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* build(simulation): depend on gz-harmonic meta-package for SITL deb * build(simulation): refresh apt lists before installing px4-gazebo .deb
94 lines
3.8 KiB
Docker
94 lines
3.8 KiB
Docker
# syntax=docker/dockerfile:1
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# PX4 SITL Gazebo Harmonic runtime image
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# Runs PX4 SITL with Gazebo Harmonic. Supports X11 forwarding for GUI.
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#
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# Build:
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# make px4_sitl_default && cd build/px4_sitl_default && cpack -G DEB && cd ../..
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# docker build -f Tools/packaging/Dockerfile.gazebo -t px4io/px4-sitl-gazebo:v1.17.0 build/px4_sitl_default/
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#
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# Run (headless):
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# docker run --rm -it --network host px4io/px4-sitl-gazebo:v1.17.0
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#
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# Run (X11 GUI):
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# xhost +local:docker
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# docker run --rm -it --network host \
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# -e DISPLAY=$DISPLAY -v /tmp/.X11-unix:/tmp/.X11-unix \
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# --gpus all px4io/px4-sitl-gazebo:v1.17.0
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#
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# Persist flight logs on the host (ulog files):
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# mkdir -p ./px4-logs
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# docker run --rm -it --network host \
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# -v $(pwd)/px4-logs:/root/.local/share/px4/rootfs/log \
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# px4io/px4-sitl-gazebo:v1.17.0
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FROM ubuntu:24.04
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LABEL maintainer="PX4 Development Team"
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LABEL description="PX4 SITL with Gazebo Harmonic simulation"
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ENV DEBIAN_FRONTEND=noninteractive
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ENV RUNS_IN_DOCKER=true
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# Configure the OSRF Gazebo apt repo so Gazebo Harmonic (a Depends: of the
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# px4-gazebo .deb) resolves from it in the install step below.
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RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
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--mount=type=cache,target=/var/lib/apt,sharing=locked \
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apt-get update \
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&& apt-get install -y --no-install-recommends \
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bc \
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ca-certificates \
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gnupg \
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lsb-release \
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wget \
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&& wget -q https://packages.osrfoundation.org/gazebo.gpg \
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-O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg \
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&& echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" \
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> /etc/apt/sources.list.d/gazebo-stable.list \
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&& apt-get update
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# Install px4-gazebo via apt so its Depends (Gazebo Harmonic, OpenCV, GStreamer
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# core libs, gstreamer plugin packages) are resolved automatically. The binary
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# is stripped after install to trim image size (~a few MB).
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COPY px4-gazebo_*.deb /tmp/
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RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
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--mount=type=cache,target=/var/lib/apt,sharing=locked \
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apt-get update \
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&& apt-get install -y --no-install-recommends \
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/tmp/px4-gazebo_*.deb \
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binutils \
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&& strip /opt/px4-gazebo/bin/px4 \
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&& apt-get purge -y binutils \
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&& apt-get autoremove -y \
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&& rm -f /tmp/px4-gazebo_*.deb \
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&& ln -sf /opt/px4-gazebo/bin/px4-gazebo /usr/bin/px4-gazebo
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# Create the DART physics engine symlink (avoids needing the -dev package)
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RUN GZ_PHYSICS_DIR=$(find /usr/lib -maxdepth 3 -type d -name "engine-plugins" -path "*/gz-physics-7/*" 2>/dev/null | head -1) \
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&& if [ -n "$GZ_PHYSICS_DIR" ] && [ -d "$GZ_PHYSICS_DIR" ]; then \
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VERSIONED=$(ls "$GZ_PHYSICS_DIR"/libgz-physics*-dartsim-plugin.so.* 2>/dev/null | head -1) \
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&& [ -n "$VERSIONED" ] \
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&& ln -sf "$(basename "$VERSIONED")" "$GZ_PHYSICS_DIR/libgz-physics-dartsim-plugin.so"; \
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fi
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# Gazebo resource paths
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ENV GZ_SIM_RESOURCE_PATH=/opt/px4-gazebo/share/gz/models:/opt/px4-gazebo/share/gz/worlds
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ENV GZ_SIM_SYSTEM_PLUGIN_PATH=/opt/px4-gazebo/lib/gz/plugins
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ENV GZ_SIM_SERVER_CONFIG_PATH=/opt/px4-gazebo/share/gz/server.config
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ENV PX4_GZ_MODELS=/opt/px4-gazebo/share/gz/models
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ENV PX4_GZ_WORLDS=/opt/px4-gazebo/share/gz/worlds
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ENV PX4_SIM_MODEL=gz_x500
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ENV HOME=/root
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# MAVLink, MAVSDK, DDS
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EXPOSE 14550/udp 14540/udp 8888/udp
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# Platform-adaptive entrypoint: detects Docker Desktop (macOS/Windows) via
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# host.docker.internal and configures MAVLink + DDS to target the host.
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COPY px4-entrypoint.sh /opt/px4-gazebo/bin/px4-entrypoint.sh
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RUN chmod +x /opt/px4-gazebo/bin/px4-entrypoint.sh
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WORKDIR /root
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ENTRYPOINT ["/opt/px4-gazebo/bin/px4-entrypoint.sh"]
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CMD []
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