From 3268fd9758f0a69b87901907c3f58756557e8029 Mon Sep 17 00:00:00 2001
From: Jacopo Panerati <jacopo.panerati@utoronto.ca>
Date: Thu, 21 May 2026 17:29:27 -0400
Subject: [PATCH 01/11] removed duplicate dockerfile

---
 tools_and_docs/docker/ground.dockerfile     | 45 +--------------------
 tools_and_docs/docker/simulation.dockerfile | 45 +--------------------
 tools_and_docs/sim_build.sh                 |  3 +-
 3 files changed, 6 insertions(+), 87 deletions(-)

diff --git a/tools_and_docs/docker/ground.dockerfile b/tools_and_docs/docker/ground.dockerfile
index 5839347..db28d1b 100644
--- a/tools_and_docs/docker/ground.dockerfile
+++ b/tools_and_docs/docker/ground.dockerfile
@@ -1,48 +1,7 @@
 ################################################################################
-# Stage 1 ######################################################################
+# Stage 1 (Imported from aircraft.dockerfile build)
 ################################################################################
-FROM nvcr.io/nvidia/cuda:12.9.1-cudnn-runtime-ubuntu22.04 AS ros2-image
-
-# Tell apt (and other Debian tools) not to prompt for user input during package installs
-ENV DEBIAN_FRONTEND=noninteractive
-
-# Update the package list and install basic dependencies
-RUN apt update \
-    && apt install -y --no-install-recommends \
-        wget gosu htop vim ruby tmux xclip net-tools iproute2 iputils-ping netcat-openbsd \
-        python3-pip python3-venv \
-        mesa-utils \
-    && gem install tmuxinator \
-    && apt clean \
-    && rm -rf /var/lib/apt/lists/*
-
-# Install ROS2 Humble
-# Based on https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debs.html
-RUN apt update \
-    && apt install -y --no-install-recommends \
-        locales \
-    && apt clean \
-    && rm -rf /var/lib/apt/lists/*
-RUN locale-gen en_US en_US.UTF-8
-RUN update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
-ENV LANG=en_US.UTF-8
-RUN apt update \
-    && apt install -y --no-install-recommends \
-        software-properties-common curl \
-    && apt clean \
-    && rm -rf /var/lib/apt/lists/*
-RUN curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
-RUN echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu \
-    $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null
-RUN apt update \
-    && apt install -y --no-install-recommends \
-        ros-humble-desktop ros-dev-tools \
-        ros-humble-bondcpp ros-humble-ament-cmake-clang-format \
-        ros-humble-vision-msgs \
-    && apt clean \
-    && rm -rf /var/lib/apt/lists/*
-RUN echo "source /opt/ros/humble/setup.bash" >> /root/.bashrc
-RUN rosdep init
+FROM shared-ros2-base:latest AS ros2-image
 
 ################################################################################
 # Stage 2 ######################################################################
diff --git a/tools_and_docs/docker/simulation.dockerfile b/tools_and_docs/docker/simulation.dockerfile
index 0fcf62a..53b7307 100644
--- a/tools_and_docs/docker/simulation.dockerfile
+++ b/tools_and_docs/docker/simulation.dockerfile
@@ -1,48 +1,7 @@
 ################################################################################
-# Stage 1 ######################################################################
+# Stage 1 (Imported from aircraft.dockerfile build)
 ################################################################################
-FROM nvcr.io/nvidia/cuda:12.9.1-cudnn-runtime-ubuntu22.04 AS ros2-image
-
-# Tell apt (and other Debian tools) not to prompt for user input during package installs
-ENV DEBIAN_FRONTEND=noninteractive
-
-# Update the package list and install basic dependencies
-RUN apt update \
-    && apt install -y --no-install-recommends \
-        wget gosu htop vim ruby tmux xclip net-tools iproute2 iputils-ping netcat-openbsd \
-        python3-pip python3-venv \
-        mesa-utils \
-    && gem install tmuxinator \
-    && apt clean \
-    && rm -rf /var/lib/apt/lists/*
-
-# Install ROS2 Humble
-# Based on https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debs.html
-RUN apt update \
-    && apt install -y --no-install-recommends \
-        locales \
-    && apt clean \
-    && rm -rf /var/lib/apt/lists/*
-RUN locale-gen en_US en_US.UTF-8
-RUN update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
-ENV LANG=en_US.UTF-8
-RUN apt update \
-    && apt install -y --no-install-recommends \
-        software-properties-common curl \
-    && apt clean \
-    && rm -rf /var/lib/apt/lists/*
-RUN curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
-RUN echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu \
-    $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null
-RUN apt update \
-    && apt install -y --no-install-recommends \
-        ros-humble-desktop ros-dev-tools \
-        ros-humble-bondcpp ros-humble-ament-cmake-clang-format \
-        ros-humble-vision-msgs \
-    && apt clean \
-    && rm -rf /var/lib/apt/lists/*
-RUN echo "source /opt/ros/humble/setup.bash" >> /root/.bashrc
-RUN rosdep init
+FROM shared-ros2-base:latest AS ros2-image
 
