Simulation image based on Nvidia L4T

.github/workflows/arm64_builds.yml

@@ -0,0 +1,89 @@
+name: Build & Publish ARM64 Docker images
+
+on:
+  workflow_dispatch:
+    tags:
+      - '*'
+    branches:
+      - '*'
+  push:
+    tags:
+      - '*'
+    branches:
+      - master
+    paths:
+      - docker/Dockerfile_*-l4t
+  pull_request:
+    branches:
+      - master
+    paths:
+      - docker/Dockerfile_*-l4t
+jobs:
+  px4-dev-base-l4t:
+    name: "Ubuntu L4T Base"
+    runs-on: ubuntu-latest
+    steps:
+    - 
+      name: Checkout
+      uses: actions/checkout@v2
+    - 
+      name: Set up Docker Buildx
+      id: buildx
+      uses: docker/setup-buildx-action@v1
+    - 
+      name: Configure emulator
+      id: emu
+      run: |
+        docker run --privileged --rm tonistiigi/binfmt --install arm64
+    - 
+      name: Build container
+      run: |
+        cd docker
+        make px4-dev-base-l4t
+    - 
+      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-base-l4t
+        username: ${{ secrets.DOCKER_USERNAME }}
+        password: ${{ secrets.DOCKER_PASSWORD }}
+        dockerfile: Dockerfile_base-l4t
+        cache: false
+        tag_names: true
+        workdir: docker
+
+  px4-dev-simulation-l4t:
+      name: "Ubuntu L4T Simulation"
+      runs-on: ubuntu-latest
+      needs: px4-dev-base-l4t
+      steps:
+      - 
+        name: Checkout
+        uses: actions/checkout@v2
+      - 
+        name: Set up Docker Buildx
+        id: buildx
+        uses: docker/setup-buildx-action@v1
+      - 
+        name: Configure emulator
+        id: emu
+        run: |
+          docker run --privileged --rm tonistiigi/binfmt --install arm64
+      - 
+        name: Build container
+        run: |
+          cd docker
+          make px4-dev-simulation-l4t
+      - 
+        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-simulation-l4t
+          username: ${{ secrets.DOCKER_USERNAME }}
+          password: ${{ secrets.DOCKER_PASSWORD }}
+          dockerfile: Dockerfile_simulation-l4t
+          cache: false
+          tag_names: true
+          workdir: docker

.github/workflows/docker_builds.yml → .github/workflows/x86_builds.yml

@@ -6,9 +6,13 @@ on:
       - '*'
     branches:
       - master
+    paths-ignore:
+      - docker/Dockerfile_*-l4t
   pull_request:
     branches:
       - master
+    paths-ignore:
+      - docker/Dockerfile_*-l4t
 
 jobs:
   px4-dev-base-archlinux:

