px4io/px4-dev-ros2-eloquent

PX4容器

包含用于构建和测试PX4自动驾驶系统的Docker容器的Dockerfile，提供一致且可重复的开发环境。

构建状态

![Build Status]([***]

镜像概述和主要用途

PX4容器集合提供了一系列预配置的Docker镜像，旨在简化PX4自动驾驶系统的开发、构建和测试流程。这些镜像包含完整的工具链、依赖库以及特定场景的环境配置，支持从基础开发到仿真测试、ROS集成等多种需求，确保跨平台开发环境的一致性。

核心功能和特性

• 多基础系统支持：基于Ubuntu Xenial、Bionic及Arch Linux等不同发行版
• 专用构建环境：针对Clang编译器、树莓派平台、NuttX实时操作系统等优化
• SITL仿真支持：提供软件在环仿真所需的完整环境
• ROS/ROS2集成：支持ROS Kinetic、Melodic及ROS2 Ardent至Eloquent等多个版本
• 标准化开发流程：通过容器化确保开发环境一致性，减少"在我机器上能运行"问题

使用场景和适用范围

• PX4自动驾驶系统的跨平台构建
• 软件在环仿真(SITL)测试
• 与ROS/ROS2生态系统的集成开发
• CI/CD流水线中的自动化构建和测试
• 新手开发者快速搭建开发环境

容器分类

基础容器

提供PX4开发的基础环境，包含核心依赖和工具链。

https://hub.docker.com/r/px4io/px4-dev-base-xenial

https://images.microbadger.com/badges/image/px4io/px4-dev-base-xenial.svg](http://microbadger.com/images/px4io/px4-dev-base-xenial) https://img.shields.io/docker/pulls/px4io/px4-dev-base-xenial.svg](https://hub.docker.com/r/px4io/px4-dev-base-xenial)

基于Ubuntu Xenial的基础开发环境

https://hub.docker.com/r/px4io/px4-dev-base-bionic

https://images.microbadger.com/badges/image/px4io/px4-dev-base-bionic.svg](http://microbadger.com/images/px4io/px4-dev-base-bionic) https://img.shields.io/docker/pulls/px4io/px4-dev-base-bionic.svg](https://hub.docker.com/r/px4io/px4-dev-base-bionic)

基于Ubuntu Bionic的基础开发环境

https://hub.docker.com/r/px4io/px4-dev-base-archlinux

https://images.microbadger.com/badges/image/px4io/px4-dev-base-archlinux.svg](http://microbadger.com/images/px4io/px4-dev-base-archlinux) https://img.shields.io/docker/pulls/px4io/px4-dev-base-archlinux.svg](https://hub.docker.com/r/px4io/px4-dev-base-archlinux)

基于Arch Linux的基础开发环境

https://hub.docker.com/r/px4io/px4-docs

https://images.microbadger.com/badges/image/px4io/px4-docs.svg](http://microbadger.com/images/px4io/px4-docs) https://img.shields.io/docker/pulls/px4io/px4-docs.svg](https://hub.docker.com/r/px4io/px4-docs)

用于构建PX4文档的专用环境

组合和构建特定容器

针对特定构建需求优化的专用环境。

https://hub.docker.com/r/px4io/px4-dev-clang

https://images.microbadger.com/badges/image/px4io/px4-dev-clang.svg](http://microbadger.com/images/px4io/px4-dev-clang) https://img.shields.io/docker/pulls/px4io/px4-dev-clang.svg](https://hub.docker.com/r/px4io/px4-dev-clang)

集成Clang编译器的开发环境

https://hub.docker.com/r/px4io/px4-dev-raspi

https://images.microbadger.com/badges/image/px4io/px4-dev-raspi.svg](http://microbadger.com/images/px4io/px4-dev-raspi) https://img.shields.io/docker/pulls/px4io/px4-dev-raspi.svg](https://hub.docker.com/r/px4io/px4-dev-raspi)

树莓派平台交叉编译环境

https://hub.docker.com/r/px4io/px4-dev-nuttx

https://images.microbadger.com/badges/image/px4io/px4-dev-nuttx.svg](http://microbadger.com/images/px4io/px4-dev-nuttx) https://img.shields.io/docker/pulls/px4io/px4-dev-nuttx.svg](https://hub.docker.com/r/px4io/px4-dev-nuttx)

NuttX实时操作系统构建环境

仿真容器

提供软件在环仿真(SITL)所需的完整环境。

https://hub.docker.com/r/px4io/px4-dev-simulation-xenial

https://images.microbadger.com/badges/image/px4io/px4-dev-simulation-xenial.svg](http://microbadger.com/images/px4io/px4-dev-simulation-xenial) https://img.shields.io/docker/pulls/px4io/px4-dev-simulation-xenial.svg](https://hub.docker.com/r/px4io/px4-dev-simulation-xenial)

