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Simulation image based on Nvidia L4T #308

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2 changes: 2 additions & 0 deletions README.md
Original file line number Diff line number Diff line change
Expand Up @@ -26,6 +26,8 @@ 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-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)
- [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)
Expand Down
135 changes: 135 additions & 0 deletions docker/Dockerfile_base-l4t
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@@ -0,0 +1,135 @@
#
# PX4 base development environment based on NVidia L4T distribution for Jetson boards
#

FROM nvcr.io/nvidia/l4t-base:r32.5.0
LABEL maintainer="Dom Raniszewski<[email protected]>"

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"]
36 changes: 36 additions & 0 deletions docker/Dockerfile_simulation-l4t
Original file line number Diff line number Diff line change
@@ -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<[email protected]>"

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

14 changes: 10 additions & 4 deletions docker/Makefile
Original file line number Diff line number Diff line change
@@ -1,18 +1,18 @@
.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, \
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-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, \
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
Expand All @@ -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

Expand Down Expand Up @@ -71,5 +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