Compare commits
1 Commits
| Author | SHA1 | Date |
|---|---|---|
 Alex Davies
|
a032020497 |
|
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@ -1,318 +1,12 @@
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FROM ubuntu:18.04
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# FROM ubuntu:18.04
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FROM px4io/px4-dev-ros-noetic
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RUN sudo wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg
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RUN echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
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RUN sudo apt-get update
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RUN sudo apt-get install gz-garden -y
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RUN git clone --depth 1 --branch v1.14.0-rc2 https://github.com/PX4/PX4-Autopilot.git --recursive
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WORKDIR PX4-Autopilot
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RUN make px4_sitl_default
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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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xterm \
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vim \
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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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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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# 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 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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&& 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 echo "source /opt/ros/melodic/setup.bash" >> /home/arrow/.bashrc
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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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# 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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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' $ARROW_HOME/.bashrc
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# Install some useful ros tf packages
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RUN echo "arrow" | sudo -S apt-get install ros-melodic-tf-conversions ros-melodic-rqt-tf-tree -y
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RUN if [ ! -d "$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 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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&& 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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&& echo "arrow" | sudo -S bash ./Tools/setup/ubuntu.sh \
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&& echo "arrow" | sudo -SH pip3 install kconfiglib \
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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 pip install scipy
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RUN echo "arrow" | sudo -S apt install ros-melodic-tf2-geometry-msgs
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RUN bash ~/catkin_ws/src/oscillation_ctrl/px4_setup/ubuntu_sim_ros_melodic.sh
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RUN cd ~/PX4-Autopilot && DONT_RUN=1 make px4_sitl_default gazebo
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#setup models for px4
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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/simulation/gazebo-classic/sitl_gazebo-classic/models
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RUN cp -R ~/catkin_ws/src/oscillation_ctrl/worlds/* ~/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic/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/CMakeLists.txt ~/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic/CMakeLists.txt
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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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#install QGroundControl
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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 libqt5gui5 libfuse2 libpulse-dev fuse xmlstarlet -y
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RUN cd ~ && wget https://github.com/mavlink/qgroundcontrol/releases/download/v4.2.6/QGroundControl.AppImage
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#final setup
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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:$(pwd)/Tools/simulation/gazebo-classic/sitl_gazebo-classic
|
||||
|
|
|
|||
88
compose.yaml
88
compose.yaml
|
|
@ -1,31 +1,85 @@
|
|||
services:
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||||
px4:
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||||
build: Docker_PX4
|
||||
command: bash -c "source /opt/ros/melodic/setup.bash &&
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source home/arrow/PX4-Autopilot/Tools/simulation/gazebo-classic/setup_gazebo.bash home/arrow/PX4-Autopilot/ home/arrow/PX4-Autopilot//build/px4_sitl_default &&
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||||
export ROS_PACKAGE_PATH=/home/arrow/catkin_ws/src/oscillation_ctrl:/opt/ros/melodic/share:/home/arrow/PX4-Autopilot:/home/arrow/PX4-Autopilot/Tools/sitl_gazebo:/home/arrow/PX4-Autopilot:/home/arrow/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic &&
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||||
|
||||
roslaunch px4 multi_uav_mavros_sitl_sdf.launch vehicle:=spiri"
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tty: true
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command: make px4_sitl gz_x500
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# command: ign gazebo shapes.sdf --render-engine ogre
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||||
# command: glxgears
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||||
#Make this work with non-nvidia gpus
|
||||
privileged: true
|
||||
volumes:
|
||||
- /tmp/.X11-unix:/tmp/.X11-unix:rw
|
||||
|
||||
environment:
|
||||
- "QT_X11_NO_MITSHM=1"
|
||||
# - "HEADLESS=1"
|
||||
- DISPLAY=$DISPLAY
|
||||
# - ROS_MASTER_URI=http://ros-master:11311
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||||
depends_on:
|
||||
ros-master:
|
||||
condition: service_healthy
|
||||
ports:
|
||||
- 14570:14570/udp
|
||||
#deploy:
|
||||
#resources:
|
||||
#reservations:
|
||||
#devices:
|
||||
#- driver: nvidia
|
||||
#
|
||||
# capabilities: [gpu]
|
||||
ros:
|
||||
build: Docker_ROS
|
||||
command: bash
|
||||
tty: true
|
||||
privileged: true
|
||||
deploy:
|
||||
resources:
|
||||
limits:
|
||||
# cpus: '0.01'
|
||||
memory: 1G
|
||||
reservations:
|
||||
devices:
|
||||
#Make this work with nvidia gpus
|
||||
- driver: nvidia
|
||||
count: 1
|
||||
capabilities: [gpu]
|
||||
|
||||
# PX4_simulator:
|
||||
# image: px4io/px4-dev-ros-noetic
|
||||
# command: make px4_sitl gz_x500
|
||||
# environment:
|
||||
# - "ROS_MASTER_URI=http://ros-master:11311"
|
||||
# - "DISPLAY"
|
||||
# - "QT_X11_NO_MITSHM=1" #fix some QT bugs
|
||||
# volumes:
|
||||
# #share your x11 socket and permissions to the container
|
||||
# - /tmp/.X11-unix:/tmp/.X11-unix:rw
|
||||
# depends_on:
|
||||
# ros-master:
|
||||
# condition: service_healthy
|
||||
|
||||
ros-master:
|
||||
image: ros:noetic-ros-core
|
||||
#command: roscore
|
||||
command: stdbuf -o L roscore
|
||||
environment:
|
||||
- "ROS_MASTER_URI=http://ros-master:11311"
|
||||
healthcheck:
|
||||
test: ["CMD", "/ros_entrypoint.sh", "rostopic", "list"]
|
||||
retries: 6
|
||||
restart: always
|
||||
deploy:
|
||||
resources:
|
||||
limits:
|
||||
# cpus: '0.01'
|
||||
memory: 1G
|
||||
#Madness, setting a low ulimit here fixes memory leaks
|
||||
# https://answers.ros.org/question/336963/rosout-high-memory-usage/
|
||||
ulimits:
|
||||
nofile:
|
||||
soft: 1024
|
||||
hard: 524288
|
||||
|
||||
rqt:
|
||||
image: osrf/ros:noetic-desktop-full
|
||||
depends_on:
|
||||
ros-master:
|
||||
condition: service_healthy
|
||||
environment:
|
||||
- "ROS_MASTER_URI=http://ros-master:11311"
|
||||
- "DISPLAY"
|
||||
- "QT_X11_NO_MITSHM=1" #fix some QT bugs
|
||||
#share your user to the container in order to access your x11
|
||||
user: 1000:1000 #adapt as needed!
|
||||
volumes:
|
||||
#share your x11 socket and permissions to the container
|
||||
- /tmp/.X11-unix:/tmp/.X11-unix:rw
|
||||
command: rqt
|
||||
|
|
|
|||
Loading…
Reference in New Issue