forked from scorpio1/PX4Docker
418 lines
15 KiB
Docker
418 lines
15 KiB
Docker
FROM ubuntu:18.04
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ENV DEBIAN_FRONTEND noninteractive
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ENV LANG C.UTF-8
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ENV LC_ALL C.UTF-8
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RUN apt-get update && apt-get install -y gnupg
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RUN apt-key adv --fetch-keys https://developer.download.nvidia.com/compute/cuda/repos/ubuntu1804/x86_64/3bf863cc.pub
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RUN apt-key adv --fetch-keys https://developer.download.nvidia.com/compute/machine-learning/repos/ubuntu1804/x86_64/7fa2af80.pub
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RUN apt-get update && apt-get -y --quiet --no-install-recommends install \
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sudo \
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nano \
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gedit \
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net-tools \
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iputils-* \
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bash-completion \
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autotools-dev \
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dh-autoreconf \
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bzip2 \
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ca-certificates \
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ccache \
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cmake \
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cppcheck \
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curl \
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dirmngr \
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doxygen \
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file \
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g++ \
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gcc \
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gdb \
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git \
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gnupg \
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gosu \
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lcov \
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libfreetype6-dev \
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libgtest-dev \
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libpng-dev \
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lsb-release \
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make \
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ninja-build \
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openjdk-8-jdk \
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openjdk-8-jre \
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openssh-client \
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pkg-config \
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python-pip \
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python-pygments \
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python-setuptools \
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python-wstool \
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python3-dev \
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python3-pip \
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python3-pygments \
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python3-setuptools \
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locate \
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rsync \
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shellcheck \
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tzdata \
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unzip \
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wget \
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xsltproc \
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zip \
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&& apt-get -y autoremove \
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&& apt-get clean autoclean \
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&& rm -rf /var/lib/apt/lists/{apt,dpkg,cache,log} /tmp/* /var/tmp/*
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# gtest
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RUN cd /usr/src/gtest \
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&& mkdir build && cd build \
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&& cmake .. && make \
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&& cp *.a /usr/lib \
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&& cd .. && rm -rf build
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RUN python -m pip install --upgrade pip \
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&& pip install setuptools pkgconfig wheel \
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&& pip install argparse argcomplete coverage jinja2 empy numpy requests serial toml pyyaml cerberus
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# Python 3 dependencies installed by pip
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RUN pip3 install argparse argcomplete coverage cerberus empy jinja2 \
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matplotlib==3.0.* numpy pkgconfig pyros-genmsg pyulog pyyaml \
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requests serial toml pyulog wheel
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# astyle v2.06
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RUN wget -q https://downloads.sourceforge.net/project/astyle/astyle/astyle%202.06/astyle_2.06_linux.tar.gz -O /tmp/astyle.tar.gz \
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&& cd /tmp && tar zxf astyle.tar.gz && cd astyle/src \
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&& make -f ../build/gcc/Makefile && cp bin/astyle /usr/local/bin \
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&& rm -rf /tmp/*
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# Gradle (Required to build Fast-RTPS-Gen)
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RUN wget -q "https://services.gradle.org/distributions/gradle-5.6.2-bin.zip" -O /tmp/gradle-5.6.2-bin.zip \
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&& mkdir /opt/gradle \
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&& cd /tmp \
