From efc28bf0733c0e1578488f2bd1a8a94720b73fb2 Mon Sep 17 00:00:00 2001 From: Dom Raniszewski Date: Mon, 2 Aug 2021 14:08:34 +1000 Subject: [PATCH 01/22] L4T base image --- docker/Dockerfile_base-l4t | 135 +++++++++++++++++++++++++++++++++++++ 1 file changed, 135 insertions(+) create mode 100644 docker/Dockerfile_base-l4t diff --git a/docker/Dockerfile_base-l4t b/docker/Dockerfile_base-l4t new file mode 100644 index 0000000..bbb7174 --- /dev/null +++ b/docker/Dockerfile_base-l4t @@ -0,0 +1,135 @@ +# +# PX4 base development environment +# + +FROM nvcr.io/nvidia/l4t-base:r32.5.0 +LABEL maintainer="Daniel Agar " + +ENV DEBIAN_FRONTEND noninteractive +ENV LANG C.UTF-8 +ENV LC_ALL C.UTF-8 + +RUN apt-get update && apt-get -y --quiet --no-install-recommends install \ + bzip2 \ + build-essential \ + ca-certificates \ + ccache \ + cmake \ + cppcheck \ + curl \ + dirmngr \ + doxygen \ + file \ + gdb \ + git \ + gnupg \ + gosu \ + lcov \ + libfreetype6-dev \ + libgtest-dev \ + libpng-dev \ + libpcap-dev \ + libpq-dev \ + libssl-dev \ + lsb-release \ + ninja-build \ + openjdk-8-jdk \ + openjdk-8-jre \ + openssh-client \ + pkg-config \ + python3-dev \ + python3-pip \ + python3-matplotlib \ + rsync \ + shellcheck \ + tzdata \ + unzip \ + valgrind \ + wget \ + xsltproc \ + zip \ + && apt-get -y autoremove \ + && apt-get clean autoclean \ + && rm -rf /var/lib/apt/lists/{apt,dpkg,cache,log} /tmp/* /var/tmp/* + +# gtest +RUN cd /usr/src/gtest \ + && mkdir build && cd build \ + && cmake .. && make -j$(nproc) \ + && cp *.a /usr/lib \ + && cd .. && rm -rf build + +# Install Python 3 pip build dependencies first. +RUN pip3 install --upgrade setuptools + +# Python 3 dependencies installed by pip +RUN pip3 install argparse argcomplete jinja2 kconfiglib \ + nunavut>=1.1.0 packaging pkgconfig pyros-genmsg pyulog \ + requests serial six toml pyulog wheel jsonschema + +RUN pip3 install --no-cache-dir coverage +RUN pip3 install --no-cache-dir cerberus +RUN pip3 install --no-cache-dir empy +RUN pip3 install --no-cache-dir numpy +RUN pip3 install --no-cache-dir pyyaml + +RUN pip3 install matplotlib==3.0.* + +# manual ccache setup +RUN ln -s /usr/bin/ccache /usr/lib/ccache/cc \ + && ln -s /usr/bin/ccache /usr/lib/ccache/c++ + +# astyle v3.1 +RUN wget -q https://downloads.sourceforge.net/project/astyle/astyle/astyle%203.1/astyle_3.1_linux.tar.gz -O /tmp/astyle.tar.gz \ + && cd /tmp && tar zxf astyle.tar.gz && cd astyle/src \ + && make -f ../build/gcc/Makefile -j$(nproc) && 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-6.3-rc-4-bin.zip" -O /tmp/gradle-6.3-rc-4-bin.zip \ + && mkdir /opt/gradle \ + && cd /tmp \ + && unzip -d /opt/gradle gradle-6.3-rc-4-bin.zip \ + && rm -rf /tmp/* + +ENV PATH "/opt/gradle/gradle-6.3-rc-4/bin:$PATH" + +# Fast-RTPS 1.8.4 +RUN git clone --recursive https://github.com/eProsima/Fast-DDS.git -b v1.8.4 /tmp/FastRTPS-1.8.4 \ + && cd /tmp/FastRTPS-1.8.4 \ + && mkdir build && cd build \ + && cmake -DTHIRDPARTY=ON -DSECURITY=ON .. \ + && cmake --build . --target install -- -j $(nproc) \ + && rm -rf /tmp/* + +# Fast-RTPS-Gen 1.0.4 +RUN git clone --recursive https://github.com/eProsima/Fast-DDS-Gen.git -b v1.0.4 /tmp/Fast-RTPS-Gen-1.0.4 \ + && cd /tmp/Fast-RTPS-Gen-1.0.4 \ + && gradle assemble \ + && gradle install \ + && rm -rf /tmp/* + +# create user with id 1001 (jenkins docker workflow default) +RUN useradd --shell /bin/bash -u 1001 -c "" -m user && usermod -a -G dialout user + +# setup virtual X server +RUN mkdir /tmp/.X11-unix && \ + chmod 1777 /tmp/.X11-unix && \ + chown -R root:root /tmp/.X11-unix +ENV DISPLAY :99 + +ENV CCACHE_UMASK=000 +ENV FASTRTPSGEN_DIR="/usr/local/bin/" +ENV PATH="/usr/lib/ccache:$PATH" +ENV TERM=xterm +ENV TZ=UTC + +# SITL UDP PORTS +EXPOSE 14556/udp +EXPOSE 14557/udp + +# create and start as LOCAL_USER_ID +COPY scripts/entrypoint.sh /usr/local/bin/entrypoint.sh +ENTRYPOINT ["/usr/local/bin/entrypoint.sh"] + +CMD ["/bin/bash"] From bcda882b06ab3b2515f0e8c1df32e4f659bbab76 Mon Sep 17 00:00:00 2001 From: Dom Raniszewski Date: Mon, 2 Aug 2021 14:22:18 +1000 Subject: [PATCH 02/22] Make and docs --- README.md | 1 + docker/Dockerfile_base-l4t | 4 ++-- docker/Makefile | 7 +++++-- 3 files changed, 8 insertions(+), 4 deletions(-) diff --git a/README.md b/README.md index 18a8e43..e06c352 100644 --- a/README.md +++ b/README.md @@ -26,6 +26,7 @@ License: according to [LICENSE](https://github.com/PX4/Firmware/blob/master/LICE - [px4io/px4-dev-ros2-foxy](https://hub.docker.com/r/px4io/px4-dev-ros2-foxy) [![](https://images.microbadger.com/badges/image/px4io/px4-dev-ros2-foxy.svg)](http://microbadger.com/images/px4io/px4-dev-ros2-foxy) [![Docker