From c15a3552aeb0151d54d7e0b50f07bd5507271c19 Mon Sep 17 00:00:00 2001 From: EricX-Zhao Date: Wed, 11 Feb 2026 17:54:06 +0300 Subject: [PATCH] init commit --- cross_compile/Dockerfile.cc_base | 38 ++ cross_compile/README.md | 5 + cross_compile/compose.yaml | 44 ++ cross_compile/rk3588/Dockerfile.cc_rk3588 | 16 + cross_compile/rk3588/rk3588.toolchain.cmake | 31 ++ cross_compile/ros2/Dockerfile.ros_rolling | 20 + cross_compile/ros2/ros_rolling.repos | 417 ++++++++++++++++++ .../Dockerfile.vendor_packages | 145 ++++++ gazebo_classic/README.md | 67 +++ .../gazebo_classic_sim_dev.dockerfile | 28 ++ gazebo_classic/requirements.txt | 29 ++ gazebo_classic/ubuntu.sh | 277 ++++++++++++ gz_harmonic/README.md | 107 +++++ gz_harmonic/docker-compose-ubuntu.yml | 23 + gz_harmonic/docker-compose-wsl.yml | 18 + gz_harmonic/gz_harmonic_sim_dev.dockerfile | 69 +++ gz_harmonic/requirements.txt | 28 ++ gz_harmonic/ubuntu.sh | 231 ++++++++++ 18 files changed, 1593 insertions(+) create mode 100644 cross_compile/Dockerfile.cc_base create mode 100644 cross_compile/README.md create mode 100644 cross_compile/compose.yaml create mode 100644 cross_compile/rk3588/Dockerfile.cc_rk3588 create mode 100644 cross_compile/rk3588/rk3588.toolchain.cmake create mode 100644 cross_compile/ros2/Dockerfile.ros_rolling create mode 100644 cross_compile/ros2/ros_rolling.repos create mode 100644 cross_compile/vendor_packages/Dockerfile.vendor_packages create mode 100644 gazebo_classic/README.md create mode 100644 gazebo_classic/gazebo_classic_sim_dev.dockerfile create mode 100644 gazebo_classic/requirements.txt create mode 100755 gazebo_classic/ubuntu.sh create mode 100644 gz_harmonic/README.md create mode 100644 gz_harmonic/docker-compose-ubuntu.yml create mode 100644 gz_harmonic/docker-compose-wsl.yml create mode 100644 gz_harmonic/gz_harmonic_sim_dev.dockerfile create mode 100644 gz_harmonic/requirements.txt create mode 100755 gz_harmonic/ubuntu.sh diff --git a/cross_compile/Dockerfile.cc_base b/cross_compile/Dockerfile.cc_base new file mode 100644 index 0000000..7860b92 --- /dev/null +++ b/cross_compile/Dockerfile.cc_base @@ -0,0 +1,38 @@ +FROM ubuntu:22.04 AS cc_base + +ARG DEBIAN_FRONTEND=noninteractive + +RUN apt-get update && \ + apt-get install -y \ + build-essential \ + wget \ + git \ + python3 \ + software-properties-common \ + curl \ + pkg-config \ + vim \ + && add-apt-repository universe \ + && rm -rf /var/lib/apt/lists/* + +RUN curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg \ + && echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null + +RUN apt update && apt install -y \ + python3-flake8-blind-except \ + python3-flake8-class-newline \ + python3-flake8-deprecated \ + python3-mypy \ + python3-pip \ + python3-future \ + python3-pytest \ + python3-pytest-cov \ + python3-pytest-mock \ + python3-pytest-repeat \ + python3-pytest-rerunfailures \ + python3-pytest-runner \ + python3-pytest-timeout \ + python3-future \ + python3-argcomplete \ + autoconf automake libtool patchelf ninja-build python3.10-venv \ + ros-dev-tools diff --git a/cross_compile/README.md b/cross_compile/README.md new file mode 100644 index 0000000..138d22d --- /dev/null +++ b/cross_compile/README.md @@ -0,0 +1,5 @@ +# Build Cross Compiled Develop Image + +```bash +PLATFORM=rk3588 docker compose build +``` diff --git a/cross_compile/compose.yaml b/cross_compile/compose.yaml new file mode 100644 index 0000000..5523ca2 --- /dev/null +++ b/cross_compile/compose.yaml @@ -0,0 +1,44 @@ +# + +services: + # 第一步：编译基础镜像 + cc-base: + build: + context: . + dockerfile: Dockerfile.cc_base + image: cc-base:latest + + # 第二步：编译针对 RK3588 的镜像 + cc-platform: + build: + context: . # 上下文设为根目录，这样才能同时访问 rk3588 文件夹 + dockerfile: ${PLATFORM}/Dockerfile.cc_${PLATFORM} + args: + - BASE_TAG=latest + image: cc-${PLATFORM}:latest + depends_on: + - cc-base + + # 第三步：编译最终的供应商包镜像 + vendor_packages: + build: + context: . + dockerfile: vendor_packages/Dockerfile.vendor_packages + args: + - BASE_IMAGE=cc-${PLATFORM}:latest + image: vendor-packages:${PLATFORM} + depends_on: + - cc-platform + + ros2: + build: + context: . + dockerfile: ros2/Dockerfile.ros_${ROS_DISTRO} + args: + - ROS_DISTRO=rolling + - PLATFORM=${PLATFORM} + - CC_PLATFORM_IMAGE=cc-${PLATFORM}:latest + - VENDOR_PACKAGES=vendor-packages:${PLATFORM} + image: cc-ros-${ROS_DISTRO}:${PLATFORM} + depends_on: + - vendor_packages diff --git a/cross_compile/rk3588/Dockerfile.cc_rk3588 b/cross_compile/rk3588/Dockerfile.cc_rk3588 new file mode 100644 index 0000000..be5119d --- /dev/null +++ b/cross_compile/rk3588/Dockerfile.cc_rk3588 @@ -0,0 +1,16 @@ +FROM cc-base:latest as cc_rk3588 + +WORKDIR /opt +COPY rk3588/gcc-arm-11.2-2022.02-x86_64-aarch64-none-linux-gnu.tar.gz /opt/gcc-arm-11.2-2022.02-x86_64-aarch64-none-linux-gnu.tar.gz +RUN tar -zxf gcc-arm-11.2-2022.02-x86_64-aarch64-none-linux-gnu.tar.gz \ + && rm /opt/gcc-arm-11.2-2022.02-x86_64-aarch64-none-linux-gnu.tar.gz + +COPY rk3588/rk3588.toolchain.cmake /opt/cmake/ + +ENV PATH="/opt/gcc-arm-11.2-2022.02-x86_64-aarch64-none-linux-gnu/bin:${PATH}" + +ENV CC_TOOLCHAIN_FILE=/opt/cmake/rk3588.toolchain.cmake + +ENV TARGET_SYSROOT=/opt/rk3588 + +WORKDIR /root diff --git a/cross_compile/rk3588/rk3588.toolchain.cmake b/cross_compile/rk3588/rk3588.toolchain.cmake new file mode 100644 index 0000000..2acfec1 --- /dev/null +++ b/cross_compile/rk3588/rk3588.toolchain.cmake @@ -0,0 +1,31 @@ +set(CMAKE_SYSTEM_NAME Linux) +set(CMAKE_SYSTEM_PROCESSOR aarch64) + +set(SYSROOT /opt/gcc-arm-11.2-2022.02-x86_64-aarch64-none-linux-gnu) + +set(CMAKE_SYSROOT + ${SYSROOT}/aarch64-none-linux-gnu/libc +) + +set(CMAKE_C_COMPILER ${SYSROOT}/bin/aarch64-none-linux-gnu-gcc) +set(CMAKE_CXX_COMPILER ${SYSROOT}/bin/aarch64-none-linux-gnu-g++) + +list(APPEND CMAKE_FIND_ROOT_PATH + $ENV{TARGET_SYSROOT} + ${CMAKE_INSTALL_PREFIX} +) + +# Set compile flags which are overwritter by android.toolchain.cmake +# set(CMAKE_C_FLAGS_RELEASE "-O3 -DNDEBUG -Wno-error=unused-variable") +# set(CMAKE_CXX_FLAGS_RELEASE "-O3 -DNDEBUG -Wno-error=unused-variable") + +# add_link_options("LINKER:-rpath-link,$ENV{TARGET_SYSROOT}/lib") + +set(Python3_EXECUTABLE /usr/bin/python3) +set(Python3_NumPy_INCLUDE_DIR $ENV{TARGET_SYSROOT}/lib/python3.10/site-packages/numpy/core/include) + +set(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER) +set(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY) +set(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY) +set(CMAKE_FIND_ROOT_PATH_MODE_PACKAGE ONLY) + diff --git a/cross_compile/ros2/Dockerfile.ros_rolling b/cross_compile/ros2/Dockerfile.ros_rolling new file mode 100644 index 0000000..d0c096b --- /dev/null +++ b/cross_compile/ros2/Dockerfile.ros_rolling @@ -0,0 +1,20 @@ +ARG CC_PLATFORM_IMAGE +ARG VENDOR_PACKAGES +ARG PLATFORM + +FROM ${CC_PLATFORM_IMAGE} as ros_src + +ARG ROS_DISTRO + +WORKDIR /workspace +RUN mkdir -p /workspace/src +COPY ros2/ros_rolling.repos . +RUN vcs import --input ros_${ROS_DISTRO}.repos src +RUN echo "Build ros ${ROS_DISTRO}" + +FROM vendor-packages:${PLATFORM} AS vendor_images + +FROM ${CC_PLATFORM_IMAGE} as ros_builder + +COPY --from=ros_src /workspace /workspace +COPY --from=vendor_images ${TARGET_SYSROOT} ${TARGET_SYSROOT} diff --git a/cross_compile/ros2/ros_rolling.repos b/cross_compile/ros2/ros_rolling.repos new file mode 100644 index 0000000..ce9a3b6 --- /dev/null +++ b/cross_compile/ros2/ros_rolling.repos @@ -0,0 +1,417 @@ +repositories: + ament/ament_cmake: + type: git + url: https://github.com/ament/ament_cmake.git + version: rolling + ament/ament_index: + type: git + url: https://github.com/ament/ament_index.git + version: rolling + ament/ament_lint: + type: git + url: https://github.com/ament/ament_lint.git + version: rolling + ament/ament_package: + type: git + url: https://github.com/ament/ament_package.git + version: rolling + ament/google_benchmark_vendor: + type: git + url: https://github.com/ament/google_benchmark_vendor.git + version: rolling + ament/googletest: + type: git + url: https://github.com/ament/googletest.git + version: rolling + diagnostics: + type: git + url: https://github.com/ros/diagnostics.git + version: ros2 + eProsima/Fast-CDR: + type: git + url: https://github.com/eProsima/Fast-CDR.git + version: 2.3.x + eProsima/Fast-DDS: + type: git + url: https://github.com/eProsima/Fast-DDS.git + version: 3.4.x + eProsima/foonathan_memory_vendor: + type: git + url: https://github.com/eProsima/foonathan_memory_vendor.git + version: master + ffmpeg_image_transport_msgs: + type: git + url: https://github.com/ros-misc-utilities/ffmpeg_image_transport_msgs.git + version: rolling + ros-perception/image_transport_plugins: + type: git + url: https://github.com/ros-perception/image_transport_plugins.git + version: rolling + osrf/osrf_pycommon: + type: git + url: https://github.com/osrf/osrf_pycommon.git + version: master + osrf/osrf_testing_tools_cpp: + type: git + url: https://github.com/osrf/osrf_testing_tools_cpp.git + version: rolling + ros-perception/pcl_msgs: + type: git + url: https://github.com/ros-perception/pcl_msgs.git + version: ros2 + ros-perception/image_common: + type: git + url: https://github.com/ros-perception/image_common.git + version: rolling + ros-perception/laser_geometry: + type: git + url: https://github.com/ros-perception/laser_geometry.git + version: rolling + ros-perception/perception_pcl: + type: git + url: https://github.com/ros-perception/perception_pcl.git + version: ros2 + ros-perception/point_cloud_transport: + type: git + url: https://github.com/ros-perception/point_cloud_transport.git + version: rolling + ros-planning/navigation_msgs: + type: git + url: https://github.com/ros-planning/navigation_msgs.git + version: rolling + ros-tooling/keyboard_handler: + type: git + url: https://github.com/ros-tooling/keyboard_handler.git + version: rolling + ros-tooling/libstatistics_collector: + type: git + url: https://github.com/ros-tooling/libstatistics_collector.git + version: rolling + ros-visualization/interactive_markers: + type: git + url: https://github.com/ros-visualization/interactive_markers.git + version: rolling + ros-visualization/python_qt_binding: + type: git + url: https://github.com/ros-visualization/python_qt_binding.git + version: rolling + ros-visualization/qt_gui_core: + type: git + url: https://github.com/ros-visualization/qt_gui_core.git + version: rolling + ros-visualization/rqt: + type: git + url: https://github.com/ros-visualization/rqt.git + version: rolling + ros-visualization/rqt_action: + type: git + url: https://github.com/ros-visualization/rqt_action.git + version: rolling + ros-visualization/rqt_bag: + type: git + url: https://github.com/ros-visualization/rqt_bag.git + version: rolling + ros-visualization/rqt_console: + type: git + url: https://github.com/ros-visualization/rqt_console.git + version: rolling + ros-visualization/rqt_graph: + type: git + url: https://github.com/ros-visualization/rqt_graph.git + version: rolling + ros-visualization/rqt_msg: + type: git + url: https://github.com/ros-visualization/rqt_msg.git + version: rolling + ros-visualization/rqt_plot: + type: git + url: https://github.com/ros-visualization/rqt_plot.git + version: rolling + ros-visualization/rqt_publisher: + type: git + url: https://github.com/ros-visualization/rqt_publisher.git + version: rolling + ros-visualization/rqt_py_console: + type: git + url: https://github.com/ros-visualization/rqt_py_console.git + version: rolling + ros-visualization/rqt_reconfigure: + type: git + url: https://github.com/ros-visualization/rqt_reconfigure.git + version: rolling + ros-visualization/rqt_service_caller: + type: git + url: https://github.com/ros-visualization/rqt_service_caller.git + version: rolling + ros-visualization/rqt_shell: + type: git + url: https://github.com/ros-visualization/rqt_shell.git + version: rolling + ros-visualization/rqt_srv: + type: git + url: https://github.com/ros-visualization/rqt_srv.git + version: rolling + ros-visualization/rqt_topic: + type: git + url: https://github.com/ros-visualization/rqt_topic.git + version: rolling + ros-visualization/tango_icons_vendor: + type: git + url: https://github.com/ros-visualization/tango_icons_vendor.git + version: rolling + ros/class_loader: + type: git + url: https://github.com/ros/class_loader.git + version: rolling + ros/kdl_parser: + type: git + url: https://github.com/ros/kdl_parser.git + version: rolling + ros/pluginlib: + type: git + url: https://github.com/ros/pluginlib.git + version: rolling + ros/resource_retriever: + type: git + url: https://github.com/ros/resource_retriever.git + version: rolling + ros/robot_state_publisher: + type: git + url: https://github.com/ros/robot_state_publisher.git + version: rolling + ros/ros_environment: + type: git + url: https://github.com/ros/ros_environment.git + version: rolling + ros/ros_tutorials: + type: git + url: https://github.com/ros/ros_tutorials.git + version: rolling + ros/urdfdom: + type: git + url: https://github.com/ros/urdfdom.git + version: rolling + ros/urdfdom_headers: + type: git + url: https://github.com/ros/urdfdom_headers.git + version: rolling + ros/eigen_stl_containers: + type: git + url: https://github.com/ros/eigen_stl_containers.git + version: ros2 + ros/angles: + type: git + url: https://github.com/ros/angles.git + version: ros2 + ros-geographic-info: + type: git + url: https://github.com/ros-geographic-info/geographic_info.git + version: ros2 + ros2/ament_cmake_ros: + type: git + url: https://github.com/ros2/ament_cmake_ros.git + version: rolling + ros2/common_interfaces: + type: git + url: https://github.com/ros2/common_interfaces.git + version: rolling + ros2/demos: + type: git + url: https://github.com/ros2/demos.git + version: rolling + ros2/eigen3_cmake_module: + type: git + url: https://github.com/ros2/eigen3_cmake_module.git + version: rolling + ros2/example_interfaces: + type: git + url: https://github.com/ros2/example_interfaces.git + version: rolling + ros2/examples: + type: git + url: https://github.com/ros2/examples.git + version: rolling + ros2/geometry2: + type: git + url: https://github.com/ros2/geometry2.git + version: rolling + ros2/launch: + type: git + url: https://github.com/ros2/launch.git + version: rolling + ros2/launch_ros: + type: git + url: https://github.com/ros2/launch_ros.git + version: rolling + ros2/message_filters: + type: git + url: https://github.com/ros2/message_filters.git + version: rolling + ros2/performance_test_fixture: + type: git + url: https://github.com/ros2/performance_test_fixture.git + version: rolling + ros2/python_cmake_module: + type: git + url: https://github.com/ros2/python_cmake_module.git + version: rolling + ros2/rcl: + type: git + url: https://github.com/ros2/rcl.git + version: rolling + ros2/rcl_interfaces: + type: git + url: https://github.com/ros2/rcl_interfaces.git + version: rolling + ros2/rcl_logging: + type: git + url: https://github.com/ros2/rcl_logging.git + version: rolling + ros2/rclcpp: + type: git + url: https://github.com/ros2/rclcpp.git + version: rolling + ros2/rclpy: + type: git + url: https://github.com/ros2/rclpy.git + version: rolling + ros2/rcpputils: + type: git + url: https://github.com/ros2/rcpputils.git + version: rolling + ros2/rcutils: + type: git + url: https://github.com/ros2/rcutils.git + version: rolling + ros2/realtime_support: + type: git + url: https://github.com/ros2/realtime_support.git + version: rolling + ros2/rmw: + type: git + url: https://github.com/ros2/rmw.git + version: rolling + ros2/rmw_connextdds: + type: git + url: https://github.com/ros2/rmw_connextdds.git + version: rolling + ros2/rmw_cyclonedds: + type: git + url: https://github.com/ros2/rmw_cyclonedds.git + version: rolling + ros2/rmw_dds_common: + type: git + url: https://github.com/ros2/rmw_dds_common.git + version: rolling + ros2/rmw_fastrtps: + type: git + url: https://github.com/ros2/rmw_fastrtps.git + version: rolling + ros2/rmw_implementation: + type: git + url: https://github.com/ros2/rmw_implementation.git + version: rolling + ros2/ros2_tracing: + type: git + url: https://github.com/ros2/ros2_tracing.git + version: rolling + ros2/ros2cli: + type: git + url: https://github.com/ros2/ros2cli.git + version: rolling + ros2/ros2cli_common_extensions: + type: git + url: https://github.com/ros2/ros2cli_common_extensions.git + version: rolling + ros2/ros_testing: + type: git + url: https://github.com/ros2/ros_testing.git + version: rolling + ros2/rosbag2: + type: git + url: https://github.com/ros2/rosbag2.git + version: rolling + ros2/rosidl: + type: git + url: https://github.com/ros2/rosidl.git + version: rolling + ros2/rosidl_core: + type: git + url: https://github.com/ros2/rosidl_core.git + version: rolling + ros2/rosidl_dds: + type: git + url: https://github.com/ros2/rosidl_dds.git + version: rolling + ros2/rosidl_defaults: + type: git + url: https://github.com/ros2/rosidl_defaults.git + version: rolling + ros2/rosidl_dynamic_typesupport: + type: git + url: https://github.com/ros2/rosidl_dynamic_typesupport.git + version: rolling + ros2/rosidl_dynamic_typesupport_fastrtps: + type: git + url: https://github.com/ros2/rosidl_dynamic_typesupport_fastrtps.git + version: rolling + ros2/rosidl_python: + type: git + url: https://github.com/ros2/rosidl_python.git + version: rolling + ros2/rosidl_runtime_py: + type: git + url: https://github.com/ros2/rosidl_runtime_py.git + version: rolling + ros2/rosidl_typesupport: + type: git + url: https://github.com/ros2/rosidl_typesupport.git + version: rolling + ros2/rosidl_typesupport_fastrtps: + type: git + url: https://github.com/ros2/rosidl_typesupport_fastrtps.git + version: rolling + ros2/rpyutils: + type: git + url: https://github.com/ros2/rpyutils.git + version: rolling + ros2/rviz: + type: git + url: https://github.com/ros2/rviz.git + version: rolling + ros2/sros2: + type: git + url: https://github.com/ros2/sros2.git + version: rolling + ros2/system_tests: + type: git + url: https://github.com/ros2/system_tests.git + version: rolling + ros2/test_interface_files: + type: git + url: https://github.com/ros2/test_interface_files.git + version: rolling + ros2/tlsf: + type: git + url: https://github.com/ros2/tlsf.git + version: rolling + ros2/unique_identifier_msgs: + type: git + url: https://github.com/ros2/unique_identifier_msgs.git + version: rolling + ros2/urdf: + type: git + url: https://github.com/ros2/urdf.git + version: rolling + variants: + type: git + url: https://github.com/ros2/variants.git + version: rolling + vision_msgs: + type: git + url: https://github.com/ros-perception/vision_msgs.git + version: ros2 + vision_opencv: + type: git + url: https://github.com/ros-perception/vision_opencv.git + version: rolling diff --git a/cross_compile/vendor_packages/Dockerfile.vendor_packages b/cross_compile/vendor_packages/Dockerfile.vendor_packages new file mode 100644 index 0000000..48719cc --- /dev/null +++ b/cross_compile/vendor_packages/Dockerfile.vendor_packages @@ -0,0 +1,145 @@ +ARG BASE_IMAGE + +FROM ${BASE_IMAGE} as vendor_packages_src + +# RUN mkdir -p workspace/src +# COPY vendor_packages workspace/src/ + +RUN mkdir -p workspace/src \ + && cd workspace/src \ + && git clone https://github.com/EricX-Zhao/vendor_packages.git + +FROM vendor_packages_src as system_packages + +RUN cd workspace \ + && colcon build \ + --install-base ${TARGET_SYSROOT} \ + --merge-install \ + --packages-up-to system_vendor_packages \ + --cmake-force-configure \ + --cmake-args \ + --no-warn-unused-cli \ + -DCMAKE_BUILD_TYPE=Release \ + -DBUILD_TESTING=OFF \ + -DCMAKE_TOOLCHAIN_FILE=${CC_TOOLCHAIN_FILE} + + +FROM vendor_packages_src as ceres_vendor + +RUN cd workspace \ + && colcon build \ + --install-base ${TARGET_SYSROOT} \ + --merge-install \ + --packages-up-to ceres_vendor \ + --cmake-force-configure \ + --cmake-args \ + --no-warn-unused-cli \ + -DCMAKE_BUILD_TYPE=Release \ + -DCMAKE_TOOLCHAIN_FILE=${CC_TOOLCHAIN_FILE} + + +FROM vendor_packages_src as opencv_vendor + +RUN cd workspace \ + && colcon build \ + --install-base ${TARGET_SYSROOT} \ + --merge-install \ + --packages-up-to opencv_vendor \ + --cmake-force-configure \ + --cmake-args \ + --no-warn-unused-cli \ + -DCMAKE_BUILD_TYPE=Release \ + -DCMAKE_TOOLCHAIN_FILE=${CC_TOOLCHAIN_FILE} + +FROM ${BASE_IMAGE} AS boost + +WORKDIR /tmp + +RUN wget https://archives.boost.io/release/1.83.0/source/boost_1_83_0.tar.gz + +RUN tar -zxf boost_1_83_0.tar.gz \ + && cd boost_1_83_0 \ + && ./bootstrap.sh --prefix=${TARGET_SYSROOT} --without-libraries=python \ + && sed -i "/using gcc/c using gcc : arm64 : aarch64-none-linux-gnu-gcc ;" project-config.jam \ + && ./b2 cxxflags="-fPIC" cflags="-fPIC" link=static install + +FROM vendor_packages_src as pcl_vendor + +COPY --from=boost ${TARGET_SYSROOT} ${TARGET_SYSROOT} + +RUN cd workspace \ + && colcon build \ + --install-base ${TARGET_SYSROOT} \ + --merge-install \ + --packages-up-to pcl_vendor \ + --cmake-force-configure \ + --cmake-args \ + --no-warn-unused-cli \ + -DCMAKE_BUILD_TYPE=Release \ + -DCMAKE_TOOLCHAIN_FILE=${CC_TOOLCHAIN_FILE} + + +# OpenSSL +FROM ${BASE_IMAGE} AS ssl_builder +WORKDIR /tmp +RUN git clone --depth=1 https://github.com/janbar/openssl-cmake.git \ + && cd openssl-cmake \ + && mkdir build \ + && cd build \ + && cmake .. \ + -DCMAKE_TOOLCHAIN_FILE=${CC_TOOLCHAIN_FILE} \ + -DCMAKE_INSTALL_PREFIX=${TARGET_SYSROOT} \ + -DCMAKE_BUILD_TYPE=Release \ + -DCMAKE_POSITION_INDEPENDENT_CODE=ON \ + && make -j$(($(nproc) / 2)) && make install \ + && rm -rf /tmp + +# Python 3.12 +FROM ${BASE_IMAGE} AS python_builder + +WORKDIR /tmp + +COPY --from=ssl_builder ${TARGET_SYSROOT} ${TARGET_SYSROOT} + +# COPY vendor_packages/Python-3.10.12.tar.xz . +RUN wget https://www.python.org/ftp/python/3.10.12/Python-3.10.12.tar.xz && \ +RUN tar -xf Python-3.10.12.tar.xz && \ + rm Python-3.10.12.tar.xz + +# 配置和编译 Python +WORKDIR /tmp/Python-3.10.12 +ENV CC=aarch64-none-linux-gnu-gcc \ + CXX=aarch64-none-linux-gnu-g++ \ + AR=aarch64-none-linux-gnu-ar \ + RANLIB=aarch64-none-linux-gnu-ranlib \ + HOSTARCH=aarch64-none-linux-gnu \ + BUILDARCH=x86_64-linux-gnu + +RUN CFLAGS="-fPIC" LDFLAGS="-fPIC" ./configure \ + --host=aarch64-none-linux-gnu \ + --build=x86_64-linux-gnu \ + --prefix=${TARGET_SYSROOT} \ + --with-build-python=python3.12 \ + --disable-ipv6 \ + --enable-optimizations \ + --with-openssl=${TARGET_SYSROOT} \ + ac_cv_file__dev_ptmx=yes \ + ac_cv_file__dev_ptc=yes \ + && make -j$(($(nproc) / 2)) && make install + +# https://github.com/benfogle/crossenv +# cross compile python packages +WORKDIR /tmp +RUN python3 -m pip install crossenv \ + && python3 -m crossenv ${TARGET_SYSROOT}/bin/python3 venv \ + && . venv/bin/activate \ + && pip -v install numpy==1.21.5 lark==1.1.1 packaging --prefix=${TARGET_SYSROOT} + + +FROM ${BASE_IMAGE} as final + +COPY --from=system_packages ${TARGET_SYSROOT} ${TARGET_SYSROOT} +COPY --from=ceres_vendor ${TARGET_SYSROOT} ${TARGET_SYSROOT} +COPY --from=opencv_vendor ${TARGET_SYSROOT} ${TARGET_SYSROOT} +COPY --from=pcl_vendor ${TARGET_SYSROOT} ${TARGET_SYSROOT} +COPY --from=python_builder ${TARGET_SYSROOT} ${TARGET_SYSROOT} diff --git a/gazebo_classic/README.md b/gazebo_classic/README.md