ci: fix docker context

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

.github/workflows/appimage.yml

@@ -0,0 +1,44 @@
+name: Build PX4 SITL AppImage
+
+on:
+  pull_request:
+    branches:
+      - main
+
+permissions:
+  contents: read
+  actions: write
+
+jobs:
+  build-appimage:
+    name: "AppImage ${{ matrix.arch }}"
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - arch: amd64
+            runner: x64
+          - arch: arm64
+            runner: arm64
+    runs-on: [runs-on,"runner=4cpu-linux-${{ matrix.runner }}","image=ubuntu22-full-${{ matrix.runner }}","run-id=${{ github.run_id }}"]
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
+          submodules: recursive
+
+      - name: Install Dependencies
+        run: ./Tools/setup/ubuntu.sh
+
+      - name: Build PX4 SITL and AppImage
+        env:
+          # avoid FUSE by extracting the AppImage in‐place
+          APPIMAGE_EXTRACT_AND_RUN: "1"
+        run: |
+          make appimage
+
+      - name: Upload AppImage artifact
+        uses: actions/upload-artifact@v4
+        with:
+          name: px4-sitl-appimage-${{ matrix.arch }}
+          path: build/*.AppImage

.github/workflows/sitl_container.yml

@@ -0,0 +1,189 @@
+name: SITL Container
+
+on:
+  push:
+    branches:
+      - 'main'
+      - 'stable'
+      - 'beta'
+      - 'release/**'
+    tags:
+      - 'v*'
+  pull_request:
+    branches:
+      - '**'
+  workflow_dispatch:
+    inputs:
+      px4_version:
+        description: 'Container tag (e.g. v1.16.0)'
+        required: true
+        type: string
+      deploy_to_registry:
+        description: 'Whether to push built images to the registry'
+        required: false
+        type: boolean
+        default: false
+
+jobs:
+  setup:
+    name: Set Tags and Variables
+    permissions:
+      contents: read
+    runs-on: [runs-on,"runner=1cpu-linux-x64","image=ubuntu24-full-x64","run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
+    outputs:
+      px4_version: ${{ steps.px4_version.outputs.px4_version }}
+      meta_tags: ${{ steps.meta.outputs.tags }}
+      meta_labels: ${{ steps.meta.outputs.labels }}
+    steps:
+      - uses: runs-on/action@v1
+      - uses: actions/checkout@v4
+        with:
+          fetch-tags: true
+          submodules: false
+          fetch-depth: 0
+
+      # If manual dispatch, take the user‐provided input
+      - name: Set PX4 Tag Version
+        id: px4_version
+        run: |
+          if [[ "${{ github.event_name }}" == "workflow_dispatch" ]]; then
+            echo "px4_version=${{ github.event.inputs.px4_version }}" >> $GITHUB_OUTPUT
+          else
+            echo "px4_version=$(git describe --tags --match 'v[0-9]*')" >> $GITHUB_OUTPUT
+          fi
+
+      - name: Extract metadata (tags, labels) for Docker
+        id: meta
+        uses: docker/metadata-action@v5
+        with:
+          images: |
+            ghcr.io/PX4/px4-sitl
+            px4io/px4-sitl
+          tags: |
+            type=raw,enable=true,value=${{ steps.px4_version.outputs.px4_version }},priority=1000
+
+  build:
+    name: Build (${{ matrix.arch }})
+    permissions:
+      contents: read
+      packages: write
+    needs: setup
+    strategy:
+      matrix:
+        include:
+          - platform: linux/arm64
+            arch: arm64
+            runner: arm64
+          - platform: linux/amd64
+            arch: amd64
+            runner: x64
+    runs-on: [runs-on,"runner=8cpu-linux-${{ matrix.runner }}","image=ubuntu24-full-${{ matrix.runner }}","run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
+    steps:
+      - uses: runs-on/action@v1
+      - uses: actions/checkout@v4
+        with:
+          fetch-tags: true
+          submodules: false
+          fetch-depth: 0
+
+      - name: Install PX4 Dependencies
+        run: ./Tools/setup/ubuntu.sh
+
+      - name: Build PX4 SITL
+        run: make px4_sitl_default
+
+      - name: Login to Docker Hub
+        uses: docker/login-action@v3
+        if: ${{ startsWith(github.ref, 'refs/tags/') || (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_registry) }}
+        with:
+          username: ${{ secrets.DOCKERHUB_USERNAME }}
+          password: ${{ secrets.DOCKERHUB_TOKEN }}
+
+      - name: Login to GitHub Container Registry
+        uses: docker/login-action@v3
