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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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build(packaging): add PX4 SITL .deb packages
Add cmake/cpack infrastructure for building .deb packages from px4_sitl_sih and px4_sitl_default targets. Includes install rules, package scripts, Gazebo wrapper, and CI workflow. Signed-off-by: Ramon Roche <mrpollo@gmail.com>
This commit is contained in:
Ramon Roche
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# syntax=docker/dockerfile:1
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# PX4 SITL Gazebo Harmonic runtime image
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# Runs PX4 SITL with Gazebo Harmonic. Supports X11 forwarding for GUI.
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#
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# Build:
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# make px4_sitl_default && cd build/px4_sitl_default && cpack -G DEB && cd ../..
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# docker build -f Tools/packaging/Dockerfile.gazebo -t px4io/px4-sitl-gazebo:v1.17.0 build/px4_sitl_default/
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#
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# Run (headless):
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# docker run --rm -it --network host px4io/px4-sitl-gazebo:v1.17.0
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#
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# Run (X11 GUI):
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# xhost +local:docker
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# docker run --rm -it --network host \
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# -e DISPLAY=$DISPLAY -v /tmp/.X11-unix:/tmp/.X11-unix \
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# --gpus all px4io/px4-sitl-gazebo:v1.17.0
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FROM ubuntu:24.04 AS extract
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COPY px4-gazebo_*.deb /tmp/
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RUN apt-get update && apt-get install -y --no-install-recommends binutils \
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&& dpkg -x /tmp/px4-gazebo_*.deb /staging \
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&& strip /staging/opt/px4-gazebo/bin/px4 \
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&& rm -rf /var/lib/apt/lists/*
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FROM ubuntu:24.04
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LABEL maintainer="PX4 Development Team"
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LABEL description="PX4 SITL with Gazebo Harmonic simulation"
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ENV DEBIAN_FRONTEND=noninteractive
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ENV RUNS_IN_DOCKER=true
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# Install Gazebo Harmonic with buildkit cache mounts for apt
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# The --mount=type=cache persists /var/cache/apt and /var/lib/apt across builds
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RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
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--mount=type=cache,target=/var/lib/apt,sharing=locked \
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apt-get update \
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&& apt-get install -y --no-install-recommends \
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bc \
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ca-certificates \
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gnupg \
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lsb-release \
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wget \
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&& wget -q https://packages.osrfoundation.org/gazebo.gpg \
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-O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg \
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&& echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" \
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> /etc/apt/sources.list.d/gazebo-stable.list \
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&& apt-get update \
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&& apt-get install -y --no-install-recommends \
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gz-harmonic
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# Install PX4 files from .deb
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COPY --from=extract /staging/opt/px4-gazebo /opt/px4-gazebo
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RUN ln -sf /opt/px4-gazebo/bin/px4-gazebo /usr/bin/px4-gazebo
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# Create the DART physics engine symlink (avoids needing the -dev package)
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RUN GZ_PHYSICS_DIR=$(find /usr/lib -maxdepth 3 -type d -name "engine-plugins" -path "*/gz-physics-7/*" 2>/dev/null | head -1) \
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&& if [ -n "$GZ_PHYSICS_DIR" ] && [ -d "$GZ_PHYSICS_DIR" ]; then \
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VERSIONED=$(ls "$GZ_PHYSICS_DIR"/libgz-physics*-dartsim-plugin.so.* 2>/dev/null | head -1) \
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&& [ -n "$VERSIONED" ] \
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&& ln -sf "$(basename "$VERSIONED")" "$GZ_PHYSICS_DIR/libgz-physics-dartsim-plugin.so"; \
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fi
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# Gazebo resource paths
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ENV GZ_SIM_RESOURCE_PATH=/opt/px4-gazebo/share/gz/models:/opt/px4-gazebo/share/gz/worlds
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ENV GZ_SIM_SYSTEM_PLUGIN_PATH=/opt/px4-gazebo/lib/gz/plugins
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ENV GZ_SIM_SERVER_CONFIG_PATH=/opt/px4-gazebo/share/gz/server.config
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ENV PX4_GZ_MODELS=/opt/px4-gazebo/share/gz/models
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ENV PX4_GZ_WORLDS=/opt/px4-gazebo/share/gz/worlds
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ENV PX4_SIM_MODEL=gz_x500
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ENV HOME=/root
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# MAVLink, MAVSDK, DDS
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EXPOSE 14550/udp 14540/udp 8888/udp
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# Platform-adaptive entrypoint: detects Docker Desktop (macOS/Windows) via
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# host.docker.internal and configures MAVLink + DDS to target the host.