Pulls](https://img.shields.io/docker/pulls/px4io/px4-dev-ros2-foxy.svg)](https://hub.docker.com/r/px4io/px4-dev-ros2-foxy) - [px4io/px4-dev-ros2-rolling](https://hub.docker.com/r/px4io/px4-dev-ros2-rolling) [![](https://images.microbadger.com/badges/image/px4io/px4-dev-ros2-rolling.svg)](http://microbadger.com/images/px4io/px4-dev-ros2-rolling) [![Docker Pulls](https://img.shields.io/docker/pulls/px4io/px4-dev-ros2-rolling.svg)](https://hub.docker.com/r/px4io/px4-dev-ros2-rolling) - [px4io/px4-dev-ros2-galactic](https://hub.docker.com/r/px4io/px4-dev-ros2-galactic) [![](https://images.microbadger.com/badges/image/px4io/px4-dev-ros2-galactic.svg)](http://microbadger.com/images/px4io/px4-dev-ros2-galactic) [![Docker Pulls](https://img.shields.io/docker/pulls/px4io/px4-dev-ros2-galactic.svg)](https://hub.docker.com/r/px4io/px4-dev-ros2-galactic) +- [px4io/px4-dev-l4t](https://hub.docker.com/r/px4io/px4-dev-l4t) [![](https://images.microbadger.com/badges/image/px4io/px4-dev-l4t.svg)](http://microbadger.com/images/px4io/px4-dev-l4t) [![Docker Pulls](https://img.shields.io/docker/pulls/px4io/px4-dev-l4t.svg)](https://hub.docker.com/r/px4io/px4-dev-l4t) - [px4io/px4-dev-armhf](https://hub.docker.com/r/px4io/px4-dev-armhf) [![](https://images.microbadger.com/badges/image/px4io/px4-dev-armhf.svg)](http://microbadger.com/images/px4io/px4-dev-armhf) [![Docker Pulls](https://img.shields.io/docker/pulls/px4io/px4-dev-armhf.svg)](https://hub.docker.com/r/px4io/px4-dev-armhf) - [px4io/px4-dev-aarch64](https://hub.docker.com/r/px4io/px4-dev-aarch64) [![](https://images.microbadger.com/badges/image/px4io/px4-dev-aarch64.svg)](http://microbadger.com/images/px4io/px4-dev-aarch64) [![Docker Pulls](https://img.shields.io/docker/pulls/px4io/px4-dev-aarch64.svg)](https://hub.docker.com/r/px4io/px4-dev-aarch64) - [px4io/px4-docs](https://hub.docker.com/r/px4io/px4-docs) [![](https://images.microbadger.com/badges/image/px4io/px4-docs.svg)](http://microbadger.com/images/px4io/px4-docs) [![Docker Pulls](https://img.shields.io/docker/pulls/px4io/px4-docs.svg)](https://hub.docker.com/r/px4io/px4-docs) diff --git a/docker/Dockerfile_base-l4t b/docker/Dockerfile_base-l4t index bbb7174..a41c805 100644 --- a/docker/Dockerfile_base-l4t +++ b/docker/Dockerfile_base-l4t @@ -1,9 +1,9 @@ # -# PX4 base development environment +# PX4 base development environment based on NVidia L4T distribution for Jetson boards # FROM nvcr.io/nvidia/l4t-base:r32.5.0 -LABEL maintainer="Daniel Agar " +LABEL maintainer="Dom Raniszewski" ENV DEBIAN_FRONTEND noninteractive ENV LANG C.UTF-8 diff --git a/docker/Makefile b/docker/Makefile index 41e6350..864aa9d 100644 --- a/docker/Makefile +++ b/docker/Makefile @@ -1,5 +1,5 @@ .PHONY: px4-dev-armhf, px4-dev-base-archlinux, px4-dev-base-bionic, \ - px4-dev-base-focal, px4-dev-clang, px4-dev-nuttx-bionic, \ + px4-dev-base-focal, px4-dev-base-l4t, px4-dev-clang, px4-dev-nuttx-bionic, \ px4-dev-nuttx-focal, px4-dev-nuttx-clang, px4-dev-raspi, \ px4-dev-ros-melodic, px4-dev-ros-noetic, px4-dev-ros2-dashing, \ px4-dev-ros2-eloquent, px4-dev-ros2-foxy, px4-dev-ros2-galactic, \ @@ -7,7 +7,7 @@ px4-docs all: px4-dev-armhf, px4-dev-base-archlinux, px4-dev-base-bionic, \ - px4-dev-base-focal, px4-dev-clang, px4-dev-nuttx-bionic, \ + px4-dev-base-focal, px4-dev-base-l4t, px4-dev-clang, px4-dev-nuttx-bionic, \ px4-dev-nuttx-focal, px4-dev-nuttx-clang, px4-dev-raspi, \ px4-dev-ros-melodic, px4-dev-ros-noetic, px4-dev-ros2-dashing,\ px4-dev-ros2-eloquent, px4-dev-ros2-foxy, px4-dev-ros2-galactic, \ @@ -29,6 +29,9 @@ px4-dev-base-bionic: px4-dev-base-focal: docker build -t px4io/px4-dev-base-focal . -f Dockerfile_base-focal +px4-dev-base-l4t: + docker build -t px4io/px4-dev-base-l4t . -f Dockerfile_base-l4t + px4-dev-clang: px4-dev-base-bionic docker build -t px4io/px4-dev-clang . -f Dockerfile_clang From 760bda36617d7a59a1402643fa07dd93d3d01b58 Mon Sep 17 00:00:00 2001 From: Dom Raniszewski Date: Tue, 3 Aug 2021 09:39:54 +1000 Subject: [PATCH 03/22] Added simualtion image --- docker/Dockerfile_simulation-l4t | 36 ++++++++++++++++++++++++++++++++ 1 file changed, 36 insertions(+) create mode 100644 docker/Dockerfile_simulation-l4t diff --git a/docker/Dockerfile_simulation-l4t b/docker/Dockerfile_simulation-l4t new file mode 100644 index 0000000..f17bbda --- /dev/null +++ b/docker/Dockerfile_simulation-l4t @@ -0,0 +1,36 @@ +# +# PX4 Gazebo 9 development environment in Ubuntu 18.04 Bionic +# + +FROM px4io/px4-dev-base-l4t:latest +LABEL maintainer="Dom Raniszewski" + +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-get update \ + && DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \ + ant \ + bc \ + 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 \ + protobuf-compiler \ + ignition-edifice \ + && apt-get -y