 ################################################################################
 # Stage 2 ######################################################################
diff --git a/tools_and_docs/sim_build.sh b/tools_and_docs/sim_build.sh
index 5bb93b6..13a21e7 100755
--- a/tools_and_docs/sim_build.sh
+++ b/tools_and_docs/sim_build.sh
@@ -96,9 +96,10 @@ unzip -q -o "$ZIP_FILE" -d "$SCRIPT_DIR/.."
 
 if [ "$BUILD_DOCKER" = "true" ]; then
   # The first build takes ~45' and ~70GB of disk usage (~23GB of content size)
+  docker build $BUILD_ARGS --target ros2-image -t shared-ros2-base:latest -f "${SCRIPT_DIR}/docker/aircraft.dockerfile" "${SCRIPT_DIR}/.."
+  docker build $BUILD_ARGS -t aircraft-image -f "${SCRIPT_DIR}/docker/aircraft.dockerfile" "${SCRIPT_DIR}/.."
   docker build $BUILD_ARGS -t simulation-image -f "${SCRIPT_DIR}/docker/simulation.dockerfile" "${SCRIPT_DIR}/.."
   docker build $BUILD_ARGS -t ground-image -f "${SCRIPT_DIR}/docker/ground.dockerfile" "${SCRIPT_DIR}/.."
-  docker build $BUILD_ARGS -t aircraft-image -f "${SCRIPT_DIR}/docker/aircraft.dockerfile" "${SCRIPT_DIR}/.."
 else
   echo -e "Skipping Docker builds"
 fi

From d7ae45678e9152823a231694d38370e82901b14e Mon Sep 17 00:00:00 2001
From: Jacopo Panerati <jacopo.panerati@utoronto.ca>
Date: Thu, 21 May 2026 20:44:12 -0400
Subject: [PATCH 02/11] update github actions

---
 .github/workflows/ground-amd64-build.yml     | 4 +++-
 .github/workflows/simulation-amd64-build.yml | 4 +++-
 tools_and_docs/docker/aircraft.dockerfile    | 4 ++++
 tools_and_docs/docker/ground.dockerfile      | 4 ++--
 tools_and_docs/docker/simulation.dockerfile  | 4 ++--
 tools_and_docs/sim_build.sh                  | 4 ++--
 6 files changed, 16 insertions(+), 8 deletions(-)

diff --git a/.github/workflows/ground-amd64-build.yml b/.github/workflows/ground-amd64-build.yml
index 8fb7edf..14d15cc 100644
--- a/.github/workflows/ground-amd64-build.yml
+++ b/.github/workflows/ground-amd64-build.yml
@@ -85,4 +85,6 @@ jobs:
           fi
 
       - name: Build the ground image
-        run: docker buildx build --push -t ghcr.io/jacopopan/ground-image:${{ env.DOCKER_TAG }} -f ./tools_and_docs/docker/ground.dockerfile .
+        run: |
+          docker buildx build --load --target ros2-image -t common-ros2-base:latest -f ./tools_and_docs/docker/aircraft.dockerfile .
+          docker buildx build --push -t ghcr.io/jacopopan/ground-image:${{ env.DOCKER_TAG }} -f ./tools_and_docs/docker/ground.dockerfile .
diff --git a/.github/workflows/simulation-amd64-build.yml b/.github/workflows/simulation-amd64-build.yml
index 5e6133d..d28f797 100644
--- a/.github/workflows/simulation-amd64-build.yml
+++ b/.github/workflows/simulation-amd64-build.yml
@@ -85,4 +85,6 @@ jobs:
           fi
 