README.md

@@ -26,6 +26,8 @@ License: according to [LICENSE](https://github.com/PX4/Firmware/blob/master/LICE
             - [px4io/px4-dev-ros2-foxy](https://hub.docker.com/r/px4io/px4-dev-ros2-foxy) [![](https://images.microbadger.com/badges/image/px4io/px4-dev-ros2-foxy.svg)](http://microbadger.com/images/px4io/px4-dev-ros2-foxy) [![Docker Pulls](https://img.shields.io/docker/pulls/px4io/px4-dev-ros2-foxy.svg)](https://hub.docker.com/r/px4io/px4-dev-ros2-foxy)
     - [px4io/px4-dev-ros2-rolling](https://hub.docker.com/r/px4io/px4-dev-ros2-rolling) [![](https://images.microbadger.com/badges/image/px4io/px4-dev-ros2-rolling.svg)](http://microbadger.com/images/px4io/px4-dev-ros2-rolling) [![Docker Pulls](https://img.shields.io/docker/pulls/px4io/px4-dev-ros2-rolling.svg)](https://hub.docker.com/r/px4io/px4-dev-ros2-rolling)
     - [px4io/px4-dev-ros2-galactic](https://hub.docker.com/r/px4io/px4-dev-ros2-galactic) [![](https://images.microbadger.com/badges/image/px4io/px4-dev-ros2-galactic.svg)](http://microbadger.com/images/px4io/px4-dev-ros2-galactic) [![Docker Pulls](https://img.shields.io/docker/pulls/px4io/px4-dev-ros2-galactic.svg)](https://hub.docker.com/r/px4io/px4-dev-ros2-galactic)
+- [px4io/px4-dev-base-l4t](https://hub.docker.com/r/px4io/px4-dev-base-l4t) [![](https://images.microbadger.com/badges/image/px4io/px4-dev-base-l4t.svg)](http://microbadger.com/images/px4io/px4-dev-base-l4t) [![Docker Pulls](https://img.shields.io/docker/pulls/px4io/px4-dev-base-l4t.svg)](https://hub.docker.com/r/px4io/px4-dev-base-l4t)
+    - [px4io/px4-dev-simulation-l4t](https://hub.docker.com/r/px4io/px4-dev-simulation-l4t) [![](https://images.microbadger.com/badges/image/px4io/px4-dev-simulation-l4t.svg)](http://microbadger.com/images/px4io/px4-dev-simulation-l4t) [![Docker Pulls](https://img.shields.io/docker/pulls/px4io/px4-dev-simulation-l4t.svg)](https://hub.docker.com/r/px4io/px4-dev-simulation-l4t)
 - [px4io/px4-dev-armhf](https://hub.docker.com/r/px4io/px4-dev-armhf) [![](https://images.microbadger.com/badges/image/px4io/px4-dev-armhf.svg)](http://microbadger.com/images/px4io/px4-dev-armhf) [![Docker Pulls](https://img.shields.io/docker/pulls/px4io/px4-dev-armhf.svg)](https://hub.docker.com/r/px4io/px4-dev-armhf)
 - [px4io/px4-dev-aarch64](https://hub.docker.com/r/px4io/px4-dev-aarch64) [![](https://images.microbadger.com/badges/image/px4io/px4-dev-aarch64.svg)](http://microbadger.com/images/px4io/px4-dev-aarch64) [![Docker Pulls](https://img.shields.io/docker/pulls/px4io/px4-dev-aarch64.svg)](https://hub.docker.com/r/px4io/px4-dev-aarch64)
 - [px4io/px4-docs](https://hub.docker.com/r/px4io/px4-docs) [![](https://images.microbadger.com/badges/image/px4io/px4-docs.svg)](http://microbadger.com/images/px4io/px4-docs) [![Docker Pulls](https://img.shields.io/docker/pulls/px4io/px4-docs.svg)](https://hub.docker.com/r/px4io/px4-docs)

