feat: setup_local.sh — reproduce the docker stages natively on the host#6
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…he host
Some workshop attendees can't (or don't want to) use Docker — Mac
users without Docker Desktop, hosts with NVIDIA Container Toolkit
issues, restricted environments. Add a setup_local.sh at the repo
root that runs the same sequence of stages the Dockerfile does, on
the host's filesystem, by calling the existing docker/scripts/*.sh
with the right env vars:
1. install_deps.sh (apt: gz-harmonic, ROS 2 packages, build deps)
2. build_opencv.sh (OpenCV 4.10 from source)
3. build_ros_deps.sh (Micro-XRCE-DDS, px4_msgs,
px4-ros2-interface-lib, etc.)
4. build_px4.sh (PX4 v1.16 SITL)
5. install_qgc.sh (QGroundControl v5.0.8 AppImage)
6. colcon build (the workshop workspace)
The docker/scripts/*.sh are parameterised so the same files are used
by both the Dockerfile (default paths /OpenCV, /root/px4_ros_ws,
/home/${USER}) and setup_local.sh ($HOME/-rooted layout):
* install_deps.sh accepts SUDO="" (Docker, default) or SUDO=sudo
(local) so apt commands work in both contexts
* build_opencv.sh OPENCV_BUILD_DIR (default /OpenCV)
* build_ros_deps.sh PX4_ROS_WS (default /root/px4_ros_ws)
* build_px4.sh PX4_BUILD_DIR (default /home/${USER})
* install_qgc.sh QGC_INSTALL_DIR (default /home/${USER})
setup_local.sh detects Ubuntu 22.04/24.04 vs macOS, refuses macOS by
default (ROS 2 Humble + Gazebo Harmonic don't have first-class macOS
support; recommends Docker via OrbStack/Colima/Lima instead), and
supports per-stage --skip-* flags for re-runs.
The first cut of setup_local.sh refused macOS based on a too-strong
claim that ROS 2 + Gazebo Harmonic don't run there. Verified against
REP-2000 and the Gazebo docs, the picture is more nuanced:
* ROS 2 Humble is Tier 3 on macOS (community-supported, source-build
only, supported through May 2027).
* Gazebo Harmonic has official Homebrew binaries via osrf/simulation
for Big Sur / Monterey; macOS 15 has known OGRE build issues.
Rework the macOS branch so the script:
* detects macOS version + arch and prints accurate status info with
upstream links;
* installs Homebrew prereqs and gz-harmonic via the osrf/simulation tap;
* runs the OpenCV-from-source stage (cmake handles macOS fine);
* builds PX4 v1.16 SITL — build_px4.sh now dispatches Tools/setup/
ubuntu.sh on Linux and Tools/setup/macos.sh on Darwin;
* downloads the official QGroundControl-installer.dmg into the prefix
instead of writing a placeholder log;
* skips the ROS 2 deps + workshop-workspace stages with a clear note
pointing to docs.ros.org's macOS source install guide (those are
the only stages that genuinely require a working ROS 2 Humble);
* still recommends the Docker path on macOS for the easy route.
Also makes the in-place PX4 init.d-posix/rcS patch idempotent (the
script can now be re-run without `git apply` failing because the
patch is already applied).
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For attendees who can't (or don't want to) use Docker — macOS without Docker Desktop, hosts hitting NVIDIA Container Toolkit / GPU forwarding issues, restricted environments — add a
setup_local.shat the repo root that runs the same stages the Dockerfile does, against the host's filesystem.It calls the existing
docker/scripts/*.shso there is one source of truth for the install logic. The scripts are parameterised so the Dockerfile path is unchanged (defaults match the previous hard-coded values), andsetup_local.shjust sets a few env vars to redirect the artifacts under$HOME:SUDO""(root)sudoOPENCV_BUILD_DIR/OpenCV$HOME/OpenCVPX4_ROS_WS/root/px4_ros_ws$HOME/px4_ros_wsPX4_BUILD_DIR/home/${USER}$HOMEQGC_INSTALL_DIR/home/${USER}$HOMEsetup_local.shsupports--skip-deps / --skip-opencv / --skip-ros-deps / --skip-px4 / --skip-qgc / --skip-wsso it's safe to re-run. The PX4 rcS patch is now idempotent so re-running doesn't fail withpatch already applied.Platform support
Tools/setup/ubuntu.sh+ makebrew tap osrf/simulation && brew install gz-harmonic …+ PX4 brew depsTools/setup/macos.sh+ make (build_px4.shnow dispatches onuname -s)QGroundControl-installer.dmg, mounts it, copies the.appinto the prefix--skip-*after building ROS 2 by handSo on macOS the script does the parts it CAN do (Gazebo Harmonic, OpenCV, PX4 SITL, QGC.app) and is explicit about the parts that need manual follow-up. The macOS section also prints the recommended Docker path (OrbStack / Colima / Lima / Docker Desktop) at the top, which is the fastest route for workshop attendees with a tight schedule.
Verified
bash -non every modified script.ros:humble-ros-basecontainer the new env defaults resolve to the original Dockerfile paths (so the docker image build is unaffected; same artifacts at the same locations) and all scripts parse cleanly.