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Add ROS 2 humble. Update ROS 2 dockerfile to take args for the ros ve… #339

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61cd874
Add ROS 2 humble. Update ROS 2 dockerfile to take args for the ros ve…
Jul 28, 2023
791b209
Update Makefile for galactic, humble, and rolling
Aug 14, 2023
2375316
Add ros 2 iron
Oct 15, 2023
ea8407e
Fix warnings about deprecated ENV use by using key=value
Jun 20, 2025
5a38a9e
cleanup base packages
Jul 3, 2025
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64 changes: 61 additions & 3 deletions .github/workflows/docker_builds.yml
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Expand Up @@ -442,10 +442,62 @@ jobs:
tag_names: true
workdir: docker

px4-dev-ros2-humble:
name: "ROS2 Humble"
runs-on: ubuntu-latest
needs: px4-dev-base-jammy
steps:
- uses: actions/checkout@v3
- name: Build container
if: github.event_name == 'pull_request'
run: |
cd docker
make px4-dev-ros2-humble
- name: Build & Publish container
if: github.event_name == 'push' && (contains(github.ref, '/heads/master') || contains(github.ref, '/tags/'))
uses: julianoes/Publish-Docker-Github-Action@master
with:
name: px4io/px4-dev-ros2-humble
username: ${{ secrets.DOCKER_USERNAME }}
password: ${{ secrets.DOCKER_PASSWORD }}
dockerfile: Dockerfile_ros2
cache: false
tag_names: true
workdir: docker
build-args: |
ROS_DISTRO=humble
BASE=px4io/px4-dev-base-jammy

px4-dev-ros2-iron:
name: "ROS2 Iron"
runs-on: ubuntu-latest
needs: px4-dev-base-jammy
steps:
- uses: actions/checkout@v3
- name: Build container
if: github.event_name == 'pull_request'
run: |
cd docker
make px4-dev-ros2-iron
- name: Build & Publish container
if: github.event_name == 'push' && (contains(github.ref, '/heads/master') || contains(github.ref, '/tags/'))
uses: julianoes/Publish-Docker-Github-Action@master
with:
name: px4io/px4-dev-ros2-iron
username: ${{ secrets.DOCKER_USERNAME }}
password: ${{ secrets.DOCKER_PASSWORD }}
dockerfile: Dockerfile_ros2
cache: false
tag_names: true
workdir: docker
build-args: |
ROS_DISTRO=iron
BASE=px4io/px4-dev-base-jammy

px4-dev-ros2-rolling:
name: "ROS2 Rolling"
runs-on: ubuntu-latest
needs: px4-dev-base-focal
needs: px4-dev-base-jammy
steps:
- uses: actions/checkout@v3
- name: Build container
Expand All @@ -460,10 +512,13 @@ jobs:
name: px4io/px4-dev-ros2-rolling
username: ${{ secrets.DOCKER_USERNAME }}
password: ${{ secrets.DOCKER_PASSWORD }}
dockerfile: Dockerfile_ros2-rolling
dockerfile: Dockerfile_ros2
cache: false
tag_names: true
workdir: docker
build-args: |
ROS_DISTRO=rolling
BASE=px4io/px4-dev-base-jammy

px4-dev-ros2-galactic:
name: "ROS2 Galactic"
Expand All @@ -483,10 +538,13 @@ jobs:
name: px4io/px4-dev-ros2-galactic
username: ${{ secrets.DOCKER_USERNAME }}
password: ${{ secrets.DOCKER_PASSWORD }}
dockerfile: Dockerfile_ros2-galactic
dockerfile: Dockerfile_ros2
cache: false
tag_names: true
workdir: docker
build-args: |
ROS_DISTRO=galactic
BASE=px4io/px4-dev-base-focal

px4-docs:
name: "Ubuntu Docs"
Expand Down
8 changes: 4 additions & 4 deletions docker/Dockerfile_aarch64
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Expand Up @@ -9,9 +9,9 @@
FROM debian:buster
LABEL maintainer="SalimTerryLi <lhf2613@gmail.com>"