+        if: ${{ startsWith(github.ref, 'refs/tags/') || (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_registry) }}
+        with:
+          registry: ghcr.io
+          username: ${{ github.actor }}
+          password: ${{ secrets.GITHUB_TOKEN }}
+
+      - name: Set up Docker Buildx
+        uses: docker/setup-buildx-action@v3
+        with:
+          driver: docker-container
+          platforms: ${{ matrix.platform }}
+
+      - name: Build and Load Container Image
+        uses: docker/build-push-action@v6
+        id: docker
+        with:
+          context: .
+          file: Tools/sitl-container/Dockerfile
+          tags: |
+            ghcr.io/px4/px4-sitl:${{ needs.setup.outputs.px4_version }}-${{ matrix.arch }}
+            px4io/px4-sitl:${{ needs.setup.outputs.px4_version }}-${{ matrix.arch }}
+          labels: ${{ needs.setup.outputs.meta_labels }}
+          platforms: ${{ matrix.platform }}
+          load: false
+          push: ${{ startsWith(github.ref, 'refs/tags/') || (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_registry) }}
+          provenance: false
+          cache-from: type=gha,version=1
+          cache-to: type=gha,version=1,mode=max
+
+  deploy:
+    name: Deploy To Registry
+    permissions:
+      contents: read
+      packages: write
+    runs-on: [runs-on,"runner=8cpu-linux-x64","image=ubuntu24-full-x64","run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
+    needs: [build, setup]
+    if: ${{ startsWith(github.ref, 'refs/tags/') || (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_registry) }}
+    steps:
+      - uses: runs-on/action@v1
+      - uses: actions/checkout@v4
+        with:
+          fetch-tags: true
+          submodules: false
+          fetch-depth: 0
+
+      - name: Login to Docker Hub
+        uses: docker/login-action@v3
+        with:
+          username: ${{ secrets.DOCKERHUB_USERNAME }}
+          password: ${{ secrets.DOCKERHUB_TOKEN }}
+
+      - name: Login to GitHub Container Registry
+        uses: docker/login-action@v3
+        with:
+          registry: ghcr.io
+          username: ${{ github.actor }}
+          password: ${{ secrets.GITHUB_TOKEN }}
+
+      - name: Verify Images Exist Before Creating Manifest
+        run: |
+          docker manifest inspect px4io/px4-sitl:${{ needs.setup.outputs.px4_version }}-arm64 || echo "⚠️ Warning: No ARM64 image found!"
+          docker manifest inspect px4io/px4-sitl:${{ needs.setup.outputs.px4_version }}-amd64 || echo "⚠️ Warning: No AMD64 image found!"
+          docker manifest inspect ghcr.io/px4/px4-sitl:${{ needs.setup.outputs.px4_version }}-arm64 || echo "⚠️ Warning: No ARM64 image found!"
+          docker manifest inspect ghcr.io/px4/px4-sitl:${{ needs.setup.outputs.px4_version }}-amd64 || echo "⚠️ Warning: No AMD64 image found!"
+
+      - name: Create and Push Multi-Arch Manifest for Docker Hub
+        run: |
+          docker manifest create px4io/px4-sitl:${{ needs.setup.outputs.px4_version }} \
+            --amend px4io/px4-sitl:${{ needs.setup.outputs.px4_version }}-arm64 \
+            --amend px4io/px4-sitl:${{ needs.setup.outputs.px4_version }}-amd64
+
+          docker manifest annotate px4io/px4-sitl:${{ needs.setup.outputs.px4_version }} px4io/px4-sitl:${{ needs.setup.outputs.px4_version }}-arm64 --arch arm64
+          docker manifest annotate px4io/px4-sitl:${{ needs.setup.outputs.px4_version }} px4io/px4-sitl:${{ needs.setup.outputs.px4_version }}-amd64 --arch amd64
+
+          docker manifest push px4io/px4-sitl:${{ needs.setup.outputs.px4_version }}
+
+      - name: Create and Push Multi-Arch Manifest for GHCR
+        run: |
+          docker manifest create ghcr.io/px4/px4-sitl:${{ needs.setup.outputs.px4_version }} \
+            --amend ghcr.io/px4/px4-sitl:${{ needs.setup.outputs.px4_version }}-arm64 \
+            --amend ghcr.io/px4/px4-sitl:${{ needs.setup.outputs.px4_version }}-amd64
+
+          docker manifest annotate ghcr.io/px4/px4-sitl:${{ needs.setup.outputs.px4_version }} ghcr.io/px4/px4-sitl:${{ needs.setup.outputs.px4_version }}-arm64 --arch arm64
+          docker manifest annotate ghcr.io/px4/px4-sitl:${{ needs.setup.outputs.px4_version }} ghcr.io/px4/px4-sitl:${{ needs.setup.outputs.px4_version }}-amd64 --arch amd64
+
+          docker manifest push ghcr.io/px4/px4-sitl:${{ needs.setup.outputs.px4_version }}

