mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
f77a1a44a0
The SIH image is the canonical PX4 SITL container, so drop the redundant -sih suffix and publish it as px4io/px4-sitl. Gazebo continues to publish as px4io/px4-sitl-gazebo. Decouples the published image name from the matrix.image identifier by introducing a matrix.repo field, so renames like this don't require touching the matrix logic. This is a breaking change for anyone pulling px4io/px4-sitl-sih directly; the old tags remain available but no new ones will be published under that name. Signed-off-by: Ramon Roche <mrpollo@gmail.com>
50 lines
1.7 KiB
Docker
50 lines
1.7 KiB
Docker
# 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: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: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: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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