PX4 · dagar · May 17, 2024 · May 16, 2024 · May 16, 2024 · May 16, 2024
diff --git a/docker/Dockerfile_aarch64 b/docker/Dockerfile_aarch64
@@ -73,35 +73,10 @@ RUN wget -q https://downloads.sourceforge.net/project/astyle/astyle/astyle%203.1
 	&& make -f ../build/gcc/Makefile -j$(nproc) && cp bin/astyle /usr/local/bin \
 	&& rm -rf /tmp/*
 
-# Gradle (Required to build Fast-RTPS-Gen)
-RUN wget -q "https://services.gradle.org/distributions/gradle-5.6.2-bin.zip" -O /tmp/gradle-5.6.2-bin.zip \
-	&& mkdir /opt/gradle \
-	&& cd /tmp \
-	&& unzip -d /opt/gradle gradle-5.6.2-bin.zip \
-	&& rm -rf /tmp/*
-
-ENV PATH "/opt/gradle/gradle-5.6.2/bin:$PATH"
-
-# Fast-RTPS
-RUN git clone --recursive https://github.com/eProsima/Fast-DDS.git -b v1.8.2 /tmp/FastRTPS-1.8.2 \
-	&& cd /tmp/FastRTPS-1.8.2 \
-	&& mkdir build && cd build \
-	&& cmake -DTHIRDPARTY=ON -DSECURITY=ON .. \
-	&& cmake --build . --target install -- -j $(nproc) \
-	&& rm -rf /tmp/*
-
-# Fast-RTPS-Gen 1.0.4
-RUN git clone --recursive https://github.com/eProsima/Fast-DDS-Gen.git -b v1.0.4 /tmp/Fast-RTPS-Gen-1.0.4 \
-	&& cd /tmp/Fast-RTPS-Gen-1.0.4 \
-	&& gradle assemble \
-	&& gradle install \
-	&& rm -rf /tmp/*
-
 # create user with id 1001 (jenkins docker workflow default)
 RUN useradd --shell /bin/bash -u 1001 -c "" -m user && usermod -a -G dialout user
 
 ENV CCACHE_UMASK=000
-ENV FASTRTPSGEN_DIR="/usr/local/bin/"
 ENV PATH="/usr/lib/ccache:$PATH"
 ENV TERM=xterm
 ENV TZ=UTC

diff --git a/docker/Dockerfile_armhf b/docker/Dockerfile_armhf
@@ -79,7 +79,6 @@ RUN wget -q https://downloads.sourceforge.net/project/astyle/astyle/astyle%203.1
 RUN useradd --shell /bin/bash -u 1001 -c "" -m user && usermod -a -G dialout user
 
 ENV CCACHE_UMASK=000
-ENV FASTRTPSGEN_DIR="/usr/local/bin/"
 ENV PATH="/usr/lib/ccache:$PATH"
 ENV TERM=xterm
 ENV TZ=UTC

diff --git a/docker/Dockerfile_base-archlinux b/docker/Dockerfile_base-archlinux
@@ -29,9 +29,16 @@ RUN pacman -Sy --noconfirm \
 		wget \
 		zip
 
-# Python 3 dependencies installed by pip
-RUN pip3 install argparse argcomplete coverage cerberus empy==3.3.4 jinja2 kconfiglib \
-		matplotlib==3.0.* numpy packaging pkgconfig pyros-genmsg pyulog \
+# Create a virtual environment for Python packages
+RUN python3 -m venv /opt/venv
+ENV PATH="/opt/venv/bin:$PATH"
+
+# Install wheel and setuptools in the virtual environment
+RUN pip3 install wheel setuptools
+
+# Python 3 dependencies installed by pip inside the virtual environment
+RUN pip3 install argparse argcomplete coverage cerberus empy==3.3.4 jinja2 \
+		kconfiglib matplotlib numpy packaging pkgconfig pyros-genmsg pyulog \
 		pyyaml requests serial six toml psutil pyulog wheel jsonschema
 