new file mode 100644 index 0000000..f6f7dc2 --- /dev/null +++ b/gazebo_classic/README.md @@ -0,0 +1,67 @@ +## Build Image + +ROS Noetic + Gazebo Classic + +``` +docker buildx build -f gazebo_classic_sim_dev.dockerfile -t sim_dev:gazebo_classic . +``` + +## NOTICE +When you build code in container with error: +``` +fatal: detected dubious ownership in repository at '/code/PX4-Autopilot' +To add an exception for this directory, call: +git config --global --add safe.directory +``` + +you should run this command in container: +``` +git config --global --add safe.directory '*' +``` + + +## WSL2 With GUI&GPU Support + +> NOTICE: replace `~/code` on your host + +``` +docker run -it \ + -v ~/code:/code \ + -v /tmp/.X11-unix:/tmp/.X11-unix \ + -v /mnt/wslg:/mnt/wslg \ + -v /usr/lib/wsl:/usr/lib/wsl \ + -e DISPLAY=$DISPLAY \ + -e WAYLAND_DISPLAY=$WAYLAND_DISPLAY \ + -e XDG_RUNTIME_DIR=$XDG_RUNTIME_DIR \ + -e PULSE_SERVER=$PULSE_SERVER \ + --device=/dev/dxg \ + --device /dev/dri/card0 \ + --device /dev/dri/renderD128 \ + --gpus all sim_dev:gazebo_classic +``` + +## Ubuntu With GUI&GPU Support + +> NOTICE: replace `~/code` on your host + +``` +docker run -it \ + -v ~/code:/code \ + -v /tmp/.X11-unix:/tmp/.X11-unix \ + -e DISPLAY=$DISPLAY \ + --device=/dev/dxg \ + --device /dev/dri/card0 \ + --device /dev/dri/renderD128 \ + --gpus all sim_dev:gazebo_classic +``` + +## How to enter container again with bash + +``` +docker container ls -a + +# start container if not +docker container start [container id] + +docker exec -it [container id] bash +``` \ No newline at end of file diff --git a/gazebo_classic/gazebo_classic_sim_dev.dockerfile b/gazebo_classic/gazebo_classic_sim_dev.dockerfile new file mode 100644 index 0000000..b26879a --- /dev/null +++ b/gazebo_classic/gazebo_classic_sim_dev.dockerfile @@ -0,0 +1,28 @@ +FROM osrf/ros:noetic-desktop-full AS builder + +ARG DEBIAN_FRONTEND=noninteractive + +# catkin-tools +RUN apt-get update && apt-get install -y \ + ca-certificates \ + gnupg \ + lsb-core \ + sudo \ + curl \ + wget \ + python3-catkin-tools \ + && rm -rf /var/lib/apt/lists/* + +# PX4 dependencies +COPY requirements.txt /requirements.txt +COPY ubuntu.sh /ubuntu.sh +RUN /ubuntu.sh && rm -rf /var/lib/apt/lists/* && rm /requirements.txt /ubuntu.sh + +# for WSL2 GPU Support +ENV LD_LIBRARY_PATH=/usr/lib/wsl/lib + +RUN apt update && apt install -y \ + mesa-utils \ + vainfo \ + mesa-va-drivers \ + && rm -rf /var/lib/apt/lists/* diff --git a/gazebo_classic/requirements.txt b/gazebo_classic/requirements.txt new file mode 100644 index 0000000..27a62a2 --- /dev/null +++ b/gazebo_classic/requirements.txt @@ -0,0 +1,29 @@ +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 +pkgconfig +psutil +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 diff --git a/gazebo_classic/ubuntu.sh b/gazebo_classic/ubuntu.sh new file mode 100755 index 0000000..a4d3131 --- /dev/null +++ b/gazebo_classic/ubuntu.sh @@ -0,0 +1,277 @@ +#! /usr/bin/env bash + +set -e + +## Bash script to setup PX4 development environment on Ubuntu LTS (22.04, 20.04, 18.04). +## Can also be used in docker. +## +## Installs: +## - Common dependencies and tools for nuttx, jMAVSim, Gazebo +## - NuttX toolchain (omit with arg: --no-nuttx) +## - jMAVSim and Gazebo9 simulator (omit with arg: --no-sim-tools) +## + +INSTALL_NUTTX="true" +INSTALL_SIM="true" +INSTALL_ARCH=`uname -m` + +# Parse arguments +for arg in "$@" +do + if [[ $arg == "--no-nuttx" ]]; then + INSTALL_NUTTX="false" + fi + + if [[ $arg == "--no-sim-tools" ]]; then + INSTALL_SIM="false" + fi +done + +# detect if running in docker +if [ -f /.dockerenv ]; then + echo "Running within docker, installing initial dependencies"; + apt-get --quiet -y update && DEBIAN_FRONTEND=noninteractive apt-get --quiet -y install \ + ca-certificates \ + gnupg \ + lsb-core \ + sudo \ + wget \ + ; +fi + +# script directory +DIR=$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd ) + +# check requirements.txt exists (script not run in source tree) +REQUIREMENTS_FILE="requirements.txt" +if [[ ! -f "${DIR}/${REQUIREMENTS_FILE}" ]]; then + echo "FAILED: ${REQUIREMENTS_FILE} needed in same directory as ubuntu.sh (${DIR})." + return 1 +fi + + +# check ubuntu version +# otherwise warn and point to docker? +UBUNTU_RELEASE="`lsb_release -rs`" + +if [[ "${UBUNTU_RELEASE}" == "14.04" ]]; then + echo "Ubuntu 14.04 is no longer supported" + exit 1 +elif [[ "${UBUNTU_RELEASE}" == "16.04" ]]; then + echo "Ubuntu 16.04 is no longer supported" + exit 1 +elif [[ "${UBUNTU_RELEASE}" == "18.04" ]]; then + echo "Ubuntu 18.04" +elif [[ "${UBUNTU_RELEASE}" == "20.04" ]]; then + echo "Ubuntu 20.04" +elif [[ "${UBUNTU_RELEASE}" == "22.04" ]]; then + echo "Ubuntu 22.04" +fi + + +echo +echo "Installing PX4 general dependencies" + +sudo apt-get update -y --quiet +sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \ + astyle \ + build-essential \ + cmake \ + cppcheck \ + file \ + g++ \ + gcc \ + gdb \ + git \ + lcov \ + libfuse2 \ + libxml2-dev \ + libxml2-utils \ + make \ + ninja-build \ + python3 \ + python3-dev \ + python3-pip \ + python3-setuptools \ + python3-wheel \ + rsync \ + shellcheck \ + unzip \ + zip \ + ; + +# Python3 dependencies +echo +echo "Installing PX4 Python3 dependencies" +if [ -n "$VIRTUAL_ENV" ]; then + # virtual environments don't allow --user option + python -m pip install -r ${DIR}/requirements.txt +else + # older versions of Ubuntu require --user option + python3 -m pip install --user -r /requirements.txt +fi + +# NuttX toolchain (arm-none-eabi-gcc) +if [[ $INSTALL_NUTTX == "true" ]]; then + + echo + echo "Installing NuttX dependencies" + + sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \ + automake \ + binutils-dev \ + bison \ + build-essential \ + flex \ + g++-multilib \ + gcc-multilib \ + gdb-multiarch \ + genromfs \ + gettext \ + gperf \ + libelf-dev \ + libexpat-dev \ + libgmp-dev \ + libisl-dev \ + libmpc-dev \ + libmpfr-dev \ + libncurses5 \ + libncurses5-dev \ + libncursesw5-dev \ + libtool \ + pkg-config \ + screen \ + texinfo \ + u-boot-tools \ + util-linux \ + vim-common \ + ; + if [[ "${UBUNTU_RELEASE}" == "20.04" || "${UBUNTU_RELEASE}" == "22.04" ]]; then + sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \ + kconfig-frontends \ + ; + fi + + + if [ -n "$USER" ]; then + # add user to dialout group (serial port access) + sudo usermod -a -G dialout $USER + fi + + # arm-none-eabi-gcc + NUTTX_GCC_VERSION="9-2020-q2-update" + NUTTX_GCC_VERSION_SHORT="9-2020q2" + + source $HOME/.profile # load changed path for the case the script is reran before relogin + if [ $(which arm-none-eabi-gcc) ]; then + GCC_VER_STR=$(arm-none-eabi-gcc --version) + GCC_FOUND_VER=$(echo $GCC_VER_STR | grep -c "${NUTTX_GCC_VERSION}") + fi + + if [[ "$GCC_FOUND_VER" == "1" ]]; then + echo "arm-none-eabi-gcc-${NUTTX_GCC_VERSION} found, skipping installation" + + else + echo "Installing arm-none-eabi-gcc-${NUTTX_GCC_VERSION}"; + wget -O /tmp/gcc-arm-none-eabi-${NUTTX_GCC_VERSION}-linux.tar.bz2 https://armkeil.blob.core.windows.net/developer/Files/downloads/gnu-rm/${NUTTX_GCC_VERSION_SHORT}/gcc-arm-none-eabi-${NUTTX_GCC_VERSION}-${INSTALL_ARCH}-linux.tar.bz2 && \ + sudo tar -jxf /tmp/gcc-arm-none-eabi-${NUTTX_GCC_VERSION}-linux.tar.bz2 -C /opt/; + + # add arm-none-eabi-gcc to user's PATH + exportline="export PATH=/opt/gcc-arm-none-eabi-${NUTTX_GCC_VERSION}/bin:\$PATH" + + if grep -Fxq "$exportline" $HOME/.profile; then + echo "${NUTTX_GCC_VERSION} path already set."; + else + echo $exportline >> $HOME/.profile; + source $HOME/.profile; # Allows to directly build NuttX targets in the same terminal + fi + fi +fi + +# Simulation tools +if [[ $INSTALL_SIM == "true" ]]; then + + echo + echo "Installing PX4 simulation dependencies" + + # General simulation dependencies + sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \ + bc \ + ; + + if [[ "${UBUNTU_RELEASE}" == "18.04" ]]; then + java_version=11 + elif [[ "${UBUNTU_RELEASE}" == "20.04" ]]; then + java_version=13 + elif [[ "${UBUNTU_RELEASE}" == "22.04" ]]; then + java_version=11 + else + java_version=14 + fi + # Java (jmavsim) + sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \ + ant \ + openjdk-$java_version-jre \ + openjdk-$java_version-jdk \ + libvecmath-java \ + ; + + # Set Java 11 as default + sudo update-alternatives --set java $(update-alternatives --list java | grep "java-$java_version") + + # Gazebo / Gazebo classic installation + if [[ "${UBUNTU_RELEASE}" == "22.04" ]]; then + echo "Gazebo (Garden) will be installed" + echo "Earlier versions will be removed" + # Add Gazebo binary repository + sudo wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg + echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null + sudo apt-get update -y --quiet + + # Install Gazebo + gazebo_packages="gz-garden" + else + sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list' + wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add - + # Update list, since new gazebo-stable.list has been added + sudo apt-get update -y --quiet + + # Install Gazebo classic + if [[ "${UBUNTU_RELEASE}" == "18.04" ]]; then + gazebo_classic_version=9 + gazebo_packages="gazebo$gazebo_classic_version libgazebo$gazebo_classic_version-dev" + else + # default and Ubuntu 20.04 + gazebo_classic_version=11 + gazebo_packages="gazebo$gazebo_classic_version libgazebo$gazebo_classic_version-dev" + fi + fi + + sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \ + dmidecode \ + $gazebo_packages \ + gstreamer1.0-plugins-bad \ + gstreamer1.0-plugins-base \ + gstreamer1.0-plugins-good \ + gstreamer1.0-plugins-ugly \ + gstreamer1.0-libav \ + libeigen3-dev \ + libgstreamer-plugins-base1.0-dev \ + libimage-exiftool-perl \ + libopencv-dev \ + libxml2-utils \ + pkg-config \ + protobuf-compiler \ + ; + + if sudo dmidecode -t system | grep -q "Manufacturer: VMware, Inc." ; then + # fix VMWare 3D graphics acceleration for gazebo + echo "export SVGA_VGPU10=0" >> ~/.profile + fi + +fi + +if [[ $INSTALL_NUTTX == "true" ]]; then + echo + echo "Relogin or reboot computer before attempting to build NuttX targets" +fi diff --git a/gz_harmonic/README.md b/gz_harmonic/README.md new file mode 100644 index 0000000..b50c211 --- /dev/null +++ b/gz_harmonic/README.md @@ -0,0 +1,107 @@ +## Build Image + +ROS Jazzy + GZ Harmonic + +``` +docker buildx build -f gz_harmonic_sim_dev.dockerfile -t sim_dev:gz_harmonic . +``` + +## NOTICE +When you build code in container with error: +> fatal: detected dubious ownership in repository at '/code/PX4-Autopilot' +> To add an exception for this directory, call: +> git config --global --add safe.directory + +you should run this command in container: +``` +git config --global --add safe.directory '*' +``` + +## Ubuntu With GUI&GPU Support + +1. Install nvidia-container-toolkit + ``` + curl -fsSL https://nvidia.github.io/libnvidia-container/gpgkey | sudo gpg --dearmor -o /usr/share/keyrings/nvidia-container-toolkit-keyring.gpg \ + && curl -s -L https://nvidia.github.io/libnvidia-container/stable/deb/nvidia-container-toolkit.list | \ + sed 's#deb https://#deb [signed-by=/usr/share/keyrings/nvidia-container-toolkit-keyring.gpg] https://#g' | \ + sudo tee /etc/apt/sources.list.d/nvidia-container-toolkit.list + + sudo apt install -y nvidia-container-toolkit + sudo systemctl restart docker + ``` + +2. Run container with docker compose + ``` + # in host bash + # x11 permission + xhost +local:root + # 修改 docker-compose-ubuntu.yml 中${HOST_WS} 为你主机上的工作空间的目录 + docker compose -f docker-compose-ubuntu.yml up -d + docker exec -it sim_dev_container