ENV DEBIAN_FRONTEND noninteractive
ENV LANG C.UTF-8
ENV LC_ALL C.UTF-8
ENV DEBIAN_FRONTEND=noninteractive
ENV LANG=C.UTF-8
ENV LC_ALL=C.UTF-8

RUN apt-get update && apt-get -y --quiet --no-install-recommends install \
bzip2 \
Expand Down Expand Up @@ -80,7 +80,7 @@ RUN wget -q "https://services.gradle.org/distributions/gradle-5.6.2-bin.zip" -O
&& unzip -d /opt/gradle gradle-5.6.2-bin.zip \
&& rm -rf /tmp/*

ENV PATH "/opt/gradle/gradle-5.6.2/bin:$PATH"
ENV PATH="/opt/gradle/gradle-5.6.2/bin:$PATH"

# Fast-RTPS
RUN git clone --recursive https://github.com/eProsima/Fast-DDS.git -b v1.8.2 /tmp/FastRTPS-1.8.2 \
Expand Down
6 changes: 3 additions & 3 deletions docker/Dockerfile_armhf
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Expand Up @@ -11,9 +11,9 @@
FROM debian:bullseye
LABEL maintainer="Daniel Agar <daniel@agar.ca>"

ENV DEBIAN_FRONTEND noninteractive
ENV LANG C.UTF-8
ENV LC_ALL C.UTF-8
ENV DEBIAN_FRONTEND=noninteractive
ENV LANG=C.UTF-8
ENV LC_ALL=C.UTF-8

RUN apt-get update && apt-get -y --quiet --no-install-recommends install \
bzip2 \
Expand Down
4 changes: 2 additions & 2 deletions docker/Dockerfile_base-archlinux
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Expand Up @@ -51,7 +51,7 @@ RUN wget -q "https://services.gradle.org/distributions/gradle-6.1-rc-3-bin.zip"
&& unzip -d /opt/gradle gradle-6.1-rc-3-bin.zip \
&& rm -rf /tmp/*

ENV PATH "/opt/gradle/gradle-6.1-rc-3/bin:$PATH"
ENV PATH="/opt/gradle/gradle-6.1-rc-3/bin:$PATH"

# Intall foonathan_memory from source as it is required to Fast-RTPS >= 1.9
RUN git clone https://github.com/eProsima/foonathan_memory_vendor.git /tmp/foonathan_memory \
Expand Down Expand Up @@ -85,7 +85,7 @@ RUN ln -s /usr/bin/ccache /usr/lib/ccache/bin/arm-none-eabi-gcc \

ENV CCACHE_MAXSIZE=1G
ENV FASTRTPSGEN_DIR="/usr/local/bin/"
ENV PATH "/usr/lib/ccache/bin:$PATH"
ENV PATH="/usr/lib/ccache/bin:$PATH"
ENV TERM=xterm

# SITL UDP PORTS
Expand Down
10 changes: 5 additions & 5 deletions docker/Dockerfile_base-bionic
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Expand Up @@ -5,9 +5,9 @@
FROM ubuntu:18.04
LABEL maintainer="Daniel Agar <daniel@agar.ca>"

ENV DEBIAN_FRONTEND noninteractive
ENV LANG C.UTF-8
ENV LC_ALL C.UTF-8
ENV DEBIAN_FRONTEND=noninteractive
ENV LANG=C.UTF-8
ENV LC_ALL=C.UTF-8

RUN apt-get update && apt-get -y --quiet --no-install-recommends install \
bzip2 \
Expand Down Expand Up @@ -83,7 +83,7 @@ RUN wget -q "https://services.gradle.org/distributions/gradle-6.3-rc-4-bin.zip"
&& unzip -d /opt/gradle gradle-6.3-rc-4-bin.zip \
&& rm -rf /tmp/*

ENV PATH "/opt/gradle/gradle-6.3-rc-4/bin:$PATH"
ENV PATH="/opt/gradle/gradle-6.3-rc-4/bin:$PATH"

