Dockerfile.fog-drone

FROM ubuntu:20.04
# Setup timezone
RUN echo 'Etc/UTC' > /etc/timezone \
    && ln -s /usr/share/zoneinfo/Etc/UTC /etc/localtime \
    && apt-get update && apt-get install -q -y tzdata \
    && rm -rf /var/lib/apt/lists/*
# Install tools to add apt repository
RUN apt-get update && apt-get install -y --no-install-recommends \
    curl \
    gnupg2 \
    lsb-release \
    && rm -rf /var/lib/apt/lists/*

ENV ROS_DISTRO="galactic"

# Install ROS 2
RUN apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-keys C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
RUN echo "deb [arch=$(dpkg --print-architecture)] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" > /etc/apt/sources.list.d/ros2-latest.list
RUN apt-get update && apt-get install -y --no-install-recommends \
    ros-${ROS_DISTRO}-ros-base \
    ros-${ROS_DISTRO}-ros-core \
    && rm -rf /var/lib/apt/lists/*

# Install ROS2 dependencies
RUN curl http://repo.ros2.org/repos.key | apt-key add -
RUN apt-get update && apt-get install -y --no-install-recommends \
    ros-${ROS_DISTRO}-octomap \
    ros-${ROS_DISTRO}-octomap-msgs \
    ros-${ROS_DISTRO}-dynamic-edt-3d \
    ros-${ROS_DISTRO}-laser-geometry \
    ros-${ROS_DISTRO}-pcl-conversions \
    ros-${ROS_DISTRO}-pcl-msgs \
    && rm -rf /var/lib/apt/lists/*

# Install gstreamer libraries for video streaming
RUN apt-get update && apt-get install -y --no-install-recommends \
    gstreamer1.0-0 \
    gstreamer1.0-plugins-base \
    gstreamer1.0-plugins-good \
    gstreamer1.0-plugins-bad \
    gstreamer1.0-rtsp \
    gstreamer1.0-tools \
    && rm -rf /var/lib/apt/lists/*

# Install git and ssh
RUN apt-get update && apt-get install -y --no-install-recommends \
    git-core \
    openssh-client \
    && rm -rf /var/lib/apt/lists/*

# Install PX4 SITL
# TODO: repplace with local px4 build
RUN curl -fsSL https://ssrc.jfrog.io/artifactory/ssrc-gen-public-remote/builds/px4-firmware/sitl/latest/px4_sitl_build.tar.gz -o px4_sitl_build.tar.gz \
    && tar -xzf px4_sitl_build.tar.gz \
    && mv px4_sitl/build/px4_sitl_rtps/bin/* /usr/bin/ \
    && mv px4_sitl/build/px4_sitl_rtps/etc /px4_sitl_etc \
    && rm -rf px4_sitl_build/ \
    && rm px4_sitl_build.tar.gz

## FOG SOFTWARE

WORKDIR /tmp
COPY packaging/deb_files/ .
RUN curl -LOs https://ssrc.jfrog.io/artifactory/ssrc-debian-release-remote/mavsdk_0.42.0_ubuntu20.04_amd64.deb && \
    apt-get install -y -f \
    ./mavsdk*.deb \
    ./ros-${ROS_DISTRO}-px4-msgs*.deb \
    ./cloud-link*.deb \
    ./mavlink-router*.deb \
    ./ros-${ROS_DISTRO}-px4-ros-com*.deb \
    ./mission-engine*.deb \
    ./mission-data-recorder*.deb \
    ./ros-${ROS_DISTRO}-fog-msgs*.deb \
    ./ros-${ROS_DISTRO}-control-interface*.deb \
    ./ros-${ROS_DISTRO}-octomap-server2*.deb \
    ./ros-${ROS_DISTRO}-navigation*.deb \
    ./ros-${ROS_DISTRO}-rplidar-ros2*.deb

# Setup running environment
RUN /bin/sh -c 'echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> ~/.bashrc'
RUN mkdir /fog-drone
WORKDIR /fog-drone

COPY fog-drone/run-px4.sh               run-px4.sh
COPY fog-drone/run-ros2.sh              run-ros2.sh
COPY fog-drone/drone-entrypoint.sh      drone-entrypoint.sh

EXPOSE 14560/UDP
EXPOSE 4560

ENTRYPOINT ["/fog-drone/drone-entrypoint.sh"]