Makefile

@@ -264,6 +264,42 @@ px4fmu_firmware: \
 	check_px4_fmu-v5x_default \
 	sizes
 
+# Create a one-file AppImage for PX4 SITL
+PX4_VERSION := $(shell git describe --tags --match "v[0-9]*" 2>/dev/null || echo "v0.0.0")
+.PHONY: AppImage
+appimage: build/px4_sitl_default/bin/px4 build/px4_sitl_default/romfs_files.tar
+
+	@$(MAKE) px4_sitl_default
+	@$(RM) -rf build/px4.AppDir
+
+	@mkdir -p \
+		build/px4.AppDir/usr/bin \
+		build/px4.AppDir/usr/lib \
+		build/px4.AppDir/usr/share/px4/romfs/etc \
+		build/px4.AppDir/usr/share/px4/romfs/bin
+	@cp build/px4_sitl_default/bin/px4 build/px4.AppDir/usr/bin/
+	@echo "${PX4_VERSION}" > build/px4.AppDir/version.txt
+
+	# bundle required Gazebo transport libs (arch‐agnostic lookup)
+	echo "→ Gathering shared-lib dependencies for px4..."
+	@ldd build/px4_sitl_default/bin/px4 \
+		| awk '/=>/ { print $$3 }' \
+		| grep -E '^/' \
+		| grep -Ev '/lib(c|gcc|stdc\+\+)\.so' \
+		| sort -u \
+		| while read lib; do \
+			echo "	→ bundling $$lib"; \
+			cp "$$lib" build/px4.AppDir/usr/lib/; \
+		done
+
+	@tar xf build/px4_sitl_default/romfs_files.tar -C build/px4.AppDir/usr/share/px4/romfs/etc
+	@cp build/px4_sitl_default/bin/px4-* build/px4.AppDir/usr/share/px4/romfs/bin/
+	@cp Tools/appimage/px4.desktop build/px4.AppDir/
+	@cp Tools/appimage/px4.svg build/px4.AppDir/
+	@cp Tools/appimage/AppRun build/px4.AppDir/
+	@chmod +x build/px4.AppDir/AppRun
+	@cd build && appimagetool px4.AppDir
+
 misc_qgc_extra_firmware: \
 	check_nxp_fmuk66-v3_default \
 	check_mro_x21_default \

