Docker image for arm64/apple silicon

[kurosh-z]

Is there any docker image compatible with apple silicon? I tried px4-dev-noetic:latest pulled form docker hub and I'm getting the following error on ubuntu 20.04 running inside the virtual machine:

is there any instruction on how to rebuild the images for arm64?

[cryptik]

I am having a similar issue... but I am trying to build in a docker container on NVIDA Jetson Orin, which is also an aarch64 platform like the M1.

After running either the helper script ./docker_run.sh make px4_sitl jmavsim or manually with command

docker run -it --privileged \
--env=LOCAL_USER_ID="$(id -u)" \
--platform=linux/amd64 \
-v ~/Documents/tools/PX4-Autopilot:/src/PX4-Autopilot/:rw \
-v /tmp/.X11-unix:/tmp/.X11-unix:ro \
-e DISPLAY=:0 \
--network host \
--name=px4-dev px4io/px4-dev-aarch64:2022-08-12 bash

I get exec /usr/local/bin/entrypoint.sh: exec format error when the container attempts to run the entrypoint script. Various things on the web indicate adding export DOCKER_DEFAULT_PLATFORM=linux/amd64 to the .bashrc file, which I did, but I still get the error. After setting the environment var above, I deleted the container and the image and re-ran the commands but it still generates the format error. I don't know enough about docker and the entrypoint script to know what to do next.

I am guessing that either exec gosu user bash or this exec bash is where the problem is as it is trying to run bash on the aarch64 hardware and the executable is amd64. However, it was my understanding that setting the platform to linux/amd64 would force docker to run the container in emulation mode on the aarch64 hardware, but I am not sure.

Is it not possible at this point to build the PX4 simulator natively on the Orin or any linux arm?

[kurosh-z]

I could build the docker images by applying the following changes:

in the Dockerfile_base-focal :

ENV DEBIAN_FRONTEND noninteractive
ENV LANG C.UTF-8
ENV LC_ALL C.UTF-8

RUN apt-get update && apt-get -y --quiet --no-install-recommends install \
		bzip2 \
		ca-certificates \
		ccache \
		cmake \
		cppcheck \
		curl \
		dirmngr \
		doxygen \
		file \Dockerfile_base-focal
		g++ \
		g++-aarch64-linux-gnu  \
		gcc \
		gcc-aarch64-linux-gnu \
		gdb \
		git \
		gnupg \
		gosu \
		lcov \
		libfreetype6-dev \
		libgtest-dev \
		libpng-dev \
		libssl-dev \
		lsb-release \
		make \
		ninja-build \
		openjdk-8-jdk \
		openjdk-8-jre \
		openssh-client \
		pkg-config \
		python3-dev \
		python3-pip \
		rsync \
		shellcheck \
		tzdata \
		unzip \
		valgrind \
		wget \
		xsltproc \
		zip \
		nano \
		vim \
	&& apt-get -y autoremove \
	&& apt-get clean autoclean \
	&& rm -rf /var/lib/apt/lists/{apt,dpkg,cache,log} /tmp/* /var/tmp/*

in the Dockerfile_simulation-focal:
I couldn't find the JSBSim build for arm64 so I disabled it:

# Install JSBSim
# RUN wget https://github.com/JSBSim-Team/jsbsim/releases/download/v1.1.1a/JSBSim-devel_1.1.1-134.focal.amd64.deb
# RUN dpkg -i JSBSim-devel_1.1.1-134.focal.amd64.deb

in the Dockerfile_ros-noetic:

#
# PX4 ROS development environment
#

FROM px4io/px4-dev-simulation-focal-arm64:latest
LABEL maintainer="Nuno Marques <[email protected]>"

ENV ROS_DISTRO noetic

# setup ros keys
RUN curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | apt-key add -

RUN sh -c 'echo "deb http://packages.ros.org/ros/ubuntu `lsb_release -sc` main" > /etc/apt/sources.list.d/ros-latest.list' \
	&& sh -c 'echo "deb http://packages.ros.org/ros/ubuntu `lsb_release -sc` main" > /etc/apt/sources.list.d/ros-latest.list' \
	&& sh -c 'echo "deb http://packages.ros.org/ros-shadow-fixed/ubuntu `lsb_release -sc` main" > /etc/apt/sources.list.d/ros-shadow.list' \
	&& apt-get update \
	&& apt-get -y --quiet --no-install-recommends install \
		geographiclib-tools \
		libeigen3-dev \
		libgeographic-dev \
		libopencv-dev \
		libyaml-cpp-dev \
		python3-rosdep \
		python3-catkin-tools \
		python3-catkin-lint \
		ros-$ROS_DISTRO-gazebo-ros-pkgs \
		ros-$ROS_DISTRO-mavlink \
		ros-$ROS_DISTRO-mavros \
		ros-$ROS_DISTRO-mavros-extras \
		ros-$ROS_DISTRO-octomap \
		ros-$ROS_DISTRO-octomap-msgs \
		ros-$ROS_DISTRO-pcl-conversions \
		ros-$ROS_DISTRO-pcl-msgs \
		ros-$ROS_DISTRO-pcl-ros \
		ros-$ROS_DISTRO-ros-base \
		ros-$ROS_DISTRO-rostest \
		ros-$ROS_DISTRO-rosunit \
		xvfb \
	&& geographiclib-get-geoids egm96-5 \
	&& apt-get -y autoremove \
	&& apt-get clean autoclean \
	&& rm -rf /var/lib/apt/lists/{apt,dpkg,cache,log} /tmp/* /var/tmp/*

RUN pip3 install -U \
		osrf-pycommon

# bootstrap rosdep
RUN rosdep init && rosdep update

I then added the following lines in CMake to build the images (make sure that you remove the images you might already download from the docker repo)

px4-dev-ros-noetic-arm64: px4-dev-simulation-focal-arm64
	docker build --platform=linux/arm64  -t px4io/px4-dev-ros-noetic-arm64 . -f Dockerfile_ros-noetic
	
px4-dev-simulation-focal-arm64: px4-dev-base-focal-arm64
	docker build --platform=linux/arm64 -t px4io/px4-dev-simulation-focal-arm64 . -f Dockerfile_simulation-focal

px4-dev-base-focal-arm64:
	docker build --platform=linux/arm64 -t px4io/px4-dev-base-focal-arm64 . -f Dockerfile_base-focal

build the base-focal-arm64 then px4-dev-simulation-focal-arm64 and finally the px4-dev-ros-noetic-arm64.

[cryptik]

@kurosh-z thanks a million for this info. I will give this a try. I will give this a try ASAP.