Add support for gz-harmonic on Ubuntu 24.04

Author: JonasVautherin

Dockerfile

@@ -1,75 +1,62 @@
-FROM ubuntu:20.04
+FROM ubuntu:24.04
 
 ENV WORKSPACE_DIR /root
-ENV FIRMWARE_DIR ${WORKSPACE_DIR}/Firmware
+ENV FIRMWARE_DIR ${WORKSPACE_DIR}/px4
 ENV SITL_RTSP_PROXY ${WORKSPACE_DIR}/sitl_rtsp_proxy
 
 ENV DEBIAN_FRONTEND=noninteractive DEBCONF_NONINTERACTIVE_SEEN=true
 ENV DISPLAY :99
 ENV LANG C.UTF-8
 
 RUN apt-get update && \
-    apt-get install -y wget lsb-release && \
-    apt-get -y autoremove && \
-    apt-get clean autoclean && \
-    rm -rf /var/lib/apt/lists/{apt,dpkg,cache,log} /tmp/* /var/tmp/*
-
-RUN wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg && \
-    echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
-
-
-RUN apt-get update && \
-    apt-get install -y bc \
+    apt-get install -y \
                        cmake \
-                       gazebo11 \
+                       curl \
                        git \
+                       gnupg \
                        gstreamer1.0-plugins-bad \
                        gstreamer1.0-plugins-base \
                        gstreamer1.0-plugins-good \
                        gstreamer1.0-plugins-ugly \
-                       iproute2 \
-                       libeigen3-dev \
-                       libgazebo11-dev \
                        libgstreamer-plugins-base1.0-dev \
                        libgstrtspserver-1.0-dev \
-                       libopencv-dev \
-                       libroscpp-dev \
-                       protobuf-compiler \
-                       python3-jsonschema \
-                       python3-numpy \
+                       lsb-release \
                        python3-pip \
-                       unzip \
-                       xvfb && \
-    apt-get -y autoremove && \
+                       python3-empy \
+                       python3-future \
+                       python3-jinja2 \
+                       python3-jsonschema \
+                       python3-kconfiglib \
+                       python3-yaml \
+                       xvfb
+
+RUN pip3 install --break-system-packages pyros-genmsg
+
+RUN curl https://packages.osrfoundation.org/gazebo.gpg --output /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg && \
+    echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null && \
+    apt-get update && \
+    apt-get install -y gz-harmonic
+
+RUN apt-get -y autoremove && \
     apt-get clean autoclean && \
     rm -rf /var/lib/apt/lists/{apt,dpkg,cache,log} /tmp/* /var/tmp/*
 
-RUN pip3 install --upgrade pip && \
-    pip3 install empy==3.3.4 \
-                 future \
-                 jinja2 \
-                 kconfiglib \
-                 packaging \
-                 pyros-genmsg \
-                 toml \
-                 pyyaml
-
 RUN git clone https://github.com/PX4/PX4-Autopilot.git ${FIRMWARE_DIR}
 RUN git -C ${FIRMWARE_DIR} checkout main
 RUN git -C ${FIRMWARE_DIR} submodule update --init --recursive
 
-COPY edit_rcS.bash ${WORKSPACE_DIR}
-COPY entrypoint.sh /root/entrypoint.sh
-RUN chmod +x /root/entrypoint.sh
-
-RUN ["/bin/bash", "-c", " \
-    cd ${FIRMWARE_DIR} && \
-    DONT_RUN=1 make px4_sitl gazebo && \
-    DONT_RUN=1 make px4_sitl gazebo \
-"]
+COPY fix-cmake-build.patch ${FIRMWARE_DIR}
+RUN git -C ${FIRMWARE_DIR} apply fix-cmake-build.patch
 
 COPY sitl_rtsp_proxy ${SITL_RTSP_PROXY}
 RUN cmake -B${SITL_RTSP_PROXY}/build -H${SITL_RTSP_PROXY}
 RUN cmake --build ${SITL_RTSP_PROXY}/build
 
+RUN cmake -DCONFIG=px4_sitl_default -B${FIRMWARE_DIR}/build -S${FIRMWARE_DIR} && \
+    cmake --build ${FIRMWARE_DIR}/build
+
+COPY edit_rcS.bash ${WORKSPACE_DIR}
+COPY entrypoint.sh /root/entrypoint.sh
+RUN chmod +x /root/entrypoint.sh
+
 ENTRYPOINT ["/root/entrypoint.sh"]

edit_rcS.bash

@@ -53,7 +53,7 @@ else
     API_PARAM=${API_PARAM:-"-t ${HOST}"}
 fi
 
-CONFIG_FILE=${FIRMWARE_DIR}/build/px4_sitl_default/etc/init.d-posix/px4-rc.mavlink
+CONFIG_FILE=${FIRMWARE_DIR}/build/etc/init.d-posix/px4-rc.mavlink
 
 sed -i "s/mavlink start \-x \-u \$udp_gcs_port_local -r 4000000/mavlink start -x -u \$udp_gcs_port_local -r 4000000 ${QGC_PARAM}/" ${CONFIG_FILE}
 sed -i "s/mavlink start \-x \-u \$udp_offboard_port_local -r 4000000/mavlink start -x -u \$udp_offboard_port_local -r 4000000 ${API_PARAM}/" ${CONFIG_FILE}

entrypoint.sh

@@ -32,8 +32,8 @@ function get_ip {
 
 OPTIND=1 # Reset in case getopts has been used previously in the shell.
 
-vehicle=iris
-world=empty
+vehicle=gz_x500
+world=default
 
 while getopts "h?v:w:" opt; do
     case "$opt" in
@@ -65,5 +65,4 @@ Xvfb :99 -screen 0 1600x1200x24+32 &
 ${SITL_RTSP_PROXY}/build/sitl_rtsp_proxy &
 
 source ${WORKSPACE_DIR}/edit_rcS.bash ${IP_API} ${IP_QGC} &&
-cd ${FIRMWARE_DIR} &&
-HEADLESS=1 make px4_sitl gazebo_${vehicle}__${world}
+HEADLESS=1 PX4_SIM_MODEL=${vehicle} PX4_GZ_WORLD=${world} ${FIRMWARE_DIR}/build/bin/px4

fix-cmake-build.patch

@@ -0,0 +1,12 @@
+diff --git a/src/lib/events/CMakeLists.txt b/src/lib/events/CMakeLists.txt
+index fcdb971f64..cdf366199c 100644
+--- a/src/lib/events/CMakeLists.txt
++++ b/src/lib/events/CMakeLists.txt
+@@ -57,6 +57,7 @@ add_custom_command(OUTPUT ${generated_events_px4_file}
+ 		${PX4_SOURCE_DIR}/Tools/px4events/jsonout.py
+ 		${PX4_SOURCE_DIR}/Tools/px4events/srcparser.py
+ 		${PX4_SOURCE_DIR}/Tools/px4events/srcscanner.py
++		modules__uxrce_dds_client
+ 		prebuild_targets # ensure all generated source files exist
+ 	COMMENT "Generating px4 event json file from source"
+ )