       - name: Build the simulation image
-        run: docker buildx build --push -t ghcr.io/jacopopan/simulation-image:${{ env.DOCKER_TAG }} -f ./tools_and_docs/docker/simulation.dockerfile .
+        run: |
+          docker buildx build --load --target ros2-image -t common-ros2-base:latest -f ./tools_and_docs/docker/aircraft.dockerfile .
+          docker buildx build --push -t ghcr.io/jacopopan/simulation-image:${{ env.DOCKER_TAG }} -f ./tools_and_docs/docker/simulation.dockerfile .
diff --git a/tools_and_docs/docker/aircraft.dockerfile b/tools_and_docs/docker/aircraft.dockerfile
index 3dc5d12..636b372 100644
--- a/tools_and_docs/docker/aircraft.dockerfile
+++ b/tools_and_docs/docker/aircraft.dockerfile
@@ -1,5 +1,9 @@
+################################################################################
+# Pick amd64 (for simulation) or arm64 (on Jetson) image from the NGC Catalog ##
+################################################################################
 FROM nvcr.io/nvidia/cuda:12.9.1-cudnn-runtime-ubuntu22.04 AS base_amd64
 FROM nvcr.io/nvidia/l4t-jetpack:r36.4.0 AS base_arm64
+
 ################################################################################
 # Stage 1 ######################################################################
 ################################################################################
diff --git a/tools_and_docs/docker/ground.dockerfile b/tools_and_docs/docker/ground.dockerfile
index db28d1b..d89d239 100644
--- a/tools_and_docs/docker/ground.dockerfile
+++ b/tools_and_docs/docker/ground.dockerfile
@@ -1,7 +1,7 @@
 ################################################################################
-# Stage 1 (Imported from aircraft.dockerfile build)
+# Stage 1 imported from aircraft.dockerfile build ##############################
 ################################################################################
-FROM shared-ros2-base:latest AS ros2-image
+FROM common-ros2-image:latest AS ros2-image
 
 ################################################################################
 # Stage 2 ######################################################################
diff --git a/tools_and_docs/docker/simulation.dockerfile b/tools_and_docs/docker/simulation.dockerfile
index 53b7307..e854409 100644
--- a/tools_and_docs/docker/simulation.dockerfile
+++ b/tools_and_docs/docker/simulation.dockerfile
@@ -1,7 +1,7 @@
 ################################################################################
-# Stage 1 (Imported from aircraft.dockerfile build)
+# Stage 1 imported from aircraft.dockerfile build ##############################
 ################################################################################
-FROM shared-ros2-base:latest AS ros2-image
+FROM common-ros2-image:latest AS ros2-image
 
 ################################################################################
 # Stage 2 ######################################################################
diff --git a/tools_and_docs/sim_build.sh b/tools_and_docs/sim_build.sh
index 13a21e7..10d6bfe 100755
--- a/tools_and_docs/sim_build.sh
+++ b/tools_and_docs/sim_build.sh
@@ -95,8 +95,8 @@ fi
 unzip -q -o "$ZIP_FILE" -d "$SCRIPT_DIR/.."
 
 if [ "$BUILD_DOCKER" = "true" ]; then
-  # The first build takes ~45' and ~70GB of disk usage (~23GB of content size)
-  docker build $BUILD_ARGS --target ros2-image -t shared-ros2-base:latest -f "${SCRIPT_DIR}/docker/aircraft.dockerfile" "${SCRIPT_DIR}/.."
+  # The first build takes ~45'
+  docker build $BUILD_ARGS --target ros2-image -t common-ros2-image:latest -f "${SCRIPT_DIR}/docker/aircraft.dockerfile" "${SCRIPT_DIR}/.."
   docker build $BUILD_ARGS -t aircraft-image -f "${SCRIPT_DIR}/docker/aircraft.dockerfile" "${SCRIPT_DIR}/.."
   docker build $BUILD_ARGS -t simulation-image -f "${SCRIPT_DIR}/docker/simulation.dockerfile" "${SCRIPT_DIR}/.."
   docker build $BUILD_ARGS -t ground-image -f "${SCRIPT_DIR}/docker/ground.dockerfile" "${SCRIPT_DIR}/.."

From a37a517ef01dad89ae992130a1a18b2a84189c1c Mon Sep 17 00:00:00 2001
From: Jacopo Panerati <jacopo.panerati@utoronto.ca>
Date: Thu, 21 May 2026 22:31:21 -0400
Subject: [PATCH 03/11] simpler dockerfiles

---
 .github/workflows/simulation-amd64-build.yml |  1 +
 tools_and_docs/docker/aircraft.dockerfile    | 65 +++++++--------
 tools_and_docs/docker/ground.dockerfile      | 16 ++--
 tools_and_docs/docker/simulation.dockerfile  | 88 ++++++--------------
 tools_and_docs/sim_build.sh                  |  6 +-
 5 files changed, 69 insertions(+), 107 deletions(-)

