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127
Docker_PX4/Dockerfile
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@ -9,8 +9,8 @@ ENV LC_ALL C.UTF-8
RUN apt-get update && apt-get install -y gnupg 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
@ -65,12 +65,17 @@ RUN apt-get update && apt-get -y --quiet --no-install-recommends install \
wget \ wget \
xsltproc \ xsltproc \
zip \ zip \
xterm \
vim \
&& apt-get -y autoremove \ && apt-get -y autoremove \
&& apt-get clean autoclean \ && apt-get clean autoclean \
&& rm -rf /var/lib/apt/lists/{apt,dpkg,cache,log} /tmp/* /var/tmp/* && 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 \ RUN python -m pip install --upgrade pip \
&& pip install setuptools pkgconfig wheel \ && pip install setuptools pkgconfig wheel \
&& pip install argparse argcomplete coverage jinja2 empy numpy requests serial toml pyyaml cerberus && pip install argparse argcomplete coverage jinja2 empy numpy requests serial toml pyyaml cerberus
@ -81,6 +86,39 @@ RUN pip3 install argparse argcomplete coverage cerberus empy jinja2 \
requests serial toml pyulog wheel 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 # 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 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 RUN sed -i '/force_color_prompt/s/^#//g' ~/.bashrc
@ -113,6 +151,16 @@ 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/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-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 pip3 install --upgrade pip
RUN wget --quiet http://packages.osrfoundation.org/gazebo.key -O - | apt-key add - \ RUN wget --quiet http://packages.osrfoundation.org/gazebo.key -O - | apt-key add - \
@ -177,15 +225,18 @@ RUN wget --quiet http://packages.osrfoundation.org/gazebo.key -O - | apt-key add
&& apt-get -y autoremove \ && apt-get -y autoremove \
&& apt-get clean autoclean \ && apt-get clean autoclean \
&& rm -rf /var/lib/apt/lists/{apt,dpkg,cache,log} /tmp/* /var/tmp/* \ && rm -rf /var/lib/apt/lists/{apt,dpkg,cache,log} /tmp/* /var/tmp/* \
# pip
&& pip3 install setuptools wheel \ && pip3 install setuptools wheel \
&& pip3 install pyulog matplotlib \ && pip3 install pyulog matplotlib \
&& pip3 install catkin_pkg px4tools pymavlink \ && pip3 install catkin_pkg px4tools pymavlink \
&& rm -rf /var/lib/apt/lists/{apt,dpkg,cache,log} /tmp/* /var/tmp/* && 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 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 # 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 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
@ -193,6 +244,11 @@ 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 # Some QT-Apps/Gazebo don't not show controls without this
ENV QT_X11_NO_MITSHM 1 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) # Use UTF8 encoding in java tools (needed to compile jMAVSim)
ENV JAVA_TOOL_OPTIONS=-Dfile.encoding=UTF8 ENV JAVA_TOOL_OPTIONS=-Dfile.encoding=UTF8
@ -227,8 +283,16 @@ 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 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 && \ 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 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 $ARRROW_HOME && git clone
# Install some useful ros tf packages # Install some useful ros tf packages
RUN echo "arrow" | sudo -S apt-get install ros-melodic-tf-conversions ros-melodic-rqt-tf-tree -y RUN echo "arrow" | sudo -S apt-get install ros-melodic-tf-conversions ros-melodic-rqt-tf-tree -y
@ -243,10 +307,30 @@ RUN git clone https://git.spirirobotics.com/scorpio1/oscillation_ctrl.git ~/cat
#RUN if [ ! -d "$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 pip3 install --user jsonschema
RUN cd $ARROW_HOME \ RUN cd $ARROW_HOME \
&& git clone https://github.com/PX4/PX4-Autopilot.git --recursive \ && git clone https://github.com/PX4/PX4-Autopilot.git --recursive \
