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New Crowdin translations - zh-CN (#26488)
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# PX4 Docker 容器
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Docker containers are provided for the complete [PX4 development toolchain](../dev_setup/dev_env.md#supported-targets) including NuttX and Linux based hardware, [Gazebo Classic](../sim_gazebo_classic/index.md) simulation, and [ROS](../simulation/ros_interface.md).
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Docker containers are provided for the complete [PX4 development toolchain](../dev_setup/dev_env.md#supported-targets) including NuttX and Linux based hardware, [Gazebo](../sim_gazebo_gz/index.md) simulation, and [ROS 2](../ros2/user_guide.md).
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This topic shows how to use the [available docker containers](#px4_containers) to access the build environment in a local Linux computer.
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:::info
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Dockerfiles and README can be found on [Github here](https://github.com/PX4/PX4-containers/tree/master?tab=readme-ov-file#container-hierarchy).
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They are built automatically on [Docker Hub](https://hub.docker.com/u/px4io/).
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The recommended `px4-dev` container is built from the [Dockerfile in the PX4-Autopilot source tree](https://github.com/PX4/PX4-Autopilot/blob/main/Tools/setup/Dockerfile) by the [Container build workflow](https://github.com/PX4/PX4-Autopilot/actions/workflows/dev_container.yml).
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:::
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## 系统必备组件
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@@ -35,33 +34,36 @@ sudo usermod -aG docker $USER
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# Log in/out again before using docker!
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```
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## Container Hierarchy {#px4_containers}
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## px4-dev Container (Recommended) {#px4_containers}
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The available containers are on [GitHub here](https://github.com/PX4/PX4-containers/tree/master?tab=readme-ov-file#container-hierarchy).
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The **`px4-dev`** container is the recommended container for building PX4 firmware.
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It is a single, multi-architecture container (linux/amd64 and linux/arm64) based on Ubuntu 24.04 that includes everything needed to build PX4 for NuttX hardware targets.
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使用容器的最简单方法是通过 <a href="https://github.com/PX4/Firmware/blob/master/Tools/docker_run.sh">docker_run.sh</a> 帮助程序脚本。
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The containers are hierarchical, such that containers have the functionality of their parents.
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For example, the partial hierarchy below shows that the docker container with NuttX build tools (`px4-dev-nuttx-focal`) does not include ROS 2, while the simulation containers do:
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It is published to both registries simultaneously:
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```plain
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- px4io/px4-dev-base-focal
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- px4io/px4-dev-nuttx-focal
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- px4io/px4-dev-simulation-focal
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- px4io/px4-dev-ros-noetic
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- px4io/px4-dev-ros2-foxy
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- px4io/px4-dev-ros2-rolling
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- px4io/px4-dev-base-jammy
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- px4io/px4-dev-nuttx-jammy
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```
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- **GitHub Container Registry:** [ghcr.io/px4/px4-dev](https://github.com/PX4/PX4-Autopilot/pkgs/container/px4-dev)
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- **Docker Hub:** [px4io/px4-dev](https://hub.docker.com/r/px4io/px4-dev)
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The most recent version can be accessed using the `latest` tag: `px4io/px4-dev-nuttx-focal:latest`
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(available tags are listed for each container on _hub.docker.com_.
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For example, the `px4io/px4-dev-nuttx-focal` tags can be found on [hub.docker.com here](https://hub.docker.com/r/px4io/px4-dev-nuttx-focal/tags?page=1&ordering=last_updated)).
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The container includes:
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- Ubuntu 24.04 base
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- ARM cross-compiler (`gcc-arm-none-eabi`) and Xtensa compiler (for ESP32 targets)
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- Build tools: `cmake`, `ninja`, `ccache`, `make`
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- Python 3 with PX4 build dependencies
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- NuttX toolchain libraries (`libnewlib-arm-none-eabi`, etc.)
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The container is built from the [Dockerfile](https://github.com/PX4/PX4-Autopilot/blob/main/Tools/setup/Dockerfile) in the PX4 source tree using the [Container build workflow](https://github.com/PX4/PX4-Autopilot/actions/workflows/dev_container.yml).
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Images are tagged with the PX4 version (e.g. `px4io/px4-dev:v1.16.0`).
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:::tip
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Typically you should use a recent container, but not necessarily the `latest` (as this changes too often).
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A `px4-sim` container with simulation tools (Gazebo Harmonic) is planned to complement `px4-dev` for simulation workflows.
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:::
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### Legacy Containers
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The older per-distro containers from [PX4/PX4-containers](https://github.com/PX4/PX4-containers) (e.g. `px4-dev-nuttx-jammy`, `px4-dev-ros2-humble`, etc.) are no longer recommended.
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They will be replaced by `px4-dev` (for builds) and the upcoming `px4-sim` (for simulation).
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## 使用 Docker 容器
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典型命令的语法如下所示。
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@@ -121,7 +123,7 @@ Where,
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- `<host_src>`: The host computer directory to be mapped to `<container_src>` in the container. This should normally be the **PX4-Autopilot** directory.
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- `<container_src>`: The location of the shared (source) directory when inside the container.
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- `<local_container_name>`: A name for the docker container being created. This can later be used if we need to reference the container again.
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- `<container>:<tag>`: The container with version tag to start - e.g.: `px4io/px4-dev-ros:2017-10-23`.
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- `<container>:<tag>`: The container with version tag to start - e.g.: `px4io/px4-dev:v1.16.0`.
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- `<build_command>`: The command to invoke on the new container. E.g. `bash` is used to open a bash shell in the container.
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The concrete example below shows how to open a bash shell and share the directory **~/src/PX4-Autopilot** on the host computer.
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-v /tmp/.X11-unix:/tmp/.X11-unix:ro \
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-e DISPLAY=:0 \
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--network host \
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--name=px4-ros px4io/px4-dev-ros2-foxy:2022-07-31 bash
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--name=px4-dev px4io/px4-dev:v1.16.0 bash
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```
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:::info
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@@ -154,7 +156,7 @@ On other hosts you might iterate the value of `0` in `-e DISPLAY=:0` until the "
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```sh
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cd src/PX4-Autopilot #This is <container_src>
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make px4_sitl_default gazebo-classic
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make px4_sitl gz_x500
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```
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### 重新进入容器
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@@ -218,7 +220,7 @@ This ensures that all files created within the container will be accessible on t
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#### 图形驱动问题
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It's possible that running Gazebo Classic will result in a similar error message like the following:
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It's possible that running Gazebo will result in a similar error message like the following:
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```sh
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libGL error: failed to load driver: swrast
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@@ -238,7 +240,7 @@ For Nvidia drivers the following command should be used (otherwise the installer
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The following configuration is tested:
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- OS X with VMWare Fusion and Ubuntu 14.04 (Docker container with GUI support on Parallels make the X-Server crash).
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- OS X with VMWare Fusion and Ubuntu 22.04 (Docker container with GUI support on Parallels make the X-Server crash).
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**Memory**
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