UAV-develop/PX4-Autopilot
1
0
Fork 0
mirror of https://github.com/PX4/PX4-Autopilot.git synced 2026-09-24 19:08:21 +08:00
Code Issues Packages Projects Releases Wiki Activity

feat(containers): add development container with ROS 2 and Gazebo

Browse Source 
Signed-off-by: Beniamino Pozzan <beniamino.pozzan@gmail.com>
This commit is contained in:
Beniamino Pozzan
2026-09-16 18:03:20 +01:00
committed by Ramon Roche
parent 9300113ada
commit cc09df637f
3 changed files with 29 additions and 5 deletions
Download Patch File Download Diff File Expand all files Collapse all files

7
Tools/packaging/containers/Dockerfile.ros2
View File

@@ -1,11 +1,13 @@
# syntax=docker/dockerfile:1
# Build ROS independently of the changing SIH/Gazebo firmware package.
ARG ROS_DISTRO=jazzy
ARG INCLUDE_GAZEBO=0
FROM ubuntu:22.04 AS ros2-base-humble
FROM ubuntu:24.04 AS ros2-base-jazzy
FROM ros2-base-${ROS_DISTRO} AS ros2-base
ARG ROS_DISTRO
ARG INCLUDE_GAZEBO
ENV DEBIAN_FRONTEND=noninteractive
ENV ROS_DISTRO=${ROS_DISTRO}
ENV LANG=C.UTF-8
@@ -18,7 +20,7 @@ RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
--mount=type=cache,target=/var/lib/apt,sharing=locked \
--mount=type=bind,source=setup,target=/px4-setup \
--mount=type=bind,source=ros2-install-dependencies.sh,target=/ros2-install-dependencies.sh \
bash /ros2-install-dependencies.sh
bash /ros2-install-dependencies.sh ${INCLUDE_GAZEBO}
# Keep ROS libraries intact and statically link the same pinned, private
# Fast DDS/CDR dependencies into the Agent on both distributions.
@@ -131,12 +133,13 @@ ENV RUNS_IN_DOCKER=true
SHELL ["/bin/bash", "-o", "pipefail", "-c"]
ARG ROS_APT_SOURCE_VERSION=1.2.0
ARG INCLUDE_GAZEBO=0
RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
--mount=type=cache,target=/var/lib/apt,sharing=locked \
--mount=type=bind,source=setup,target=/px4-setup \
--mount=type=bind,source=ros2-install-dependencies.sh,target=/ros2-install-dependencies.sh \
--mount=type=bind,from=ros2-sources,source=/opt/px4_ros2/src,target=/opt/px4_ros2/src \
bash /ros2-install-dependencies.sh /opt/px4_ros2/src
bash /ros2-install-dependencies.sh ${INCLUDE_GAZEBO} /opt/px4_ros2/src
# Copy only the staged Agent/logger install, never the builder's pip packages.
COPY --from=agent /opt/agent-install/usr/local/ /usr/local/

14
Tools/packaging/containers/docker-bake.hcl
View File

@@ -76,3 +76,17 @@ target "ros2-dev" {
cache-from = CACHE_GHA ? ["type=gha,scope=ros2-dev-${ROS_DISTRO}-${ARCH}"] : []
cache-to = CACHE_GHA ? ["type=gha,mode=max,scope=ros2-dev-${ROS_DISTRO}-${ARCH}"] : []
}
target "ros2-gazebo-dev" {
context = "docker-context"
platforms = ["linux/${ARCH}"]
dockerfile = "Dockerfile.ros2"
target = "ros2-dev"
args = {
ROS_DISTRO = ROS_DISTRO
INCLUDE_GAZEBO = 1
}
tags = ["px4io/px4-dev-ros2-gazebo:main-${ROS_DISTRO}-${ARCH}", "ghcr.io/px4/px4-dev-ros2-gazebo:main-${ROS_DISTRO}-${ARCH}"]
cache-from = CACHE_GHA ? ["type=gha,scope=ros2-gazebo-dev-${ROS_DISTRO}-${ARCH}"] : []
cache-to = CACHE_GHA ? ["type=gha,mode=max,scope=ros2-gazebo-dev-${ROS_DISTRO}-${ARCH}"] : []
}

13
Tools/packaging/containers/ros2-install-dependencies.sh
View File

@@ -1,6 +1,8 @@
#!/usr/bin/env bash
set -euo pipefail
INCLUDE_SIM_TOOLS=${1:-0}
source /etc/os-release
case "${VERSION_CODENAME}:${ROS_DISTRO}" in
jammy:humble|noble:jazzy) ;;
@@ -34,15 +36,20 @@ for dist in distributions():
continue
print(f"{dist.metadata['Name']}=={dist.version}")
PY
if [ "${INCLUDE_SIM_TOOLS}" -eq 0 ]; then
extra_args="--no-sim-tools"
else
extra_args=""
fi
RUNS_IN_DOCKER=true PIP_CONSTRAINT=/px4-python-constraints.txt PIP_NO_CACHE_DIR=1 \
bash /px4-setup/ubuntu.sh --no-nuttx --no-sim-tools
bash /px4-setup/ubuntu.sh --no-nuttx ${extra_args}
rm /px4-python-constraints.txt
rosdep init
rosdep update --rosdistro "${ROS_DISTRO}"
if [ "$#" -gt 0 ]; then
if [ "$#" -gt 1 ]; then
# ROS setup scripts are not nounset-safe.
set +u
source "/opt/ros/${ROS_DISTRO}/setup.bash"
rosdep install --from-paths "$1" --ignore-src --rosdistro "${ROS_DISTRO}" -y
rosdep install --from-paths "$2" --ignore-src --rosdistro "${ROS_DISTRO}" -y
fi