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Merged
JonasVautherin merged 1 commit into from
Sep 19, 2025
Merged

Move to gazebo harmonic #61

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74 changes: 32 additions & 42 deletions Dockerfile
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@@ -1,75 +1,65 @@
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 \
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@julianoes julianoes Sep 18, 2025

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PX4 still needs bc pretty sure:

https://github.com/PX4/PX4-Autopilot/blob/c06ba93175782e5a90a83017fb2f92bb69da58f8/ROMFS/px4fmu_common/init.d-posix/rcS#L199

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@JonasVautherin JonasVautherin Sep 18, 2025

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Oh, for the speed factor. Maybe it explains why it didn't fail in my tests 😇. Adding it back!

apt-get install -y \
bc \
cmake \
gazebo11 \
curl \
git \
gnupg \
gstreamer1.0-plugins-bad \
gstreamer1.0-plugins-base \
gstreamer1.0-plugins-good \
gstreamer1.0-plugins-ugly \
iproute2 \
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@julianoes julianoes Sep 18, 2025

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I think you still need the ip route command for

px4-gazebo-headless/edit_rcS.bash

Line 27 in ff79470

echo "$(ip route | awk '/default/ { print $3 }')"

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@JonasVautherin JonasVautherin Sep 18, 2025

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Good catch, not sure why I removed it!

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"]
10 changes: 8 additions & 2 deletions README.md
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Expand Up @@ -41,10 +41,16 @@ where `192.168.0.10` should be replaced by the IP listening on the QGC port 1455

### Exposing a video stream

When running with the Typhoon H480 vehicle (with `-v typhoon_h480`), a video stream will be available. Expose it with e.g. `-p 8554:8554`, like so:
When running with the `gz_x500_mono_cam` vehicle (with `-v gz_x500_mono_cam`), a video stream will be available. Expose it with e.g. `-p 8554:8554`, like so:

```
docker run --rm -it -p 8554:8554 jonasvautherin/px4-gazebo-headless:1.16.0 -v typhoon_h480
docker run --rm -it -p 8554:8554 jonasvautherin/px4-gazebo-headless:1.16.0 -v gz_x500_mono_cam
```

You can then access it with something like:

```
gst-launch-1.0 rtspsrc location=rtsp://127.0.0.1:8554/live ! rtph264depay ! avdec_h264 ! videoconvert ! autovideosink
```

### Run with another start location
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2 changes: 1 addition & 1 deletion edit_rcS.bash
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Expand Up @@ -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}
7 changes: 3 additions & 4 deletions entrypoint.sh
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Expand Up @@ -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
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@JonasVautherin JonasVautherin Sep 18, 2025

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@dakejahl, @julianoes: does gz_x500 have a camera that would enable the video stream? If not, which airframe does have a camera? I used to do it with typhoon_h480, but it doesn't seem to give me a video stream with gazebo harmonic 🤔

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@dakejahl dakejahl Sep 18, 2025

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Sorry I missed this. The x500_mono_cam is what you're looking for

make px4_sitl gz_x500_mono_cam

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@JonasVautherin JonasVautherin Sep 18, 2025

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Sorry I missed this.

Don't be! It was a draft PR that I finally tested today, and tagged you with this question. So you actually answered really fast 😬.

Let me try gz_x500_mono_cam then, thanks a lot!

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@dakejahl dakejahl Sep 18, 2025

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Well I missed it the first time you tagged me. I have failed you. I have failed my family. I have been a bad chatgpt.

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@JonasVautherin JonasVautherin Sep 18, 2025

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Yes it works, on the host I can run

gst-launch-1.0 rtspsrc location=rtsp://127.0.0.1:8554/live ! rtph264depay ! avdec_h264 ! videoconvert ! autovideosink

and get the video 🙌. Thanks for the help!

world=default

while getopts "h?v:w:" opt; do
case "$opt" in
Expand Down Expand Up @@ -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
12 changes: 12 additions & 0 deletions fix-cmake-build.patch
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@@ -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
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@julianoes julianoes Sep 18, 2025

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Hm, why is that? Should we try to fix that properly on the PX4 side (at least for the next release)?

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@JonasVautherin JonasVautherin Sep 18, 2025

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It was failing otherwise 🤷. I didn't investigate further 😇

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@JonasVautherin JonasVautherin Sep 18, 2025 •
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Without the patch, it fails to build with (still on latest main):

[ 16%] Built target ver_gen
gmake[2]: *** No rule to make target 'src/modules/uxrce_dds_client/dds_topics.h', needed by 'events/px4.json'.  Stop.
gmake[1]: *** [CMakeFiles/Makefile2:22205: src/lib/events/CMakeFiles/events_json.dir/all] Error 2
gmake: *** [Makefile:156: all] Error 2

Maybe I'm missing some magic that the Makefile does before calling CMake? I don't know.

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@julianoes julianoes Sep 18, 2025

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Odd. How is this different in docker? 🤔

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@JonasVautherin JonasVautherin Sep 19, 2025 •
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I am building with cmake, I think because I didn't manage to run the make wrapper just for building (it's running immediately). So I do this:

RUN cmake -DCONFIG=px4_sitl_default -B${FIRMWARE_DIR}/build -S${FIRMWARE_DIR} && \
    cmake --build ${FIRMWARE_DIR}/build

I could imagine that the Makefile does some more magic before calling CMake, including this module stuff?

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@julianoes julianoes Sep 19, 2025

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There is a way to not make it run:
make px4_sitl

prebuild_targets # ensure all generated source files exist
COMMENT "Generating px4 event json file from source"
)
2 changes: 1 addition & 1 deletion sitl_rtsp_proxy/main.cpp
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Expand Up @@ -11,7 +11,7 @@ int main(int argc, char* argv[]) {
GstRTSPServer* server = gst_rtsp_server_new();
g_object_set(server, "service", "8554", NULL);

std::string launch_string = "udpsrc port=5600 caps=application/x-rtp,encoding-name=(string)H264 ! rtph264depay ! rtph264pay name=pay0";
std::string launch_string = "udpsrc port=5600 caps=application/x-rtp,encoding-name=(string)H264,payload=(int)96 ! rtph264depay ! rtph264pay name=pay0";
GstRTSPMediaFactory* factory = gst_rtsp_media_factory_new();
gst_rtsp_media_factory_set_launch(factory, launch_string.c_str());
gst_rtsp_media_factory_set_shared(factory, true);
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