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COPY px4-entrypoint.sh /opt/px4-gazebo/bin/px4-entrypoint.sh
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RUN chmod +x /opt/px4-gazebo/bin/px4-entrypoint.sh
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WORKDIR /root
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ENTRYPOINT ["/opt/px4-gazebo/bin/px4-entrypoint.sh"]
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CMD []
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@@ -0,0 +1,49 @@
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# syntax=docker/dockerfile:1
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# PX4 SITL SIH runtime image
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# Minimal container that runs PX4 with the SIH physics engine (no Gazebo).
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#
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# Build:
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# make px4_sitl_sih && cd build/px4_sitl_sih && cpack -G DEB && cd ../..
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# docker build -f Tools/packaging/Dockerfile.sih -t px4io/px4-sitl-sih:v1.17.0 build/px4_sitl_sih/
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#
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# Run (Linux):
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# docker run --rm -it --network host px4io/px4-sitl-sih:v1.17.0
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#
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# Run (macOS / Windows):
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# docker run --rm -it -p 14550:14550/udp -p 14540:14540/udp -p 19410:19410/udp -p 8888:8888/udp px4io/px4-sitl-sih:v1.17.0
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FROM ubuntu:24.04 AS build
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COPY px4_*.deb /tmp/
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RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
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--mount=type=cache,target=/var/lib/apt,sharing=locked \
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apt-get update \
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&& apt-get install -y --no-install-recommends binutils \
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&& dpkg -x /tmp/px4_*.deb /staging \
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&& strip /staging/opt/px4/bin/px4
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FROM ubuntu:24.04
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LABEL maintainer="PX4 Development Team"
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LABEL description="PX4 SITL with SIH physics (no simulator dependencies)"
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RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
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--mount=type=cache,target=/var/lib/apt,sharing=locked \
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apt-get update && apt-get install -y --no-install-recommends bc
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COPY --from=build /staging/opt/px4 /opt/px4
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RUN ln -sf /opt/px4/bin/px4 /usr/bin/px4
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# Platform-adaptive entrypoint: detects Docker Desktop (macOS/Windows) via
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# host.docker.internal and configures MAVLink + DDS to target the host.
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COPY px4-entrypoint.sh /opt/px4/bin/px4-entrypoint.sh
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RUN chmod +x /opt/px4/bin/px4-entrypoint.sh
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ENV PX4_SIM_MODEL=sihsim_quadx
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ENV HOME=/root
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# MAVLink (QGC, MAVSDK), DDS (ROS 2), jMAVSim/viewer display
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EXPOSE 14550/udp 14540/udp 19410/udp 8888/udp
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WORKDIR /root
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ENTRYPOINT ["/opt/px4/bin/px4-entrypoint.sh"]
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CMD []
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Executable
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#!/bin/sh
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set -e
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ln -sf /opt/px4-gazebo/bin/px4-gazebo /usr/bin/px4-gazebo
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exit 0
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Executable
+6
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#!/bin/sh
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set -e
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if [ "$1" = "remove" ] || [ "$1" = "purge" ]; then
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rm -f /usr/bin/px4-gazebo
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fi
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exit 0
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@@ -0,0 +1,32 @@
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#!/bin/sh
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# Docker entrypoint for PX4 SITL containers.
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#
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# On Docker Desktop (macOS/Windows), host.docker.internal resolves to the
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# host machine. We detect this and configure MAVLink + DDS to send to the
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# host IP instead of localhost (which stays inside the container VM).
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#
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# On Linux with --network host, host.docker.internal does not resolve and
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# PX4 defaults work without modification.
