container: px4-sitl image

Signed-off-by: Ramon Roche <mrpollo@gmail.com>

Tools/sitl-container/Dockerfile

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+FROM ubuntu:24.04
+
+RUN apt-get update \
+  && apt-get install -y --no-install-recommends \
+    ca-certificates \
+    curl \
+    gnupg \
+    lsb-release \
+    libbsd0 \
+    libcom-err2 \
+    libc6 \
+    libgcc-s1 \
+    libgssapi-krb5-2 \
+    libk5crypto3 \
+    libkeyutils1 \
+    libkrb5-3 \
+    libkrb5support0 \
+    libmd0 \
+    libnorm1 \
+    libpgm-5.3-0 \
+    libprotobuf32 \
+    libprotobuf-lite32t64 \
+    libsodium23 \
+    libstdc++6 \
+    libuuid1 \
+    libzmq5 \
+    wget \
+    zlib1g \
+  && rm -fr /var/lib/apt/lists/*
+
+RUN curl -sSL https://packages.osrfoundation.org/gazebo.key \
+  | gpg --dearmor -o /usr/share/keyrings/gazebo-archive-keyring.gpg \
+  && echo "deb  [signed-by=/usr/share/keyrings/gazebo-archive-keyring.gpg] \
+    http://packages.osrfoundation.org/gazebo/ubuntu-stable \
+    $(lsb_release -cs) main" \
+    > /etc/apt/sources.list.d/gazebo-stable.list \
+  && apt-get update \
+  && apt-get install -y --no-install-recommends \
+    libgz-msgs10 \
+    libgz-transport13 \
+    libgz-utils2 \
+  && rm -fr /var/lib/apt/lists/*
+
+COPY build/px4_sitl_default/bin /opt/px4/bin
+COPY build/px4_sitl_default/etc /opt/px4/etc
+
+WORKDIR /opt/px4
+
+COPY Tools/sitl-container/entrypoint.sh /usr/local/bin/entrypoint.sh
+RUN chmod +x /usr/local/bin/entrypoint.sh
+
+EXPOSE 14540/udp 14550/udp 8888/udp
+
+ENTRYPOINT ["/usr/local/bin/entrypoint.sh"]
+CMD []

Tools/sitl-container/docker_run.sh

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+#!/bin/bash
+
+sudo docker run \
+  --rm -it \
+  --device /dev/fuse --cap-add SYS_ADMIN \
+  -p 14540:14540/udp \
+  -p 14550:14550/udp \
+  -p 8888:8888/udp \
+  px4-sitl:local

Tools/sitl-container/entrypoint.sh

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+#!/bin/sh
+set -e
+
+PX4_BIN=/opt/px4/bin/px4
+
+# if no args passed, default to SITL none
+if [ $# -eq 0 ]; then
+  exec "$PX4_BIN"
+else
+  exec "$PX4_BIN" "$@"
+fi