diff --git a/.github/workflows/simulation-amd64-build.yml b/.github/workflows/simulation-amd64-build.yml
index d28f797..dfe8a44 100644
--- a/.github/workflows/simulation-amd64-build.yml
+++ b/.github/workflows/simulation-amd64-build.yml
@@ -87,4 +87,5 @@ jobs:
       - name: Build the simulation image
         run: |
           docker buildx build --load --target ros2-image -t common-ros2-base:latest -f ./tools_and_docs/docker/aircraft.dockerfile .
+          docker buildx build --load --target ros2-qgc-zenoh-image -t common-ros2-qgc-zenoh-image:latest -f ./tools_and_docs/docker/ground.dockerfile .
           docker buildx build --push -t ghcr.io/jacopopan/simulation-image:${{ env.DOCKER_TAG }} -f ./tools_and_docs/docker/simulation.dockerfile .
diff --git a/tools_and_docs/docker/aircraft.dockerfile b/tools_and_docs/docker/aircraft.dockerfile
index 636b372..0db2a2f 100644
--- a/tools_and_docs/docker/aircraft.dockerfile
+++ b/tools_and_docs/docker/aircraft.dockerfile
@@ -12,7 +12,7 @@ FROM base_${TARGETARCH} AS ros2-image
 # Tell apt (and other Debian tools) not to prompt for user input during package installs
 ENV DEBIAN_FRONTEND=noninteractive
 
-# Update the package list and install basic dependencies
+# Install general use tools
 RUN apt update \
     && apt install -y --no-install-recommends \
         wget gosu htop vim ruby tmux xclip net-tools iproute2 iputils-ping netcat-openbsd \
@@ -24,31 +24,26 @@ RUN apt update \
 
 # Install ROS2 Humble
 # Based on https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debs.html
+ENV LANG=en_US.UTF-8
 RUN apt update \
     && apt install -y --no-install-recommends \
         locales \
-    && apt clean \
-    && rm -rf /var/lib/apt/lists/*
-RUN locale-gen en_US en_US.UTF-8
-RUN update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
-ENV LANG=en_US.UTF-8
-RUN apt update \
+    && locale-gen en_US en_US.UTF-8 \
+    && update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8 \
     && apt install -y --no-install-recommends \
         software-properties-common curl \
-    && apt clean \
-    && rm -rf /var/lib/apt/lists/*
-RUN curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
-RUN echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu \
-    $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null
-RUN apt update \
+    && curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg \
+    && echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu \
+        $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null \
+    && apt update \
     && apt install -y --no-install-recommends \
         ros-humble-desktop ros-dev-tools \
         ros-humble-bondcpp ros-humble-ament-cmake-clang-format \
         ros-humble-vision-msgs \
     && apt clean \
-    && rm -rf /var/lib/apt/lists/*
-RUN echo "source /opt/ros/humble/setup.bash" >> /root/.bashrc
-RUN rosdep init
+    && rm -rf /var/lib/apt/lists/* \
+    && echo "source /opt/ros/humble/setup.bash" >> /root/.bashrc \
+    && rosdep init
 
 ################################################################################
 # Stage 2 ######################################################################
@@ -59,7 +54,7 @@ FROM ros2-image AS ros2-px4msgs-image
 COPY /_github_clones/px4_msgs /aas/github_ws/src/px4_msgs
 WORKDIR /aas/github_ws
 RUN rosdep update
-RUN rosdep install --from-paths src --ignore-src --rosdistro humble -y
+RUN rosdep install --from-paths src --ignore-src --rosdistro humble -y && apt clean && rm -rf /var/lib/apt/lists/*
 # Explicitly use bash, not sh, to source and build the workspace
 RUN bash -c "source /opt/ros/humble/setup.bash && colcon build --symlink-install"
 
@@ -88,8 +83,8 @@ FROM ros2-px4msgs-dds-image AS ros2-px4msgs-dds-mavros-image
 RUN apt-get update && \
     apt-get install -y ros-humble-mavros ros-humble-mavros-extras ros-humble-mavros-msgs \
     && apt clean \
-    && rm -rf /var/lib/apt/lists/*
-RUN /opt/ros/humble/lib/mavros/install_geographiclib_datasets.sh
+    && rm -rf /var/lib/apt/lists/* \
+    && /opt/ros/humble/lib/mavros/install_geographiclib_datasets.sh
 # Run with $ ros2 launch mavros apm.launch fcu_url:=[URI]
 
 ################################################################################
@@ -115,8 +110,8 @@ RUN apt update \
 
