PX4 · alexcekay · Feb 12, 2025 · Feb 10, 2025 · Feb 11, 2025 · Feb 11, 2025
diff --git a/.github/workflows/docker_builds.yml b/.github/workflows/docker_builds.yml
@@ -77,6 +77,28 @@ jobs:
         tag_names: true
         workdir: docker
 
+  px4-dev-base-noble:
+    name: "Ubuntu Noble Base"
+    runs-on: ubuntu-latest
+    steps:
+    - uses: actions/checkout@v3
+    - name: Build container
+      if: github.event_name == 'pull_request'
+      run: |
+        cd docker
+        make px4-dev-base-noble
+    - name: Build & Publish container
+      if: github.event_name == 'push' && (contains(github.ref, '/heads/master') || contains(github.ref, '/tags/'))
+      uses: julianoes/Publish-Docker-Github-Action@master
+      with:
+        name: px4io/px4-dev-base-noble
+        username: ${{ secrets.DOCKER_USERNAME }}
+        password: ${{ secrets.DOCKER_PASSWORD }}
+        dockerfile: Dockerfile_base-noble
+        cache: false
+        tag_names: true
+        workdir: docker
+
   px4-dev-simulation-jammy:
     name: "Ubuntu Jammy Simulation"
     runs-on: ubuntu-latest
@@ -236,6 +258,29 @@ jobs:
         tag_names: true
         workdir: docker
 
+  px4-dev-nuttx-nobble:
+    name: "NuttX in Ubuntu Noble"
+    runs-on: ubuntu-latest
+    needs: px4-dev-base-noble
+    steps:
+    - uses: actions/checkout@v3
+    - name: Build container
+      if: github.event_name == 'pull_request'
+      run: |
+        cd docker
+        make px4-dev-nuttx-noble
+    - name: Build & Publish container
+      if: github.event_name == 'push' && (contains(github.ref, '/heads/master') || contains(github.ref, '/tags/'))
+      uses: julianoes/Publish-Docker-Github-Action@master
+      with:
+        name: px4io/px4-dev-nuttx-noble
+        username: ${{ secrets.DOCKER_USERNAME }}
+        password: ${{ secrets.DOCKER_PASSWORD }}
+        dockerfile: Dockerfile_nuttx-noble
+        cache: false
+        tag_names: true
+        workdir: docker
+
   px4-dev-raspi:
     name: "Ubuntu Raspberry Pi"
     runs-on: ubuntu-latest