&& cd PX4-Autopilot \ && cd PX4-Autopilot \
#&& git checkout 601c588294973caf105b79a23f7587c6b991bb05 \
&& echo 'argcomplete \n\ && echo 'argcomplete \n\
argparse>=1.2 \n\ argparse>=1.2 \n\
cerberus \n\ cerberus \n\
@ -275,8 +359,13 @@ requests \n\
setuptools>=39.2.0 \n\ setuptools>=39.2.0 \n\
six>=1.12.0 \n\ six>=1.12.0 \n\
toml>=0.9' > Tools/setup/requirements.txt \ toml>=0.9' > Tools/setup/requirements.txt \
#&& git checkout 601c588294973caf105b79a23f7587c6b991bb05 \
&& echo "arrow" | sudo -S bash ./Tools/setup/ubuntu.sh \ && echo "arrow" | sudo -S bash ./Tools/setup/ubuntu.sh \
&& echo "arrow" | sudo -SH pip3 install kconfiglib \ && 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 && DONT_RUN=1 make px4_sitl_default gazebo
@ -288,29 +377,39 @@ 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 update
RUN echo "arrow" | sudo -S pip install scipy 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 && 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 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 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 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 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/models
RUN mkdir -p ~/PX4-Autopilot/Tools/sitl_gazebo/worlds RUN mkdir -p ~/PX4-Autopilot/Tools/sitl_gazebo/worlds
RUN cp -R ~/catkin_ws/src/oscillation_ctrl/models/* ~/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models RUN cp -R ~/catkin_ws/src/oscillation_ctrl/models/* ~/PX4-Autopilot/Tools/sitl_gazebo/models
RUN cp -R ~/catkin_ws/src/oscillation_ctrl/worlds/* ~/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic/worlds RUN cp -R ~/catkin_ws/src/oscillation_ctrl/worlds/* ~/PX4-Autopilot/Tools/sitl_gazebo/worlds
RUN cd ~/PX4-Autopilot && DONT_RUN=1 make px4_sitl_default gazebo RUN cd ~/PX4-Autopilot && DONT_RUN=1 make px4_sitl_default gazebo
RUN cp ~/catkin_ws/src/oscillation_ctrl/px4_setup/CMakeLists.txt ~/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic/CMakeLists.txt RUN cp ~/catkin_ws/src/oscillation_ctrl/px4_setup/firmwareCmake ~/PX4-Autopilot/Tools/sitl_gazebo/
RUN cd ~/PX4-Autopilot && DONT_RUN=1 make px4_sitl_default gazebo RUN cd ~/PX4-Autopilot && DONT_RUN=1 make px4_sitl_default gazebo
RUN mkdir -p /home/arrow/PX4-Autopilot/ROMFS/px4fmu_common/init.d-posix/airframes RUN mkdir -p /home/arrow/PX4-Autopilot/ROMFS/px4fmu_common/init.d-posix/airframes
RUN cp -R ~/catkin_ws/src/oscillation_ctrl/airframes/18.04/* ~/PX4-Autopilot/ROMFS/px4fmu_common/init.d-posix 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 cd ~/PX4-Autopilot && DONT_RUN=1 make px4_sitl_default gazebo
RUN bash ~/catkin_ws/src/oscillation_ctrl/px4_setup/px4setup.sh RUN bash ~/catkin_ws/src/oscillation_ctrl/px4_setup/px4setup.sh
RUN echo "arrow" | sudo -S apt-get install -y xterm
#install QGroundControl 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-get remove modemmanager -y
RUN echo "arrow" | sudo -S apt install gstreamer1.0-plugins-bad gstreamer1.0-libav gstreamer1.0-gl libqt5gui5 libfuse2 libpulse-dev fuse xmlstarlet -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
RUN cd ~ && wget https://github.com/mavlink/qgroundcontrol/releases/download/v4.2.6/QGroundControl.AppImage RUN cd ~ && wget https://github.com/mavlink/qgroundcontrol/releases/download/v4.2.6/QGroundControl.AppImage
#final setup RUN echo "arrow" | sudo -S apt-get install -y libpulse-dev
RUN echo "arrow"| sudo -S apt-get install fuse
SHELL ["/bin/bash", "-c"] SHELL ["/bin/bash", "-c"]
RUN cd ~/PX4-Autopilot\ RUN cd ~/PX4-Autopilot\
&& source Tools/simulation/gazebo-classic/setup_gazebo.bash $(pwd) $(pwd)/build/px4_sitl_default \ && source Tools/simulation/gazebo-classic/setup_gazebo.bash $(pwd) $(pwd)/build/px4_sitl_default \

