feat: setup_local.sh — reproduce the docker stages natively on the host

docker/scripts/build_opencv.sh

@@ -1,6 +1,11 @@
 #!/usr/bin/env bash
 set -eo pipefail
 
+OPENCV_VERSION=$1
+# Build directory defaults to /OpenCV (Dockerfile) but can be overridden when
+# running locally via setup_local.sh.
+OPENCV_BUILD_DIR="${OPENCV_BUILD_DIR:-/OpenCV}"
+
 CMAKE_FLAGS=" \
    -DCPACK_BINARY_DEB=ON \
    -DBUILD_EXAMPLES=OFF \
@@ -9,7 +14,7 @@ CMAKE_FLAGS=" \
    -DBUILD_opencv_java=OFF \
    -DCMAKE_BUILD_TYPE=RELEASE \
    -DCMAKE_INSTALL_PREFIX=/usr/local \
-   -DOPENCV_EXTRA_MODULES_PATH=/OpenCV/opencv_contrib/modules \
+   -DOPENCV_EXTRA_MODULES_PATH=${OPENCV_BUILD_DIR}/opencv_contrib/modules \
    -DCUDA_FAST_MATH=ON \
    -DEIGEN_INCLUDE_PATH=/usr/include/eigen3 \
    -DWITH_EIGEN=ON \
@@ -18,13 +23,14 @@ CMAKE_FLAGS=" \
    -DBUILD_PERF_TESTS=OFF \
    -DBUILD_TESTS=OFF"
 
-OPENCV_VERSION=$1
+# Use nproc on Linux, sysctl on macOS
+JOBS=$(nproc 2>/dev/null || sysctl -n hw.ncpu 2>/dev/null || echo 4)
 
-mkdir /OpenCV && cd /OpenCV &&
+mkdir -p "${OPENCV_BUILD_DIR}" && cd "${OPENCV_BUILD_DIR}" &&
 
-git clone --depth 1 --branch ${OPENCV_VERSION} https://github.com/opencv/opencv.git
-git clone --depth 1 --branch ${OPENCV_VERSION} https://github.com/opencv/opencv_contrib.git
+[ -d opencv ]         || git clone --depth 1 --branch ${OPENCV_VERSION} https://github.com/opencv/opencv.git
+[ -d opencv_contrib ] || git clone --depth 1 --branch ${OPENCV_VERSION} https://github.com/opencv/opencv_contrib.git
 
 cmake -S opencv -B build ${CMAKE_FLAGS} && \
-cmake --build build --config Release -- -j$(nproc) && \
+cmake --build build --config Release -- -j${JOBS} && \
 cmake --install build --config Release --prefix ./install

docker/scripts/build_px4.sh

@@ -2,12 +2,58 @@
 set -eo pipefail
 
 PX4_VERSION=$1
+# Where PX4 will be cloned/built. Dockerfile leaves this as /home/${USER};
+# setup_local.sh overrides to $HOME so it works for any local username.
+PX4_BUILD_DIR="${PX4_BUILD_DIR:-/home/${USER}}"
 
-git clone  --recurse-submodules -b ${PX4_VERSION} https://github.com/PX4/PX4-Autopilot.git /home/${USER}/PX4-Autopilot
+[ -d "${PX4_BUILD_DIR}/PX4-Autopilot" ] || \
+    git clone --recurse-submodules -b ${PX4_VERSION} https://github.com/PX4/PX4-Autopilot.git "${PX4_BUILD_DIR}/PX4-Autopilot"
 
-cd /home/${USER}/PX4-Autopilot
+cd "${PX4_BUILD_DIR}/PX4-Autopilot"
 