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set -e
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# Detect install prefix (SIH uses /opt/px4, Gazebo uses /opt/px4-gazebo)
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if [ -d /opt/px4-gazebo ]; then
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PX4_PREFIX=/opt/px4-gazebo
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else
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PX4_PREFIX=/opt/px4
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fi
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if getent hosts host.docker.internal >/dev/null 2>&1; then
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DOCKER_HOST_IP=$(getent hosts host.docker.internal | awk '{print $1}')
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# MAVLink: replace default target (127.0.0.1) with the Docker host IP
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sed -i "s/mavlink start -x -u/mavlink start -x -t $DOCKER_HOST_IP -u/g" \
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"$PX4_PREFIX/etc/init.d-posix/px4-rc.mavlink"
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# DDS: point uXRCE-DDS client at the host
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sed -i "s|uxrce_dds_client start -t udp|uxrce_dds_client start -t udp -h $DOCKER_HOST_IP|" \
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"$PX4_PREFIX/etc/init.d-posix/rcS"
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fi
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exec "$PX4_PREFIX/bin/px4" "$@"
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#!/usr/bin/env bash
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# px4-gazebo: Launch PX4 SITL with Gazebo from the installed .deb package
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set -e
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PX4_GAZEBO_DIR="$(cd "$(dirname "$(readlink -f "$0")")/.." && pwd)"
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PX4_BINARY="${PX4_GAZEBO_DIR}/bin/px4"
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# Set Gazebo resource paths so gz-sim finds PX4 models, worlds, and plugins.
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export PX4_GZ_MODELS="${PX4_GAZEBO_DIR}/share/gz/models"
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export PX4_GZ_WORLDS="${PX4_GAZEBO_DIR}/share/gz/worlds"
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export PX4_GZ_PLUGINS="${PX4_GAZEBO_DIR}/lib/gz/plugins"
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export PX4_GZ_SERVER_CONFIG="${PX4_GAZEBO_DIR}/share/gz/server.config"
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export GZ_SIM_RESOURCE_PATH="${GZ_SIM_RESOURCE_PATH}:${PX4_GZ_MODELS}:${PX4_GZ_WORLDS}"
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export GZ_SIM_SYSTEM_PLUGIN_PATH="${GZ_SIM_SYSTEM_PLUGIN_PATH}:${PX4_GZ_PLUGINS}"
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export GZ_SIM_SERVER_CONFIG_PATH="${PX4_GZ_SERVER_CONFIG}"
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# Gazebo's Physics system searches for "gz-physics-dartsim-plugin" which maps
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# to the unversioned libgz-physics-dartsim-plugin.so. The runtime package only
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# ships versioned .so files; the unversioned symlink lives in the -dev package.
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# Create it if missing so Gazebo finds the DART engine without installing -dev.
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GZ_PHYSICS_ENGINE_DIR=$(find /usr/lib -maxdepth 3 -type d -name "engine-plugins" -path "*/gz-physics-7/*" 2>/dev/null | head -1)
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if [ -n "$GZ_PHYSICS_ENGINE_DIR" ] && [ -d "$GZ_PHYSICS_ENGINE_DIR" ]; then
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UNVERSIONED="$GZ_PHYSICS_ENGINE_DIR/libgz-physics-dartsim-plugin.so"
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if [ ! -e "$UNVERSIONED" ]; then
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VERSIONED=$(ls "$GZ_PHYSICS_ENGINE_DIR"/libgz-physics*-dartsim-plugin.so.* 2>/dev/null | head -1)
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if [ -n "$VERSIONED" ]; then
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ln -sf "$(basename "$VERSIONED")" "$UNVERSIONED" 2>/dev/null || true
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fi
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fi
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fi
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exec "${PX4_BINARY}" "$@"
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Executable
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#!/bin/sh
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set -e
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ln -sf /opt/px4/bin/px4 /usr/bin/px4
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exit 0
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Executable
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#!/bin/sh
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set -e
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if [ "$1" = "remove" ] || [ "$1" = "purge" ]; then
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rm -f /usr/bin/px4
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fi
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exit 0
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@@ -0,0 +1,144 @@
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#!/usr/bin/env python3
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"""
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MAVSDK mission test for PX4 SIH SITL in Docker.
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Takes off to 100m, flies a short 4-waypoint box mission, then lands.
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Validates that the SIH Docker container works end-to-end with MAVSDK.