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&& unzip -d /opt/gradle gradle-5.6.2-bin.zip \
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&& rm -rf /tmp/*
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ENV PATH "/opt/gradle/gradle-5.6.2/bin:$PATH"
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# Fast-RTPS
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RUN apt install libssl-dev -y
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RUN git clone --recursive https://github.com/eProsima/Fast-RTPS.git -b 1.8.x /tmp/FastRTPS-1.8.2 \
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&& cd /tmp/FastRTPS-1.8.2 \
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&& mkdir build && cd build \
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&& cmake -DTHIRDPARTY=ON -DSECURITY=ON .. \
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&& cmake --build . --target install \
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&& rm -rf /tmp/*
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# Fast-RTPS-Gen (required since Fast-RTPS-Gen got split from Fast-RTPS repo since 1.8.x)
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RUN git clone --recursive https://github.com/eProsima/Fast-RTPS-Gen.git -b v1.0.2 /tmp/Fast-RTPS-Gen \
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&& cd /tmp/Fast-RTPS-Gen \
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&& gradle assemble \
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&& cp share/fastrtps/fastrtpsgen.jar /usr/local/share/fastrtps/ \
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&& cp scripts/fastrtpsgen /usr/local/bin/ \
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&& rm -rf /tmp/*
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# create arrow with id 1000 with sudo access
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RUN useradd --shell /bin/bash -u 1000 -c "" -m arrow && usermod -a -G dialout arrow && echo "arrow:arrow" | chpasswd && adduser arrow sudo
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RUN sed -i '/force_color_prompt/s/^#//g' ~/.bashrc
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RUN sed -i '/force_color_prompt/s/^#//g' /home/arrow/.bashrc
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# setup virtual X server
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RUN mkdir /tmp/.X11-unix && \
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chmod 1777 /tmp/.X11-unix && \
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chown -R root:root /tmp/.X11-unix
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ENV DISPLAY :99
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ENV CCACHE_UMASK=000
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ENV FASTRTPSGEN_DIR="/usr/local/bin/"
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ENV PATH="/usr/lib/ccache:$PATH"
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ENV TERM=xterm
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ENV TZ=UTC
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RUN echo "source /etc/profile.d/bash_completion.sh" >> /home/arrow/.bashrc
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# SITL UDP PORTS
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EXPOSE 14556/udp
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EXPOSE 14557/udp
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#start of ros install
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ENV ROS_DISTRO melodic
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ARG TOKEN
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RUN echo "arrow" | sudo -S apt-key adv --fetch-keys https://developer.download.nvidia.com/compute/cuda/repos/ubuntu1804/x86_64/3bf863cc.pub
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RUN echo "arrow" | sudo -S apt-key adv --fetch-keys https://developer.download.nvidia.com/compute/machine-learning/repos/ubuntu1804/x86_64/7fa2af80.pub
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#RUN echo "arrow" | sudo -S apt-get install python3.8 -y
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#RUN echo "arrow" | sudo -S update-alternatives --install /usr/bin/python3 python3 /usr/bin/python3.8 1
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#RUN cd /usr/lib/python3/dist-packages/gi/ \
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# && echo "arrow" | sudo -S ln -s _gi.so _gi.cpython-38-x86_64-linux-gnu.so
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#RUN echo "arrow" | sudo -S apt remove python3-apt -y \
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# && echo "arrow" | sudo -S apt autoremove -y \
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# && echo "arrow" | sudo -S apt autoclean -y \
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# && echo "arrow" | sudo -S apt install python3-apt -y
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#RUN pip3 install --upgrade pip
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#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
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RUN pip3 install --upgrade pip
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RUN wget --quiet http://packages.osrfoundation.org/gazebo.key -O - | apt-key add - \
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&& sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -sc` main" > /etc/apt/sources.list.d/gazebo-stable.list' \
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&& apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654 \
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&& sh -c 'echo "deb http://packages.ros.org/ros/ubuntu `lsb_release -sc` main" > /etc/apt/sources.list.d/ros-latest.list' \
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&& sh -c 'echo "deb http://packages.ros.org/ros-shadow-fixed/ubuntu `lsb_release -sc` main" > /etc/apt/sources.list.d/ros-shadow.list' \
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&& curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | apt-key add - \
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&& apt-get update \
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&& apt-get -y upgrade \
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&& apt-get -y dist-upgrade \
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&& DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
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ant \
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gazebo9 \
