PX4-Dockerfile

### base image containing ROS Melodic and PX4 development environment
FROM px4io/px4-dev-ros-melodic:2021-09-08

# Setting up PX4-Autopilot
RUN mkdir /src &&\      
    cd /src &&\        
    git clone --depth 1 --branch v1.12.3 https://github.com/PX4/PX4-Autopilot.git
RUN DONT_RUN=1 make -C /src/PX4-Autopilot/ px4_sitl_default gazebo

# Installing PX4-Avoidance and its dependencies
RUN sudo apt-get update -y &&\
    sudo apt-get install python3.7 python3-setuptools python3.7-dev -y &&\
    sudo update-alternatives --install /usr/bin/python3 python3 /usr/bin/python3.6 1 &&\
    sudo update-alternatives --install /usr/bin/python3 python3 /usr/bin/python3.7 2 &&\
    sudo -H pip3 install --upgrade pip

RUN sudo apt-get update -y &&\
    sudo apt-get install python-catkin-tools ros-melodic-mavros ros-melodic-mavros-extras libpcl1 ros-melodic-octomap-* -y 

RUN mkdir -p /src/catkin_ws/src &&\
    wget https://raw.githubusercontent.com/mavlink/mavros/master/mavros/scripts/install_geographiclib_datasets.sh &&\
    chmod +x install_geographiclib_datasets.sh &&\
    sudo ./install_geographiclib_datasets.sh &&\
    cd /src/catkin_ws/src &&\
    git clone --depth 1 https://github.com/PX4/avoidance.git

RUN . /opt/ros/melodic/setup.sh &&\
    catkin build -w /src/catkin_ws &&\
    echo "source /src/catkin_ws/devel/setup.bash" >> ~/.bashrc