252
Docker_ROS/Dockerfile
View File

@ -1,252 +0,0 @@
FROM ubuntu:18.04
SHELL ["/bin/bash","-c"]
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
RUN apt-get update && apt-get -y --quiet --no-install-recommends install \
sudo \
nano \
gedit \
net-tools \
iputils-* \
bash-completion \
autotools-dev \
dh-autoreconf \
bzip2 \
ca-certificates \
ccache \
cmake \
cppcheck \
curl \
dirmngr \
doxygen \
file \
g++ \
gcc \
gdb \
git \
gnupg \
gosu \
lcov \
libfreetype6-dev \
libgtest-dev \
libpng-dev \
lsb-release \
make \
ninja-build \
openjdk-8-jdk \
openjdk-8-jre \
openssh-client \
pkg-config \
python-pip \
python-pygments \
python-setuptools \
python-wstool \
python3-dev \
python3-pip \
python3-pygments \
python3-setuptools \
locate \
rsync \
shellcheck \
tzdata \
unzip \
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/*
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
# Python 3 dependencies installed by pip
RUN pip3 install argparse argcomplete coverage cerberus empy jinja2 \
matplotlib==3.0.* numpy pkgconfig pyros-genmsg pyulog pyyaml \
requests serial toml pyulog wheel
# 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
RUN sed -i '/force_color_prompt/s/^#//g' /home/arrow/.bashrc
# setup virtual X server
RUN mkdir /tmp/.X11-unix && \
chmod 1777 /tmp/.X11-unix && \
chown -R root:root /tmp/.X11-unix
ENV DISPLAY :99
ENV CCACHE_UMASK=000
ENV FASTRTPSGEN_DIR="/usr/local/bin/"
ENV PATH="/usr/lib/ccache:$PATH"
ENV TERM=xterm
ENV TZ=UTC
RUN echo "source /etc/profile.d/bash_completion.sh" >> /home/arrow/.bashrc
# SITL UDP PORTS
EXPOSE 14556/udp
EXPOSE 14557/udp
#start of ros install
ENV ROS_DISTRO melodic
ARG TOKEN
RUN echo "arrow" | sudo -S apt-key adv --fetch-keys https://developer.download.nvidia.com/compute/cuda/repos/ubuntu1804/x86_64/3bf863cc.pub
RUN echo "arrow" | sudo -S apt-key adv --fetch-keys https://developer.download.nvidia.com/compute/machine-learning/repos/ubuntu1804/x86_64/7fa2af80.pub
RUN pip3 install --upgrade pip
RUN wget --quiet http://packages.osrfoundation.org/gazebo.key -O - | apt-key add - \
&& sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -sc` main" > /etc/apt/sources.list.d/gazebo-stable.list' \
&& apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654 \
&& sh -c 'echo "deb http://packages.ros.org/ros/ubuntu `lsb_release -sc` main" > /etc/apt/sources.list.d/ros-latest.list' \
&& sh -c 'echo "deb http://packages.ros.org/ros-shadow-fixed/ubuntu `lsb_release -sc` main" > /etc/apt/sources.list.d/ros-shadow.list' \
&& curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | apt-key add - \
&& apt-get update \
&& apt-get -y upgrade \
&& apt-get -y dist-upgrade \
&& DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
ant \
gazebo9 \
gstreamer1.0-plugins-bad \
gstreamer1.0-plugins-base \
gstreamer1.0-plugins-good \