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gstreamer1.0-plugins-bad \
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gstreamer1.0-plugins-base \
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gstreamer1.0-plugins-good \
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gstreamer1.0-plugins-ugly \
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libeigen3-dev \
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libgazebo9-dev \
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libgstreamer-plugins-base1.0-dev \
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libimage-exiftool-perl \
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libopencv-dev \
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libxml2-utils \
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pkg-config \
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protobuf-compiler \
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geographiclib-tools \
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libeigen3-dev \
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libgeographic-dev \
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libopencv-dev \
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python-catkin-tools \
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python-tk \
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python3-pip \
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ros-$ROS_DISTRO-gazebo-ros-pkgs \
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ros-$ROS_DISTRO-mavlink \
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ros-$ROS_DISTRO-mavros \
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ros-$ROS_DISTRO-mavros-extras \
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ros-$ROS_DISTRO-pcl-conversions \
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ros-$ROS_DISTRO-pcl-msgs \
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ros-$ROS_DISTRO-pcl-ros \
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ros-$ROS_DISTRO-ros-base \
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ros-$ROS_DISTRO-rostest \
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ros-$ROS_DISTRO-rosunit \
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ros-$ROS_DISTRO-xacro \
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ros-$ROS_DISTRO-tf2-ros \
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ros-$ROS_DISTRO-roslint \
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ros-$ROS_DISTRO-rviz \
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xvfb \
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python-pil \
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python-yaml \
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libgeos-dev \
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python-lxml \
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libgdal-dev \
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build-essential \
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python-dev \
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libjpeg-dev \
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zlib1g-dev \
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libfreetype6-dev \
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python-virtualenv \
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python-rosdep \
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&& geographiclib-get-geoids egm96-5 \
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&& apt-get -y autoremove \
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&& apt-get clean autoclean \
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&& rm -rf /var/lib/apt/lists/{apt,dpkg,cache,log} /tmp/* /var/tmp/* \
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# pip
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&& pip3 install setuptools wheel \
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&& pip3 install pyulog matplotlib \
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&& pip3 install catkin_pkg px4tools pymavlink \
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&& rm -rf /var/lib/apt/lists/{apt,dpkg,cache,log} /tmp/* /var/tmp/*
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#RUN python3.8 -m pip install --ignore-installed PyGObject
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RUN echo "source /opt/ros/melodic/setup.bash" >> /home/arrow/.bashrc
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#RUN pip install Shapely Pillow MapProxy uwsgi
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# ADD mapproxy.yaml /mapproxy.yaml
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# install MAVLink headers
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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
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# Some QT-Apps/Gazebo don't not show controls without this
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ENV QT_X11_NO_MITSHM 1
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# Gazebo 7 crashes on VM with OpenGL 3.3 support, so downgrade to OpenGL 2.1
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# http://answers.gazebosim.org/question/13214/virtual-machine-not-launching-gazebo/
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# https://www.mesa3d.org/vmware-guest.html
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#ENV SVGA_VGPU10 0
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# Use UTF8 encoding in java tools (needed to compile jMAVSim)
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ENV JAVA_TOOL_OPTIONS=-Dfile.encoding=UTF8
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# Install MAVSDK library
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RUN wget https://github.com/mavlink/MAVSDK/releases/download/v0.23.0/mavsdk_0.23.0_ubuntu18.04_amd64.deb \
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&& dpkg -i mavsdk_0.23.0_ubuntu18.04_amd64.deb
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RUN rosdep init && su -c "rosdep update -c /home/arrow/.ros/rosdep/sources.cache" - arrow
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RUN echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc
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USER arrow
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ENV ARROW_HOME /home/arrow
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ENV CATKIN_WS $ARROW_HOME/catkin_ws