diff --git a/README.md b/README.md
@@ -28,6 +28,8 @@ License: according to [LICENSE](https://github.com/PX4/Firmware/blob/master/LICE
     - [px4io/px4-dev-ros2-galactic](https://hub.docker.com/r/px4io/px4-dev-ros2-galactic) [![](https://images.microbadger.com/badges/image/px4io/px4-dev-ros2-galactic.svg)](http://microbadger.com/images/px4io/px4-dev-ros2-galactic) [![Docker Pulls](https://img.shields.io/docker/pulls/px4io/px4-dev-ros2-galactic.svg)](https://hub.docker.com/r/px4io/px4-dev-ros2-galactic)
 - [px4io/px4-dev-base-jammy](https://hub.docker.com/r/px4io/px4-dev-base-jammy) [![](https://images.microbadger.com/badges/image/px4io/px4-dev-base-jammy.svg)](http://microbadger.com/images/px4io/px4-dev-base-jammy) [![Docker Pulls](https://img.shields.io/docker/pulls/px4io/px4-dev-base-jammy.svg)](https://hub.docker.com/r/px4io/px4-dev-base-jammy)
     - [px4io/px4-dev-nuttx-jammy](https://hub.docker.com/r/px4io/px4-dev-nuttx-jammy) [![](https://images.microbadger.com/badges/image/px4io/px4-dev-nuttx-jammy.svg)](http://microbadger.com/images/px4io/px4-dev-nuttx-jammy) [![Docker Pulls](https://img.shields.io/docker/pulls/px4io/px4-dev-nuttx-jammy.svg)](https://hub.docker.com/r/px4io/px4-dev-nuttx-jammy)
+- [px4io/px4-dev-base-noble](https://hub.docker.com/r/px4io/px4-dev-base-noble) [![](https://images.microbadger.com/badges/image/px4io/px4-dev-base-noble.svg)](http://microbadger.com/images/px4io/px4-dev-base-noble) [![Docker Pulls](https://img.shields.io/docker/pulls/px4io/px4-dev-base-noble.svg)](https://hub.docker.com/r/px4io/px4-dev-base-noble)
+    - [px4io/px4-dev-nuttx-noble](https://hub.docker.com/r/px4io/px4-dev-nuttx-noble) [![](https://images.microbadger.com/badges/image/px4io/px4-dev-nuttx-noble.svg)](http://microbadger.com/images/px4io/px4-dev-nuttx-noble) [![Docker Pulls](https://img.shields.io/docker/pulls/px4io/px4-dev-nuttx-noble.svg)](https://hub.docker.com/r/px4io/px4-dev-nuttx-noble)
 - [px4io/px4-dev-armhf](https://hub.docker.com/r/px4io/px4-dev-armhf) [![](https://images.microbadger.com/badges/image/px4io/px4-dev-armhf.svg)](http://microbadger.com/images/px4io/px4-dev-armhf) [![Docker Pulls](https://img.shields.io/docker/pulls/px4io/px4-dev-armhf.svg)](https://hub.docker.com/r/px4io/px4-dev-armhf)
 - [px4io/px4-dev-aarch64](https://hub.docker.com/r/px4io/px4-dev-aarch64) [![](https://images.microbadger.com/badges/image/px4io/px4-dev-aarch64.svg)](http://microbadger.com/images/px4io/px4-dev-aarch64) [![Docker Pulls](https://img.shields.io/docker/pulls/px4io/px4-dev-aarch64.svg)](https://hub.docker.com/r/px4io/px4-dev-aarch64)
 - [px4io/px4-docs](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) [![Docker Pulls](https://img.shields.io/docker/pulls/px4io/px4-docs.svg)](https://hub.docker.com/r/px4io/px4-docs)