autoremove \ + && apt-get clean autoclean \ + && rm -rf /var/lib/apt/lists/{apt,dpkg,cache,log} /tmp/* /var/tmp/* + +# 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 + From a6c62992d728c8a3d042778cd65f42c516a5d698 Mon Sep 17 00:00:00 2001 From: Dom Raniszewski Date: Tue, 3 Aug 2021 09:42:16 +1000 Subject: [PATCH 04/22] Added l4t simulation Make targets --- docker/Makefile | 7 +++++-- 1 file changed, 5 insertions(+), 2 deletions(-) diff --git a/docker/Makefile b/docker/Makefile index 864aa9d..77ef385 100644 --- a/docker/Makefile +++ b/docker/Makefile @@ -4,7 +4,7 @@ px4-dev-ros-melodic, px4-dev-ros-noetic, px4-dev-ros2-dashing, \ px4-dev-ros2-eloquent, px4-dev-ros2-foxy, px4-dev-ros2-galactic, \ px4-dev-ros2-rolling, px4-dev-simulation-bionic, px4-dev-simulation-focal, \ - px4-docs + px4-dev-simulation-l4t, px4-docs all: px4-dev-armhf, px4-dev-base-archlinux, px4-dev-base-bionic, \ px4-dev-base-focal, px4-dev-base-l4t, px4-dev-clang, px4-dev-nuttx-bionic, \ @@ -12,7 +12,7 @@ all: px4-dev-armhf, px4-dev-base-archlinux, px4-dev-base-bionic, \ px4-dev-ros-melodic, px4-dev-ros-noetic, px4-dev-ros2-dashing,\ px4-dev-ros2-eloquent, px4-dev-ros2-foxy, px4-dev-ros2-galactic, \ px4-dev-ros2-rolling, px4-dev-simulation-bionic, px4-dev-simulation-focal, \ - px4-docs + px4-dev-simulation-l4t, px4-docs px4-dev-armhf: docker build -t px4io/px4-dev-armhf . -f Dockerfile_armhf @@ -74,5 +74,8 @@ px4-dev-simulation-bionic: px4-dev-base-bionic px4-dev-simulation-focal: px4-dev-base-focal docker build -t px4io/px4-dev-simulation-focal . -f Dockerfile_simulation-focal +px4-dev-simulation-focal: px4-dev-base-l4t + docker build -t px4io/px4-dev-simulation-l4t . -f Dockerfile_simulation-l4t + px4-docs: docker build -t px4io/px4-dev-docs . -f Dockerfile_docs From 4c49211b971d6c6aa01fc2e1f4ebec0ea1d550a5 Mon Sep 17 00:00:00 2001 From: Dom Raniszewski Date: Tue, 3 Aug 2021 09:54:02 +1000 Subject: [PATCH 05/22] Added l4t simulation image to readme --- README.md | 1 + 1 file changed, 1 insertion(+) diff --git a/README.md b/README.md index e06c352..c10b124 100644 --- a/README.md +++ b/README.md @@ -27,6 +27,7 @@ License: according to [LICENSE](https://github.com/PX4/Firmware/blob/master/LICE - [px4io/px4-dev-ros2-rolling](https://hub.docker.com/r/px4io/px4-dev-ros2-rolling) [![](https://images.microbadger.com/badges/image/px4io/px4-dev-ros2-rolling.svg)](http://microbadger.com/images/px4io/px4-dev-ros2-rolling) [![Docker Pulls](https://img.shields.io/docker/pulls/px4io/px4-dev-ros2-rolling.svg)](https://hub.docker.com/r/px4io/px4-dev-ros2-rolling) - [px4io/px4-dev-ros2-galactic](https://hub.docker.com/r/px4io/px4-dev-ros2-galactic) [![](https://images.microbadger.com/badges/image/px4io/px4-dev-ros2-galactic.svg)](http://microbadger.com/images/px4io/px4-dev-ros2-galactic) [![Docker Pulls](https://img.shields.io/docker/pulls/px4io/px4-dev-ros2-galactic.svg)](https://hub.docker.com/r/px4io/px4-dev-ros2-galactic) - [px4io/px4-dev-l4t](https://hub.docker.com/r/px4io/px4-dev-l4t) [![](https://images.microbadger.com/badges/image/px4io/px4-dev-l4t.svg)](http://microbadger.com/images/px4io/px4-dev-l4t) [![Docker Pulls](https://img.shields.io/docker/pulls/px4io/px4-dev-l4t.svg)](https://hub.docker.com/r/px4io/px4-dev-l4t) + - [px4io/px4-dev-simulation-l4t](https://hub.docker.com/r/px4io/px4-dev-simulation-l4t) [![](https://images.microbadger.com/badges/image/px4io/px4-dev-simulation-l4t.svg)](http://microbadger.com/images/px4io/px4-dev-simulation-l4t) [![Docker Pulls](https://img.shields.io/docker/pulls/px4io/px4-dev-simulation-l4t.svg)](https://hub.docker.com/r/px4io/px4-dev-simulation-l4t) - [px4io/px4-dev-armhf](https://hub.docker.com/r/px4io/px4-dev-armhf) [![](https://images.microbadger.com/badges/image/px4io/px4-dev-armhf.svg)](http://microbadger.com/images/px4io/px4-dev-armhf) [![Docker Pulls](https://img.shields.io/docker/pulls/px4io/px4-dev-armhf.svg)](https://hub.docker.com/r/px4io/px4-dev-armhf) - [px4io/px4-dev-aarch64](https://hub.docker.com/r/px4io/px4-dev-aarch64) [![](https://images.microbadger.com/badges/image/px4io/px4-dev-aarch64.svg)](http://microbadger.com/images/px4io/px4-dev-aarch64) [![Docker Pulls](https://img.shields.io/docker/pulls/px4io/px4-dev-aarch64.svg)](https://hub.docker.com/r/px4io/px4-dev-aarch64) - [px4io/px4-docs](https://hub.docker.com/r/px4io/px4-docs) [![](https://images.microbadger.com/badges/image/px4io/px4-docs.svg)](http://microbadger.com/images/px4io/px4-docs) [![Docker Pulls](https://img.shields.io/docker/pulls/px4io/px4-docs.svg)](https://hub.docker.com/r/px4io/px4-docs) From b1004f3b04321cb0f1be61e88fb5bdc423d9cc62 Mon Sep 17 00:00:00 2001 From: Dominik Raniszewski Date: Tue, 3 Aug 2021 10:10:13 +1000 Subject: [PATCH 06/22] Fixed the base l4t image name to match the existing convention --- README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/README.md b/README.md index c10b124..1adf701 100644 --- a/README.md +++ b/README.md @@ -26,7 +26,7 @@ License: according to [LICENSE](https://github.com/PX4/Firmware/blob/master/LICE - [px4io/px4-dev-ros2-foxy](https://hub.docker.com/r/px4io/px4-dev-ros2-foxy) [![](https://images.microbadger.com/badges/image/px4io/px4-dev-ros2-foxy.svg)](http://microbadger.com/images/px4io/px4-dev-ros2-foxy) [![Docker Pulls](https://img.shields.io/docker/pulls/px4io/px4-dev-ros2-foxy.svg)](https://hub.docker.com/r/px4io/px4-dev-ros2-foxy) - [px4io/px4-dev-ros2-rolling](https://hub.docker.com/r/px4io/px4-dev-ros2-rolling) [![](https://images.microbadger.com/badges/image/px4io/px4-dev-ros2-rolling.svg)](http://microbadger.com/images/px4io/px4-dev-ros2-rolling) [![Docker Pulls](https://img.shields.io/docker/pulls/px4io/px4-dev-ros2-rolling.svg)](https://hub.docker.com/r/px4io/px4-dev-ros2-rolling) - [px4io/px4-dev-ros2-galactic](https://hub.docker.com/r/px4io/px4-dev-ros2-galactic) [![](https://images.microbadger.com/badges/image/px4io/px4-dev-ros2-galactic.svg)](http://microbadger.com/images/px4io/px4-dev-ros2-galactic) [![Docker Pulls](https://img.shields.io/docker/pulls/px4io/px4-dev-ros2-galactic.svg)](https://hub.docker.com/r/px4io/px4-dev-ros2-galactic) -- [px4io/px4-dev-l4t](https://hub.docker.com/r/px4io/px4-dev-l4t) [![](https://images.microbadger.com/badges/image/px4io/px4-dev-l4t.svg)](http://microbadger.com/images/px4io/px4-dev-l4t) [![Docker Pulls](https://img.shields.io/docker/pulls/px4io/px4-dev-l4t.svg)](https://hub.docker.com/r/px4io/px4-dev-l4t) +- [px4io/px4-dev-base-l4t](https://hub.docker.com/r/px4io/px4-dev-base-l4t) [![](https://images.microbadger.com/badges/image/px4io/px4-dev-base-l4t.svg)](http://microbadger.com/images/px4io/px4-dev-base-l4t) [![Docker Pulls](https://img.shields.io/docker/pulls/px4io/px4-dev-base-l4t.svg)](https://hub.docker.com/r/px4io/px4-dev-base-l4t) - [px4io/px4-dev-simulation-l4t](https://hub.docker.com/r/px4io/px4-dev-simulation-l4t) [![](https://images.microbadger.com/badges/image/px4io/px4-dev-simulation-l4t.svg)](http://microbadger.com/images/px4io/px4-dev-simulation-l4t) [![Docker Pulls](https://img.shields.io/docker/pulls/px4io/px4-dev-simulation-l4t.svg)](https://hub.docker.com/r/px4io/px4-dev-simulation-l4t) - [px4io/px4-dev-armhf](https://hub.docker.com/r/px4io/px4-dev-armhf) [![](https://images.microbadger.com/badges/image/px4io/px4-dev-armhf.svg)](http://microbadger.com/images/px4io/px4-dev-armhf) [![Docker Pulls](https://img.shields.io/docker/pulls/px4io/px4-dev-armhf.svg)](https://hub.docker.com/r/px4io/px4-dev-armhf) - [px4io/px4-dev-aarch64](https://hub.docker.com/r/px4io/px4-dev-aarch64) [![](https://images.microbadger.com/badges/image/px4io/px4-dev-aarch64.svg)](http://microbadger.com/images/px4io/px4-dev-aarch64) [![Docker Pulls](https://img.shields.io/docker/pulls/px4io/px4-dev-aarch64.svg)](https://hub.docker.com/r/px4io/px4-dev-aarch64) From d5bcbbebbce5ab516b181effb59c054496ad3182 Mon Sep 17 00:00:00 2001 From: Dom Raniszewski Date: Tue, 3 Aug 2021 13:00:36 +1000 Subject: [PATCH 07/22] Fixed make target name --- docker/Makefile | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/docker/Makefile b/docker/Makefile index 77ef385..a32da4c 100644 --- a/docker/Makefile +++ b/docker/Makefile @@ -74,7 +74,7 @@ px4-dev-simulation-bionic: px4-dev-base-bionic px4-dev-simulation-focal: px4-dev-base-focal docker build -t px4io/px4-dev-simulation-focal . -f Dockerfile_simulation-focal -px4-dev-simulation-focal: px4-dev-base-l4t +px4-dev-simulation-l4t: px4-dev-base-l4t docker build -t px4io/px4-dev-simulation-l4t . -f Dockerfile_simulation-l4t px4-docs: From 77cb16b5405d4ef020425e699c54e9143dc3fa56 Mon Sep 17 00:00:00 2001 From: Dom Raniszewski Date: Tue, 3 Aug 2021 14:28:39 +1000 Subject: [PATCH 08/22] Fixed image description --- docker/Dockerfile_simulation-l4t | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/docker/Dockerfile_simulation-l4t b/docker/Dockerfile_simulation-l4t index f17bbda..d41714f 100644 --- a/docker/Dockerfile_simulation-l4t +++ b/docker/Dockerfile_simulation-l4t @@ -1,5 +1,5 @@ # -# PX4 Gazebo 9 development environment in Ubuntu 18.04 Bionic +# PX4 Gazebo 9 development environment in Nvidia L4T # FROM px4io/px4-dev-base-l4t:latest From 9a74c3b19747474262666f6ebafc519eb188d1f6 Mon Sep 17 00:00:00 2001 From: Dom Raniszewski Date: Tue, 3 Aug 2021 14:31:56 +1000 Subject: [PATCH 09/22] GitHub workflows --- .github/workflows/docker_builds.yml | 45 +++++++++++++++++++++++++++++ 1 file changed, 45 insertions(+) diff --git