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RUN echo "Working Folder is:$ARROW_HOME"
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RUN echo "Setting up the workspace"
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#Create & build catkin_ws
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RUN mkdir -p $ARROW_HOME/catkin_ws/src \
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&& echo "arrow" | sudo -S chown -R arrow:arrow $ARROW_HOME/catkin_ws \
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&& cd ~/catkin_ws \
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&& catkin init \
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&& catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release \
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&& catkin config --merge-devel \
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&& catkin config --extend /opt/ros/$ROS_DISTRO \
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&& catkin build \
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&& cd ~/catkin_ws/src
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#start of px4 setup
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RUN echo "arrow" | sudo -S apt-get update && sudo apt-get -y --quiet --no-install-recommends install software-properties-common apt-utils
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# Insatll VS Code for easy code development
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RUN echo "arrow" | sudo -S apt-get update && wget -q https://packages.microsoft.com/keys/microsoft.asc -O- | sudo apt-key add -
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RUN echo "arrow" | sudo -S add-apt-repository "deb [arch=amd64] https://packages.microsoft.com/repos/vscode stable main"
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RUN echo "arrow" | sudo -S apt-get update
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RUN echo "arrow" | sudo -S apt-get -y --quiet install code libgbm-dev
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# source catkin_ws inside .bashrc
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RUN sed -i '/source ~\/catkin_ws\/devel\/setup.bash/d' $HOME/.bashrc && \
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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
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#RUN cd $ARRROW_HOME && git clone
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# Install some useful ros tf packages
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RUN echo "arrow" | sudo -S apt-get install ros-melodic-tf-conversions ros-melodic-rqt-tf-tree -y
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RUN if [ ! -d "$ARROW_HOME/src" ]; then \
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mkdir -p $ARROW_HOME/src; fi
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RUN git clone https://git.spirirobotics.com/scorpio1/oscillation_ctrl.git ~/catkin_ws/src/oscillation_ctrl
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#RUN if [ ! -d "$ARROW_HOME/src/containers" ]; then \
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# cd $ARROW_HOME/src \
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# && git clone https://github.com/mzahana/containers.git \
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# && cd $ARROW_HOME/src/containers/scripts \
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# && echo "Cloning and building PX4 v1.10.1 ..." \
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# && cp ~/catkin_ws/src/oscillation_ctrl/px4_setup/px4setup.sh ~/src/containers/scripts/setup_px4.sh \
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# && bash ./setup_px4.sh; fi
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#RUN echo "arrow" | sudo -S apt-get install python3.8 -y
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#RUN echo "arrow" | sudo -S update-alternatives --install /usr/bin/python3 python3 /usr/bin/python3.8 1
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#RUN echo "arrow" | sudo -S apt remove python3-apt -y \
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# && echo "arrow" | sudo -S apt autoremove -y \
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# && echo "arrow" | sudo -S apt autoclean -y \
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# && echo "arrow" | sudo -S apt install python3-apt -y
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#RUN pip install pybind11
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#RUN pip3 install --upgrade pip
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#RUN pip3 install pybind11
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#RUN pip3 install cython
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#RUN pip3 install numpy
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RUN pip3 install --user jsonschema
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RUN cd $ARROW_HOME \
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&& git clone https://github.com/PX4/PX4-Autopilot.git --recursive \
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&& cd PX4-Autopilot \
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#&& git checkout 601c588294973caf105b79a23f7587c6b991bb05 \
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&& echo 'argcomplete \n\
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argparse>=1.2 \n\
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cerberus \n\
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coverage \n\
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empy>=3.3 \n\
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future \n\
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jinja2>=2.8 \n\
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jsonschema \n\
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kconfiglib \n\
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lxml \n\
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matplotlib>=3.0.* \n\
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numpy>=1.13 \n\
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nunavut>=1.1.0 \n\
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packaging \n\
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pandas>=0.21 \n\
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pkgconfig \n\
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psutil \n\
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pygments \n\
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wheel>=0.31.1 \n\
