Docker image with tools for Gazebo classic and Bebop. (#3608)

* Docker to run Gazebo Simulation on Ubuntu 24.04 * Add bebop compiler to docker image --------- Co-authored-by: Aramov1 <acarmolopes@tudelft.nl>
2026-03-23 15:34:18 +08:00 · 2026-02-20 20:09:18 +01:00
parent 979c01cd7c
commit 10040de4cd
5 changed files with 602 additions and 0 deletions
--- a/.gitignore
+++ b/.gitignore
@@ -54,6 +54,7 @@ paparazzi.sublime-workspace

 # VSCode IDE
 .vscode/ipch/
+.vscode/settings.json

 # Vagrant VM files
 /.vagrant
--- a/docker/gazebo-classic/Dockerfile
+++ b/docker/gazebo-classic/Dockerfile
@@ -0,0 +1,97 @@
+FROM ubuntu:22.04
+LABEL maintainer="paparazzi-gazebo-classic-sim"
+
+# ── Init ─────────────────────────────────────────────────────────────
+ENV TINI_VERSION v0.19.0
+ADD https://github.com/krallin/tini/releases/download/${TINI_VERSION}/tini /tini
+RUN chmod +x /tini
+
+# ── Locale & timezone ────────────────────────────────────────────────
+ENV LANG C.UTF-8
+ENV TZ=Etc/UTC
+ARG DEBIAN_FRONTEND=noninteractive
+RUN ln -fs /usr/share/zoneinfo/$TZ /etc/localtime \
+    && apt-get update \
+    && apt-get install -y --no-install-recommends tzdata \
+    && rm -rf /var/lib/apt/lists/*
+
+# ── Repositories ─────────────────────────────────────────────────────
+RUN apt-get update \
+    && apt-get install -y --no-install-recommends \
+        software-properties-common curl lsb-release gnupg git ca-certificates \
+    && rm -rf /var/lib/apt/lists/* \
+    # Paparazzi PPA
+    && add-apt-repository -y ppa:paparazzi-uav/ppa \
+    # kisak-mesa: Mesa 24.x backport — required for Intel Arc (Meteor Lake) iris driver
+    && add-apt-repository -y ppa:kisak/kisak-mesa \
+    # OSRF: Gazebo Classic 11
+    && curl -sSL https://packages.osrfoundation.org/gazebo.gpg \
+         -o /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg \
+    && 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" \
+         > /etc/apt/sources.list.d/gazebo-stable.list
+
+# ── All packages in one layer ─────────────────────────────────────────
+RUN apt-get update && apt-get install -y --no-install-recommends \
+    # Paparazzi build & GCS
+    paparazzi-dev \
+    pprzgcs \
+    # Build tools (simulation only — ARM cross-compiler not needed)
+    build-essential \
+    cmake \
+    python-is-python3 \
+    python3-future \
+    python3-lxml \
+    python3-numpy \
+    python3-opencv \
+    # Unified Mocap Router
+    libboost-program-options-dev \
+    libboost-filesystem-dev \
+    # Gazebo Classic 11
+    gazebo \
+    libgazebo-dev \
+    # Mesa 24.x for Intel Arc GPU (iris driver)
+    mesa-utils \
+    libgl1-mesa-dri \
+    libglx-mesa0 \
+    # X11 / GUI
+    x11-apps \
+    dbus-x11 \
+    libcanberra-gtk3-module \
+    # Joystick
+    joystick \
+    libsdl2-dev \
+    # Audio (PulseAudio client only — server runs on host)
+    libpulse0 \
+    pulseaudio-utils \
+    # Compiler for BEBOP
+    gcc-arm-linux-gnueabi \
+    g++-arm-linux-gnueabi \
+    libc6-dev-armel-cross \
+    linux-libc-dev-armel-cross \
+    binutils-arm-linux-gnueabi \
+    # Video (RTP viewer)
+    vlc \
+    # Speech synthesis (PprzGCS uses --speech for command confirmations)
+    speech-dispatcher \
+    espeak-ng \
+    # Permission helper
+    gosu \
+    vim \
+    && rm -rf /var/lib/apt/lists/*
+
+# ── Runtime environment ───────────────────────────────────────────────
+ENV PULSE_SERVER=/run/pulse/native
+
+# ── User setup ───────────────────────────────────────────────────────
+ENV USERNAME=pprz
+ENV USER_ID=1000
+RUN groupadd -f input \
+    && useradd --shell /bin/bash -u $USER_ID -o -c "Paparazzi Docker user" -m $USERNAME \
+    && usermod -aG sudo,dialout,plugdev,input $USERNAME
+
+COPY entrypoint.sh /usr/local/bin/entrypoint.sh
+RUN chmod +x /usr/local/bin/entrypoint.sh
+
+ENTRYPOINT ["/tini", "--", "/usr/local/bin/entrypoint.sh"]
+CMD ["bash"]
--- a/docker/gazebo-classic/README.md
+++ b/docker/gazebo-classic/README.md
@@ -0,0 +1,336 @@
+# Running Paparazzi + Gazebo Classic Simulation via Docker (Ubuntu 24.04 Host)
+
+Gazebo Classic (gazebo11) is not available on Ubuntu 24.04. This Docker setup
+runs the full simulation stack (Paparazzi Center, GCS, NPS simulator, Gazebo
+Classic) inside an Ubuntu 22.04 container with GUI forwarding to your host.