 # Install genromfs
@@ -44,38 +51,6 @@ RUN wget https://sourceforge.net/projects/romfs/files/genromfs/0.5.2/genromfs-0.
 RUN curl -sSL https://github.com/tianon/gosu/releases/download/1.8/gosu-amd64 > /usr/sbin/gosu \
 	&& chmod +x /usr/sbin/gosu
 
-# Gradle (Required to build Fast-RTPS-Gen)
-RUN wget -q "https://services.gradle.org/distributions/gradle-6.1-rc-3-bin.zip" -O /tmp/gradle-6.1-rc-3-bin.zip \
-	&& mkdir /opt/gradle \
-	&& cd /tmp \
-	&& unzip -d /opt/gradle gradle-6.1-rc-3-bin.zip \
-	&& rm -rf /tmp/*
-
-ENV PATH "/opt/gradle/gradle-6.1-rc-3/bin:$PATH"
-
-# Intall foonathan_memory from source as it is required to Fast-RTPS >= 1.9
-RUN git clone https://github.com/eProsima/foonathan_memory_vendor.git /tmp/foonathan_memory \
-	&& cd /tmp/foonathan_memory \
-	&& mkdir build && cd build \
-	&& cmake .. \
-	&& cmake --build . --target install -- -j $(nproc) \
-	&& rm -rf /tmp/*
-
-# Fast-DDS 2.0.0
-RUN git clone --recursive https://github.com/eProsima/Fast-DDS.git -b v2.0.0 /tmp/FastRTPS-2.0.0 \
-	&& cd /tmp/FastRTPS-2.0.0 \
-	&& mkdir build && cd build \
-	&& cmake -DTHIRDPARTY=ON -DSECURITY=ON .. \
-	&& cmake --build . --target install -- -j $(nproc) \
-	&& rm -rf /tmp/*
-
-# Fast-RTPS-Gen 1.0.4
-RUN git clone --recursive https://github.com/eProsima/Fast-DDS-Gen.git -b v1.0.4 /tmp/Fast-RTPS-Gen-1.0.4 \
-	&& cd /tmp/Fast-RTPS-Gen-1.0.4 \
-	&& gradle assemble \
-	&& gradle install \
-	&& rm -rf /tmp/*
-
 # Add group dialout
 RUN groupadd dialout
 
@@ -84,7 +59,6 @@ RUN ln -s /usr/bin/ccache /usr/lib/ccache/bin/arm-none-eabi-gcc \
 	&& ln -s /usr/bin/ccache /usr/lib/ccache/bin/arm-none-eabi-g++
 
 ENV CCACHE_MAXSIZE=1G
-ENV FASTRTPSGEN_DIR="/usr/local/bin/"
 ENV PATH "/usr/lib/ccache/bin:$PATH"
 ENV TERM=xterm
 

diff --git a/docker/Dockerfile_base-bionic b/docker/Dockerfile_base-bionic
@@ -76,30 +76,6 @@ RUN wget -q https://downloads.sourceforge.net/project/astyle/astyle/astyle%203.1
 	&& make -f ../build/gcc/Makefile -j$(nproc) && cp bin/astyle /usr/local/bin \
 	&& rm -rf /tmp/*
 
-# Gradle (Required to build Fast-RTPS-Gen)
-RUN wget -q "https://services.gradle.org/distributions/gradle-6.3-rc-4-bin.zip" -O /tmp/gradle-6.3-rc-4-bin.zip \
-	&& mkdir /opt/gradle \
-	&& cd /tmp \
-	&& unzip -d /opt/gradle gradle-6.3-rc-4-bin.zip \
-	&& rm -rf /tmp/*
-
-ENV PATH "/opt/gradle/gradle-6.3-rc-4/bin:$PATH"
-
-# Fast-RTPS 1.8.4
-RUN git clone --recursive https://github.com/eProsima/Fast-DDS.git -b v1.8.4 /tmp/FastRTPS-1.8.4 \
-	&& cd /tmp/FastRTPS-1.8.4 \
-	&& mkdir build && cd build \
-	&& cmake -DTHIRDPARTY=ON -DSECURITY=ON .. \
-	&& cmake --build . --target install -- -j $(nproc) \
-	&& rm -rf /tmp/*
-
-# Fast-RTPS-Gen 1.0.4
-RUN git clone --recursive https://github.com/eProsima/Fast-DDS-Gen.git -b v1.0.4 /tmp/Fast-RTPS-Gen-1.0.4 \
-	&& cd /tmp/Fast-RTPS-Gen-1.0.4 \
-	&& gradle assemble \
-	&& gradle install \
-	&& rm -rf /tmp/*
-
 # create user with id 1001 (jenkins docker workflow default)
 RUN useradd --shell /bin/bash -u 1001 -c "" -m user && usermod -a -G dialout user
 