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pymavlink \n\
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pyros-genmsg \n\
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pyserial \n\
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pyulog>=0.5.0 \n\
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pyyaml \n\
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requests \n\
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setuptools>=39.2.0 \n\
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six>=1.12.0 \n\
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toml>=0.9' > Tools/setup/requirements.txt \
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#&& git checkout 601c588294973caf105b79a23f7587c6b991bb05 \
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&& echo "arrow" | sudo -S bash ./Tools/setup/ubuntu.sh \
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&& echo "arrow" | sudo -SH pip3 install kconfiglib \
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#&& git submodule deinit -f src/lib/events/libevents \
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#&& git submodule update --init --recursive \
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#&& git submodule sync --recursive \
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#&& git submodule update --init --recursive \
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&& DONT_RUN=1 make px4_sitl_default gazebo
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RUN echo "export PATH=\$PATH:/home/arrow/.local/bin:/home/arrow/.local/bin" >> /home/arrow/.bashrc
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RUN echo "export PATH=\$PATH:/usr/local/cuda-10.1/bin" >> /home/arrow/.bashrc
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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
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RUN echo "export CUDA_HOME=/usr/local/cuda" >> /home/arrow/.bashrc
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RUN echo "arrow" | sudo -S apt-get update
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RUN echo "arrow" | sudo -S apt-get install git
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#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
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RUN echo "arrow" | sudo -S apt install ros-melodic-tf2-geometry-msgs
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#RUN rosdep update
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#RUN cd ~/catkin_ws && catkin config --extend /opt/ros/melodic
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#RUN source ~/catkin_ws/deve/setup.bash
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RUN cd ~/catkin_ws && catkin build
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RUN bash ~/catkin_ws/src/oscillation_ctrl/px4_setup/ubuntu_sim_ros_melodic.sh
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#RUN git config --global --add safe.directory /home/arrow/Firmware
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RUN cd ~/PX4-Autopilot && DONT_RUN=1 make px4_sitl_default gazebo
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RUN cp ~/catkin_ws/src/oscillation_ctrl/px4_setup/airframe_changes ~/PX4-Autopilot/platforms/posix/cmake/sitl_target.cmake
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RUN mkdir -p ~/PX4-Autopilot/Tools/sitl_gazebo/models
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RUN mkdir -p ~/PX4-Autopilot/Tools/sitl_gazebo/worlds
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RUN cp -R ~/catkin_ws/src/oscillation_ctrl/models/* ~/PX4-Autopilot/Tools/sitl_gazebo/models
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RUN cp -R ~/catkin_ws/src/oscillation_ctrl/worlds/* ~/PX4-Autopilot/Tools/sitl_gazebo/worlds
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RUN cd ~/PX4-Autopilot && DONT_RUN=1 make px4_sitl_default gazebo
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RUN cp ~/catkin_ws/src/oscillation_ctrl/px4_setup/firmwareCmake ~/PX4-Autopilot/Tools/sitl_gazebo/
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RUN cd ~/PX4-Autopilot && DONT_RUN=1 make px4_sitl_default gazebo
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RUN mkdir -p /home/arrow/PX4-Autopilot/ROMFS/px4fmu_common/init.d-posix/airframes
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RUN cp -R ~/catkin_ws/src/oscillation_ctrl/airframes/18.04/* ~/PX4-Autopilot/ROMFS/px4fmu_common/init.d-posix
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RUN cd ~/PX4-Autopilot && DONT_RUN=1 make px4_sitl_default gazebo
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RUN bash ~/catkin_ws/src/oscillation_ctrl/px4_setup/px4setup.sh
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RUN echo "arrow" | sudo -S apt-get install -y xterm
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RUN echo "arrow" | sudo -S apt-get install -y vim
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RUN echo "arrow" | sudo -S pip install scipy
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RUN echo "arrow" | sudo -S apt-get remove modemmanager -y
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RUN echo "arrow" | sudo -S apt install gstreamer1.0-plugins-bad gstreamer1.0-libav gstreamer1.0-gl -y
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RUN echo "arrow" | sudo -S apt install libqt5gui5 -y
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RUN echo "arrow" | sudo -S apt install libfuse2 -y
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RUN cd ~ && wget https://github.com/mavlink/qgroundcontrol/releases/download/v4.2.6/QGroundControl.AppImage
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RUN echo "arrow" | sudo -S apt-get install -y libpulse-dev
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RUN echo "arrow"| sudo -S apt-get install fuse
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SHELL ["/bin/bash", "-c"]
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RUN cd ~/PX4-Autopilot\
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&& source Tools/simulation/gazebo-classic/setup_gazebo.bash $(pwd) $(pwd)/build/px4_sitl_default \
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&& export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$(pwd) \
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&& export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$(pwd)/Tools/simulation/gazebo-classic/sitl_gazebo-classic
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