 # Install YOLO and ONNX in virtual environment /yolo-env/
 # See https://github.com/ultralytics/ultralytics/blob/main/README.md and https://onnxruntime.ai/getting-started
-RUN python3 -m venv /yolo-env
-RUN /yolo-env/bin/pip3 install --no-cache-dir --upgrade pip && \
+RUN python3 -m venv /yolo-env \
+    && /yolo-env/bin/pip3 install --no-cache-dir --upgrade pip && \
     /yolo-env/bin/pip3 install --no-cache-dir --resume-retries 5 ultralytics onnx
 # Check YOLO with $ /yolo-env/bin/python3 -c "import ultralytics; print(ultralytics.__version__)"
 # NOTE: the venv avoids shadowing the system Python's OpenCV (with GStreamer support) with a newer one without GStreamer support
@@ -173,17 +168,17 @@ RUN apt update \
         gstreamer1.0-tools gstreamer1.0-plugins-good gstreamer1.0-plugins-bad gstreamer1.0-plugins-ugly gstreamer1.0-libav \
         libgstrtspserver-1.0-0 libjansson4 libyaml-cpp-dev \
     && apt clean \
-    && rm -rf /var/lib/apt/lists/*
-RUN pip3 install --no-cache-dir --upgrade pip && \
-    pip3 install --no-cache-dir --resume-retries 5 meson ninja
-RUN wget https://download.gnome.org/sources/glib/2.76/glib-2.76.6.tar.xz \
+    && rm -rf /var/lib/apt/lists/* \
+    && pip3 install --no-cache-dir --upgrade pip && \
+    pip3 install --no-cache-dir --resume-retries 5 meson ninja \
+    && wget https://download.gnome.org/sources/glib/2.76/glib-2.76.6.tar.xz \
     && tar -xf glib-2.76.6.tar.xz \
     && cd glib-2.76.6 \
     && meson build --prefix=/usr \
     && ninja -C build \
-    && ninja -C build install
-RUN curl -LO 'https://api.ngc.nvidia.com/v2/resources/nvidia/deepstream/versions/7.1/files/deepstream-7.1_7.1.0-1_arm64.deb'
-RUN apt update && apt-get install -y ./deepstream-7.1_7.1.0-1_arm64.deb
+    && ninja -C build install \
+    && curl -LO 'https://api.ngc.nvidia.com/v2/resources/nvidia/deepstream/versions/7.1/files/deepstream-7.1_7.1.0-1_arm64.deb' \
+    && apt-get install -y ./deepstream-7.1_7.1.0-1_arm64.deb
 
 # Also install the Livox ROS2 driver only on Orin for deployment
 COPY /_github_clones/Livox-SDK2 /aas/github_apps/Livox-SDK2
@@ -215,8 +210,8 @@ WORKDIR /aas/github_ws
 RUN bash -c "source /opt/ros/humble/setup.bash && colcon build --symlink-install --packages-skip livox_ros_driver2 --cmake-args -DCMAKE_BUILD_TYPE=Release"
 
 # Install Zenoh
-RUN echo "deb [trusted=yes] https://download.eclipse.org/zenoh/debian-repo/ /" | sudo tee -a /etc/apt/sources.list > /dev/null
-RUN apt-get update && \
+RUN echo "deb [trusted=yes] https://download.eclipse.org/zenoh/debian-repo/ /" | sudo tee -a /etc/apt/sources.list > /dev/null \
+    && apt-get update && \
     apt-get install -y zenoh-bridge-ros2dds \
     && apt clean \
     && rm -rf /var/lib/apt/lists/*
@@ -257,7 +252,7 @@ COPY ground/ground_ws/src/ground_system_msgs /aas/aircraft_ws/src/ground_system_
 COPY aircraft/aircraft_ws/src /aas/aircraft_ws/src
 WORKDIR /aas/aircraft_ws
 RUN rosdep update
-RUN rosdep install --from-paths src/ --ignore-src --rosdistro humble -y --skip-keys "px4_msgs"
+RUN rosdep install --from-paths src/ --ignore-src --rosdistro humble -y --skip-keys "px4_msgs" && apt clean && rm -rf /var/lib/apt/lists/*
 # Explicitly use bash, not sh, to source and build the workspace
 RUN bash -c "source /opt/ros/humble/setup.bash && source /aas/github_ws/install/setup.bash && colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release"
 
@@ -265,15 +260,15 @@ RUN bash -c "source /opt/ros/humble/setup.bash && source /aas/github_ws/install/
 COPY aircraft/aircraft_resources/ /aas/aircraft_resources
 COPY aircraft/aircraft_resources/patches/kiss_icp.rviz /aas/github_ws/src/kiss-icp/ros/rviz/kiss_icp.rviz
 COPY aircraft/aircraft_resources/patches/apm_pluginlists.yaml /opt/ros/humble/share/mavros/launch/apm_pluginlists.yaml
-RUN ln -s /aas/aircraft_resources/patches/cancellable_action.py /usr/local/bin/cancellable_action
-RUN chmod +x /aas/aircraft_resources/patches/cancellable_action.py
+RUN ln -s /aas/aircraft_resources/patches/cancellable_action.py /usr/local/bin/cancellable_action \
+    && chmod +x /aas/aircraft_resources/patches/cancellable_action.py
 
 # Copy sensor configuration
 COPY simulation/simulation_resources/aircraft_models/sensor_config.yaml /aas/aircraft_resources/sensor_config.yaml
 
