& apt-get clean autoclean \
+	&& rm -rf /var/lib/apt/lists/{apt,dpkg,cache,log} /tmp/* /var/tmp/* \
+	&& pip3 install setuptools wheel \
+	&& pip3 install pyulog matplotlib \
+	&& pip3 install catkin_pkg px4tools pymavlink \
+	&& rm -rf /var/lib/apt/lists/{apt,dpkg,cache,log} /tmp/* /var/tmp/*
+
+
+
+RUN echo "source /opt/ros/melodic/setup.bash" >> /home/arrow/.bashrc
+
+
+# install MAVLink headers
+RUN git clone --depth 1 https://github.com/mavlink/c_library_v2.git /usr/local/include/mavlink/v2.0 && rm -rf /usr/local/include/mavlink/v2.0/.git 
+
+# Some QT-Apps/Gazebo don't not show controls without this
+ENV QT_X11_NO_MITSHM 1
+
+# Use UTF8 encoding in java tools (needed to compile jMAVSim)
+ENV JAVA_TOOL_OPTIONS=-Dfile.encoding=UTF8
+
+# Install MAVSDK library
+RUN wget https://github.com/mavlink/MAVSDK/releases/download/v0.23.0/mavsdk_0.23.0_ubuntu18.04_amd64.deb \
+    && dpkg -i mavsdk_0.23.0_ubuntu18.04_amd64.deb
+
+RUN rosdep init && su -c "rosdep update -c /home/arrow/.ros/rosdep/sources.cache" - arrow
+RUN echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc
+
+USER arrow
+ENV ARROW_HOME /home/arrow
+ENV CATKIN_WS $ARROW_HOME/catkin_ws
+
+RUN echo "Working Folder is:$ARROW_HOME"
+RUN rosdep update
+ 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 \
+    && source  /opt/ros/melodic/setup.bash \
+    && cd ~/catkin_ws \
+    && catkin init \
+    && catkin build \
+    && cd ~/catkin_ws/src
+
+
+
+#start of px4 setup
+
+RUN echo "arrow" | sudo -S apt-get update && echo "arrow" |  sudo -S apt-get -y --quiet --no-install-recommends install software-properties-common apt-utils
+
+RUN sed -i '/source ~\/catkin_ws\/devel\/setup.bash/d' $HOME/.bashrc && \
+    sed -i 's+source /opt/ros/melodic/setup.bash+source /opt/ros/melodic/setup.bash\nsource ~/catkin_ws/devel/setup.bash+g' $ARROW_HOME/.bashrc
+
+# Install some useful ros tf packages
+RUN echo "arrow" | sudo -S  apt-get install ros-melodic-tf-conversions ros-melodic-rqt-tf-tree -y
+RUN if [ ! -d "$ARROW_HOME/src" ]; then \
+    mkdir -p $ARROW_HOME/src; fi
+
+
+
+
+RUN git clone  https://git.spirirobotics.com/scorpio1/oscillation_ctrl.git ~/catkin_ws/src/oscillation_ctrl
+
+
+
+RUN echo "export PATH=\$PATH:/usr/local/cuda-10.1/bin" >> /home/arrow/.bashrc
+RUN echo "export LD_LIBRARY_PATH=\$LD_LIBRARY_PATH:/usr/local/cuda-10.1/lib64:/usr/local/cuda-10.1/targets/x86_64-linux/lib/:/usr/local/cuda/extras/CUPTI/lib64/" >> /home/arrow/.bashrc
+RUN echo "export CUDA_HOME=/usr/local/cuda" >> /home/arrow/.bashrc
+
+
+
+RUN echo "arrow" | sudo -S apt-get update
+RUN echo "arrow" | sudo -S pip install scipy
+RUN echo "arrow" | sudo -S apt install ros-melodic-tf2-geometry-msgs
+RUN cd ~ && source .bashrc && cd ~/catkin_ws && source ./devel/setup.bash && catkin build || true  && catkin build 

README.md

@@ -1,15 +1,8 @@
-To install the docker, first you need git installed. To do so, run sudo apt install git
+Go to the releases section of this repository to get the setup script, follow the instructions there to get the docker running. You do not need anything beside a fresh ubuntu install.
 
