From 54c80c20ce13fe74741dcf39544dfeeb472a4d81 Mon Sep 17 00:00:00 2001
From: Matas Keras <matas.keras@spirirobotics.com>
Date: Wed, 31 May 2023 13:28:52 -0400
Subject: [PATCH] created repository for px4 docker

---
 Docker_PX4/Dockerfile | 75 +++++++++++++++++++++++++++++++++++++++++++
 compose.yaml          |  6 ++++
 2 files changed, 81 insertions(+)
 create mode 100644 Docker_PX4/Dockerfile
 create mode 100644 compose.yaml

diff --git a/Docker_PX4/Dockerfile b/Docker_PX4/Dockerfile
new file mode 100644
index 0000000..604c2bd
--- /dev/null
+++ b/Docker_PX4/Dockerfile
@@ -0,0 +1,75 @@
+FROM mzahana/ros-melodic-cuda10.1:latest
+LABEL maintainer="Mohamed Abdelkader <mohamedashraf123@gmail.com>"
+USER arrow
+ENV DEBIAN_FRONTEND noninteractive
+ENV ARROW_HOME /home/arrow
+
+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 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' $ARROW_HOME/.bashrc
+
+
+# Install some useful ros tf packages
+RUN echo "arrow" | sudo -S  apt-get install ros-melodic-tf-conversions ros-melodic-rqt-tf-tree -y
+RUN if [ ! -d "$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 \
+    && cd $ARROW_HOME/src/containers/scripts \
+    && echo "Cloning and building PX4 v1.10.1 ..." \
+    && ./setup_px4.sh; fi
+
+
+RUN echo "export PATH=\$PATH:/home/arrow/.local/bin:/home/arrow/.local/bin" >> /home/arrow/.bashrc
+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 touch ~/hi
+RUN echo "hi" > ~/hi
+RUN chmod u+w ~/catkin_ws
+RUN mkdir -p ~/test_ws/src
+RUN chmod 777 ~/catkin_ws/src
+RUN echo "arrow" | sudo -S chown -R arrow ~/catkin_ws 
+RUN cd ~/test_ws/src
+
+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 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 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 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
+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
diff --git a/compose.yaml b/compose.yaml
new file mode 100644
index 0000000..83c4e4d
--- /dev/null
+++ b/compose.yaml
@@ -0,0 +1,6 @@
+services:
+   px4:
+     build: Docker_PX4
+     command: bash
+     tty: true
+     privileged: true