a/.github/workflows/docker_builds.yml b/.github/workflows/docker_builds.yml index af29115..a5b3a30 100644 --- a/.github/workflows/docker_builds.yml +++ b/.github/workflows/docker_builds.yml @@ -305,6 +305,28 @@ jobs: tag_names: true workdir: docker + px4-dev-base-l4t: + name: "Ubuntu Focal L4T" + runs-on: ubuntu-latest + steps: + - uses: actions/checkout@v2 + - name: Build container + if: github.event_name == 'pull_request' + run: | + cd docker + make px4-dev-base-l4t + - name: Build & Publish container + if: github.event_name == 'push' && (contains(github.ref, '/heads/master') || contains(github.ref, '/tags/')) + uses: julianoes/Publish-Docker-Github-Action@master + with: + name: px4io/px4-dev-base-l4t + username: ${{ secrets.DOCKER_USERNAME }} + password: ${{ secrets.DOCKER_PASSWORD }} + dockerfile: Dockerfile_base-l4t + cache: false + tag_names: true + workdir: docker + px4-dev-nuttx-focal: name: "NuttX in Ubuntu Focal" runs-on: ubuntu-latest @@ -351,6 +373,29 @@ jobs: tag_names: true workdir: docker + px4-dev-simulation-l4t: + name: "Ubuntu L4T Simulation" + runs-on: ubuntu-latest + needs: px4-dev-base-l4t + steps: + - uses: actions/checkout@v2 + - name: Build container + if: github.event_name == 'pull_request' + run: | + cd docker + make px4-dev-simulation-l4t + - name: Build & Publish container + if: github.event_name == 'push' && (contains(github.ref, '/heads/master') || contains(github.ref, '/tags/')) + uses: julianoes/Publish-Docker-Github-Action@master + with: + name: px4io/px4-dev-simulation-l4t + username: ${{ secrets.DOCKER_USERNAME }} + password: ${{ secrets.DOCKER_PASSWORD }} + dockerfile: Dockerfile_simulation-l4t + cache: false + tag_names: true + workdir: docker + px4-dev-ros-noetic: name: "ROS Noetic" runs-on: ubuntu-latest From 921ff44b8d8c20db4e9e04e301fa2d47a08aa087 Mon Sep 17 00:00:00 2001 From: Dom Raniszewski Date: Tue, 3 Aug 2021 19:15:35 +1000 Subject: [PATCH 10/22] Fixed the Github action step name --- .github/workflows/docker_builds.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/docker_builds.yml b/.github/workflows/docker_builds.yml index a5b3a30..f6a2c44 100644 --- a/.github/workflows/docker_builds.yml +++ b/.github/workflows/docker_builds.yml @@ -306,7 +306,7 @@ jobs: workdir: docker px4-dev-base-l4t: - name: "Ubuntu Focal L4T" + name: "Ubuntu L4T Base" runs-on: ubuntu-latest steps: - uses: actions/checkout@v2 From 7888af9c83783265f8135cdba0bd6468d518d7fb Mon Sep 17 00:00:00 2001 From: Dom Raniszewski Date: Wed, 4 Aug 2021 17:11:48 +1000 Subject: [PATCH 11/22] Using pre-published image --- docker/Dockerfile_simulation-l4t | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/docker/Dockerfile_simulation-l4t b/docker/Dockerfile_simulation-l4t index d41714f..cdb989f 100644 --- a/docker/Dockerfile_simulation-l4t +++ b/docker/Dockerfile_simulation-l4t @@ -2,7 +2,7 @@ # PX4 Gazebo 9 development environment in Nvidia L4T # -FROM px4io/px4-dev-base-l4t:latest +FROM random82/px4-dev-base-l4t:latest LABEL maintainer="Dom Raniszewski" RUN wget --quiet http://packages.osrfoundation.org/gazebo.key -O - | apt-key add - \ From e3309caf67968ea5acf4a483c64e0f68e1e7064e Mon Sep 17 00:00:00 2001 From: Dom Raniszewski Date: Wed, 4 Aug 2021 17:14:23 +1000 Subject: [PATCH 12/22] ARM64 workflow --- .github/workflows/arm64_builds.yml | 60 ++++++++++++++++++++++++++++++ 1 file changed, 60 insertions(+) create mode 100644 .github/workflows/arm64_builds.yml diff --git a/.github/workflows/arm64_builds.yml b/.github/workflows/arm64_builds.yml new file mode 100644 index 0000000..1cdab75 --- /dev/null +++ b/.github/workflows/arm64_builds.yml @@ -0,0 +1,60 @@ +name: Build & Publish ARM64 Docker images + +on: + workflow_dispatch: + tags: + - '*' + branches: + - '*' + push: + tags: + - '*' + branches: + - master + pull_request: + branches: + - master +jobs: + px4-dev-base-l4t: + name: "Ubuntu L4T Base" + runs-on: ubuntu-latest + steps: + - uses: actions/checkout@v2 + - name: Build container + if: github.event_name == 'pull_request' + run: | + cd docker + make px4-dev-base-l4t + - name: Build & Publish container + if: github.event_name == 'push' && (contains(github.ref, '/heads/master') || contains(github.ref, '/tags/')) + uses: julianoes/Publish-Docker-Github-Action@master + with: + name: px4io/px4-dev-base-l4t + username: ${{ secrets.DOCKER_USERNAME }} + password: ${{ secrets.DOCKER_PASSWORD }} + dockerfile: Dockerfile_base-l4t + cache: false + tag_names: true + workdir: docker + px4-dev-simulation-l4t: + name: "Ubuntu L4T Simulation" + runs-on: ubuntu-latest + needs: px4-dev-base-l4t + steps: + - uses: actions/checkout@v2 + - name: Build container + if: github.event_name == 'pull_request' + run: | + cd docker + make px4-dev-simulation-l4t + - name: Build & Publish container + if: github.event_name == 'push' && (contains(github.ref, '/heads/master') || contains(github.ref, '/tags/')) + uses: julianoes/Publish-Docker-Github-Action@master + with: + name: px4io/px4-dev-simulation-l4t + username: ${{ secrets.DOCKER_USERNAME }} + password: ${{ secrets.DOCKER_PASSWORD }} + dockerfile: Dockerfile_simulation-l4t + cache: false + tag_names: true + workdir: docker \ No newline at end of file From 4349d7b2318486e66b5684ac1544839ec187b429 Mon Sep 17 00:00:00 2001 From: Dom Raniszewski Date: Wed, 18 Aug 2021 16:40:31 +1000 Subject: [PATCH 13/22] Added buildx to support ARM64 build environment --- .github/workflows/arm64_builds.yml | 35 +++++++++++++++++++++--------- 1 file changed, 25 insertions(+), 10 deletions(-) diff --git a/.github/workflows/arm64_builds.yml b/.github/workflows/arm64_builds.yml index 1cdab75..50e5dca 100644 --- a/.github/workflows/arm64_builds.yml +++ b/.github/workflows/arm64_builds.yml @@ -19,39 +19,54 @@ jobs: name: "Ubuntu L4T Base" runs-on: ubuntu-latest steps: - - uses: actions/checkout@v2 - - name: Build container - if: github.event_name == 'pull_request' + - + name: Checkout + uses: actions/checkout@v2 + - + name: Set up Docker Buildx + id: buildx + uses: docker/setup-buildx-action@v1 + - + name: Build container run: | cd docker make px4-dev-base-l4t - - name: Build & Publish container + - + name: Build & Publish container if: github.event_name == 'push' && (contains(github.ref, '/heads/master') || contains(github.ref, '/tags/')) uses: julianoes/Publish-Docker-Github-Action@master with: - name: px4io/px4-dev-base-l4t + name: random82/px4-dev-base-l4t username: ${{ secrets.DOCKER_USERNAME }} password: ${{ secrets.DOCKER_PASSWORD }} dockerfile: Dockerfile_base-l4t cache: false tag_names: true workdir: docker + px4-dev-simulation-l4t: name: "Ubuntu L4T Simulation" runs-on: ubuntu-latest needs: px4-dev-base-l4t steps: - - uses: actions/checkout@v2 - - name: Build container - if: github.event_name == 'pull_request' + - + name: Checkout + uses: actions/checkout@v2 + - + name: Set up Docker Buildx + id: buildx + uses: docker/setup-buildx-action@v1 + - + name: Build container run: | cd docker make px4-dev-simulation-l4t - - name: Build & Publish container + - + name: Build & Publish container if: github.event_name == 'push' && (contains(github.ref, '/heads/master') || contains(github.ref, '/tags/')) uses: julianoes/Publish-Docker-Github-Action@master with: - name: px4io/px4-dev-simulation-l4t + name: random82/px4-dev-simulation-l4t username: ${{ secrets.DOCKER_USERNAME }} password: ${{ secrets.DOCKER_PASSWORD }} dockerfile: Dockerfile_simulation-l4t From 02bb8b9501c98700e296f566ef5486dd11958c08 Mon Sep 17 00:00:00 2001 From: Dom Raniszewski Date: Wed, 18 Aug 2021 16:52:15 +1000 Subject: [PATCH 14/22] Explicit buildx build --- docker/Makefile | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/docker/Makefile b/docker/Makefile index a32da4c..71f682b 100644 --- a/docker/Makefile +++ b/docker/Makefile @@ -30,7 +30,7 @@ px4-dev-base-focal: docker build -t px4io/px4-dev-base-focal . -f Dockerfile_base-focal px4-dev-base-l4t: - docker build -t px4io/px4-dev-base-l4t . -f Dockerfile_base-l4t + docker buildx build --platform linux/arm64 -t px4io/px4-dev-base-l4t . -f Dockerfile_base-l4t px4-dev-clang: px4-dev-base-bionic docker build -t px4io/px4-dev-clang . -f Dockerfile_clang @@ -75,7 +75,7 @@ px4-dev-simulation-focal: px4-dev-base-focal docker build -t px4io/px4-dev-simulation-focal . -f Dockerfile_simulation-focal px4-dev-simulation-l4t: px4-dev-base-l4t - docker build -t px4io/px4-dev-simulation-l4t . -f Dockerfile_simulation-l4t + docker buildx build --platform linux/arm64 -t px4io/px4-dev-simulation-l4t . -f Dockerfile_simulation-l4t px4-docs: docker build -t px4io/px4-dev-docs . -f Dockerfile_docs From 8a94d6b100085fb3f683dc2e5fed24c01c9699ad Mon Sep 17 00:00:00 2001 From: Dom Raniszewski Date: Wed, 18 Aug 2021 19:31:33 +1000 Subject: [PATCH 15/22] Windows runner --- .github/workflows/arm64_builds.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/arm64_builds.yml b/.github/workflows/arm64_builds.yml index 50e5dca..df24809 100644 --- a/.github/workflows/arm64_builds.yml +++ b/.github/workflows/arm64_builds.yml @@ -17,7 +17,7 @@ on: jobs: px4-dev-base-l4t: name: "Ubuntu L4T Base" - runs-on: ubuntu-latest + runs-on: windows-latest steps: - name: Checkout From 96f005fc127230ff71b169fd4ffe218f81085a8d Mon Sep 17 00:00:00 2001 From: Dom Raniszewski Date: Wed, 18 Aug 2021 19:34:04 +1000 Subject: [PATCH 16/22] Revert "Windows runner" This reverts commit 8a94d6b100085fb3f683dc2e5fed24c01c9699ad. --- .github/workflows/arm64_builds.