 # Source the workspaces
-RUN echo "source /aas/github_ws/install/setup.bash" >> /root/.bashrc
-RUN echo "source /aas/aircraft_ws/install/setup.bash" >> /root/.bashrc
+RUN echo "source /aas/github_ws/install/setup.bash" >> /root/.bashrc \
+    && echo "source /aas/aircraft_ws/install/setup.bash" >> /root/.bashrc
 # If needed (but already in .bashrc) $ source /opt/ros/humble/setup.bash && source /aas/github_ws/install/setup.bash && source /aas/aircraft_ws/install/setup.bash
 
 # Final config
diff --git a/tools_and_docs/docker/ground.dockerfile b/tools_and_docs/docker/ground.dockerfile
index d89d239..3836ba1 100644
--- a/tools_and_docs/docker/ground.dockerfile
+++ b/tools_and_docs/docker/ground.dockerfile
@@ -1,5 +1,5 @@
 ################################################################################
-# Stage 1 imported from aircraft.dockerfile build ##############################
+# Stage 1 imported from aircraft.dockerfile ####################################
 ################################################################################
 FROM common-ros2-image:latest AS ros2-image
 
@@ -11,8 +11,8 @@ FROM ros2-image AS ros2-qgc-zenoh-image
 # QGroundControl (as qgcuser)
 # Based on https://docs.qgroundcontrol.com/master/en/qgc-user-guide/getting_started/download_and_install.html
 WORKDIR /
-RUN useradd -m -s /bin/bash qgcuser
-RUN usermod -aG dialout qgcuser
+RUN useradd -m -s /bin/bash qgcuser \
+    && usermod -aG dialout qgcuser
 # RUN apt-get remove modemmanager -y
 RUN apt update \
     && apt install -y --no-install-recommends \
@@ -20,8 +20,8 @@ RUN apt update \
         libfuse2 \
         libxcb-xinerama0 libxkbcommon-x11-0 libxcb-cursor-dev \
     && apt clean \
-    && rm -rf /var/lib/apt/lists/*
-RUN wget https://d176tv9ibo4jno.cloudfront.net/latest/QGroundControl-x86_64.AppImage && \
+    && rm -rf /var/lib/apt/lists/* \
+    && wget https://d176tv9ibo4jno.cloudfront.net/latest/QGroundControl-x86_64.AppImage && \
     chmod +x /QGroundControl-x86_64.AppImage && \
     /QGroundControl-x86_64.AppImage --appimage-extract && \
     rm /QGroundControl-x86_64.AppImage
@@ -35,8 +35,8 @@ RUN apt update \
     && rm -rf /var/lib/apt/lists/*
 
 # Install Zenoh
-RUN echo "deb [trusted=yes] https://download.eclipse.org/zenoh/debian-repo/ /" | sudo tee -a /etc/apt/sources.list > /dev/null
-RUN apt-get update && \
+RUN echo "deb [trusted=yes] https://download.eclipse.org/zenoh/debian-repo/ /" | sudo tee -a /etc/apt/sources.list > /dev/null \
+    && apt-get update && \
     apt-get install -y zenoh-bridge-ros2dds \
     && apt clean \
     && rm -rf /var/lib/apt/lists/*
@@ -84,7 +84,7 @@ FROM ros2-qgc-zenoh-gst-mavlink-image AS ground-dev-image
 COPY ground/ground_ws/src /aas/ground_ws/src
 WORKDIR /aas/ground_ws
 RUN rosdep update
-RUN rosdep install --from-paths src/ --ignore-src --rosdistro humble -y
+RUN rosdep install --from-paths src/ --ignore-src --rosdistro humble -y && apt clean && rm -rf /var/lib/apt/lists/*
 # Explicitly use bash, not sh, to source and build the workspace
 RUN bash -c "source /opt/ros/humble/setup.bash && (source /aas/github_ws/install/setup.bash || true) && colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release"
 
