From 0193a4342d1796bcc419a9b00bb6303c542c8b2f Mon Sep 17 00:00:00 2001
From: Matas Keras <matas.keras@spirirobotics.com>
Date: Mon, 12 Jun 2023 11:25:34 -0400
Subject: [PATCH] fixed bugs with graphics

---
 Docker_PX4/Dockerfile | 21 ++++++++++++++++-----
 compose.yaml          | 17 +++++++++++++++++
 2 files changed, 33 insertions(+), 5 deletions(-)

diff --git a/Docker_PX4/Dockerfile b/Docker_PX4/Dockerfile
index 434e7b3..463e9f9 100644
--- a/Docker_PX4/Dockerfile
+++ b/Docker_PX4/Dockerfile
@@ -1,10 +1,16 @@
 FROM ubuntu:18.04
 
 
+
 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
 
 
 
@@ -229,7 +235,7 @@ 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
+#ENV SVGA_VGPU10 0
 
 # Use UTF8 encoding in java tools (needed to compile jMAVSim)
 ENV JAVA_TOOL_OPTIONS=-Dfile.encoding=UTF8
@@ -274,13 +280,19 @@ 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
 RUN if [ ! -d "$ARROW_HOME/src" ]; then \
     mkdir -p $ARROW_HOME/src; fi
 
+
+
+
+
+
+
 RUN if [ ! -d "$ARROW_HOME/src/containers" ]; then \
     cd $ARROW_HOME/src \
     && git clone https://github.com/mzahana/containers.git \
@@ -303,9 +315,8 @@ RUN git clone  https://git.spirirobotics.com/scorpio1/oscillation_ctrl.git ~/cat
 RUN echo "arrow" | sudo -S apt install ros-melodic-tf2-geometry-msgs 
 RUN cd ~/catkin_ws && catkin build
 RUN bash ~/catkin_ws/src/oscillation_ctrl/px4_setup/ubuntu_sim_ros_melodic.sh
-RUN echo "arrow" | sudo -S apt upgrade -y libignition-math2
-RUN cd ~/Firmware && git submodule update --init --recursive
-RUN ~/Firmware/Tools/setup/ubuntu.sh
+
+RUN cd ~/Firmware && make clean && make distclean && DONT_RUN=1 make px4_sitl_default gazebo
 RUN cp ~/catkin_ws/src/oscillation_ctrl/px4_setup/airframe_changes ~/Firmware/platforms/posix/cmake/sitl_target.cmake
 RUN cp -R ~/catkin_ws/src/oscillation_ctrl/models/* ~/Firmware/Tools/sitl_gazebo/models
 RUN cp -R ~/catkin_ws/src/oscillation_ctrl/worlds/* ~/Firmware/Tools/sitl_gazebo/worlds
diff --git a/compose.yaml b/compose.yaml
index 83c4e4d..f5b26e6 100644
--- a/compose.yaml
+++ b/compose.yaml
@@ -4,3 +4,20 @@ services:
      command: bash
      tty: true
      privileged: true
+     volumes:
+       - /tmp/.X11-unix:/tmp/.X11-unix:rw
+       
+     environment:
+       - "QT_X11_NO_MITSHM=1"
+       - DISPLAY=$DISPLAY
+     ports: 
+       - 14570:14570/udp
+         #deploy:
+       #resources:
+         #reservations:
+           #devices:
+             #- driver: nvidia
+               #
+               #               capabilities: [gpu]
+
+