bash + + # in container bash + git config --global --add safe.directory '*' + cd /simulation_ws + sudo apt update + rosdep install --from-paths src/autonomy --ignore-src -r -y + /simulation_ws/src/autonomy/drivers/mavros/mavros/scripts/install_geographiclib_datasets.sh + colcon build --symlink-install --packages-up-to mavlink mavros px4_bringup + ``` +## How to enter container again with bash + +``` +# get container id +docker container ls -a + +# start container if not +docker container start [container id] + +docker exec -it [container id] bash +``` + + +## WSL2 With GUI&GPU Support + +> NOTICE: replace `~/code` on your host + +``` +docker run -it \ + -v ~/code:/code \ + -v /tmp/.X11-unix:/tmp/.X11-unix \ + -v /mnt/wslg:/mnt/wslg \ + -v /usr/lib/wsl:/usr/lib/wsl \ + -e DISPLAY=$DISPLAY \ + -e WAYLAND_DISPLAY=$WAYLAND_DISPLAY \ + -e XDG_RUNTIME_DIR=$XDG_RUNTIME_DIR \ + -e PULSE_SERVER=$PULSE_SERVER \ + --device=/dev/dxg \ + --device /dev/dri/card0 \ + --device /dev/dri/renderD128 \ + --gpus all sim_dev:gz_harmonic +``` + +docker-compose +``` +docker compose -f docker-compose-wsl.yml up -d +docker exec -it sim_dev_container bash +cd /simulation_ws +sudo apt update +rosdep install --from-paths src/autonomy --ignore-src -r -y +/simulation_ws/src/autonomy/drivers/mavros/mavros/scripts/install_geographiclib_datasets.sh +colcon build --symlink-install --packages-up-to mavlink mavros px4_bringup +``` + +## Simulation + +### build simulation worksapce + +```bash +MAKEFLAGS="-j4" colcon build --symlink-install \ + --packages-up-to \ + mavlink mavros mavros_extras px4_bringup vins_estimator usb_cam \ + --cmake-args \ + -DCMAKE_BUILD_TYPE=RelWithDebInfo \ + -DCMAKE_CXX_STANDARD=17 \ + -DCMAKE_EXPORT_COMPILE_COMMANDS=ON +``` + diff --git a/gz_harmonic/docker-compose-ubuntu.yml b/gz_harmonic/docker-compose-ubuntu.yml new file mode 100644 index 0000000..625062d --- /dev/null +++ b/gz_harmonic/docker-compose-ubuntu.yml @@ -0,0 +1,23 @@ +services: + sim_dev: + image: sim_dev:gz_harmonic + container_name: sim_dev_container + runtime: nvidia # 启用 NVIDIA GPU 支持 + stdin_open: true # 保持标准输入打开 + tty: true # 分配一个伪终端 + privileged: true # 特权模式，允许访问所有 /dev 设备 + ports: + - 2222:22 # ssh server + environment: + - DISPLAY=${DISPLAY} + - NVIDIA_DRIVER_CAPABILITIES=all + volumes: + - /dev/dri:/dev/dri + - ${HOST_WS}:/workspace + - ${DATASET}:/dataset + - /tmp/.X11-unix:/tmp/.X11-unix + deploy: + resources: + reservations: + devices: + - capabilities: [gpu] diff --git a/gz_harmonic/docker-compose-wsl.yml b/gz_harmonic/docker-compose-wsl.yml new file mode 100644 index 0000000..df6ed2d --- /dev/null +++ b/gz_harmonic/docker-compose-wsl.yml @@ -0,0 +1,18 @@ +services: + sim_dev: + image: sim_dev:gz_harmonic + container_name: sim_dev_container + volumes: + - ~/simulation_ws:/simulation_ws + - /tmp/.X11-unix:/tmp/.X11-unix + - /mnt/wslg:/mnt/wslg + - /usr/lib/wsl:/usr/lib/wsl + environment: + - DISPLAY=${DISPLAY} + - WAYLAND_DISPLAY=${WAYLAND_DISPLAY} + - XDG_RUNTIME_DIR=${XDG_RUNTIME_DIR} + - PULSE_SERVER=${PULSE_SERVER} + devices: + - /dev/dxg + - /dev/dri/card0 + - /dev/dri/renderD128 diff --git a/gz_harmonic/gz_harmonic_sim_dev.dockerfile b/gz_harmonic/gz_harmonic_sim_dev.dockerfile new file mode 100644 index 0000000..c3f8d2a --- /dev/null +++ b/gz_harmonic/gz_harmonic_sim_dev.dockerfile @@ -0,0 +1,69 @@ +FROM osrf/ros:jazzy-desktop-full AS builder + +ARG DEBIAN_FRONTEND=noninteractive + +# catkin-tools +RUN apt-get update && apt-get install -y \ + ca-certificates \ + gnupg \ + sudo \ + curl \ + wget \ + && rm -rf /var/lib/apt/lists/* + +# PX4 dependencies +WORKDIR /root +RUN wget https://raw.githubusercontent.com/PX4/PX4-Autopilot/main/Tools/setup/ubuntu.sh \ + && wget https://raw.githubusercontent.com/PX4/PX4-Autopilot/main/Tools/setup/requirements.txt \ + && chmod +x /root/ubuntu.sh \ + && ./ubuntu.sh \ + && rm -rf /var/lib/apt/lists/* \ + && rm /root/requirements.txt /root/ubuntu.sh +# COPY requirements.txt /requirements.txt +# COPY ubuntu.sh /ubuntu.sh +# RUN /ubuntu.sh && rm -rf /var/lib/apt/lists/* && rm /requirements.txt /ubuntu.sh + +# for WSL2 GPU Support +ENV LD_LIBRARY_PATH=/usr/lib/wsl/lib + +RUN apt update && apt install -y \ + mesa-utils \ + vainfo \ + mesa-va-drivers \ + vim \ + net-tools \ + openssh-server \ + libasio-dev \ + python3-future \ + libgeographiclib-dev \ + ros-jazzy-eigen-stl-containers \ + ros-jazzy-diagnostic-updater \ + ros-jazzy-rmw-zenoh-cpp \ + ros-jazzy-ros-gz \ + && rm -rf /var/lib/apt/lists/* + +# ceres +WORKDIR /root +RUN apt update && apt install -y \ + libgoogle-glog-dev \ + libgflags-dev \ + libatlas-base-dev \ + libeigen3-dev \ + libsuitesparse-dev \ + && rm -rf /var/lib/apt/lists/* +RUN wget https://github.com/ceres-solver/ceres-solver/archive/refs/tags/2.1.0.tar.gz \ + && tar -zxf 2.1.0.tar.gz \ + && cd ceres-solver-2.1.0 \ + && mkdir build && cd build \ + && cmake .. -DCXSPARSE=OFF \ + && make install -j4 \ + && rm -rf /root/ceres-solver-2.1.0 /root/2.1.0.tar.gz + +# spdlog +RUN wget https://github.com/gabime/spdlog/archive/refs/tags/v1.12.0.tar.gz \ + && tar -zxf v1.12.0.tar.gz \ + && cd spdlog-1.12.0 \ + && mkdir build && cd build \ + && cmake .. -DSPDLOG_BUILD_SHARED=ON \ + && make install -j \ + && rm -rf /root/v1.12.0.tar.gz /root/spdlog-1.12.0 diff --git a/gz_harmonic/requirements.txt b/gz_harmonic/requirements.txt new file mode 100644 index 0000000..51108b7 --- /dev/null +++ b/gz_harmonic/requirements.txt @@ -0,0 +1,28 @@ +argcomplete +cerberus +coverage +empy>=3.3,<4 +future +jinja2>=2.8 +jsonschema +kconfiglib +lxml +matplotlib>=3.0 +numpy>=1.13 +nunavut>=1.1.0 +packaging +pandas>=0.21 +pkgconfig +psutil +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 diff --git a/gz_harmonic/ubuntu.sh b/gz_harmonic/ubuntu.sh new file mode 100755 index 0000000..2d2fa00 --- /dev/null +++ b/gz_harmonic/ubuntu.sh @@ -0,0 +1,231 @@ +#! /usr/bin/env bash + +set -e + +## Bash script to setup PX4 development environment on Ubuntu LTS (24.04, 22.04). +## Can also be used in docker. +## +## Installs: +## - Common dependencies and tools for nuttx, jMAVSim, Gazebo +## - NuttX toolchain (omit with arg: --no-nuttx) +## - jMAVSim and Gazebo9 simulator (omit with arg: --no-sim-tools) +## + +INSTALL_NUTTX="true" +INSTALL_SIM="true" +INSTALL_ARCH=`uname -m` + +# Parse arguments +for arg in "$@" +do + if [[ $arg == "--no-nuttx" ]]; then + INSTALL_NUTTX="false" + fi + + if [[ $arg == "--no-sim-tools" ]]; then + INSTALL_SIM="false" + fi +done + +# detect if running in docker +if [ -f /.dockerenv ]; then + echo "Running within docker, installing initial dependencies"; + apt-get --quiet -y update && DEBIAN_FRONTEND=noninteractive apt-get --quiet -y install \ + ca-certificates \ + gnupg \ + gosu \ + lsb-release \ + software-properties-common \ + sudo \ + wget \ + ; +fi + +# script directory +DIR=$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd ) + +# check requirements.txt exists (script not run in source tree) +REQUIREMENTS_FILE="requirements.txt" +if [[ ! -f "${DIR}/${REQUIREMENTS_FILE}" ]]; then + echo "FAILED: ${REQUIREMENTS_FILE} needed in same directory as ubuntu.sh (${DIR})." + return 1 +fi + + +# check ubuntu version +# otherwise warn and point to docker? +UBUNTU_RELEASE="`lsb_release -rs`" +echo "Ubuntu ${UBUNTU_RELEASE}" + +echo +echo "Installing PX4 general dependencies" + +sudo apt-get update -y --quiet +sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \ + astyle \ + build-essential \ + cmake \ + cppcheck \ + file \ + g++ \ + gcc \ + gdb \ + git \ + lcov \ + libssl-dev \ + libxml2-dev \ + libxml2-utils \ + make \ + ninja-build \ + python3 \ + python3-dev \ + python3-pip \ + python3-setuptools \ + python3-wheel \ + rsync \ + shellcheck \ + unzip \ + zip \ + ; + +# Python3 dependencies +echo +echo "Installing PX4 Python3 dependencies" +PYTHON_VERSION=$(python3 --version 2>&1 | awk '{print $2}') +REQUIRED_VERSION="3.11" +if [[ "$(printf '%s\n' "$REQUIRED_VERSION" "$PYTHON_VERSION" | sort -V | head -n1)" == "$REQUIRED_VERSION" ]]; then + python3 -m pip install --break-system-packages -r ${DIR}/requirements.txt +else + if [ -n "$VIRTUAL_ENV" ]; then + # virtual environments don't allow --user option + python -m pip install -r ${DIR}/requirements.txt + else + python3 -m pip install --user -r ${DIR}/requirements.txt + fi +fi + +# NuttX toolchain (arm-none-eabi-gcc) +if [[ $INSTALL_NUTTX == "true" ]]; then + + echo + echo "Installing NuttX dependencies" + + sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \ + automake \ + binutils-dev \ + bison \ + build-essential \ + flex \ + g++-multilib \ + gcc-arm-none-eabi \ + gcc-multilib \ + gdb-multiarch \ + genromfs \ + gettext \ + gperf \ + kconfig-frontends \ + libelf-dev \ + libexpat-dev \ + libgmp-dev \ + libisl-dev \ + libmpc-dev \ + libmpfr-dev \ + libncurses-dev \ + libncurses6 \ + libncursesw6 \ + libnewlib-arm-none-eabi \ + libstdc++-arm-none-eabi-newlib \ + libtool \ + libunwind-dev \ + pkg-config \ + screen \ + texinfo \ + u-boot-tools \ + util-linux \ + vim-common \ + ; + + if [ -n "$USER" ]; then + # add user to dialout group (serial port access) + sudo usermod -aG dialout $USER + fi +fi + +# Simulation tools +if [[ $INSTALL_SIM == "true" ]]; then + + echo + echo "Installing PX4 simulation dependencies" + + # General simulation dependencies + sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \ + bc \ + ; + + # Gazebo / Gazebo classic installation + if [[ "${UBUNTU_RELEASE}" == "18.04" || "${UBUNTU_RELEASE}" == "20.04" ]]; then + sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list' + wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add - + # Update list, since new gazebo-stable.list has been added + sudo apt-get update -y --quiet + + # Install Gazebo classic + if [[ "${UBUNTU_RELEASE}" == "18.04" ]]; then + gazebo_classic_version=9 + gazebo_packages="gazebo$gazebo_classic_version libgazebo$gazebo_classic_version-dev" + else + # default and Ubuntu 20.04 + gazebo_classic_version=11 + gazebo_packages="gazebo$gazebo_classic_version libgazebo$gazebo_classic_version-dev" + fi + elif [[ "${UBUNTU_RELEASE}" == "21.3" ]]; then + echo "Gazebo (Garden) will be installed" + echo "Earlier versions will be removed" + # Add Gazebo binary repository + sudo wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg + echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable jammy main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null + + sudo apt-get update -y --quiet + + # Install Gazebo + gazebo_packages="gz-garden" + else + # Expects Ubuntu 22.04 > by default + echo "Gazebo (Harmonic) will be installed" + echo "Earlier versions will be removed" + # Add Gazebo binary repository + sudo wget 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 $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null + sudo apt-get update -y --quiet + + # Install Gazebo + gazebo_packages="gz-harmonic libunwind-dev" + + if [[ "${UBUNTU_RELEASE}" == "24.04" ]]; then + gazebo_packages="$gazebo_packages cppzmq-dev" + fi + fi + + sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \ + dmidecode \ + $gazebo_packages \ + gstreamer1.0-plugins-bad \ + gstreamer1.0-plugins-base \ + gstreamer1.0-plugins-good \ + gstreamer1.0-plugins-ugly \ + gstreamer1.0-libav \ + libeigen3-dev \ + libgstreamer-plugins-base1.0-dev \ + libimage-exiftool-perl \ + libopencv-dev \ + libxml2-utils \ + pkg-config \ + protobuf-compiler \ + ; + + if sudo dmidecode -t system | grep -q "Manufacturer: VMware, Inc." ; then + # fix VMWare 3D graphics acceleration for gazebo + echo "export SVGA_VGPU10=0" >> ~/.profile + fi + +fi