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ROS Noetic Offboard #321

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ROS Noetic Offboard #321

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773728a
cotainer for noetic offboard
Nov 17, 2022
21528d5
added noetic offboard to make
Nov 17, 2022
3b83d6d
cleaning mac os files
Nov 17, 2022
6380cef
correct makefile
Nov 17, 2022
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66 changes: 66 additions & 0 deletions docker/Dockerfile_ros-noetic-offboard
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Original file line number Diff line number Diff line change
@@ -0,0 +1,66 @@
#
# PX4 ROS development environment
#

FROM px4io/px4-dev-simulation-focal:2021-09-08
LABEL maintainer="Nuno Marques <n.marques21@hotmail.com>"

ENV ROS_DISTRO noetic

# setup ros keys
RUN curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | apt-key add -

RUN sh -c 'echo "deb http://packages.ros.org/ros/ubuntu `lsb_release -sc` main" > /etc/apt/sources.list.d/ros-latest.list' \
&& sh -c 'echo "deb http://packages.ros.org/ros/ubuntu `lsb_release -sc` main" > /etc/apt/sources.list.d/ros-latest.list' \
&& sh -c 'echo "deb http://packages.ros.org/ros-shadow-fixed/ubuntu `lsb_release -sc` main" > /etc/apt/sources.list.d/ros-shadow.list' \
&& apt-get update \
&& apt-get -y --quiet --no-install-recommends install \
geographiclib-tools \
libeigen3-dev \
libgeographic-dev \
libopencv-dev \
libyaml-cpp-dev \
python3-rosdep \
python3-catkin-tools \
python3-catkin-lint \
ros-$ROS_DISTRO-gazebo-ros-pkgs \
ros-$ROS_DISTRO-mavlink \
ros-$ROS_DISTRO-mavros \
ros-$ROS_DISTRO-mavros-extras \
ros-$ROS_DISTRO-octomap \
ros-$ROS_DISTRO-octomap-msgs \
ros-$ROS_DISTRO-pcl-conversions \
ros-$ROS_DISTRO-pcl-msgs \
ros-$ROS_DISTRO-pcl-ros \
ros-$ROS_DISTRO-ros-base \
ros-$ROS_DISTRO-rostest \
ros-$ROS_DISTRO-rosunit \
python3-catkin-tools \
python3-rosinstall-generator\
python3-wstool \
xvfb \
vim \
&& geographiclib-get-geoids egm96-5 \
&& apt-get -y autoremove \
&& apt-get clean autoclean \
&& rm -rf /var/lib/apt/lists/{apt,dpkg,cache,log} /tmp/* /var/tmp/*

RUN pip3 install -U \
osrf-pycommon
RUN wget https://raw.githubusercontent.com/mavlink/mavros/master/mavros/scripts/install_geographiclib_datasets.sh && sudo bash ./install_geographiclib_datasets.sh

# bootstrap rosdep
RUN rosdep init && rosdep update

RUN echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> \
/etc/sudoers
RUN echo 'source ~/Firmware/Tools/simulation/gazebo/setup_gazebo.bash ~/Firmware ~/Firmware/build/px4_sitl_default' >> /home/user/.bashrc
RUN echo 'export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:~/Firmware' >> /home/user/.bashrc
RUN echo 'export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:~/Firmware/Tools/simulation/gazebo/sitl_gazebo' >> /home/user/.bashrc
RUN echo 'export GAZEBO_PLUGIN_PATH=$GAZEBO_PLUGIN_PATH:/usr/lib/x86_64-linux-gnu/gazebo-9/plugins' >> /home/user/.bashrc

RUN ln -s /usr/bin/python3 /usr/bin/python

RUN adduser user sudo

USER root
3 changes: 3 additions & 0 deletions docker/Makefile
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Expand Up @@ -50,6 +50,9 @@ px4-dev-ros-melodic: px4-dev-simulation-bionic
px4-dev-ros-noetic: px4-dev-simulation-focal
docker build -t px4io/px4-dev-ros-noetic . -f Dockerfile_ros-noetic

px4-dev-ros-noetic-offboard: px4-dev-simulation-focal
docker build -t px4io/px4-dev-ros-noetic-offboard . -f Dockerfile_ros-noetic-offboard

px4-dev-ros2-dashing: px4-dev-ros-melodic
docker build -t px4io/px4-dev-ros2-dashing . -f Dockerfile_ros2-dashing

Expand Down