@@ -110,7 +86,6 @@ RUN mkdir /tmp/.X11-unix && \
 ENV DISPLAY :99
 
 ENV CCACHE_UMASK=000
-ENV FASTRTPSGEN_DIR="/usr/local/bin/"
 ENV PATH="/usr/lib/ccache:$PATH"
 ENV TERM=xterm
 ENV TZ=UTC

diff --git a/docker/Dockerfile_base-focal b/docker/Dockerfile_base-focal
@@ -76,38 +76,6 @@ RUN wget -q https://downloads.sourceforge.net/project/astyle/astyle/astyle%203.1
 	&& make -f ../build/gcc/Makefile -j$(nproc) && cp bin/astyle /usr/local/bin \
 	&& rm -rf /tmp/*
 
-# Gradle (Required to build Fast-RTPS-Gen)
-RUN wget -q "https://services.gradle.org/distributions/gradle-6.3-rc-4-bin.zip" -O /tmp/gradle-6.3-rc-4-bin.zip \
-	&& mkdir /opt/gradle \
-	&& cd /tmp \
-	&& unzip -d /opt/gradle gradle-6.3-rc-4-bin.zip \
-	&& rm -rf /tmp/*
-
-ENV PATH "/opt/gradle/gradle-6.3-rc-4/bin:$PATH"
-
-# Intall foonathan_memory from source as it is required to Fast-RTPS >= 1.9
-RUN git clone https://github.com/eProsima/foonathan_memory_vendor.git /tmp/foonathan_memory \
-	&& cd /tmp/foonathan_memory \
-	&& mkdir build && cd build \
-	&& cmake .. \
-	&& cmake --build . --target install -- -j $(nproc) \
-	&& rm -rf /tmp/*
-
-# Fast-DDS (Fast-RTPS 2.0.2)
-RUN git clone --recursive https://github.com/eProsima/Fast-DDS.git -b v2.0.2 /tmp/FastDDS-2.0.2 \
-	&& cd /tmp/FastDDS-2.0.2 \
-	&& mkdir build && cd build \
-	&& cmake -DTHIRDPARTY=ON -DSECURITY=ON .. \
-	&& cmake --build . --target install -- -j $(nproc) \
-	&& rm -rf /tmp/*
-
-# Fast-RTPS-Gen 1.0.4
-RUN git clone --recursive https://github.com/eProsima/Fast-DDS-Gen.git -b v1.0.4 /tmp/Fast-RTPS-Gen-1.0.4 \
-	&& cd /tmp/Fast-RTPS-Gen-1.0.4 \
-	&& gradle assemble \
-	&& gradle install \
-	&& rm -rf /tmp/*
-
 # create user with id 1001 (jenkins docker workflow default)
 RUN useradd --shell /bin/bash -u 1001 -c "" -m user && usermod -a -G dialout user
 
@@ -118,7 +86,6 @@ RUN mkdir /tmp/.X11-unix && \
 ENV DISPLAY :99
 
 ENV CCACHE_UMASK=000
-ENV FASTRTPSGEN_DIR="/usr/local/bin/"
 ENV PATH="/usr/lib/ccache:$PATH"
 ENV TERM=xterm
 ENV TZ=UTC

diff --git a/docker/Dockerfile_base-jammy b/docker/Dockerfile_base-jammy
@@ -106,7 +106,6 @@ RUN mkdir /tmp/.X11-unix && \
 ENV DISPLAY :99
 