docker/Dockerfile_base-l4t

@@ -0,0 +1,135 @@
+#
+# PX4 base development environment based on NVidia L4T distribution for Jetson boards
+#
+
+FROM nvcr.io/nvidia/l4t-base:r32.5.0
+LABEL maintainer="Dom Raniszewski<[email protected]>"
+
+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 \
+		build-essential \
+		ca-certificates \
+		ccache \
+		cmake \
+		cppcheck \
+		curl \
+		dirmngr \
+		doxygen \
+		file \
+		gdb \
+		git \
+		gnupg \
+		gosu \
+		lcov \
+		libfreetype6-dev \
+		libgtest-dev \
+		libpng-dev \
+		libpcap-dev \
+		libpq-dev \
+		libssl-dev \
+		lsb-release \
+		ninja-build \
+		openjdk-8-jdk \
+		openjdk-8-jre \
+		openssh-client \
+		pkg-config \
+		python3-dev \
+		python3-pip \
+		python3-matplotlib \
+		rsync \
+		shellcheck \
+		tzdata \
+		unzip \
+		valgrind \
+		wget \
+		xsltproc \
+		zip \
+	&& apt-get -y autoremove \
+	&& apt-get clean autoclean \
+	&& rm -rf /var/lib/apt/lists/{apt,dpkg,cache,log} /tmp/* /var/tmp/*
+
+# gtest
+RUN cd /usr/src/gtest \
+	&& mkdir build && cd build \
+	&& cmake .. && make -j$(nproc) \
+	&& cp *.a /usr/lib \
+	&& cd .. && rm -rf build
+
+# Install Python 3 pip build dependencies first.
+RUN pip3 install --upgrade setuptools
+
+# Python 3 dependencies installed by pip
+RUN pip3 install argparse argcomplete jinja2 kconfiglib \
+		nunavut>=1.1.0 packaging pkgconfig pyros-genmsg pyulog \
+		requests serial six toml pyulog wheel jsonschema
+
+RUN pip3 install --no-cache-dir coverage
+RUN pip3 install --no-cache-dir cerberus
+RUN pip3 install --no-cache-dir empy
+RUN pip3 install --no-cache-dir numpy
+RUN pip3 install --no-cache-dir pyyaml
+
+RUN pip3 install matplotlib==3.0.*
+
+# manual ccache setup
+RUN ln -s /usr/bin/ccache /usr/lib/ccache/cc \
+	&& ln -s /usr/bin/ccache /usr/lib/ccache/c++
+
+# astyle v3.1
+RUN wget -q https://downloads.sourceforge.net/project/astyle/astyle/astyle%203.1/astyle_3.1_linux.tar.gz -O /tmp/astyle.tar.gz \
+	&& cd /tmp && tar zxf astyle.tar.gz && cd astyle/src \
+	&& make -f ../build/gcc/Makefile -j$(nproc) && cp bin/astyle /usr/local/bin \
+	&& rm -rf /tmp/*
+
+# Gradle (Required to build Fast-RTPS-Gen)
+RUN wget -q "https://services.gradle.org/distributions/gradle-6.3-rc-4-bin.zip" -O /tmp/gradle-6.3-rc-4-bin.zip \
+	&& mkdir /opt/gradle \
+	&& cd /tmp \
+	&& 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"
+
+# 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 \
+	&& cd /tmp/FastRTPS-1.8.4 \
+	&& mkdir build && cd build \
+	&& cmake -DTHIRDPARTY=ON -DSECURITY=ON .. \
+	&& cmake --build . --target install -- -j $(nproc) \
+	&& rm -rf /tmp/*
+
+# Fast-RTPS-Gen 1.0.4
+RUN git clone --recursive https://github.com/eProsima/Fast-DDS-Gen.git -b v1.0.4 /tmp/Fast-RTPS-Gen-1.0.4 \
+	&& cd /tmp/Fast-RTPS-Gen-1.0.4 \
+	&& gradle assemble \
+	&& gradle install \
+	&& rm -rf /tmp/*
+
+# create user with id 1001 (jenkins docker workflow default)
+RUN useradd --shell /bin/bash -u 1001 -c "" -m user && usermod -a -G dialout user
+
+# setup virtual X server
+RUN mkdir /tmp/.X11-unix && \
+	chmod 1777 /tmp/.X11-unix && \
+	chown -R root:root /tmp/.X11-unix
+ENV DISPLAY :99
+
+ENV CCACHE_UMASK=000
+ENV FASTRTPSGEN_DIR="/usr/local/bin/"
+ENV PATH="/usr/lib/ccache:$PATH"
+ENV TERM=xterm
+ENV TZ=UTC
+
+# SITL UDP PORTS
+EXPOSE 14556/udp
+EXPOSE 14557/udp
+
+# create and start as LOCAL_USER_ID
+COPY scripts/entrypoint.sh /usr/local/bin/entrypoint.sh
+ENTRYPOINT ["/usr/local/bin/entrypoint.sh"]
+
+CMD ["/bin/bash"]