diff --git a/tools_and_docs/docker/simulation.dockerfile b/tools_and_docs/docker/simulation.dockerfile
index e854409..82cc459 100644
--- a/tools_and_docs/docker/simulation.dockerfile
+++ b/tools_and_docs/docker/simulation.dockerfile
@@ -1,45 +1,7 @@
 ################################################################################
-# Stage 1 imported from aircraft.dockerfile build ##############################
+# Stage 1 & 2 imported from aircraft.dockerfile and ground.dockerfile ##########
 ################################################################################
-FROM common-ros2-image:latest AS ros2-image
-
-################################################################################
-# Stage 2 ######################################################################
-################################################################################
-FROM ros2-image AS ros2-qgc-zenoh-image
-
-# QGroundControl (as qgcuser)
-# Based on https://docs.qgroundcontrol.com/master/en/qgc-user-guide/getting_started/download_and_install.html
-WORKDIR /
-RUN useradd -m -s /bin/bash qgcuser
-RUN usermod -aG dialout qgcuser
-# RUN apt-get remove modemmanager -y
-RUN apt update \
-    && apt install -y --no-install-recommends \
-        gstreamer1.0-plugins-bad gstreamer1.0-libav gstreamer1.0-gl \
-        libfuse2 \
-        libxcb-xinerama0 libxkbcommon-x11-0 libxcb-cursor-dev \
-    && apt clean \
-    && rm -rf /var/lib/apt/lists/*
-RUN wget https://d176tv9ibo4jno.cloudfront.net/latest/QGroundControl-x86_64.AppImage && \
-    chmod +x /QGroundControl-x86_64.AppImage && \
-    /QGroundControl-x86_64.AppImage --appimage-extract && \
-    rm /QGroundControl-x86_64.AppImage
-# Run with $ gosu qgcuser /squashfs-root/AppRun
-
-# Install wmctrl and xrandr to resize Gazebo/QGC window
-RUN apt update \
-    && apt install -y --no-install-recommends \
-        wmctrl x11-xserver-utils \
-    && apt clean \
-    && rm -rf /var/lib/apt/lists/*
-
-# Install Zenoh
-RUN echo "deb [trusted=yes] https://download.eclipse.org/zenoh/debian-repo/ /" | sudo tee -a /etc/apt/sources.list > /dev/null
-RUN apt-get update && \
-    apt-get install -y zenoh-bridge-ros2dds \
-    && apt clean \
-    && rm -rf /var/lib/apt/lists/*
+FROM common-ros2-qgc-zenoh-image AS ros2-qgc-zenoh-image
 
 ################################################################################
 # Stage 3 ######################################################################
@@ -51,11 +13,9 @@ FROM ros2-qgc-zenoh-image AS ros2-qgc-zenoh-gz-image
 RUN apt update \
     && apt install -y --no-install-recommends \
         lsb-release gnupg \
-    && apt clean \
-    && rm -rf /var/lib/apt/lists/*
-RUN curl https://packages.osrfoundation.org/gazebo.gpg --output /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg
-RUN echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
-RUN apt update \
+    && curl https://packages.osrfoundation.org/gazebo.gpg --output /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg \
+    && echo "deb [arch=$(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 \
+    && apt update \
     && apt install -y --no-install-recommends \
         gz-harmonic ros-humble-ros-gzharmonic \
         libgz-transport13-* libgz-msgs10-dev \
@@ -73,7 +33,9 @@ FROM ros2-qgc-zenoh-gz-image AS ros2-qgc-zenoh-gz-px4-image
 # Based on https://docs.px4.io/main/en/dev_setup/dev_env_linux_ubuntu.html
 COPY /_github_clones/PX4-Autopilot /aas/github_apps/PX4-Autopilot
 WORKDIR /aas/github_apps/PX4-Autopilot
-RUN bash ./Tools/setup/ubuntu.sh --no-sim-tools
+RUN bash ./Tools/setup/ubuntu.sh --no-sim-tools \
+    && apt-get clean \
+    && rm -rf /var/lib/apt/lists/*
 
 ################################################################################
 # Stage 5 ######################################################################
@@ -84,13 +46,15 @@ FROM ros2-qgc-zenoh-gz-px4-image AS ros2-qgc-zenoh-gz-px4-ardupilot-image
 # Based on https://ardupilot.org/dev/docs/building-setup-linux.html#building-setup-linux
 COPY /_github_clones/ardupilot /aas/github_apps/ardupilot
 WORKDIR /aas/github_apps/ardupilot
-RUN useradd -m -s /bin/bash arduuser && \
-    echo "arduuser ALL=(ALL) NOPASSWD:ALL" > /etc/sudoers.d/arduuser && chmod 0440 /etc/sudoers.d/arduuser && \
-    gosu arduuser git config --global --add safe.directory /aas/github_apps/ardupilot && \
-    chown -R arduuser:arduuser /aas/github_apps/ardupilot
-RUN USER=arduuser gosu arduuser bash ./Tools/environment_install/install-prereqs-ubuntu.sh -y
-RUN gosu arduuser bash -c "cd /aas/github_apps/ardupilot && ./waf configure --board sitl && ./waf build"
-RUN chown -R root:root /aas/github_apps/ardupilot
+RUN useradd -m -s /bin/bash arduuser \
+    && echo "arduuser ALL=(ALL) NOPASSWD:ALL" > /etc/sudoers.d/arduuser && chmod 0440 /etc/sudoers.d/arduuser \
+    && gosu arduuser git config --global --add safe.directory /aas/github_apps/ardupilot \
+    && chown -R arduuser:arduuser /aas/github_apps/ardupilot \
+    && USER=arduuser gosu arduuser bash ./Tools/environment_install/install-prereqs-ubuntu.sh -y \
+    && apt-get clean \
+    && rm -rf /var/lib/apt/lists/*
+RUN gosu arduuser bash -c "cd /aas/github_apps/ardupilot && ./waf configure --board sitl && ./waf build" \
+    && chown -R root:root /aas/github_apps/ardupilot
 # Run with $ /aas/github_apps/ardupilot/build/sitl/bin/arducopter
 