gstreamer1.0-plugins-ugly \
libeigen3-dev \
libgazebo9-dev \
libgstreamer-plugins-base1.0-dev \
libimage-exiftool-perl \
libopencv-dev \
libxml2-utils \
pkg-config \
protobuf-compiler \
geographiclib-tools \
libeigen3-dev \
libgeographic-dev \
libopencv-dev \
python-catkin-tools \
python-tk \
python3-pip \
ros-$ROS_DISTRO-gazebo-ros-pkgs \
ros-$ROS_DISTRO-mavlink \
ros-$ROS_DISTRO-mavros \
ros-$ROS_DISTRO-mavros-extras \
ros-$ROS_DISTRO-pcl-conversions \
ros-$ROS_DISTRO-pcl-msgs \
ros-$ROS_DISTRO-pcl-ros \
ros-$ROS_DISTRO-ros-base \
ros-$ROS_DISTRO-rostest \
ros-$ROS_DISTRO-rosunit \
ros-$ROS_DISTRO-xacro \
ros-$ROS_DISTRO-tf2-ros \
ros-$ROS_DISTRO-roslint \
ros-$ROS_DISTRO-rviz \
xvfb \
python-pil \
python-yaml \
libgeos-dev \
python-lxml \
libgdal-dev \
build-essential \
python-dev \
libjpeg-dev \
zlib1g-dev \
libfreetype6-dev \
python-virtualenv \
python-rosdep \
&& geographiclib-get-geoids egm96-5 \
&& apt-get -y autoremove \
&& apt-get clean autoclean \
&& rm -rf /var/lib/apt/lists/{apt,dpkg,cache,log} /tmp/* /var/tmp/* \
&& 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 echo "source /opt/ros/melodic/setup.bash" >> /home/arrow/.bashrc
# 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
# Some QT-Apps/Gazebo don't not show controls without this
ENV QT_X11_NO_MITSHM 1
# Use UTF8 encoding in java tools (needed to compile jMAVSim)
ENV JAVA_TOOL_OPTIONS=-Dfile.encoding=UTF8
# Install MAVSDK library
RUN wget https://github.com/mavlink/MAVSDK/releases/download/v0.23.0/mavsdk_0.23.0_ubuntu18.04_amd64.deb \
&& dpkg -i mavsdk_0.23.0_ubuntu18.04_amd64.deb
RUN rosdep init && su -c "rosdep update -c /home/arrow/.ros/rosdep/sources.cache" - arrow
RUN echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc
USER arrow
ENV ARROW_HOME /home/arrow
ENV CATKIN_WS $ARROW_HOME/catkin_ws
RUN echo "Working Folder is:$ARROW_HOME"
RUN rosdep update
RUN echo "Setting up the workspace"
#Create & build catkin_ws
RUN mkdir -p $ARROW_HOME/catkin_ws/src \
&& echo "arrow" | sudo -S chown -R arrow:arrow $ARROW_HOME/catkin_ws \
&& source /opt/ros/melodic/setup.bash \
&& cd ~/catkin_ws \
&& catkin init \
&& catkin build \
&& cd ~/catkin_ws/src
#start of px4 setup
RUN echo "arrow" | sudo -S apt-get update && echo "arrow" | sudo -S apt-get -y --quiet --no-install-recommends install software-properties-common apt-utils
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 git clone https://git.spirirobotics.com/scorpio1/oscillation_ctrl.git ~/catkin_ws/src/oscillation_ctrl
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 echo "arrow" | sudo -S apt-get update
RUN echo "arrow" | sudo -S pip install scipy
RUN echo "arrow" | sudo -S apt install ros-melodic-tf2-geometry-msgs
RUN cd ~ && source .bashrc && cd ~/catkin_ws && source ./devel/setup.bash && catkin build || true && catkin build