-# Patch to allow setting parameters via env variables
+# Patch to allow setting parameters via env variables. Applied via `git apply
+# --reverse --check` first to make this idempotent on re-runs.
+if git apply --reverse --check - <<'EOF' >/dev/null 2>&1
+diff --git a/ROMFS/px4fmu_common/init.d-posix/rcS b/ROMFS/px4fmu_common/init.d-posix/rcS
+index fed292b9d1..1d34854077 100644
+--- a/ROMFS/px4fmu_common/init.d-posix/rcS
++++ b/ROMFS/px4fmu_common/init.d-posix/rcS
+@@ -126,15 +126,6 @@ then
+ 	set AUTOCNF yes
+ fi
+
+-# Allow overriding parameters via env variables: export PX4_PARAM_{name}={value}
+-env | while IFS='=' read -r line; do
+-  value=${line#*=}
+-  name=${line%%=*}
+-  case $name in
+-    "PX4_PARAM_"*) param set "${name#PX4_PARAM_}" "$value" ;;
+-  esac
+-done
+-
+ # multi-instance setup
+ # shellcheck disable=SC2154
+ param set MAV_SYS_ID $((px4_instance+1))
+@@ -239,6 +230,15 @@ then
+ 	exit 1
+ fi
+
++# Allow overriding parameters via env variables: export PX4_PARAM_{name}={value}
++env | while IFS='=' read -r line; do
++  value=${line#*=}
++  name=${line%%=*}
++  case $name in
++    "PX4_PARAM_"*) param set "${name#PX4_PARAM_}" "$value" ;;
++  esac
++done
++
+ dataman start
+
+ # only start the simulator if not in replay mode, as both control the lockstep time
+EOF
+then
+    echo "Patch already applied, skipping."
+else
 git apply - <<'EOF'
 diff --git a/ROMFS/px4fmu_common/init.d-posix/rcS b/ROMFS/px4fmu_common/init.d-posix/rcS
 index fed292b9d1..1d34854077 100644
@@ -43,13 +89,28 @@ index fed292b9d1..1d34854077 100644
 +done
 +
  dataman start
- 
+
  # only start the simulator if not in replay mode, as both control the lockstep time
 EOF
+fi
+
+# Platform-specific PX4 setup. Docker / Ubuntu host uses ubuntu.sh; macOS host
+# (when invoked from setup_local.sh) uses macos.sh from PX4-Autopilot itself.
+case "$(uname -s)" in
+    Linux*)
+        ./Tools/setup/ubuntu.sh --no-nuttx --no-sim-tools
+        ;;
+    Darwin*)
+        ./Tools/setup/macos.sh
+        ;;
+    *)
+        echo "Unsupported PX4 host platform: $(uname -s)" >&2
+        exit 1
+        ;;
+esac
 
-./Tools/setup/ubuntu.sh --no-nuttx --no-sim-tools
 make px4_sitl_default
-cd ..
+cd "${PX4_BUILD_DIR}"
 mkdir -p px4_sitl/bin
 mkdir -p px4_sitl/romfs/etc
 cp -a PX4-Autopilot/build/px4_sitl_default/bin px4_sitl/

docker/scripts/build_ros_deps.sh

@@ -5,16 +5,19 @@ MICRO_XRCE_DDS_AGENT_VERSION=$1
 PX4_MSGS_VERSION=$2
 PX4_ROS2_INTERFACE_LIB_VERSION=$3
 PX4_ROS_COM_VERSION=$4
+# Workspace path defaults to /root/px4_ros_ws (Dockerfile) but can be overridden
+# when running locally via setup_local.sh.
+PX4_ROS_WS="${PX4_ROS_WS:-/root/px4_ros_ws}"
 
-mkdir -p /root/px4_ros_ws/src && cd /root/px4_ros_ws/src && \
-git clone --depth 1 -b ${MICRO_XRCE_DDS_AGENT_VERSION} https://github.com/eProsima/Micro-XRCE-DDS-Agent.git && \
-git clone --depth 1 -b ${PX4_MSGS_VERSION} https://github.com/PX4/px4_msgs.git && \
-git clone --depth 1 -b ${PX4_ROS2_INTERFACE_LIB_VERSION} https://github.com/Auterion/px4-ros2-interface-lib.git && \
-git clone --depth 1 -b ${PX4_ROS_COM_VERSION} https://github.com/PX4/px4_ros_com.git && \
-git clone --depth 1 -b humble https://github.com/ros-perception/vision_opencv.git && \
-git clone --depth 1 -b humble https://github.com/ros-perception/image_common.git && \
-git clone --depth 1 -b humble https://github.com/ros-perception/image_transport_plugins.git && \
-git clone --depth 1 -b humble https://github.com/gazebosim/ros_gz.git && \
+mkdir -p "${PX4_ROS_WS}/src" && cd "${PX4_ROS_WS}/src" && \
+[ -d Micro-XRCE-DDS-Agent ]    || git clone --depth 1 -b ${MICRO_XRCE_DDS_AGENT_VERSION} https://github.com/eProsima/Micro-XRCE-DDS-Agent.git
+[ -d px4_msgs ]                || git clone --depth 1 -b ${PX4_MSGS_VERSION} https://github.com/PX4/px4_msgs.git
+[ -d px4-ros2-interface-lib ]  || git clone --depth 1 -b ${PX4_ROS2_INTERFACE_LIB_VERSION} https://github.com/Auterion/px4-ros2-interface-lib.git
+[ -d px4_ros_com ]             || git clone --depth 1 -b ${PX4_ROS_COM_VERSION} https://github.com/PX4/px4_ros_com.git
+[ -d vision_opencv ]           || git clone --depth 1 -b humble https://github.com/ros-perception/vision_opencv.git
+[ -d image_common ]            || git clone --depth 1 -b humble https://github.com/ros-perception/image_common.git
+[ -d image_transport_plugins ] || git clone --depth 1 -b humble https://github.com/ros-perception/image_transport_plugins.git
+[ -d ros_gz ]                  || git clone --depth 1 -b humble https://github.com/gazebosim/ros_gz.git
 rm -rf ros_gz/ros_ign* \
     ros_gz/ros_gz_sim_demos \
     image_transport_plugins/compressed_depth_image_transport \