docker/Dockerfile_simulation-l4t

@@ -0,0 +1,35 @@
+#
+# PX4 Gazebo 9 development environment in Nvidia L4T 
+#
+
+FROM px4io/px4-dev-base-l4t:latest
+LABEL maintainer="Dom Raniszewski<[email protected]>"
+
+RUN wget --quiet http://packages.osrfoundation.org/gazebo.key -O - | apt-key add - \
+	&& sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -sc` main" > /etc/apt/sources.list.d/gazebo-stable.list' \
+	&& apt-get update \
+	&& DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
+		ant \
+		bc \
+		gazebo9 \
+		gstreamer1.0-plugins-bad \
+		gstreamer1.0-plugins-base \
+		gstreamer1.0-plugins-good \
+		gstreamer1.0-plugins-ugly \
+		libeigen3-dev \
+		libgazebo9-dev \
+		libgstreamer-plugins-base1.0-dev \
+		libimage-exiftool-perl \
+		libopencv-dev \
+		libxml2-utils \
+		protobuf-compiler \
+		ignition-edifice \
+	&& apt-get -y autoremove \
+	&& apt-get clean autoclean \
+	&& rm -rf /var/lib/apt/lists/{apt,dpkg,cache,log} /tmp/* /var/tmp/*
+
+# Some QT-Apps/Gazebo don't not show controls without this
+ENV QT_X11_NO_MITSHM 1
+
+# Use UTF8 encoding in java tools (needed to compile jMAVSim)
+ENV JAVA_TOOL_OPTIONS=-Dfile.encoding=UTF8

docker/Makefile

@@ -1,18 +1,18 @@
 .PHONY: px4-dev-armhf, px4-dev-base-archlinux, px4-dev-base-bionic, \
-		px4-dev-base-focal, px4-dev-clang, px4-dev-nuttx-bionic, \
+		px4-dev-base-focal, px4-dev-base-l4t, px4-dev-clang, px4-dev-nuttx-bionic, \
 		px4-dev-nuttx-focal, px4-dev-nuttx-clang, px4-dev-raspi, \
 		px4-dev-ros-melodic, px4-dev-ros-noetic, px4-dev-ros2-dashing, \
 		px4-dev-ros2-eloquent, px4-dev-ros2-foxy, px4-dev-ros2-galactic, \
 		px4-dev-ros2-rolling, px4-dev-simulation-bionic, px4-dev-simulation-focal, \
-		px4-docs
+		px4-dev-simulation-l4t, px4-docs
 
 all: px4-dev-armhf, px4-dev-base-archlinux, px4-dev-base-bionic, \
-		px4-dev-base-focal, px4-dev-clang, px4-dev-nuttx-bionic, \
+		px4-dev-base-focal, px4-dev-base-l4t, px4-dev-clang, px4-dev-nuttx-bionic, \
 		px4-dev-nuttx-focal, px4-dev-nuttx-clang, px4-dev-raspi, \
 		px4-dev-ros-melodic, px4-dev-ros-noetic, px4-dev-ros2-dashing,\
 		px4-dev-ros2-eloquent, px4-dev-ros2-foxy, px4-dev-ros2-galactic, \
 		px4-dev-ros2-rolling, px4-dev-simulation-bionic, px4-dev-simulation-focal, \
-		px4-docs
+		px4-dev-simulation-l4t, px4-docs
 
 px4-dev-armhf:
 	docker build -t px4io/px4-dev-armhf . -f Dockerfile_armhf
@@ -29,6 +29,9 @@ px4-dev-base-bionic:
 px4-dev-base-focal:
 	docker build -t px4io/px4-dev-base-focal . -f Dockerfile_base-focal
 
+px4-dev-base-l4t:
+	docker buildx build --platform linux/arm64 -t px4io/px4-dev-base-l4t . -f Dockerfile_base-l4t --load
+
 px4-dev-clang: px4-dev-base-bionic
 	docker build -t px4io/px4-dev-clang . -f Dockerfile_clang
 
@@ -71,5 +74,8 @@ px4-dev-simulation-bionic: px4-dev-base-bionic
 px4-dev-simulation-focal: px4-dev-base-focal
 	docker build -t px4io/px4-dev-simulation-focal . -f Dockerfile_simulation-focal
 
+px4-dev-simulation-l4t: px4-dev-base-l4t
+	docker buildx build --platform linux/arm64 -t px4io/px4-dev-simulation-l4t . -f Dockerfile_simulation-l4t --load
+
 px4-docs:
 	docker build -t px4io/px4-dev-docs . -f Dockerfile_docs