19
README.md
View File

@ -1,8 +1,15 @@
Go to the releases section of this repository to get the setup script, follow the instructions there to get the docker running. You do not need anything beside a fresh ubuntu install. To install the docker, first you need git installed. To do so, run sudo apt install git
Once the docker is built, enter it by: After you have installed git, move to whichever directory you want to host the project (for example cd ~)
- starting a new terminal window
- check the name of the docker using docker ps
- enter it using docker exec -it (name of docker) bash
If docker commands aren't running, try using sudo at the start of the commands. Run git clone https://git.spirirobotics.com/scorpio1/PX4Docker.git
Run cd PX4Docker
If you previously have docker installed, you should be able to launch the docker file using docker compose up --build, other you need to run the install script
To run the install script, use the commands chmod u+x px4dockersetup.sh followed by sudo ./px4dockersetup.sh
Once the docker is built, you can enter it by checking the name of the docker using docker ps, and enter it using docker exec -it (name of docker) bash
If docker commands aren't running, try using sudo

14
compose.yaml
View File

@ -1,11 +1,7 @@
services: services:
px4: px4:
build: Docker_PX4 build: Docker_PX4
command: bash -c "source /opt/ros/melodic/setup.bash && command: bash
source home/arrow/PX4-Autopilot/Tools/simulation/gazebo-classic/setup_gazebo.bash home/arrow/PX4-Autopilot/ home/arrow/PX4-Autopilot//build/px4_sitl_default &&
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 &&
roslaunch px4 multi_uav_mavros_sitl_sdf.launch vehicle:=spiri"
tty: true tty: true
privileged: true privileged: true
volumes: volumes:
@ -23,9 +19,5 @@ services:
#- driver: nvidia #- driver: nvidia
# #
# capabilities: [gpu] # capabilities: [gpu]
ros:
build: Docker_ROS
command: bash
tty: true
privileged: true

6
px4dockersetupubuntu22.sh → px4dockersetup.sh
View File

@ -1,7 +1,6 @@
#!/bin/bash #!/bin/bash
echo 'normal ubuntu 22.04 install, no third party' echo 'normal ubuntu 22.04 install, no third party'
echo 'July 2023' echo 'June 2023'
echo 'docker password: arrow'
sudo apt -y install git sudo apt -y install git
sudo apt-get -y update sudo apt-get -y update
sudo apt -y upgrade sudo apt -y upgrade
@ -17,5 +16,4 @@ sudo apt-get -y update
sudo apt -y upgrade sudo apt -y upgrade
sudo apt-get -y install docker-ce docker-ce-cli containerd.io docker-buildx-plugin docker-compose-plugin sudo apt-get -y install docker-ce docker-ce-cli containerd.io docker-buildx-plugin docker-compose-plugin
sudo apt-get -y install docker-compose sudo apt-get -y install docker-compose
git clone https://git.spirirobotics.com/scorpio1/PX4Docker sudo docker compose up --build
cd PX4Docker && sudo docker compose up --build

22
px4dockersetupubuntu18.sh
View File

@ -1,22 +0,0 @@
#!/bin/bash
echo 'normal ubuntu 18.04 install, no third party'
echo 'July 2023'
echo 'docker password: arrow'
sudo apt -y install git
sudo apt -y install gnupg2 pass gpg
sudo apt-get -y update
sudo apt -y upgrade
sudo apt-get -y install ca-certificates curl gnupg
sudo install -m 0755 -d /etc/apt/keyrings
curl -fsSL https://download.docker.com/linux/ubuntu/gpg | sudo gpg --dearmor -o /etc/apt/keyrings/docker.gpg
sudo chmod a+r /etc/apt/keyrings/docker.gpg
echo \
"deb [arch="$(dpkg --print-architecture)" signed-by=/etc/apt/keyrings/docker.gpg] https://download.docker.com/linux/ubuntu \
"$(. /etc/os-release && echo "$UBUNTU_CODENAME")" stable" | \
sudo tee /etc/apt/sources.list.d/docker.list > /dev/null
sudo apt-get -y update
sudo apt -y upgrade
sudo apt-get -y install docker-ce docker-ce-cli containerd.io docker-buildx-plugin docker-compose-plugin
sudo apt-get -y install docker-compose
git clone https://git.spirirobotics.com/scorpio1/PX4Docker
cd PX4Docker && sudo docker compose up --build