fly316/PX4-Autopilot
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container: general purpose multiarch docker

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* new docker container using ubuntu focal (20.04)
* adds nuttx building for any supported target
* adds initial support for gazebo simulation via X11
* updates docker_run.sh script to initialize container
* NEEDS: updated ubuntu.sh script

How to run:
```
./Tools/docker_run.sh make all_variants_px4_fmu-v5x
```
This commit is contained in:
Ramon Roche
2022-02-01 20:30:57 -08:00
parent 92deb37f64
commit fc7e422821
3 changed files with 90 additions and 52 deletions
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Tools/docker_run.sh
+7 -52
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@@ -1,35 +1,5 @@
#! /bin/bash
if [ -z ${PX4_DOCKER_REPO+x} ]; then
echo "guessing PX4_DOCKER_REPO based on input";
if [[ $@ =~ .*px4_fmu.* ]]; then
# nuttx-px4fmu-v{1,2,3,4,5}
PX4_DOCKER_REPO="px4io/px4-dev-nuttx-focal:2021-09-08"
elif [[ $@ =~ .*navio2.* ]] || [[ $@ =~ .*raspberry.* ]] || [[ $@ =~ .*beaglebone.* ]] || [[ $@ =~ .*pilotpi.default ]]; then
# beaglebone_blue_default, emlid_navio2_default, px4_raspberrypi_default, scumaker_pilotpi_default
PX4_DOCKER_REPO="px4io/px4-dev-armhf:2021-08-18"
elif [[ $@ =~ .*pilotpi.arm64 ]]; then
# scumaker_pilotpi_arm64
PX4_DOCKER_REPO="px4io/px4-dev-aarch64:latest"
elif [[ $@ =~ .*navio2.* ]] || [[ $@ =~ .*raspberry.* ]] || [[ $@ =~ .*bebop.* ]]; then
# posix_rpi_cross, posix_bebop_default
PX4_DOCKER_REPO="px4io/px4-dev-armhf:2021-08-18"
elif [[ $@ =~ .*clang.* ]] || [[ $@ =~ .*scan-build.* ]]; then
# clang tools
PX4_DOCKER_REPO="px4io/px4-dev-clang:2021-02-04"
elif [[ $@ =~ .*tests* ]]; then
# run all tests with simulation
PX4_DOCKER_REPO="px4io/px4-dev-simulation-bionic:2021-12-11"
fi
else
echo "PX4_DOCKER_REPO is set to '$PX4_DOCKER_REPO'";
fi
# otherwise default to nuttx
if [ -z ${PX4_DOCKER_REPO+x} ]; then
PX4_DOCKER_REPO="px4io/px4-dev-nuttx-focal:2021-09-08"
fi
# docker hygiene
#Delete all stopped containers (including data-only containers)
@@ -38,30 +8,15 @@ fi
#Delete all 'untagged/dangling' (<none>) images
#docker rmi $(docker images -q -f dangling=true)
echo "PX4_DOCKER_REPO: $PX4_DOCKER_REPO";
PX4_DOCKER_REPO="px4io/px4-dev"
PWD=$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )
SRC_DIR=$PWD/../
CCACHE_DIR=${HOME}/.ccache
mkdir -p "${CCACHE_DIR}"
docker run -it --rm -w "${SRC_DIR}" \
--env=AWS_ACCESS_KEY_ID \
--env=AWS_SECRET_ACCESS_KEY \
--env=BRANCH_NAME \
--env=CCACHE_DIR="${CCACHE_DIR}" \
--env=CI \
--env=CODECOV_TOKEN \
--env=COVERALLS_REPO_TOKEN \
--env=LOCAL_USER_ID="$(id -u)" \
--env=PX4_ASAN \
--env=PX4_MSAN \
--env=PX4_TSAN \
--env=PX4_UBSAN \
--env=TRAVIS_BRANCH \
--env=TRAVIS_BUILD_ID \
--publish 14556:14556/udp \
--volume=${CCACHE_DIR}:${CCACHE_DIR}:rw \
--volume=${SRC_DIR}:${SRC_DIR}:rw \
${PX4_DOCKER_REPO} /bin/bash -c "$1 $2 $3"
--env=LOCAL_USER_ID="$(id -u)" \
--publish 14556:14556/udp \
--volume=/tmp/.X11-unix:/tmp/.X11-unix \
--volume=/tmp:/tmp:rw \
--volume=${SRC_DIR}:${SRC_DIR}:rw \
${PX4_DOCKER_REPO} /bin/bash -c "$1 $2 $3"