Tools/appimage/AppRun

@@ -0,0 +1,61 @@
+#!/usr/bin/env bash
+set -e
+
+DEBUG=false
+for arg; do
+  case "$arg" in
+  --debug)
+    DEBUG=true
+    shift
+    ;;
+  *)
+    break
+    ;;
+  esac
+done
+
+if $DEBUG; then
+  echo "[DEBUG] Running in debug mode" >&2
+fi
+
+CUR_VER=$(<"$APPDIR/version.txt")
+$DEBUG && echo "[DEBUG] PX4_VERSION = $CUR_VER" >&2
+
+# figure out a stable logs directory
+STATE_HOME="${XDG_STATE_HOME:-$HOME/.local/state}"
+DATA_HOME="${XDG_DATA_HOME:-$HOME/.local/share}"
+ROMFS_DIR="$DATA_HOME/px4/romfs"
+mkdir -p "$DATA_HOME/px4" "$STATE_HOME/px4"
+
+$DEBUG && echo "[DEBUG] STATE_HOME = $STATE_HOME" >&2
+$DEBUG && echo "[DEBUG] DATA_HOME = $STATE_HOME" >&2
+
+# Read last unpacked version
+LAST_VER_FILE="$STATE_HOME/px4/version"
+LAST_VER=""
+[ -f "$LAST_VER_FILE" ] && LAST_VER=$(<"$LAST_VER_FILE")
+
+# if versions differ, refresh the payload
+if [ "$CUR_VER" != "$LAST_VER" ]; then
+  $DEBUG && echo "[DEBUG] Version changed ($LAST_VER → $CUR_VER); updating ROMFS..." >&2
+  rm -fr "$ROMFS_DIR"
+  mkdir -p "$ROMFS_DIR"
+  cp -a "$APPDIR/usr/share/px4/romfs/." "$ROMFS_DIR"
+  echo "$CUR_VER" > "$LAST_VER_FILE"
+else
+  if $DEBUG; then
+    echo "[DEBUG] Using cached ROMFS version $CUR_VER" >&2
+  fi
+fi
+
+LOG_DIR="$STATE_HOME/px4/logs"
+mkdir -p "$LOG_DIR"
+$DEBUG && echo "[DEBUG] LOG_DIR = $LOG_DIR" >&2
+
+# pick up bundled libs first
+export LD_LIBRARY_PATH="$APPDIR/usr/lib:$LD_LIBRARY_PATH"
+export PATH="$ROMFS_DIR/bin:$ROMFS_DIR:$PATH"
+
+
+$DEBUG && echo "[DEBUG] Launching: $APPDIR/usr/bin/px4 -w $ROMFS_DIR $*" >&2
+exec "$APPDIR/usr/bin/px4" -w "$ROMFS_DIR" "$@"

Tools/appimage/px4.desktop

@@ -0,0 +1,6 @@
+[Desktop Entry]
+Type=Application
+Name=PX4 Autopilot SITL
+Exec=px4 %F
+Icon=px4
+Categories=Development;

Tools/docker_run.sh

@@ -1,18 +1,5 @@
 #! /bin/bash
 
-if [ -z ${PX4_DOCKER_REPO+x} ]; then
-	echo "guessing PX4_DOCKER_REPO based on input";
-	if [[ $@ =~ .*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:v1.16.0-rc1-258-g0369abd556"

Tools/setup/ubuntu.sh

@@ -126,9 +126,11 @@ if [[ $INSTALL_NUTTX == "true" ]]; then
 		genromfs \
 		gettext \
 		gperf \
+		fuse \
 		kconfig-frontends \
 		libelf-dev \
 		libexpat-dev \
+		libfuse2 \
 		libgmp-dev \
 		libisl-dev \
 		libmpc-dev \
@@ -156,6 +158,11 @@ if [[ $INSTALL_NUTTX == "true" ]]; then
 			gcc-arm-none-eabi \
 			gcc-multilib \
 			;
+
+		# Install the appimagetool for building AppImages
+		sudo wget -O /usr/local/bin/appimagetool \
+			https://github.com/AppImage/AppImageKit/releases/download/continuous/appimagetool-x86_64.AppImage
+		sudo chmod +x /usr/local/bin/appimagetool
 	fi
 
 	if [[ "${INSTALL_ARCH}" == "aarch64" ]]; then
@@ -163,6 +170,10 @@ if [[ $INSTALL_NUTTX == "true" ]]; then
 			g++-aarch64-linux-gnu \
 			g++-arm-linux-gnueabihf \
 			;
+		# Install the appimagetool for building AppImages
+		sudo wget -O /usr/local/bin/appimagetool \
+			https://github.com/AppImage/AppImageKit/releases/download/continuous/appimagetool-aarch64.AppImage
+		sudo chmod +x /usr/local/bin/appimagetool
 	fi
 
 	if [ -n "$USER" ]; then

Tools/sitl-container/Dockerfile

@@ -0,0 +1,55 @@
+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

@@ -0,0 +1,9 @@
+#!/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

@@ -0,0 +1,11 @@
+#!/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