diff --git a/docker/Dockerfile_base-noble b/docker/Dockerfile_base-noble
@@ -0,0 +1,114 @@
+#
+# PX4 base development environment
+#
+
+FROM ubuntu:24.04
+LABEL maintainer="Alexander Lerach <alexander@auterion.com>"
+
+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 \
+	ant \
+	binutils-dev \
+	ca-certificates \
+	ccache \
+	cmake \
+	cppcheck \
+	curl \
+	dirmngr \
+	doxygen \
+	g++-multilib \
+	gcc-multilib \
+	gdb \
+	gettext \
+	git \
+	gnupg \
+	gosu \
+	lcov \
+	libelf-dev \
+	libexpat-dev \
+	libvecmath-java \
+	libfreetype6-dev \
+	libgmp-dev \
+	libgtest-dev \
+	libisl-dev \
+	libmpc-dev \
+	libmpfr-dev \
+	libpng-dev \
+	libssl-dev \
+	lsb-release \
+	make \
+	ninja-build \
+	openssh-client \
+	openjdk-11-jre \
+	openjdk-11-jdk \
+	python3 \
+	python3-dev \
+	python3-pip \
+	python3-venv \
+	rsync \
+	screen \
+	shellcheck \
+	tzdata \
+	texinfo \
+	u-boot-tools \
+	util-linux \
+	unzip \
+	valgrind \
+	wget \
+	xsltproc \
+	zip \
+	&& apt-get -y autoremove \
+	&& apt-get clean autoclean \
+	&& rm -rf /var/lib/apt/lists/{apt,dpkg,cache,log} /tmp/* /var/tmp/*
+
+# Set java 11 as default
+RUN update-alternatives --set java $(update-alternatives --list java | grep "java-11")
+
+# gtest
+RUN cd /usr/src/gtest \
+	&& mkdir build && cd build \
+	&& cmake .. && make -j$(nproc) \
+	&& find . -name \*.a -exec cp {} /usr/lib \; \
+	&& cd .. && rm -rf build
+
+# Python 3 dependencies installed by pip
+RUN python3 -m pip install --break-system-packages argparse argcomplete coverage cerberus empy==3.3.4 jinja2 kconfiglib \
+    matplotlib>=3.0.* numpy nunavut>=1.1.0 packaging pkgconfig pyros-genmsg pyulog \
+    pyyaml requests serial six toml psutil pyulog wheel jsonschema pynacl lxml
+
+# manual ccache setup
+RUN ln -s /usr/bin/ccache /usr/lib/ccache/cc \
+	&& ln -s /usr/bin/ccache /usr/lib/ccache/c++
+
+# astyle v3.1
+RUN wget -q https://downloads.sourceforge.net/project/astyle/astyle/astyle%203.1/astyle_3.1_linux.tar.gz -O /tmp/astyle.tar.gz \
+	&& cd /tmp && tar zxf astyle.tar.gz && cd astyle/src \
+	&& make -f ../build/gcc/Makefile -j$(nproc) && cp bin/astyle /usr/local/bin \
+	&& rm -rf /tmp/*
+
+# create user with id 1001 (jenkins docker workflow default)
+RUN useradd --shell /bin/bash -u 1001 -c "" -m user && usermod -a -G dialout user
+
+# setup virtual X server
+RUN mkdir /tmp/.X11-unix && \
+	chmod 1777 /tmp/.X11-unix && \
+	chown -R root:root /tmp/.X11-unix
+ENV DISPLAY :99
+
+ENV CCACHE_UMASK=000
+ENV PATH="/usr/lib/ccache:$PATH"
+ENV TERM=xterm
+ENV TZ=UTC
+
+# SITL UDP PORTS
+EXPOSE 14556/udp
+EXPOSE 14557/udp
+
+# create and start as LOCAL_USER_ID
+COPY scripts/entrypoint.sh /usr/local/bin/entrypoint.sh
+ENTRYPOINT ["/usr/local/bin/entrypoint.sh"]
+
+CMD ["/bin/bash"]
diff --git a/docker/Dockerfile_nuttx-noble b/docker/Dockerfile_nuttx-noble
@@ -0,0 +1,51 @@
+#
+# PX4 NuttX development environment in Ubuntu 24.04 Noble
+#
+
+FROM px4io/px4-dev-base-noble:2025-02-10
+LABEL maintainer="Alexander Lerach <alexander@auterion.com>"
+
+RUN apt-get update \
+	&& DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
+		autoconf \
+		automake \
+		bison \
+		build-essential \
+		bzip2 \
+		file \
+		flex \
+		genromfs \
+		gperf \
+		libncurses-dev \
+		libncurses6 \
+		libncursesw6 \
+		libtool \
+		pkg-config \
+		uncrustify \
+		vim-common \
+	&& apt-get -y autoremove \
+	&& apt-get clean autoclean \
+	&& rm -rf /var/lib/apt/lists/{apt,dpkg,cache,log} /tmp/* /var/tmp/*
+
+# GNU Arm Embedded Toolchain: 13.3.Rel1 Released: July 04, 2024
+RUN mkdir -p /opt/gcc && cd /opt/gcc \
+	&& wget -qO- "https://developer.arm.com/-/media/Files/downloads/gnu/13.3.rel1/binrel/arm-gnu-toolchain-13.3.rel1-x86_64-arm-none-eabi.tar.xz" | tar -Jx --strip 1 \
+	&& rm -rf /opt/gcc/share/doc
+
+ENV PATH="$PATH:/opt/gcc/bin"
+
+# manual ccache setup for arm-none-eabi-g++/arm-none-eabi-gcc
+RUN ln -s /usr/bin/ccache /usr/lib/ccache/arm-none-eabi-g++ \
+	&& ln -s /usr/bin/ccache /usr/lib/ccache/arm-none-eabi-gcc
+
+# nuttx tools
+RUN git clone --depth 1 https://bitbucket.org/nuttx/tools.git /tmp/tools \
+	&& cd /tmp/tools/kconfig-frontends \
+	&& autoreconf -f -i \
+	&& ./configure --enable-mconf --disable-nconf --disable-gconf --disable-qconf -prefix=/usr && make -j$(nproc) && make install \
+	&& rm -rf /tmp/*
+
+# bloaty - https://github.com/google/bloaty
+RUN git clone --recursive https://github.com/google/bloaty.git /tmp/bloaty \
+	&& cd /tmp/bloaty && cmake -GNinja . && ninja -j $(nproc) bloaty && cp bloaty /usr/local/bin/ \
+	&& rm -rf /tmp/*
diff --git a/docker/Makefile b/docker/Makefile
@@ -1,14 +1,14 @@
 .PHONY: px4-dev-armhf, px4-dev-base-archlinux, px4-dev-base-bionic, \
-		px4-dev-base-focal, px4-dev-base-jammy, px4-dev-clang, px4-dev-nuttx-bionic, \
-		px4-dev-nuttx-focal, px4-dev-nuttx-jammy, px4-dev-nuttx-clang, px4-dev-raspi, \
+		px4-dev-base-focal, px4-dev-base-jammy, px4-dev-base-noble, px4-dev-clang, px4-dev-nuttx-bionic, \
+		px4-dev-nuttx-focal, px4-dev-nuttx-jammy, px4-dev-nuttx-noble, px4-dev-nuttx-clang, px4-dev-raspi, \
 		px4-dev-ros-melodic, px4-dev-ros-noetic, px4-dev-ros2-dashing, \
 		px4-dev-ros2-eloquent, px4-dev-ros2-foxy, px4-dev-ros2-galactic, \
 		px4-dev-ros2-rolling, px4-dev-simulation-bionic, px4-dev-simulation-focal, \
 		px4-docs
 
