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build(packaging): add PX4 SITL .deb packages

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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
2026-04-02 15:03:04 -06:00
parent ebe0b727d8
commit 1079c57fd0
16 changed files with 940 additions and 41 deletions
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cmake/package.cmake
+59 -36
View File
@@ -33,32 +33,24 @@
# packaging
set(CPACK_PACKAGE_NAME ${PROJECT_NAME}-${PX4_CONFIG})
set(CPACK_PACKAGE_VENDOR "px4")
set(CPACK_PACKAGE_CONTACT "daniel@agar.ca")
set(CPACK_RESOURCE_FILE_LICENSE "${PX4_SOURCE_DIR}/LICENSE")
set(CPACK_RESOURCE_FILE_README "${PX4_SOURCE_DIR}/README.md")
set(CPACK_SOURCE_GENERATOR "ZIP;TBZ2")
# Debian version: convert git describe to Debian-compliant format
# v1.17.0-beta1 -> 1.17.0~beta1, v1.17.0 -> 1.17.0
string(REGEX REPLACE "^v" "" DEB_VERSION "${PX4_GIT_TAG}")
# Replace first hyphen with tilde for pre-release (Debian sorts ~ before anything)
string(REGEX REPLACE "^([0-9]+\\.[0-9]+\\.[0-9]+)-([a-zA-Z])" "\\1~\\2" DEB_VERSION "${DEB_VERSION}")
# Strip any trailing commit info (e.g. -42-gabcdef)
string(REGEX REPLACE "-[0-9]+-g[0-9a-f]+$" "" DEB_VERSION "${DEB_VERSION}")
set(CPACK_PACKAGE_VERSION_MAJOR ${PX4_VERSION_MAJOR})
set(CPACK_PACKAGE_VERSION_MINOR ${PX4_VERSION_MINOR})
set(CPACK_PACKAGE_VERSION_PATCH ${PX4_VERSION_PATCH})
#set(CPACK_PACKAGE_VERSION ${PX4_GIT_TAG})
set(CPACK_PACKAGE_FILE_NAME "${PROJECT_NAME}-${PX4_CONFIG}-${PX4_GIT_TAG}")
set(CPACK_SOURCE_PACKAGE_FILE_NAME "${PROJECT_NAME}-${PX4_CONFIG}-${PX4_GIT_TAG}-src")
set(CPACK_PACKAGE_CONTACT "daniel@agar.ca")
set(CPACK_RESOURCE_FILE_LICENSE "${PX4_SOURCE_DIR}/LICENSE")
set(CPACK_RESOURCE_FILE_README "${PX4_SOURCE_DIR}/README.md")
set(CPACK_COMPONENTS_GROUPING ALL_COMPONENTS_IN_ONE)#ONE_PER_GROUP)
# without this you won't be able to pack only specified component
set(CPACK_DEB_COMPONENT_INSTALL YES)
#set(CPACK_STRIP_FILES YES)
set(CPACK_SOURCE_GENERATOR "ZIP;TBZ2")
set(CPACK_PACKAGING_INSTALL_PREFIX "")
set(CPACK_SET_DESTDIR "OFF")
if("${CMAKE_SYSTEM}" MATCHES "Linux")
set(CPACK_GENERATOR "TBZ2")
@@ -67,30 +59,61 @@ if("${CMAKE_SYSTEM}" MATCHES "Linux")
if(EXISTS ${DPKG_PROGRAM})
list(APPEND CPACK_GENERATOR "DEB")
set(CPACK_SET_DESTDIR true)
set(CPACK_PACKAGING_INSTALL_PREFIX "/tmp")
execute_process(COMMAND ${DPKG_PROGRAM} --print-architecture
OUTPUT_VARIABLE DEB_ARCHITECTURE OUTPUT_STRIP_TRAILING_WHITESPACE)
execute_process(COMMAND ${DPKG_PROGRAM} --print-architecture OUTPUT_VARIABLE DEB_ARCHITECTURE OUTPUT_STRIP_TRAILING_WHITESPACE)
message("Architecture: " ${DEB_ARCHITECTURE})
set(CPACK_PACKAGE_FILE_NAME "${CPACK_PACKAGE_FILE_NAME}_${DEB_ARCHITECTURE}")
# Detect Ubuntu/Debian codename for version suffix
find_program(LSB_RELEASE lsb_release)
if(EXISTS ${LSB_RELEASE})
execute_process(COMMAND ${LSB_RELEASE} -cs
OUTPUT_VARIABLE DEB_CODENAME OUTPUT_STRIP_TRAILING_WHITESPACE)
else()
set(DEB_CODENAME "unknown")
endif()
set(CPACK_INSTALL_PREFIX @DEB_INSTALL_PREFIX@)
message ("==> CPACK_INSTALL_PREFIX = " ${CPACK_INSTALL_PREFIX})