基于Ubuntu Xenial的仿真环境

https://hub.docker.com/r/px4io/px4-dev-simulation-bionic

https://images.microbadger.com/badges/image/px4io/px4-dev-simulation-bionic.svg](http://microbadger.com/images/px4io/px4-dev-simulation-bionic) https://img.shields.io/docker/pulls/px4io/px4-dev-simulation-bionic.svg](https://hub.docker.com/r/px4io/px4-dev-simulation-bionic)

基于Ubuntu Bionic的仿真环境

ROS容器

集成ROS框架的开发环境。

https://hub.docker.com/r/px4io/px4-dev-ros-kinetic

https://images.microbadger.com/badges/image/px4io/px4-dev-ros-kinetic.svg](http://microbadger.com/images/px4io/px4-dev-ros-kinetic) https://img.shields.io/docker/pulls/px4io/px4-dev-ros-kinetic.svg](https://hub.docker.com/r/px4io/px4-dev-ros-kinetic)

集成ROS Kinetic的开发环境

https://hub.docker.com/r/px4io/px4-dev-ros-melodic

https://images.microbadger.com/badges/image/px4io/px4-dev-ros-melodic.svg](http://microbadger.com/images/px4io/px4-dev-ros-melodic) https://img.shields.io/docker/pulls/px4io/px4-dev-ros-melodic.svg](https://hub.docker.com/r/px4io/px4-dev-ros-melodic)

集成ROS Melodic的开发环境

ROS2容器

集成ROS2框架的开发环境。

https://hub.docker.com/r/px4io/px4-dev-ros2-ardent

https://images.microbadger.com/badges/image/px4io/px4-dev-ros2-ardent.svg](http://microbadger.com/images/px4io/px4-dev-ros2-ardent) https://img.shields.io/docker/pulls/px4io/px4-dev-ros2-ardent.svg](https://hub.docker.com/r/px4io/px4-dev-ros2-ardent)

集成ROS2 Ardent的开发环境

https://hub.docker.com/r/px4io/px4-dev-ros2-bouncy

https://images.microbadger.com/badges/image/px4io/px4-dev-ros2-bouncy.svg](http://microbadger.com/images/px4io/px4-dev-ros2-bouncy) https://img.shields.io/docker/pulls/px4io/px4-dev-ros2-bouncy.svg](https://hub.docker.com/r/px4io/px4-dev-ros2-bouncy)

集成ROS2 Bouncy的开发环境

https://hub.docker.com/r/px4io/px4-dev-ros2-crystal

https://images.microbadger.com/badges/image/px4io/px4-dev-ros2-crystal.svg](http://microbadger.com/images/px4io/px4-dev-ros2-crystal) https://img.shields.io/docker/pulls/px4io/px4-dev-ros2-crystal.svg](https://hub.docker.com/r/px4io/px4-dev-ros2-crystal)

集成ROS2 Crystal的开发环境

https://hub.docker.com/r/px4io/px4-dev-ros2-dashing

https://images.microbadger.com/badges/image/px4io/px4-dev-ros2-dashing.svg](http://microbadger.com/images/px4io/px4-dev-ros2-dashing) https://img.shields.io/docker/pulls/px4io/px4-dev-ros2-dashing.svg](https://hub.docker.com/r/px4io/px4-dev-ros2-dashing)

集成ROS2 Dashing的开发环境

https://hub.docker.com/r/px4io/px4-dev-ros2-eloquent

https://images.microbadger.com/badges/image/px4io/px4-dev-ros2-eloquent.svg](http://microbadger.com/images/px4io/px4-dev-ros2-eloquent) https://img.shields.io/docker/pulls/px4io/px4-dev-ros2-eloquent.svg](https://hub.docker.com/r/px4io/px4-dev-ros2-eloquent)

集成ROS2 Eloquent的开发环境

使用方法

基本使用流程

1. 从Docker Hub拉取所需镜像：

   bash
   docker pull docker.xuanyuan.run/px4io/px4-dev-base-bionic
   

2. 运行容器并挂载PX4源代码目录：

   bash
   docker run -it --rm -v /path/to/px4/source:/src/px4 docker.xuanyuan.run/px4io/px4-dev-base-bionic
   

3. 在容器内执行构建或测试命令：

   bash
   cd /src/px4
   make px4_fmu-v5_default
   

仿真环境使用

对于仿真容器，可能需要额外的网络和显示配置：

bash
docker run -it --rm -v /tmp/.X11-unix:/tmp/.X11-unix -e DISPLAY=$DISPLAY -v /path/to/px4/source:/src/px4 docker.xuanyuan.run/px4io/px4-dev-simulation-bionic

详细使用说明请参考各镜像的Docker Hub页面或PX4官方文档。