Dockerfile for Ardupilot SITL

Dockerfile

ARG BASE_IMAGE="ubuntu"
ARG TAG="22.04"
FROM ${BASE_IMAGE}:${TAG}
WORKDIR /ardupilot

ARG DEBIAN_FRONTEND=noninteractive
ARG USER_NAME=ardupilot
ARG USER_UID=1000
ARG USER_GID=1000
RUN groupadd ${USER_NAME} --gid ${USER_GID}\
    && useradd -l -m ${USER_NAME} -u ${USER_UID} -g ${USER_GID} -s /bin/bash

RUN apt-get update && apt-get install --no-install-recommends -y \
    lsb-release \
    sudo \
    tzdata \
    bash-completion

COPY Tools/environment_install/install-prereqs-ubuntu.sh /ardupilot/Tools/environment_install/
COPY Tools/completion /ardupilot/Tools/completion/

# Create non root user for pip
ENV USER=${USER_NAME}

RUN echo "ardupilot ALL=(ALL) NOPASSWD:ALL" > /etc/sudoers.d/${USER_NAME}
RUN chmod 0440 /etc/sudoers.d/${USER_NAME}

RUN chown -R ${USER_NAME}:${USER_NAME} /${USER_NAME}

USER ${USER_NAME}

ENV SKIP_AP_EXT_ENV=1 SKIP_AP_GRAPHIC_ENV=1 SKIP_AP_COV_ENV=1 SKIP_AP_GIT_CHECK=1
RUN Tools/environment_install/install-prereqs-ubuntu.sh -y

# add waf alias to ardupilot waf to .ardupilot_env
RUN echo "alias waf=\"/${USER_NAME}/waf\"" >> ~/.ardupilot_env

# Check that local/bin are in PATH for pip --user installed package
RUN echo "if [ -d \"\$HOME/.local/bin\" ] ; then\nPATH=\"\$HOME/.local/bin:\$PATH\"\nfi" >> ~/.ardupilot_env

# Create entrypoint as docker cannot do shell substitution correctly
RUN export ARDUPILOT_ENTRYPOINT="/home/${USER_NAME}/ardupilot_entrypoint.sh" \
    && echo "#!/bin/bash" > $ARDUPILOT_ENTRYPOINT \
    && echo "set -e" >> $ARDUPILOT_ENTRYPOINT \
    && echo "source /home/${USER_NAME}/.ardupilot_env" >> $ARDUPILOT_ENTRYPOINT \
    && echo 'exec "$@"' >> $ARDUPILOT_ENTRYPOINT \
    && chmod +x $ARDUPILOT_ENTRYPOINT \
    && sudo mv $ARDUPILOT_ENTRYPOINT /ardupilot_entrypoint.sh

# Set the buildlogs directory into /tmp as other directory aren't accessible
ENV BUILDLOGS=/tmp/buildlogs

# Cleanup
RUN sudo apt-get clean \
    && sudo rm -rf /var/lib/apt/lists/* /tmp/* /var/tmp/*
    
# Install dependecies
RUN sudo apt-get update
RUN sudo apt-get -y install libglib2.0-0
RUN sudo apt-get -y install libsm6 libxrender-dev libxext6
RUN sudo apt-get -y install python3-dev python3-opencv python3-wxgtk4.0 python3-pip python3-matplotlib python3-lxml python3-pygame
RUN pip3 install PyYAML mavproxy --user
RUN echo 'export PATH="$PATH:$HOME/.local/bin"' >> ~/.bashrc

ENV DISPLAY :10 # XWindow display config
ENV CCACHE_MAXSIZE=1G
ENTRYPOINT ["/ardupilot_entrypoint.sh"]
CMD ["bash"]