# Override CPACK_PACKAGE_VERSION with full Debian version.
# CPack DEB ignores CPACK_PACKAGE_VERSION_MAJOR/MINOR/PATCH
# when CPACK_PACKAGE_VERSION is set, so we must replace them.
unset(CPACK_PACKAGE_VERSION_MAJOR)
unset(CPACK_PACKAGE_VERSION_MINOR)
unset(CPACK_PACKAGE_VERSION_PATCH)
set(CPACK_PACKAGE_VERSION "${DEB_VERSION}-${DEB_CODENAME}")
################################################################################
# Label-aware package metadata
if(PX4_BOARD_LABEL STREQUAL "sih")
set(CPACK_PACKAGING_INSTALL_PREFIX "/opt/px4")
set(CPACK_DEBIAN_PACKAGE_NAME "px4")
set(CPACK_DEBIAN_FILE_NAME "px4_${DEB_VERSION}-${DEB_CODENAME}_${DEB_ARCHITECTURE}.deb")
set(CPACK_DEBIAN_PACKAGE_DEPENDS "libc6, libstdc++6")
set(CPACK_DEBIAN_PACKAGE_DESCRIPTION "PX4 SITL autopilot with SIH physics (no Gazebo)")
set(CPACK_DEBIAN_PACKAGE_CONTROL_EXTRA
"${PX4_SOURCE_DIR}/Tools/packaging/sih/postinst;${PX4_SOURCE_DIR}/Tools/packaging/sih/postrm")
else()
set(CPACK_PACKAGING_INSTALL_PREFIX "/opt/px4-gazebo")
set(CPACK_DEBIAN_PACKAGE_NAME "px4-gazebo")
set(CPACK_DEBIAN_FILE_NAME "px4-gazebo_${DEB_VERSION}-${DEB_CODENAME}_${DEB_ARCHITECTURE}.deb")
set(CPACK_DEBIAN_PACKAGE_DEPENDS "libc6, libstdc++6, gz-sim8-cli, libgz-sim8-plugins, libgz-physics7-dartsim, gz-tools2")
set(CPACK_DEBIAN_PACKAGE_DESCRIPTION "PX4 SITL autopilot with Gazebo Harmonic simulation resources")
set(CPACK_DEBIAN_PACKAGE_CONTROL_EXTRA
"${PX4_SOURCE_DIR}/Tools/packaging/postinst;${PX4_SOURCE_DIR}/Tools/packaging/postrm")
endif()
set(CPACK_DEBIAN_PACKAGE_MAINTAINER "Daniel Agar <${CPACK_PACKAGE_CONTACT}>")
set(CPACK_DEBIAN_PACKAGE_VERSION ${CPACK_PACKAGE_VERSION})
set(CPACK_DEBIAN_FILE_NAME DEB-DEFAULT)
# Bake the install prefix into the px4 binary so it can locate its ROMFS
# (etc/) without a wrapper script or command-line argument.
if(TARGET px4)
target_compile_definitions(px4 PRIVATE PX4_INSTALL_PREFIX="${CPACK_PACKAGING_INSTALL_PREFIX}")
endif()
set(CPACK_DEBIAN_PACKAGE_DESCRIPTION "PX4 autopilot")
set(CPACK_DEBIAN_PACKAGE_PRIORITY "optional")
set(CPACK_DEBIAN_PACKAGE_SECTION "misc")
set(CPACK_DEBIAN_PACKAGE_ARCHITECTURE ${CMAKE_SYSTEM_PROCESSOR})
set(CPACK_DEBIAN_PACKAGE_ARCHITECTURE ${DEB_ARCHITECTURE})
set(CPACK_DEBIAN_PACKAGE_PRIORITY "optional")
set(CPACK_DEBIAN_PACKAGE_MAINTAINER "Daniel Agar <${CPACK_PACKAGE_CONTACT}>")
# autogenerate dependency information
set(CPACK_DEBIAN_PACKAGE_SHLIBDEPS ON)
set(CPACK_DEBIAN_COMPRESSION_TYPE xz)
set(CPACK_DEBIAN_ARCHITECTURE ${DEB_ARCHITECTURE})
message(STATUS "PX4 SITL .deb version: ${DEB_VERSION}-${DEB_CODENAME} (${DEB_ARCHITECTURE})")
endif()
else()