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| # This program is free software under the GNU General Public License v3. | ||
| # See <https://www.gnu.org/licenses/> for details. | ||
| # Author: Dmitry Ponomarev <[email protected]> | ||
| FROM ros:noetic | ||
| ARG ROS_DISTRO=noetic | ||
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|
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| FROM ros:$ROS_DISTRO | ||
| LABEL description="UAV simulator" | ||
| SHELL ["/bin/bash", "-c"] | ||
| WORKDIR /catkin_ws/src/uav_hitl_simulator | ||
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| # 1. Install requirements | ||
| RUN apt-get update \ | ||
| && apt-get upgrade -y \ | ||
| && apt-get install -y git \ | ||
| psmisc \ | ||
| can-utils \ | ||
| net-tools \ | ||
| iproute2 \ | ||
| python3-pip \ | ||
| python3-catkin-tools \ | ||
| ros-"$ROS_DISTRO"-catkin \ | ||
| ros-"$ROS_DISTRO"-rosauth \ | ||
| ros-"$ROS_DISTRO"-mavros \ | ||
| ros-"$ROS_DISTRO"-mavros-msgs \ | ||
| ros-"$ROS_DISTRO"-mavlink \ | ||
| ros-"$ROS_DISTRO"-tf \ | ||
| ros-"$ROS_DISTRO"-tf2 \ | ||
| ros-"$ROS_DISTRO"-tf2-ros \ | ||
| && pip install bson pymongo protobuf Pillow twisted cython scipy pycyphal yakut pyuavcan_v0 monotonic pyquaternion \ | ||
| && mkdir -p /usr/local/share/GeographicLib/magnetic \ | ||
| && apt clean | ||
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||
| # 1. Install basic requirements | ||
| RUN apt-get update && \ | ||
| apt-get upgrade -y && \ | ||
| apt-get install -y git ros-$ROS_DISTRO-catkin python3-pip python3-catkin-tools | ||
| RUN if [[ "$ROS_DISTRO" = "melodic" ]] ; then apt-get install -y python-pip python-catkin-tools ; fi | ||
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||
| # 2. Install requirements | ||
| # 2.1. geographiclib_conversions | ||
| # 2. Copy the source files | ||
| COPY uav_dynamics/geographiclib_conversions uav_dynamics/geographiclib_conversions/ | ||
| RUN ./uav_dynamics/geographiclib_conversions/scripts/install.sh | ||
| RUN source /opt/ros/$ROS_DISTRO/setup.bash && \ | ||
| cd ../../ && \ | ||
| git config --global http.sslverify false && \ | ||
| catkin build | ||
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||
| # 2.2. inno-sim-interface | ||
| RUN sudo apt-get install -y ros-$ROS_DISTRO-rosauth && \ | ||
| pip install bson pymongo protobuf Pillow twisted | ||
|
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||
| # 2.3. innopolis_vtol_dynamics | ||
| COPY uav_dynamics/uav_hitl_dynamics/install_requirements.sh uav_dynamics/uav_hitl_dynamics/install_requirements.sh | ||
| COPY uav_dynamics/uav_hitl_dynamics/requirements.txt uav_dynamics/uav_hitl_dynamics/requirements.txt | ||
| RUN apt-get update && \ | ||
| uav_dynamics/uav_hitl_dynamics/install_requirements.sh | ||
| COPY uav_dynamics/geographiclib_conversions/wmm2020/magnetic /usr/local/share/GeographicLib/magnetic | ||
| RUN source /opt/ros/"$ROS_DISTRO"/setup.bash \ | ||
| && cd ../../ \ | ||
| && git config --global http.sslverify false \ | ||
| && catkin build | ||
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||
| # 2.4 tools/can | ||
| COPY scripts/tools scripts/tools | ||
| RUN ./scripts/tools/can/install.sh --yes | ||
| COPY scripts/tools scripts/tools | ||
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||
| # 2.5. communicators | ||
| COPY communicators/mavlink_communicator/ communicators/mavlink_communicator/ | ||
| COPY communicators/uavcan_communicator/ communicators/uavcan_communicator/ | ||
| COPY communicators/cyphal_communicator/scripts/config.sh communicators/cyphal_communicator/scripts/config.sh | ||
| COPY communicators/cyphal_communicator/install_requirements.sh communicators/cyphal_communicator/install_requirements.sh | ||
| COPY communicators/cyphal_communicator/requirements.txt communicators/cyphal_communicator/requirements.txt | ||
| COPY communicators/cyphal_communicator/compile_dsdl.sh communicators/cyphal_communicator/compile_dsdl.sh | ||
| RUN ./communicators/uavcan_communicator/scripts/install_requirements.sh && \ | ||
| ./communicators/uavcan_communicator/scripts/install_libuavcan.sh | ||
| RUN ./communicators/cyphal_communicator/install_requirements.sh && \ | ||
| ./communicators/cyphal_communicator/compile_dsdl.sh | ||
| RUN ./communicators/uavcan_communicator/scripts/install_libuavcan.sh | ||
| RUN ./communicators/cyphal_communicator/compile_dsdl.sh | ||