# Fast-RTPS 1.8.4
RUN git clone --recursive https://github.com/eProsima/Fast-DDS.git -b v1.8.4 /tmp/FastRTPS-1.8.4 \
Expand All @@ -107,7 +107,7 @@ RUN useradd --shell /bin/bash -u 1001 -c "" -m user && usermod -a -G dialout use
RUN mkdir /tmp/.X11-unix && \
chmod 1777 /tmp/.X11-unix && \
chown -R root:root /tmp/.X11-unix
ENV DISPLAY :99
ENV DISPLAY=:99

ENV CCACHE_UMASK=000
ENV FASTRTPSGEN_DIR="/usr/local/bin/"
Expand Down
134 changes: 0 additions & 134 deletions docker/Dockerfile_base-focal
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This file was deleted.

44 changes: 28 additions & 16 deletions docker/Dockerfile_base-jammy → docker/Dockerfile_base-noble
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Original file line number Diff line number Diff line change
@@ -1,13 +1,13 @@
#
# PX4 base development environment
#

FROM ubuntu:22.04
ARG UBUNTU=24.04
FROM ubuntu:${UBUNTU}
LABEL maintainer="Ramon Roche <rroche@linuxfoundation.com>"

ENV DEBIAN_FRONTEND noninteractive
ENV LANG C.UTF-8
ENV LC_ALL C.UTF-8
ENV DEBIAN_FRONTEND=noninteractive
ENV LANG=C.UTF-8
ENV LC_ALL=C.UTF-8

RUN apt-get update && apt-get -y --quiet --no-install-recommends install \
ant \
Expand Down Expand Up @@ -73,18 +73,30 @@ RUN cd /usr/src/gtest \
&& find . -name \*.a -exec cp {} /usr/lib \; \
&& cd .. && rm -rf build

# Install Python 3 pip build dependencies first.
RUN python3 -m pip install --upgrade pip wheel setuptools

# Python 3 dependencies installed by pip
RUN python3 -m pip install argparse argcomplete coverage cerberus empy jinja2 kconfiglib \
matplotlib>=3.0.* numpy nunavut>=1.1.0 packaging pkgconfig pyros-genmsg pyulog \
pyyaml requests serial six toml psutil pyulog wheel jsonschema pynacl lxml
# RUN python3 -m pip install argparse argcomplete coverage cerberus empy jinja2 kconfiglib \
# matplotlib>=3.0.* numpy nunavut>=1.1.0 packaging pkgconfig pyros-genmsg pyulog \
# pyyaml requests serial six toml psutil pyulog wheel jsonschema pynacl lxml

#RUN python3 -m pip install argcomplete argparse>=1.2 cerberus coverage empy>=3.3 future \
#jinja2>=2.8 jsonschema kconfiglib lxml matplotlib>=3.0.* numpy>=1.13 nunavut>=1.1.0 \
#packaging pandas>=0.21 pkgconfigpsutil pygments wheel>=0.31.1 pymavlink pyros-genmsg \
#pyserial pyulog>=0.5.0 pyyaml requests setuptools>=39.2.0 six>=1.12.0 toml>=0.9 sympy>=1.10.1
# Python 3 dependencies
RUN apt-get update && apt-get -y --quiet --no-install-recommends install \
python3-argcomplete \
python3-coverage \
python3-cerberus \
python3-empy \
python3-jinja2 \
python3-matplotlib \
python3-numpy \
python3-packaging \
python3-pkgconfig \
python3-requests \
python3-serial \
python3-six \
python3-toml \
python3-psutil \
python3-wheel \
python3-jsonschema \
python3-lxml

# manual ccache setup
RUN ln -s /usr/bin/ccache /usr/lib/ccache/cc \
Expand All @@ -103,7 +115,7 @@ RUN useradd --shell /bin/bash -u 1001 -c "" -m user && usermod -a -G dialout use
RUN mkdir /tmp/.X11-unix && \
chmod 1777 /tmp/.X11-unix && \
chown -R root:root /tmp/.X11-unix
ENV DISPLAY :99
ENV DISPLAY=:99

ENV CCACHE_UMASK=000
ENV FASTRTPSGEN_DIR="/usr/local/bin/"
Expand Down
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