Removed extra code in docker

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/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/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
 
 
@@ -377,17 +288,11 @@ 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 echo "arrow" | sudo -S pip install scipy
-
-#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 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
@@ -400,16 +305,12 @@ RUN mkdir -p /home/arrow/PX4-Autopilot/ROMFS/px4fmu_common/init.d-posix/airframe
 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
+#install QGroundControl
-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 gstreamer1.0-plugins-bad gstreamer1.0-libav gstreamer1.0-gl libqt5gui5 libfuse2 libpulse-dev fuse -y
-RUN echo "arrow" | sudo -S apt install libqt5gui5 -y
-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 echo "arrow" | sudo -S apt-get install -y libpulse-dev
+#final setup
-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 \