+
+---
+
+## Prerequisites
+
+### 1. Install Docker
+
+```bash
+# Install Docker Engine (not Docker Desktop)
+sudo apt-get update
+sudo apt-get install -y docker.io
+
+# Add your user to the docker group (avoids needing sudo)
+sudo usermod -aG docker $USER
+
+# Log out and log back in, then verify:
+docker run hello-world
+```
+
+### 2. GPU Drivers (for Gazebo 3D rendering)
+
+**Intel/AMD (Mesa) — usually works out of the box:**
+```bash
+# Verify DRI is available
+ls /dev/dri/
+# Should show: card0  renderD128
+# If you card names are different, update them accordingly in run_gazebo_sim.sh
+```
+
+**NVIDIA — requires nvidia-container-toolkit:**
+```bash
+# Install NVIDIA Container Toolkit
+curl -fsSL https://nvidia.github.io/libnvidia-container/gpgkey \
+  | sudo gpg --dearmor -o /usr/share/keyrings/nvidia-container-toolkit-keyring.gpg
+curl -s -L https://nvidia.github.io/libnvidia-container/stable/deb/nvidia-container-toolkit.list \
+  | sed 's#deb https://#deb [signed-by=/usr/share/keyrings/nvidia-container-toolkit-keyring.gpg] https://#g' \
+  | sudo tee /etc/apt/sources.list.d/nvidia-container-toolkit.list
+sudo apt-get update
+sudo apt-get install -y nvidia-container-toolkit
+sudo nvidia-ctk runtime configure --runtime=docker
+sudo systemctl restart docker
+```
+
+---
+
+## Quick Start
+
+### Step 1: Build the Docker Image
+
+```bash
+cd paparazzi/docker/gazebo-classic
+docker build -t paparazziuav/pprz-gazebo-classic .
+```
+
+This takes ~10-15 minutes the first time (downloads Ubuntu 22.04 + all
+dependencies + Gazebo Classic 11).