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/arm64_builds.yml b/.github/workflows/arm64_builds.yml index df24809..50e5dca 100644 --- a/.github/workflows/arm64_builds.yml +++ b/.github/workflows/arm64_builds.yml @@ -17,7 +17,7 @@ on: jobs: px4-dev-base-l4t: name: "Ubuntu L4T Base" - runs-on: windows-latest + runs-on: ubuntu-latest steps: - name: Checkout From 7af8d119f039fe66009cf728dd2f932c9d1d0d43 Mon Sep 17 00:00:00 2001 From: Dom Raniszewski Date: Wed, 18 Aug 2021 21:48:28 +1000 Subject: [PATCH 17/22] Explicit emulator --- .github/workflows/arm64_builds.yml | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/.github/workflows/arm64_builds.yml b/.github/workflows/arm64_builds.yml index 50e5dca..766b0da 100644 --- a/.github/workflows/arm64_builds.yml +++ b/.github/workflows/arm64_builds.yml @@ -26,6 +26,11 @@ jobs: name: Set up Docker Buildx id: buildx uses: docker/setup-buildx-action@v1 + - + name: Configure emulator + id: emu + run: | + docker run --privileged --rm tonistiigi/binfmt --install arm64 - name: Build container run: | From 6c266a2acc0a380ae4fbe6f8400356ef31361269 Mon Sep 17 00:00:00 2001 From: Dom Raniszewski Date: Wed, 18 Aug 2021 22:00:34 +1000 Subject: [PATCH 18/22] Loading images before push --- .github/workflows/arm64_builds.yml | 5 +++++ docker/Makefile | 4 ++-- 2 files changed, 7 insertions(+), 2 deletions(-) diff --git a/.github/workflows/arm64_builds.yml b/.github/workflows/arm64_builds.yml index 766b0da..380779b 100644 --- a/.github/workflows/arm64_builds.yml +++ b/.github/workflows/arm64_builds.yml @@ -61,6 +61,11 @@ jobs: name: Set up Docker Buildx id: buildx uses: docker/setup-buildx-action@v1 + - + name: Configure emulator + id: emu + run: | + docker run --privileged --rm tonistiigi/binfmt --install arm64 - name: Build container run: | diff --git a/docker/Makefile b/docker/Makefile index 71f682b..7a08bc8 100644 --- a/docker/Makefile +++ b/docker/Makefile @@ -30,7 +30,7 @@ px4-dev-base-focal: docker build -t px4io/px4-dev-base-focal . -f Dockerfile_base-focal px4-dev-base-l4t: - docker buildx build --platform linux/arm64 -t px4io/px4-dev-base-l4t . -f Dockerfile_base-l4t + docker buildx build --platform linux/arm64 -t px4io/px4-dev-base-l4t . -f Dockerfile_base-l4t --load px4-dev-clang: px4-dev-base-bionic docker build -t px4io/px4-dev-clang . -f Dockerfile_clang @@ -75,7 +75,7 @@ px4-dev-simulation-focal: px4-dev-base-focal docker build -t px4io/px4-dev-simulation-focal . -f Dockerfile_simulation-focal px4-dev-simulation-l4t: px4-dev-base-l4t - docker buildx build --platform linux/arm64 -t px4io/px4-dev-simulation-l4t . -f Dockerfile_simulation-l4t + docker buildx build --platform linux/arm64 -t px4io/px4-dev-simulation-l4t . -f Dockerfile_simulation-l4t --load px4-docs: docker build -t px4io/px4-dev-docs . -f Dockerfile_docs From a737754454ceffe07e31c043c81e1442fb88ef28 Mon Sep 17 00:00:00 2001 From: Dom Raniszewski Date: Mon, 13 Sep 2021 17:01:19 +1000 Subject: [PATCH 19/22] Split x86 and ARM64 builds --- .github/workflows/arm64_builds.yml | 4 ++ .../{docker_builds.yml => x86_builds.yml} | 49 ++----------------- 2 files changed, 8 insertions(+), 45 deletions(-) rename .github/workflows/{docker_builds.yml => x86_builds.yml} (91%) diff --git a/.github/workflows/arm64_builds.yml b/.github/workflows/arm64_builds.yml index 380779b..fd714b1 100644 --- a/.github/workflows/arm64_builds.yml +++ b/.github/workflows/arm64_builds.yml @@ -11,9 +11,13 @@ on: - '*' branches: - master + paths: + - ./docker/Dockerfile_*-l4t pull_request: branches: - master + paths: + - ./docker/Dockerfile_*-l4t jobs: px4-dev-base-l4t: name: "Ubuntu L4T Base" diff --git a/.github/workflows/docker_builds.yml b/.github/workflows/x86_builds.yml similarity index 91% rename from .github/workflows/docker_builds.yml rename to .github/workflows/x86_builds.yml index f6a2c44..63c4ea7 100644 --- a/.github/workflows/docker_builds.yml +++ b/.github/workflows/x86_builds.yml @@ -6,9 +6,13 @@ on: - '*' branches: - master + paths-ignore: + - ./docker/Dockerfile_*-l4t pull_request: branches: - master + paths-ignore: + - ./docker/Dockerfile_*-l4t jobs: px4-dev-base-archlinux: @@ -305,28 +309,6 @@ jobs: tag_names: true workdir: docker - px4-dev-base-l4t: - name: "Ubuntu L4T Base" - runs-on: ubuntu-latest - steps: - - uses: actions/checkout@v2 - - name: Build container - if: github.event_name == 'pull_request' - run: | - cd docker - make px4-dev-base-l4t - - name: Build & Publish container - if: github.event_name == 'push' && (contains(github.ref, '/heads/master') || contains(github.ref, '/tags/')) - uses: julianoes/Publish-Docker-Github-Action@master - with: - name: px4io/px4-dev-base-l4t - username: ${{ secrets.DOCKER_USERNAME }} - password: ${{ secrets.DOCKER_PASSWORD }} - dockerfile: Dockerfile_base-l4t - cache: false - tag_names: true - workdir: docker - px4-dev-nuttx-focal: name: "NuttX in Ubuntu Focal" runs-on: ubuntu-latest @@ -373,29 +355,6 @@ jobs: tag_names: true workdir: docker - px4-dev-simulation-l4t: - name: "Ubuntu L4T Simulation" - runs-on: ubuntu-latest - needs: px4-dev-base-l4t - steps: - - uses: actions/checkout@v2 - - name: Build container - if: github.event_name == 'pull_request' - run: | - cd docker - make px4-dev-simulation-l4t - - name: Build & Publish container - if: github.event_name == 'push' && (contains(github.ref, '/heads/master') || contains(github.ref, '/tags/')) - uses: julianoes/Publish-Docker-Github-Action@master - with: - name: px4io/px4-dev-simulation-l4t - username: ${{ secrets.DOCKER_USERNAME }} - password: ${{ secrets.DOCKER_PASSWORD }} - dockerfile: Dockerfile_simulation-l4t - cache: false - tag_names: true - workdir: docker - px4-dev-ros-noetic: name: "ROS Noetic" runs-on: ubuntu-latest From 253901b98e8154eaf124678eb24b5aad9cd4da3e Mon Sep 17 00:00:00 2001 From: Dom Raniszewski Date: Mon, 13 Sep 2021 17:03:20 +1000 Subject: [PATCH 20/22] fix folder names --- .github/workflows/arm64_builds.yml | 4 ++-- .github/workflows/x86_builds.yml | 4 ++-- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/.github/workflows/arm64_builds.yml b/.github/workflows/arm64_builds.yml index fd714b1..281f8f2 100644 --- a/.github/workflows/arm64_builds.yml +++ b/.github/workflows/arm64_builds.yml @@ -12,12 +12,12 @@ on: branches: - master paths: - - ./docker/Dockerfile_*-l4t + - docker/Dockerfile_*-l4t pull_request: branches: - master paths: - - ./docker/Dockerfile_*-l4t + - docker/Dockerfile_*-l4t jobs: px4-dev-base-l4t: name: "Ubuntu L4T Base" diff --git a/.github/workflows/x86_builds.yml b/.github/workflows/x86_builds.yml index 63c4ea7..ab50cac 100644 --- a/.github/workflows/x86_builds.yml +++ b/.github/workflows/x86_builds.yml @@ -7,12 +7,12 @@ on: branches: - master paths-ignore: - - ./docker/Dockerfile_*-l4t + - docker/Dockerfile_*-l4t pull_request: branches: - master paths-ignore: - - ./docker/Dockerfile_*-l4t + - docker/Dockerfile_*-l4t jobs: px4-dev-base-archlinux: From e822d403262f3b024eb1e21178023bfb23a84ee2 Mon Sep 17 00:00:00 2001 From: Dom Raniszewski Date: Mon, 13 Sep 2021 17:08:29 +1000 Subject: [PATCH 21/22] Switching to px4io repository --- .github/workflows/arm64_builds.yml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/.github/workflows/arm64_builds.yml b/.github/workflows/arm64_builds.yml index 281f8f2..b1ed74e 100644 --- a/.github/workflows/arm64_builds.yml +++ b/.github/workflows/arm64_builds.yml @@ -45,7 +45,7 @@ jobs: if: github.event_name == 'push' && (contains(github.ref, '/heads/master') || contains(github.ref, '/tags/')) uses: julianoes/Publish-Docker-Github-Action@master with: - name: random82/px4-dev-base-l4t + name: px4io/px4-dev-base-l4t username: ${{ secrets.DOCKER_USERNAME }} password: ${{ secrets.DOCKER_PASSWORD }} dockerfile: Dockerfile_base-l4t @@ -80,7 +80,7 @@ jobs: if: github.event_name == 'push' && (contains(github.ref, '/heads/master') || contains(github.ref, '/tags/')) uses: julianoes/Publish-Docker-Github-Action@master with: - name: random82/px4-dev-simulation-l4t + name: px4io/px4-dev-simulation-l4t username: ${{ secrets.DOCKER_USERNAME }} password: ${{ secrets.DOCKER_PASSWORD }} dockerfile: Dockerfile_simulation-l4t From 8ac7e06840d9e1fcb77666bab7639c7d1bc643c0 Mon Sep 17 00:00:00 2001 From: Dom Raniszewski Date: Mon, 13 Sep 2021 17:14:05 +1000 Subject: [PATCH 22/22] Fixing base image for the l4t simulation --- .github/workflows/arm64_builds.yml | 2 +- docker/Dockerfile_simulation-l4t | 3 +-- 2 files changed, 2 insertions(+), 3 deletions(-) diff --git a/.github/workflows/arm64_builds.yml b/.github/workflows/arm64_builds.yml index b1ed74e..6d73cc3 100644 --- a/.github/workflows/arm64_builds.yml +++ b/.github/workflows/arm64_builds.yml @@ -86,4 +86,4 @@ jobs: dockerfile: Dockerfile_simulation-l4t cache: false tag_names: true - workdir: docker \ No newline at end of file + workdir: docker diff --git a/docker/Dockerfile_simulation-l4t b/docker/Dockerfile_simulation-l4t index cdb989f..1aa8d32 100644 --- a/docker/Dockerfile_simulation-l4t +++ b/docker/Dockerfile_simulation-l4t @@ -2,7 +2,7 @@ # PX4 Gazebo 9 development environment in Nvidia L4T # -FROM random82/px4-dev-base-l4t:latest +FROM px4io/px4-dev-base-l4t:latest LABEL maintainer="Dom Raniszewski" RUN wget --quiet http://packages.osrfoundation.org/gazebo.key -O - | apt-key add - \ @@ -33,4 +33,3 @@ ENV QT_X11_NO_MITSHM 1 # Use UTF8 encoding in java tools (needed to compile jMAVSim) ENV JAVA_TOOL_OPTIONS=-Dfile.encoding=UTF8 -