 ENV CCACHE_UMASK=000
-ENV FASTRTPSGEN_DIR="/usr/local/bin/"
 ENV PATH="/usr/lib/ccache:$PATH"
 ENV TERM=xterm
 ENV TZ=UTC

diff --git a/docker/Dockerfile_clang b/docker/Dockerfile_clang
@@ -3,7 +3,7 @@
 #  px4-dev-base + latest clang
 #
 
-FROM px4io/px4-dev-base-bionic:2021-09-08
+FROM px4io/px4-dev-base-bionic:2024-04-04
 LABEL maintainer="Daniel Agar <[email protected]>"
 
 RUN wget --quiet http://apt.llvm.org/llvm-snapshot.gpg.key -O - | apt-key add - \

diff --git a/docker/Dockerfile_nuttx-bionic b/docker/Dockerfile_nuttx-bionic
@@ -2,7 +2,7 @@
 # PX4 NuttX development environment in Ubuntu 18.04 Bionic
 #
 
-FROM px4io/px4-dev-base-bionic:2021-09-08
+FROM px4io/px4-dev-base-bionic:2024-04-04
 LABEL maintainer="Daniel Agar <[email protected]>"
 
 RUN apt-get update \

diff --git a/docker/Dockerfile_nuttx-focal b/docker/Dockerfile_nuttx-focal
@@ -2,7 +2,7 @@
 # PX4 NuttX development environment in Ubuntu 20.04 Focal
 #
 
-FROM px4io/px4-dev-base-focal:2021-09-08
+FROM px4io/px4-dev-base-focal:2024-04-04
 LABEL maintainer="Daniel Agar <[email protected]>"
 
 RUN apt-get update \

diff --git a/docker/Dockerfile_nuttx_clang b/docker/Dockerfile_nuttx_clang
@@ -2,7 +2,7 @@
 # PX4 Clang + NuttX development environment
 #
 
-FROM px4io/px4-dev-clang:2021-09-08
+FROM px4io/px4-dev-clang:2024-04-04
 
 RUN dpkg --add-architecture i386 \
 	&& apt-get update \

diff --git a/docker/Dockerfile_raspi b/docker/Dockerfile_raspi
@@ -5,7 +5,7 @@
 # Raspberry Pi or Parrot Bebop
 #
 
-FROM px4io/px4-dev-base-bionic:2021-09-08
+FROM px4io/px4-dev-base-bionic:2024-04-04
 LABEL maintainer="Michael Schaeuble"
 
 RUN apt-get update \

diff --git a/docker/Dockerfile_ros-noetic b/docker/Dockerfile_ros-noetic
@@ -2,7 +2,7 @@
 # PX4 ROS development environment
 #
 
-FROM px4io/px4-dev-simulation-focal:2021-09-08
+FROM px4io/px4-dev-simulation-focal:2024-04-04
 LABEL maintainer="Nuno Marques <[email protected]>"
 
 ENV ROS_DISTRO noetic
@@ -42,6 +42,7 @@ RUN sh -c 'echo "deb http://packages.ros.org/ros/ubuntu `lsb_release -sc` main"
 	&& rm -rf /var/lib/apt/lists/{apt,dpkg,cache,log} /tmp/* /var/tmp/*
 
 RUN pip3 install -U \
+		pymavlink \
 		osrf-pycommon
 
 # bootstrap rosdep

diff --git a/docker/Dockerfile_ros2-eloquent b/docker/Dockerfile_ros2-eloquent
@@ -58,20 +58,3 @@ RUN colcon mixin add default https://raw.githubusercontent.com/colcon/colcon-mix
 	&& colcon mixin update \
 	&& colcon metadata add default https://raw.githubusercontent.com/colcon/colcon-metadata-repository/master/index.yaml \
 	&& colcon metadata update
-
-# Intall foonathan_memory from source as it is required to Fast-RTPS >= 1.9
-RUN git clone https://github.com/eProsima/foonathan_memory_vendor.git /tmp/foonathan_memory \
-	&& cd /tmp/foonathan_memory \
-	&& mkdir build && cd build \
-	&& cmake .. \
-	&& cmake --build . --target install -- -j $(nproc) \
-	&& rm -rf /tmp/*
-
-# Install Fast-RTPS 1.9.3
-RUN rm -rf /usr/local/include/fastrtps /usr/local/share/fastrtps /usr/local/lib/libfastrtps* \
-	&& git clone --recursive https://github.com/eProsima/Fast-DDS.git -b v1.9.3 /tmp/FastRTPS-1.9.3 \
-	&& cd /tmp/FastRTPS-1.9.3 \
-	&& mkdir build && cd build \
-	&& cmake -DTHIRDPARTY=ON -DSECURITY=ON .. \
-	&& cmake --build . --target install -- -j $(nproc) \
-	&& rm -rf /tmp/*
diff --git a/docker/Dockerfile_ros2-foxy b/docker/Dockerfile_ros2-foxy
@@ -3,7 +3,7 @@
 # Based from container under https://github.com/osrf/docker_images/tree/master/ros2/source/devel
 #
 