+
+### Step 2: Initialize Git Submodules
+
+Make sure the TU Delft Gazebo models are present (needed for CyberZoo worlds):
+
+```bash
+cd paparazzi/
+git submodule init
+git submodule sync
+git submodule update sw/ext/tudelft_gazebo_models
+```
+
+### Step 3: Launch the Container
+
+```bash
+cd paparazzi/docker/gazebo-classic
+
+# Option A: Interactive shell (recommended for first run)
+./run_gazebo_sim.sh
+
+# Option B: Launch Paparazzi Center directly
+./run_gazebo_sim.sh ./paparazzi
+```
+
+### Step 4: Build and Run Simulation (inside the container)
+
+```bash
+# If you used Option A (interactive shell):
+
+# First time only — build Paparazzi
+make clean
+make
+
+# Launch Paparazzi Center
+./paparazzi
+```
+
+Then in the Paparazzi Center GUI:
+1. Select the aircraft: **bebop_orange_avoid** (or your target aircraft)
+2. Select the target: **nps** (in the "Target" dropdown)
+3. Click **Build** to compile the NPS simulator with Gazebo Classic
+4. Select session: **Simulation**
+5. Click **Execute** to start all components
+
+This launches:
+- **NPS Simulator** — runs the Gazebo Classic physics + the autopilot
+- **Server** — IVY bus message broker
+- **GCS (PprzGCS)** — Ground Control Station GUI
+- **Data Link** — telemetry bridge
+
+---
+
+## Architecture Overview
+
+```
+┌─── Ubuntu 24.04 Host ─────────────────────────────────────┐
+│                                                            │
+│   X11 Server (Wayland/X)  ◄──── GUI windows forwarded     │
+│   PulseAudio Server       ◄──── Audio forwarded            │
+│   /dev/input/js*          ◄──── Joystick shared            │
+│                                                            │
+│  ┌─── Docker Container (Ubuntu 22.04) ──────────────────┐  │
+│  │                                                      │  │
+│  │   Paparazzi Center                                   │  │
+│  │    ├── NPS Simulator (simsitl)                       │  │
+│  │    │    └── Gazebo Classic 11 (embedded server)      │  │
+│  │    ├── Server (IVY bus)                              │  │
+│  │    ├── GCS (PprzGCS)                                 │  │
+│  │    └── Data Link                                     │  │
+│  │                                                      │  │
+│  │   --network=host (shares host network stack)         │  │
+│  │   IVY bus broadcasts on 127.255.255.255:2010         │  │
+│  │                                                      │  │
+│  └──────────────────────────────────────────────────────┘  │
+│                                                            │
+│   /paparazzi (source)  ←──volume mount──→  container       │
+│                                                            │
+└────────────────────────────────────────────────────────────┘
+```
+
+Key design choices:
+- **`--network=host`**: The IVY bus uses UDP broadcast on `127.255.255.255`.
+  Host networking lets IVY messages flow freely between container processes
+  (and optionally to host-side tools).
+- **Volume mount**: Your paparazzi source tree is mounted into the container.
+  Build artifacts persist on your host filesystem.
+- **UID/GID mapping**: The entrypoint script matches the container user to
+  your host UID/GID so file permissions stay correct.
+
+---
+
+## Networking Details
+
+### IVY Bus Communication
+All Paparazzi components communicate via the **IVY bus** — a lightweight
+publish-subscribe protocol over UDP broadcast.
+
+- Default broadcast address: `127.255.255.255` (Linux)
+- Default port: `2010`
+- The `--network=host` flag shares the host's network stack with the
+  container, so IVY messages are visible to both sides.
+
+**Running tools on the host alongside Docker:**
+Because of `--network=host`, you can run IVY-compatible tools on the host
+that communicate with the simulation inside Docker. For example, you could
+run a custom GCS or logging tool on the host while the simulation runs in
+the container.
+
+### If You Cannot Use Host Networking
+If host networking is not an option (e.g., on Docker Desktop for Mac/Windows),
+you would need to:
+1. Run ALL Paparazzi components inside the container (which this setup does)
+2. Or configure IVY to use a specific multicast address and expose it via
+   Docker port mappings (more complex, not recommended)
+
+---
+
+## Joystick Support
+
+The run script automatically detects and passes joystick devices
+(`/dev/input/js*`, `/dev/input/event*`) into the container.
+
+### Verify Joystick Inside Container
+
+```bash
+# Inside the container
+ls /dev/input/js*          # should list your joystick
+jstest /dev/input/js0      # test joystick input
+
+# Use joystick with NPS simulator
+# The NPS simulator accepts: --js_dev <index>
+# This is passed automatically when using the Paparazzi Center
+```
+
+### Disable Joystick Passthrough
+
+```bash
+DISABLE_JOYSTICK=1 ./run_gazebo_sim.sh
+```
+
+---
+
+## Audio Support
+
+Audio from the container (e.g., Gazebo sounds) is forwarded to your host's
+PulseAudio server via a socket mount.
