Updated PX4 version
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@ -151,7 +151,17 @@ 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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@ -221,9 +231,11 @@ RUN wget --quiet http://packages.osrfoundation.org/gazebo.key -O - | apt-key add
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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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#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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@ -253,8 +265,8 @@ 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 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 $ARROW_HOME/catkin_ws \
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&& cd ~/catkin_ws \
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@ -290,15 +302,71 @@ RUN if [ ! -d "$ARROW_HOME/src" ]; then \
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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 $ARROW_HOME/src/containers/scripts \
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&& echo "Cloning and building PX4 v1.10.1 ..." \
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&& ./setup_px4.sh; fi
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#RUN if [ ! -d "$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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@ -311,21 +379,27 @@ 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
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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 cd ~/Firmware && make clean && make distclean && DONT_RUN=1 make px4_sitl_default gazebo
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RUN cp ~/catkin_ws/src/oscillation_ctrl/px4_setup/airframe_changes ~/Firmware/platforms/posix/cmake/sitl_target.cmake
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RUN cp -R ~/catkin_ws/src/oscillation_ctrl/models/* ~/Firmware/Tools/sitl_gazebo/models
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RUN cp -R ~/catkin_ws/src/oscillation_ctrl/worlds/* ~/Firmware/Tools/sitl_gazebo/worlds
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RUN cd ~/Firmware && DONT_RUN=1 make px4_sitl_default gazebo
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RUN cp ~/catkin_ws/src/oscillation_ctrl/px4_setup/firmwareCmake ~/Firmware/Tools/sitl_gazebo/
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RUN cd ~/Firmware && DONT_RUN=1 make px4_sitl_default gazebo
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RUN mkdir -p /home/arrow/Firmware/ROMFS/px4fmu_common/init.d-posix/airframes
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RUN cp -R ~/catkin_ws/src/oscillation_ctrl/airframes/18.04/* ~/Firmware/ROMFS/px4fmu_common/init.d-posix
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RUN cd ~/Firmware && DONT_RUN=1 make px4_sitl_default gazebo
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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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@ -336,4 +410,8 @@ 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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