 all: px4-dev-armhf, px4-dev-base-archlinux, px4-dev-base-bionic, \
-		px4-dev-base-focal, px4-dev-base-jammy, px4-dev-clang, px4-dev-nuttx-bionic, \
-		px4-dev-nuttx-focal, px4-dev-nuttx-jammy, px4-dev-nuttx-clang, px4-dev-raspi, \
+		px4-dev-base-focal, px4-dev-base-jammy, px4-dev-base-noble, px4-dev-clang, px4-dev-nuttx-bionic, \
+		px4-dev-nuttx-focal, px4-dev-nuttx-jammy, px4-dev-nuttx-noble, px4-dev-nuttx-clang, px4-dev-raspi, \
 		px4-dev-ros-melodic, px4-dev-ros-noetic, px4-dev-ros2-dashing,\
 		px4-dev-ros2-eloquent, px4-dev-ros2-foxy, px4-dev-ros2-galactic, \
 		px4-dev-ros2-rolling, px4-dev-simulation-bionic, px4-dev-simulation-focal, \
@@ -32,6 +32,9 @@ px4-dev-base-focal:
 px4-dev-base-jammy:
 	docker build -t px4io/px4-dev-base-jammy . -f Dockerfile_base-jammy
 
+px4-dev-base-noble:
+	docker build -t px4io/px4-dev-base-noble . -f Dockerfile_base-noble
+
 px4-dev-clang: px4-dev-base-bionic
 	docker build -t px4io/px4-dev-clang . -f Dockerfile_clang
 
@@ -44,6 +47,9 @@ px4-dev-nuttx-focal: px4-dev-base-focal
 px4-dev-nuttx-jammy: px4-dev-base-jammy
 	docker build -t px4io/px4-dev-nuttx-jammy . -f Dockerfile_nuttx-jammy
 
+px4-dev-nuttx-noble: px4-dev-base-noble
+	docker build -t px4io/px4-dev-nuttx-noble . -f Dockerfile_nuttx-noble
+
 px4-dev-simulation-jammy: px4-dev-base-jammy
 	docker build -t px4io/px4-dev-simulation-jammy . -f Dockerfile_simulation-jammy