+
+### Verify Audio Inside Container
+
+```bash
+# Inside the container
+pactl info            # should show connection to host PulseAudio
+paplay /usr/share/sounds/freedesktop/stereo/bell.oga   # test sound
+```
+
+### Disable Audio
+
+```bash
+DISABLE_AUDIO=1 ./run_gazebo_sim.sh
+```
+
+---
+
+## GPU Acceleration
+
+Gazebo Classic needs OpenGL for 3D rendering. The run script handles two cases:
+
+### Intel / AMD (default)
+The script detects `/dev/dri` and passes it through. No extra setup needed.
+
+```bash
+# Verify inside container
+glxinfo | grep "OpenGL renderer"
+# Should show your GPU, NOT llvmpipe/software
+```
+
+### NVIDIA
+Set the `GPU_TYPE` environment variable:
+
+```bash
+GPU_TYPE=nvidia ./run_gazebo_sim.sh
+```
+
+This uses `--gpus all` which requires `nvidia-container-toolkit` (see
+Prerequisites above).
+
+---
+
+## Troubleshooting
+
+### "KeyError: 'XDG_SESSION_TYPE'" when running `./paparazzi`
+The Paparazzi launcher checks `XDG_SESSION_TYPE` to detect Wayland. Inside
+Docker there is no desktop session, so this variable is missing. The run
+script sets `XDG_SESSION_TYPE=x11` automatically. If you see this error,
+make sure you launched the container via `run_gazebo_sim.sh` (not plain
+`docker run`).
+
+### "cannot open display" or blank GUI windows
+```bash
+# On the host, allow X connections from Docker:
+xhost +local:docker
+
+# Or for Wayland (Ubuntu 24.04 default):
+# Make sure XWayland is running — it usually is by default.
+# If still failing, try switching to an X11 session at login.
+```
+
+### Gazebo starts but shows black screen / software rendering
+```bash
+# Check GPU access inside container
+glxinfo | grep "OpenGL renderer"
+
+# If it says "llvmpipe" → GPU passthrough is not working
+# For Intel/AMD: make sure /dev/dri exists and is readable
+# For NVIDIA: make sure nvidia-container-toolkit is installed
+```
+
+### "paparazzi-dev package not found"
+The Paparazzi PPA may not have packages for all Ubuntu versions. Since the
+Dockerfile uses Ubuntu 22.04, this should work. If it fails, the PPA may
+be temporarily down — retry later.
+
+### Build errors about "pkg-config gazebo"
+This means Gazebo Classic headers are not found. Inside the container, verify:
+```bash
+pkg-config --modversion gazebo
+# Should print: 11.x.x
+```
+
+### IVY bus messages not reaching between processes
+```bash
+# Verify host networking is active
+docker inspect <container_id> | grep NetworkMode
+# Should show: "host"
+
+# Test IVY connectivity inside container
+ivy-c-logger &    # if available, shows IVY messages
+```
+
+### Permission denied on /dev/input or /dev/dri
+```bash
+# Add your user to the input group on the host
+sudo usermod -aG input $USER
+# Log out and back in
+
+# Or run the container with --privileged (not recommended for daily use)
+```
+
+### Build artifacts from container don't match host architecture
+The build happens inside Ubuntu 22.04 (same x86_64 arch), so binaries are
+compatible. However, if you also build natively on the host, the two builds
+may conflict. Use `make clean` when switching between host and Docker builds.