docker/scripts/install_deps.sh

@@ -1,16 +1,20 @@
 #!/usr/bin/env bash
 set -euo pipefail
 
-apt-get update && \
-apt-get upgrade -y && \
-apt-get install -y --no-install-recommends \
+# SUDO is empty inside the Dockerfile (running as root); setup_local.sh sets
+# it to "sudo" so the same script works for a non-root local install.
+SUDO="${SUDO:-}"
+
+${SUDO} apt-get update && \
+${SUDO} apt-get upgrade -y && \
+${SUDO} apt-get install -y --no-install-recommends \
     curl \
     lsb-release \
     gnupg && \
-curl https://packages.osrfoundation.org/gazebo.gpg --output /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg && \
-echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null && \
-apt-get update && \
-apt-get install -y --no-install-recommends \
+${SUDO} sh -c 'curl https://packages.osrfoundation.org/gazebo.gpg --output /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg' && \
+echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | ${SUDO} tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null && \
+${SUDO} apt-get update && \
+${SUDO} apt-get install -y --no-install-recommends \
     gz-harmonic \
     ros-humble-foxglove-bridge \
     bc \
@@ -37,5 +41,5 @@ apt-get install -y --no-install-recommends \
     libgflags-dev \
     python3-rospkg 
 
-rm -rf /var/lib/apt/lists/*
-apt-get clean
+${SUDO} rm -rf /var/lib/apt/lists/*
+${SUDO} apt-get clean

docker/scripts/install_qgc.sh

@@ -3,16 +3,21 @@ set -eo pipefail
 
 QGC_VERSION=$1
 TARGETARCH=$2
+# Install location. Dockerfile leaves this as /home/${USER}; setup_local.sh
+# overrides to $HOME for any local username.
+QGC_INSTALL_DIR="${QGC_INSTALL_DIR:-/home/${USER}}"
 
 if [ "${TARGETARCH}" = "amd64" ]; then
-    cd /home/${USER}
-    wget https://github.com/mavlink/qgroundcontrol/releases/download/${QGC_VERSION}/QGroundControl-x86_64.AppImage
+    cd "${QGC_INSTALL_DIR}"
+    [ -f QGroundControl-x86_64.AppImage ] || \
+        wget https://github.com/mavlink/qgroundcontrol/releases/download/${QGC_VERSION}/QGroundControl-x86_64.AppImage
     chmod +x ./QGroundControl-x86_64.AppImage
-    ./QGroundControl-x86_64.AppImage --appimage-extract
-    mv /home/${USER}/squashfs-root /home/${USER}/QGroundControl
-    chmod +x /home/${USER}/QGroundControl/AppRun
-    ln -s /home/${USER}/QGroundControl/AppRun /home/${USER}/QGroundControl/qgroundcontrol
+    [ -d squashfs-root ] || ./QGroundControl-x86_64.AppImage --appimage-extract
+    [ -d "${QGC_INSTALL_DIR}/QGroundControl" ] || mv "${QGC_INSTALL_DIR}/squashfs-root" "${QGC_INSTALL_DIR}/QGroundControl"
+    chmod +x "${QGC_INSTALL_DIR}/QGroundControl/AppRun"
+    [ -L "${QGC_INSTALL_DIR}/QGroundControl/qgroundcontrol" ] || \
+        ln -s "${QGC_INSTALL_DIR}/QGroundControl/AppRun" "${QGC_INSTALL_DIR}/QGroundControl/qgroundcontrol"
 else
-    mkdir -p /home/${USER}/QGroundControl
-    echo "QGroundControl is only available for amd64 architecture." >> /home/${USER}/QGroundControl/install.log
+    mkdir -p "${QGC_INSTALL_DIR}/QGroundControl"
+    echo "QGroundControl is only available for amd64 architecture." >> "${QGC_INSTALL_DIR}/QGroundControl/install.log"
 fi