mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-05-12 01:45:34 +08:00
Ramon Roche
dcedef6168
The px4-gazebo .deb already declares OpenCV and gstreamer core library deps via dpkg-shlibdeps, but Dockerfile.gazebo uses dpkg -x which bypasses resolution. Switch to apt install ./px4-gazebo_*.deb so Depends are resolved automatically. Add the 5 gstreamer plugin packages (plugins-base/good/bad/ugly/libav) to CPACK_DEBIAN_PACKAGE_DEPENDS since they're loaded at runtime via gst_element_factory_make() and cannot be detected by shlibdeps. Apply the same apt-install pattern to Dockerfile.sih so both images build consistently. Signed-off-by: Ramon Roche <mrpollo@gmail.com>
58 lines
1.9 KiB
Docker
58 lines
1.9 KiB
Docker
# syntax=docker/dockerfile:1
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# PX4 SITL SIH runtime image
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# Minimal container that runs PX4 with the SIH physics engine (no Gazebo).
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#
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# Build:
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# make px4_sitl_sih && cd build/px4_sitl_sih && cpack -G DEB && cd ../..
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# docker build -f Tools/packaging/Dockerfile.sih -t px4io/px4-sitl:v1.17.0 build/px4_sitl_sih/
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#
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# Run (Linux):
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# docker run --rm -it --network host px4io/px4-sitl:v1.17.0
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#
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# Run (macOS / Windows):
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# docker run --rm -it -p 14550:14550/udp -p 14540:14540/udp -p 19410:19410/udp -p 8888:8888/udp px4io/px4-sitl: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: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 SIH physics (no simulator dependencies)"
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ENV DEBIAN_FRONTEND=noninteractive
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# Install px4 via apt so Depends: are resolved automatically. The binary is
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# stripped after install to trim image size (~a few MB).
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COPY px4_*.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_*.deb \
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bc \
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binutils \
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&& strip /opt/px4/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_*.deb \
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&& ln -sf /opt/px4/bin/px4 /usr/bin/px4
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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/bin/px4-entrypoint.sh
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RUN chmod +x /opt/px4/bin/px4-entrypoint.sh
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ENV PX4_SIM_MODEL=sihsim_quadx
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ENV HOME=/root
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# MAVLink (QGC, MAVSDK), DDS (ROS 2), jMAVSim/viewer display
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EXPOSE 14550/udp 14540/udp 19410/udp 8888/udp
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WORKDIR /root
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ENTRYPOINT ["/opt/px4/bin/px4-entrypoint.sh"]
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CMD []
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