+
+---
+
+## Environment Variables Reference
+
+| Variable            | Default | Description                                |
+|---------------------|---------|--------------------------------------------|
+| `GPU_TYPE`          | (auto)  | Set to `nvidia` for NVIDIA GPU support     |
+| `DISABLE_USB`       | (unset) | Set to `1` to skip USB device passthrough  |
+| `DISABLE_JOYSTICK`  | (unset) | Set to `1` to skip joystick passthrough    |
+| `DISABLE_AUDIO`     | (unset) | Set to `1` to skip PulseAudio passthrough  |
+
+---
+
+## File Structure
+
+```
+docker/gazebo-classic/
+├── Dockerfile           # Ubuntu 22.04 + Gazebo Classic 11 + all deps
+├── entrypoint.sh        # UID/GID mapping for volume permissions
+├── run_gazebo_sim.sh    # Launch script with X11/GPU/audio/joystick
+└── README.md            # This guide
+```
--- a/docker/gazebo-classic/entrypoint.sh
+++ b/docker/gazebo-classic/entrypoint.sh
@@ -0,0 +1,23 @@
+#!/bin/bash
+
+# Match container user UID/GID with host user to avoid permission issues
+USER_NAME=${USERNAME:-pprz}
+USER_ID=${LOCAL_USER_ID:-1000}
+GROUP_ID=${LOCAL_GROUP_ID:-1000}
+
+if id -u "$USER_NAME" > /dev/null 2>&1; then
+    echo "Starting with UID: $USER_ID and GID: $GROUP_ID"
+    groupmod -o --gid "$GROUP_ID" "$USER_NAME"
+    sed -i "s/$USER_NAME:x:\([0-9]*\):\([0-9]*\):/$USER_NAME:x:$USER_ID:\2:/g" /etc/passwd
+else
+    echo "Adding new user $USER_NAME with UID: $USER_ID and GID: $GROUP_ID"
+    useradd --shell /bin/bash -u "$USER_ID" -o -c "" -m "$USER_NAME"
+fi
+
+export HOME=/home/$USER_NAME
+
+# Start speech-dispatcher as the target user so PprzGCS --speech doesn't block.
+# Must run as pprz (not root) to avoid creating ~/.config/ with wrong ownership.
+gosu "$USER_NAME" speech-dispatcher --spawn 2>/dev/null || true
+
+exec gosu "$USER_NAME" "$@"
--- a/docker/gazebo-classic/run_gazebo_sim.sh
+++ b/docker/gazebo-classic/run_gazebo_sim.sh
@@ -0,0 +1,145 @@
+#!/bin/bash
+#
+# Run Paparazzi with Gazebo Classic simulation inside Docker.
+#
+# Usage:
+#   ./run_gazebo_sim.sh                  # interactive bash shell
+#   ./run_gazebo_sim.sh ./paparazzi      # launch Paparazzi Center directly
+#
+# Environment variables:
+#   DISABLE_USB=1       - skip USB device passthrough
+#   DISABLE_JOYSTICK=1  - skip joystick passthrough
+#   DISABLE_AUDIO=1     - skip PulseAudio passthrough
+#   GPU_TYPE=nvidia      - use NVIDIA GPU (requires nvidia-container-toolkit)
+#
+
+set -e
+
+SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
+PAPARAZZI_SRC="$(readlink -m "$SCRIPT_DIR/../..")"
+IMAGE_NAME="paparazziuav/pprz-gazebo-classic"
+PPRZ_HOME_CONTAINER="/home/pprz/paparazzi"
+
+# Default: interactive bash if no arguments
+if [ $# -lt 1 ]; then
+    CMD="bash"
+else
+    CMD="$@"
+fi
+
+echo "============================================="
+echo " Paparazzi + Gazebo Classic (Docker)"
+echo "============================================="
+echo " Paparazzi source: $PAPARAZZI_SRC"
+echo " Command: $CMD"
+echo "============================================="
+
+# ── X11 Display Forwarding ───────────────────────────────────────────
+XSOCK=/tmp/.X11-unix
+XAUTH=/tmp/.docker.xauth.$$
+touch "$XAUTH"
+xauth nlist "$DISPLAY" | sed -e 's/^..../ffff/' | xauth -f "$XAUTH" nmerge - 2>/dev/null
+
+X_OPTS=(
+    --volume="$XSOCK:$XSOCK"
+    --volume="$XAUTH:$XAUTH"
+    --env="XAUTHORITY=$XAUTH"
+    --env="DISPLAY=$DISPLAY"
+    --env="XDG_SESSION_TYPE=x11"
+    --env="XDG_RUNTIME_DIR=/tmp/runtime-pprz"
+    --env="LIBGL_DRI3_DISABLE=1"
+)
+
+# ── GPU Acceleration ─────────────────────────────────────────────────
+# The render group owns /dev/dri/renderD128 (mode crw-rw----).
+# We pass the host's render and video GIDs into the container so the
+# container user can open the DRM device for hardware rendering.