-FROM px4io/px4-dev-ros-noetic:2021-09-08
+FROM px4io/px4-dev-ros-noetic:2024-04-04
 LABEL maintainer="Nuno Marques <[email protected]>"
 
 # setup environment

diff --git a/docker/Dockerfile_ros2-galactic b/docker/Dockerfile_ros2-galactic
@@ -3,7 +3,7 @@
 # Based from container under https://github.com/osrf/docker_images/tree/master/ros2/source/devel
 #
 
-FROM px4io/px4-dev-base-focal:2021-09-08
+FROM px4io/px4-dev-base-focal:2024-04-04
 LABEL maintainer="Nuno Marques <[email protected]>"
 
 # setup environment
@@ -62,15 +62,6 @@ RUN colcon mixin add default \
 		https://raw.githubusercontent.com/colcon/colcon-metadata-repository/master/index.yaml \
 	&& colcon metadata update
 
-# Install Fast-DDS 2.3.1
-RUN rm -rf /usr/local/include/fastrtps /usr/local/share/fastrtps /usr/local/lib/libfastrtps* \
-	&& git clone --recursive https://github.com/eProsima/Fast-DDS.git -b v2.3.1 /tmp/FastRTPS-2.3.1 \
-	&& cd /tmp/FastRTPS-2.3.1 \
-	&& mkdir build && cd build \
-	&& cmake -DTHIRDPARTY=ON -DSECURITY=ON .. \
-	&& cmake --build . --target install -- -j $(nproc) \
-	&& rm -rf /tmp/*
-
 # create and start as LOCAL_USER_ID
 COPY scripts/entrypoint.sh /usr/local/bin/entrypoint.sh
 ENTRYPOINT ["/usr/local/bin/entrypoint.sh"]

diff --git a/docker/Dockerfile_ros2-rolling b/docker/Dockerfile_ros2-rolling
@@ -8,7 +8,7 @@
 # stable distribution." - in https://docs.ros.org/en/foxy/Releases/Release-Rolling-Ridley.html
 #
 
-FROM px4io/px4-dev-base-focal:2021-09-08
+FROM px4io/px4-dev-base-focal:2024-04-04
 LABEL maintainer="Nuno Marques <[email protected]>"
 
 # setup environment
@@ -67,15 +67,6 @@ RUN colcon mixin add default \
 		https://raw.githubusercontent.com/colcon/colcon-metadata-repository/master/index.yaml \
 	&& colcon metadata update
 
-# Install Fast-DDS 2.3.1
-RUN rm -rf /usr/local/include/fastrtps /usr/local/share/fastrtps /usr/local/lib/libfastrtps* \
-	&& git clone --recursive https://github.com/eProsima/Fast-DDS.git -b v2.3.1 /tmp/FastRTPS-2.3.1 \
-	&& cd /tmp/FastRTPS-2.3.1 \
-	&& mkdir build && cd build \
-	&& cmake -DTHIRDPARTY=ON -DSECURITY=ON .. \
-	&& cmake --build . --target install -- -j $(nproc) \
-	&& rm -rf /tmp/*
-
 # create and start as LOCAL_USER_ID
 COPY scripts/entrypoint.sh /usr/local/bin/entrypoint.sh
 ENTRYPOINT ["/usr/local/bin/entrypoint.sh"]