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| # 3. Copy the source files | ||
| COPY inno_sim_interface/ inno_sim_interface/ | ||
| COPY catkin_build.sh catkin_build.sh | ||
| COPY inno_sim_interface/ inno_sim_interface/ | ||
| COPY catkin_build.sh catkin_build.sh | ||
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||
| COPY uav_dynamics/uav_hitl_dynamics/libs uav_dynamics/uav_hitl_dynamics/libs | ||
| COPY uav_dynamics/uav_hitl_dynamics/meshes uav_dynamics/uav_hitl_dynamics/meshes | ||
| COPY uav_dynamics/uav_hitl_dynamics/src uav_dynamics/uav_hitl_dynamics/src | ||
| COPY uav_dynamics/uav_hitl_dynamics/tests uav_dynamics/uav_hitl_dynamics/tests | ||
| COPY uav_dynamics/uav_hitl_dynamics/urdf uav_dynamics/uav_hitl_dynamics/urdf | ||
| COPY uav_dynamics/uav_hitl_dynamics/CMakeLists.txt uav_dynamics/uav_hitl_dynamics/CMakeLists.txt | ||
| COPY uav_dynamics/uav_hitl_dynamics/package.xml uav_dynamics/uav_hitl_dynamics/package.xml | ||
| COPY communicators/cyphal_communicator/src communicators/cyphal_communicator/src | ||
| COPY communicators/cyphal_communicator/Libs communicators/cyphal_communicator/Libs | ||
| COPY communicators/cyphal_communicator/CMakeLists.txt communicators/cyphal_communicator/CMakeLists.txt | ||
| COPY communicators/cyphal_communicator/package.xml communicators/cyphal_communicator/package.xml | ||
| COPY uav_dynamics/uav_hitl_dynamics/libs uav_dynamics/uav_hitl_dynamics/libs | ||
| COPY uav_dynamics/uav_hitl_dynamics/meshes uav_dynamics/uav_hitl_dynamics/meshes | ||
| COPY uav_dynamics/uav_hitl_dynamics/src uav_dynamics/uav_hitl_dynamics/src | ||
| COPY uav_dynamics/uav_hitl_dynamics/tests uav_dynamics/uav_hitl_dynamics/tests | ||
| COPY uav_dynamics/uav_hitl_dynamics/urdf uav_dynamics/uav_hitl_dynamics/urdf | ||
| COPY uav_dynamics/uav_hitl_dynamics/CMakeLists.txt uav_dynamics/uav_hitl_dynamics/CMakeLists.txt | ||
| COPY uav_dynamics/uav_hitl_dynamics/package.xml uav_dynamics/uav_hitl_dynamics/package.xml | ||
| COPY communicators/cyphal_communicator/src communicators/cyphal_communicator/src | ||
| COPY communicators/cyphal_communicator/Libs communicators/cyphal_communicator/Libs | ||
| COPY communicators/cyphal_communicator/CMakeLists.txt communicators/cyphal_communicator/CMakeLists.txt | ||
| COPY communicators/cyphal_communicator/package.xml communicators/cyphal_communicator/package.xml | ||
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| # 4. Build ROS | ||
| RUN source /opt/ros/$ROS_DISTRO/setup.bash && \ | ||
| cd ../../ && \ | ||
| git config --global http.sslverify false && \ | ||
| catkin build | ||
| # 3. Build ROS | ||
| RUN source /opt/ros/"$ROS_DISTRO"/setup.bash \ | ||
| && cd ../../ \ | ||
| && git config --global http.sslverify false \ | ||
| && catkin build | ||
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||
| # 5. Copy configs, scripts, etc | ||
| COPY uav_dynamics/uav_hitl_dynamics/scripts/ uav_dynamics/uav_hitl_dynamics/scripts | ||
| COPY uav_dynamics/uav_hitl_dynamics/launch/ uav_dynamics/uav_hitl_dynamics/launch | ||
| COPY uav_dynamics/uav_hitl_dynamics/config/ uav_dynamics/uav_hitl_dynamics/config | ||
| COPY uav_dynamics/uav_hitl_dynamics/catkin_test.sh uav_dynamics/uav_hitl_dynamics/catkin_test.sh | ||
| COPY scripts/ scripts/ | ||
| COPY communicators/cyphal_communicator/ communicators/cyphal_communicator/ | ||
| # 4. Copy configs, scripts, etc | ||
| COPY uav_dynamics/uav_hitl_dynamics/scripts/ uav_dynamics/uav_hitl_dynamics/scripts | ||
| COPY uav_dynamics/uav_hitl_dynamics/launch/ uav_dynamics/uav_hitl_dynamics/launch | ||
| COPY uav_dynamics/uav_hitl_dynamics/config/ uav_dynamics/uav_hitl_dynamics/config | ||
| COPY uav_dynamics/uav_hitl_dynamics/catkin_test.sh uav_dynamics/uav_hitl_dynamics/catkin_test.sh | ||
| COPY scripts/ scripts/ | ||
| COPY communicators/cyphal_communicator/ communicators/cyphal_communicator/ | ||
|
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| RUN echo source scripts/run_sim.sh ros >> ~/.bashrc | ||
|
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||
| CMD echo "main process has been started" && \ | ||
| source /opt/ros/$ROS_DISTRO/setup.bash && source /catkin_ws/devel/setup.bash && \ | ||
| echo "container has been finished" | ||
| source /opt/ros/"$ROS_DISTRO"/setup.bash && source /catkin_ws/devel/setup.bash && \ | ||
| echo "container has been finished" |