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Prerequisites:
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- Docker container running:
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docker run --rm --network host px4io/px4-sitl-sih:v1.17.0-alpha1
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- pip install mavsdk
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- mavsim-viewer running (optional):
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/path/to/mavsim-viewer -n 1
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Usage:
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python3 Tools/packaging/test_sih_mission.py
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python3 Tools/packaging/test_sih_mission.py --speed 10 # faster-than-realtime
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"""
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import asyncio
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import argparse
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import sys
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import time
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from mavsdk import System
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from mavsdk.mission import MissionItem, MissionPlan
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async def run_mission(speed_factor: int = 1):
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drone = System()
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print(f"Connecting to drone on udp://:14540 ...")
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await drone.connect(system_address="udp://:14540")
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print("Waiting for drone to connect...")
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async for state in drone.core.connection_state():
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if state.is_connected:
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print(f"Connected (UUID: {state.uuid if hasattr(state, 'uuid') else 'N/A'})")
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break
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print("Waiting for global position estimate...")
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async for health in drone.telemetry.health():
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if health.is_global_position_ok and health.is_home_position_ok:
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print("Global position OK")
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break
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# Get home position for reference
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async for pos in drone.telemetry.position():
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home_lat = pos.latitude_deg
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home_lon = pos.longitude_deg
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print(f"Home position: {home_lat:.6f}, {home_lon:.6f}")
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break
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# Build a small box mission at 100m AGL
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# ~100m offset in each direction
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offset = 0.001 # roughly 111m at equator
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mission_items = [
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MissionItem(
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home_lat + offset, home_lon,
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100, 10, True, float('nan'), float('nan'),
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MissionItem.CameraAction.NONE,
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float('nan'), float('nan'), float('nan'),
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float('nan'), float('nan'),
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MissionItem.VehicleAction.NONE,
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),
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MissionItem(
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home_lat + offset, home_lon + offset,
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100, 10, True, float('nan'), float('nan'),
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MissionItem.CameraAction.NONE,
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float('nan'), float('nan'), float('nan'),
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float('nan'), float('nan'),
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MissionItem.VehicleAction.NONE,
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),
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MissionItem(
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home_lat, home_lon + offset,
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100, 10, True, float('nan'), float('nan'),
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MissionItem.CameraAction.NONE,
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float('nan'), float('nan'), float('nan'),
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float('nan'), float('nan'),
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MissionItem.VehicleAction.NONE,
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),
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MissionItem(
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home_lat, home_lon,
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100, 10, True, float('nan'), float('nan'),
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MissionItem.CameraAction.NONE,
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float('nan'), float('nan'), float('nan'),
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float('nan'), float('nan'),
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MissionItem.VehicleAction.NONE,
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),
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]
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mission_plan = MissionPlan(mission_items)
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print(f"Uploading mission ({len(mission_items)} waypoints, 100m AGL)...")
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await drone.mission.upload_mission(mission_plan)
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print("Mission uploaded")
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print("Arming...")
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await drone.action.arm()
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print("Armed")
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t0 = time.time()
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print("Starting mission...")
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await drone.mission.start_mission()
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# Monitor mission progress
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async for progress in drone.mission.mission_progress():
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elapsed = time.time() - t0
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print(f" [{elapsed:6.1f}s] Waypoint {progress.current}/{progress.total}")
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if progress.current == progress.total:
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print(f"Mission complete in {elapsed:.1f}s (speed factor: {speed_factor}x)")
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break
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print("Returning to launch...")
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await drone.action.return_to_launch()
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# Wait for landing
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async for in_air in drone.telemetry.in_air():
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if not in_air:
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print("Landed")
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break
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print("Disarming...")
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await drone.action.disarm()
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print("Test PASSED")
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def main():
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parser = argparse.ArgumentParser(description="PX4 SIH Docker mission test")
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parser.add_argument("--speed", type=int, default=1,
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help="PX4_SIM_SPEED_FACTOR (must match container)")
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args = parser.parse_args()
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try:
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asyncio.run(run_mission(args.speed))
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except KeyboardInterrupt:
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print("\nInterrupted")
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sys.exit(1)
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except Exception as e:
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print(f"Test FAILED: {e}")
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sys.exit(1)
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if __name__ == "__main__":
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main()
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