-After you have installed git, move to whichever directory you want to host the project (for example cd ~)
+Once the docker is built, enter it by:
+- starting a new terminal window 
+- check the name of the docker using docker ps
+- enter it using docker exec -it (name of docker) bash
 
-Run git clone https://git.spirirobotics.com/scorpio1/PX4Docker.git
-
-Run cd PX4Docker
-
-If you previously have docker installed, you should be able to launch the docker file using docker compose up --build, other you need to run the install script
-
-To run the install script, use the commands chmod u+x px4dockersetup.sh followed by sudo ./px4dockersetup.sh
-
-Once the docker is built, you can enter it by checking the name of the docker using docker ps, and enter it using docker exec -it (name of docker) bash
-
-If docker commands aren't running, try using sudo
+If docker commands aren't running, try using sudo at the start of the commands.

compose.yaml

@@ -1,7 +1,11 @@
 services:
    px4:
      build: Docker_PX4
-     command: bash
+     command: bash -c "source /opt/ros/melodic/setup.bash &&
+       source home/arrow/PX4-Autopilot/Tools/simulation/gazebo-classic/setup_gazebo.bash home/arrow/PX4-Autopilot/ home/arrow/PX4-Autopilot//build/px4_sitl_default &&
+       export ROS_PACKAGE_PATH=/home/arrow/catkin_ws/src/oscillation_ctrl:/opt/ros/melodic/share:/home/arrow/PX4-Autopilot:/home/arrow/PX4-Autopilot/Tools/sitl_gazebo:/home/arrow/PX4-Autopilot:/home/arrow/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic && 
+       
+       roslaunch px4 multi_uav_mavros_sitl_sdf.launch vehicle:=spiri"  
      tty: true
      privileged: true
      volumes:
@@ -19,5 +23,9 @@ services:
              #- driver: nvidia
                #
                #               capabilities: [gpu]
-
+   ros:
+      build: Docker_ROS
+      command: bash
+      tty: true
+      privileged: true
            

px4dockersetupubuntu18.sh

@@ -0,0 +1,22 @@
+#!/bin/bash
+echo 'normal ubuntu 18.04 install, no third party'
+echo 'July 2023'
+echo 'docker password: arrow'
+sudo apt -y install git
+sudo apt -y install gnupg2 pass gpg
+sudo apt-get -y update
+sudo apt -y upgrade
+sudo apt-get -y install ca-certificates curl gnupg
+sudo install -m 0755 -d /etc/apt/keyrings
+curl -fsSL https://download.docker.com/linux/ubuntu/gpg | sudo gpg --dearmor -o /etc/apt/keyrings/docker.gpg
+sudo chmod a+r /etc/apt/keyrings/docker.gpg
+echo \
+  "deb [arch="$(dpkg --print-architecture)" signed-by=/etc/apt/keyrings/docker.gpg] https://download.docker.com/linux/ubuntu \
+  "$(. /etc/os-release && echo "$UBUNTU_CODENAME")" stable" | \
+  sudo tee /etc/apt/sources.list.d/docker.list > /dev/null  
+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
+git clone https://git.spirirobotics.com/scorpio1/PX4Docker
+cd PX4Docker && sudo docker compose up --build

px4dockersetupubuntu22.sh

@@ -1,6 +1,7 @@
 #!/bin/bash
 echo 'normal ubuntu 22.04 install, no third party'
-echo 'June 2023'
+echo 'July 2023'
+echo 'docker password: arrow'
 sudo apt -y install git
 sudo apt-get -y update
 sudo apt -y upgrade
@@ -16,4 +17,5 @@ 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
+git clone https://git.spirirobotics.com/scorpio1/PX4Docker
+cd PX4Docker && sudo docker compose up --build