+GPU_OPTS=()
+if [ "$GPU_TYPE" = "nvidia" ]; then
+    echo "[GPU] Using NVIDIA runtime"
+    GPU_OPTS+=(--gpus all --env NVIDIA_DRIVER_CAPABILITIES=all)
+elif [ -d /dev/dri ]; then
+    echo "[GPU] Using Mesa/Intel/AMD (DRI)"
+    GPU_OPTS+=(--device=/dev/dri/card0 --device=/dev/dri/renderD128)
+    RENDER_GID=$(getent group render 2>/dev/null | cut -d: -f3)
+    VIDEO_GID=$(getent group video  2>/dev/null | cut -d: -f3)
+    [ -n "$RENDER_GID" ] && GPU_OPTS+=(--group-add="$RENDER_GID") && echo "[GPU] Added render group (GID $RENDER_GID)"
+    [ -n "$VIDEO_GID"  ] && GPU_OPTS+=(--group-add="$VIDEO_GID")  && echo "[GPU] Added video  group (GID $VIDEO_GID)"
+fi
+
+# ── Networking (host mode for IVY bus) ───────────────────────────────
+# IVY bus uses UDP broadcast on 127.255.255.255 — host networking is
+# the simplest way to allow container ↔ host IVY communication.
+NET_OPTS=(--network=host)
+
+# ── PulseAudio ───────────────────────────────────────────────────────
+AUDIO_OPTS=()
+if [ -z "$DISABLE_AUDIO" ]; then
+    USER_UID=$(id -u)
+    PULSE_SOCK="/run/user/${USER_UID}/pulse"
+    if [ -d "$PULSE_SOCK" ]; then
+        echo "[Audio] PulseAudio passthrough enabled"
+        AUDIO_OPTS+=(--volume="$PULSE_SOCK:/run/pulse")
+    else
+        echo "[Audio] PulseAudio socket not found, skipping"
+    fi
+fi
+
+# ── Joystick / Input Devices ────────────────────────────────────────
+INPUT_OPTS=()
+if [ -z "$DISABLE_JOYSTICK" ]; then
+    # Pass /dev/input for joysticks and gamepads
+    if [ -d /dev/input ]; then
+        echo "[Input] Passing /dev/input for joystick support"
+        INPUT_OPTS+=(--volume=/dev/input:/dev/input)
+        # Find and pass specific joystick devices
+        for js in /dev/input/js*; do
+            [ -e "$js" ] && INPUT_OPTS+=(--device="$js")
+        done
+        for ev in /dev/input/event*; do
+            [ -e "$ev" ] && INPUT_OPTS+=(--device="$ev")
+        done
+    fi
+fi
+
+# ── USB Devices (serial adapters, etc.) ──────────────────────────────
+USB_OPTS=()
+if [ -z "$DISABLE_USB" ]; then
+    for dev in /dev/ttyACM* /dev/ttyUSB*; do
+        if [ -e "$dev" ]; then
+            echo "[USB] Passing $dev"
+            USB_OPTS+=(--device="$dev")
+        fi
+    done
+fi
+
+# ── Paparazzi Volume Mount ───────────────────────────────────────────
+VOL_OPTS=(
+    --volume="$PAPARAZZI_SRC:$PPRZ_HOME_CONTAINER"
+    --env="PAPARAZZI_HOME=$PPRZ_HOME_CONTAINER"
+    --env="PAPARAZZI_SRC=$PPRZ_HOME_CONTAINER"
+    -w "$PPRZ_HOME_CONTAINER"
+)
+
+# ── Run Container ────────────────────────────────────────────────────
+echo ""
+echo "Starting container..."
+docker run \
+    --rm -it \
+    --cap-add=SYS_NICE \
+    --ulimit rtprio=99 \
+    --env="NO_AT_BRIDGE=1" \
+    "${X_OPTS[@]}" \
+    "${GPU_OPTS[@]}" \
+    "${NET_OPTS[@]}" \
+    "${AUDIO_OPTS[@]}" \
+    "${INPUT_OPTS[@]}" \
+    "${USB_OPTS[@]}" \
+    "${VOL_OPTS[@]}" \
+    -e LOCAL_USER_ID="$(id -u)" \
+    -e LOCAL_GROUP_ID="$(id -g)" \
+    "$IMAGE_NAME" \
+    $CMD
+
+# ── Cleanup ──────────────────────────────────────────────────────────
+rm -f "$XAUTH"