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@ -9,8 +9,8 @@ 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-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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@ -65,12 +65,17 @@ RUN apt-get update && apt-get -y --quiet --no-install-recommends install \
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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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# gtest
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RUN cd /usr/src/gtest \
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&& mkdir build && cd build \
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&& cmake .. && make \
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&& cp *.a /usr/lib \
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&& cd .. && rm -rf build
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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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@ -81,6 +86,39 @@ RUN pip3 install argparse argcomplete coverage cerberus empy jinja2 \
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requests serial toml pyulog wheel
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# astyle v2.06
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RUN wget -q https://downloads.sourceforge.net/project/astyle/astyle/astyle%202.06/astyle_2.06_linux.tar.gz -O /tmp/astyle.tar.gz \
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&& cd /tmp && tar zxf astyle.tar.gz && cd astyle/src \
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&& make -f ../build/gcc/Makefile && cp bin/astyle /usr/local/bin \
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&& rm -rf /tmp/*
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# Gradle (Required to build Fast-RTPS-Gen)
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RUN wget -q "https://services.gradle.org/distributions/gradle-5.6.2-bin.zip" -O /tmp/gradle-5.6.2-bin.zip \
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&& mkdir /opt/gradle \
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&& cd /tmp \
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&& unzip -d /opt/gradle gradle-5.6.2-bin.zip \
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&& rm -rf /tmp/*
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ENV PATH "/opt/gradle/gradle-5.6.2/bin:$PATH"
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# Fast-RTPS
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RUN apt install libssl-dev -y
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RUN git clone --recursive https://github.com/eProsima/Fast-RTPS.git -b 1.8.x /tmp/FastRTPS-1.8.2 \
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&& cd /tmp/FastRTPS-1.8.2 \
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&& mkdir build && cd build \
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&& cmake -DTHIRDPARTY=ON -DSECURITY=ON .. \
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&& cmake --build . --target install \
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&& rm -rf /tmp/*
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# Fast-RTPS-Gen (required since Fast-RTPS-Gen got split from Fast-RTPS repo since 1.8.x)
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RUN git clone --recursive https://github.com/eProsima/Fast-RTPS-Gen.git -b v1.0.2 /tmp/Fast-RTPS-Gen \
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&& cd /tmp/Fast-RTPS-Gen \
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&& gradle assemble \
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&& cp share/fastrtps/fastrtpsgen.jar /usr/local/share/fastrtps/ \
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&& cp scripts/fastrtpsgen /usr/local/bin/ \
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&& rm -rf /tmp/*
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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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@ -113,6 +151,16 @@ 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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@ -177,15 +225,18 @@ RUN wget --quiet http://packages.osrfoundation.org/gazebo.key -O - | apt-key add
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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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# pip
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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 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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# ADD mapproxy.yaml /mapproxy.yaml
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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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@ -193,6 +244,11 @@ RUN git clone --depth 1 https://github.com/mavlink/c_library_v2.git /usr/local/i
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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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# Gazebo 7 crashes on VM with OpenGL 3.3 support, so downgrade to OpenGL 2.1
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# http://answers.gazebosim.org/question/13214/virtual-machine-not-launching-gazebo/
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# https://www.mesa3d.org/vmware-guest.html
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#ENV SVGA_VGPU10 0
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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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@ -227,8 +283,16 @@ RUN mkdir -p $ARROW_HOME/catkin_ws/src \
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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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# Insatll VS Code for easy code development
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RUN echo "arrow" | sudo -S apt-get update && wget -q https://packages.microsoft.com/keys/microsoft.asc -O- | sudo apt-key add -
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RUN echo "arrow" | sudo -S add-apt-repository "deb [arch=amd64] https://packages.microsoft.com/repos/vscode stable main"
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RUN echo "arrow" | sudo -S apt-get update
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RUN echo "arrow" | sudo -S apt-get -y --quiet install code libgbm-dev
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# source catkin_ws inside .bashrc
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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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#RUN cd $ARRROW_HOME && git clone
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# Install some useful ros tf packages
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RUN echo "arrow" | sudo -S apt-get install ros-melodic-tf-conversions ros-melodic-rqt-tf-tree -y
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@ -243,10 +307,30 @@ RUN git clone https://git.spirirobotics.com/scorpio1/oscillation_ctrl.git ~/cat
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#RUN if [ ! -d "$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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@ -275,8 +359,13 @@ 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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@ -288,29 +377,39 @@ 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-get install git
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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 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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#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 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/CMakeLists.txt ~/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic/CMakeLists.txt
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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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#install QGroundControl
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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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||||
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
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||||
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
|
||||
#final setup
|
||||
RUN echo "arrow" | sudo -S apt-get install -y libpulse-dev
|
||||
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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|
|
|
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|
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@ -1,252 +0,0 @@
|
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FROM ubuntu:18.04
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|
||||
SHELL ["/bin/bash","-c"]
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|
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ENV DEBIAN_FRONTEND noninteractive
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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
19
README.md
|
|
@ -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:
|
||||
- starting a new terminal window
|
||||
- check the name of the docker using docker ps
|
||||
- enter it using docker exec -it (name of docker) bash
|
||||
After you have installed git, move to whichever directory you want to host the project (for example cd ~)
|
||||
|
||||
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
14
compose.yaml
|
|
@ -1,11 +1,7 @@
|
|||
services:
|
||||
px4:
|
||||
build: Docker_PX4
|
||||
command: bash -c "source /opt/ros/melodic/setup.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"
|
||||
command: bash
|
||||
tty: true
|
||||
privileged: true
|
||||
volumes:
|
||||
|
|
@ -23,9 +19,5 @@ services:
|
|||
#- driver: nvidia
|
||||
#
|
||||
# capabilities: [gpu]
|
||||
ros:
|
||||
build: Docker_ROS
|
||||
command: bash
|
||||
tty: true
|
||||
privileged: true
|
||||
|
||||
|
||||
|
||||
|
|
|
|||
|
|
@ -1,7 +1,6 @@
|
|||
#!/bin/bash
|
||||
echo 'normal ubuntu 22.04 install, no third party'
|
||||
echo 'July 2023'
|
||||
echo 'docker password: arrow'
|
||||
echo 'June 2023'
|
||||
sudo apt -y install git
|
||||
sudo apt-get -y update
|
||||
sudo apt -y upgrade
|
||||
|
|
@ -17,5 +16,4 @@ 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
|
||||
sudo docker compose up --build
|
||||
|
|
@ -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
|
||||
Loading…
Reference in New Issue