 # ArduPilot Gazebo Plugin
@@ -111,8 +75,8 @@ RUN mkdir build && cd build && \
     make -j$(nproc)
 
 # Pre-build in the Docker image to speed up the first use of sim_vehicle.py
-RUN /aas/github_apps/ardupilot/Tools/autotest/sim_vehicle.py -v ArduCopter
-RUN /aas/github_apps/ardupilot/Tools/autotest/sim_vehicle.py -v ArduPlane
+RUN /aas/github_apps/ardupilot/Tools/autotest/sim_vehicle.py -v ArduCopter \
+    && /aas/github_apps/ardupilot/Tools/autotest/sim_vehicle.py -v ArduPlane
 
 ################################################################################
 # Temporary stage to filter airframes ##########################################
@@ -174,8 +138,8 @@ RUN apt-get update && \
     && rm -rf /var/lib/apt/lists/*
 COPY /_github_clones/flight_review /aas/github_apps/flight_review
 WORKDIR /aas/github_apps/flight_review/app
-RUN python3 -m venv /px4fr-env
-RUN /px4fr-env/bin/pip3 install --no-cache-dir --upgrade pip && \
+RUN python3 -m venv /px4fr-env \
+    && /px4fr-env/bin/pip3 install --no-cache-dir --upgrade pip && \
     /px4fr-env/bin/pip3 install --no-cache-dir --resume-retries 5 -r requirements.txt
 
 # Build the Gazebo wave plugin in github_ws/
@@ -212,14 +176,14 @@ FROM ros2-qgc-zenoh-gz-px4custom-ardupilot-gst-logs-waves-zmq-image AS simulatio
 COPY simulation/simulation_ws/src /aas/simulation_ws/src
 WORKDIR /aas/simulation_ws
 RUN rosdep update
-RUN rosdep install --from-paths src/ --ignore-src --rosdistro humble -y
+RUN rosdep install --from-paths src/ --ignore-src --rosdistro humble -y && apt clean && rm -rf /var/lib/apt/lists/*
 # Explicitly use bash, not sh, to source and build the workspace
 RUN bash -c "source /opt/ros/humble/setup.bash && (source /aas/github_ws/install/setup.bash || true) && colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release"
 
 # Copy resources and configuration files from this repository
 COPY simulation/simulation_resources/ /aas/simulation_resources
-RUN chmod +x /aas/simulation_resources/aircraft_models/_create_ardupilot_models.sh
-RUN chmod +x /aas/simulation_resources/simulation_worlds/_create_ardupilot_world.sh
+RUN chmod +x /aas/simulation_resources/aircraft_models/_create_ardupilot_models.sh \
+    && chmod +x /aas/simulation_resources/simulation_worlds/_create_ardupilot_world.sh
 
 # Copy QGC configuration (only for GND_CONTAINER=false)
 COPY ground/ground_resources/patches/QGroundControl.ini /home/qgcuser/.config/QGroundControl/QGroundControl.ini
@@ -235,8 +199,8 @@ WORKDIR /aas/simulation_resources/aircraft_models/
 RUN ruby _create_sdfs_using_sensor_config.rb
 
 # Source the workspaces
-RUN echo "source /aas/github_ws/install/setup.bash" >> /root/.bashrc
-RUN echo "source /aas/simulation_ws/install/setup.bash" >> /root/.bashrc
+RUN echo "source /aas/github_ws/install/setup.bash" >> /root/.bashrc \
+    && echo "source /aas/simulation_ws/install/setup.bash" >> /root/.bashrc
 # If needed (but already in .bashrc) $ source /opt/ros/humble/setup.bash && source /aas/github_ws/install/setup.bash && source /aas/simulation_ws/install/setup.bash
 
 # Final config
diff --git a/tools_and_docs/sim_build.sh b/tools_and_docs/sim_build.sh
index 10d6bfe..9fa8c93 100755
--- a/tools_and_docs/sim_build.sh
+++ b/tools_and_docs/sim_build.sh
@@ -95,11 +95,13 @@ fi
 unzip -q -o "$ZIP_FILE" -d "$SCRIPT_DIR/.."
 
 if [ "$BUILD_DOCKER" = "true" ]; then
-  # The first build takes ~45'
+  # Build common stages first
   docker build $BUILD_ARGS --target ros2-image -t common-ros2-image:latest -f "${SCRIPT_DIR}/docker/aircraft.dockerfile" "${SCRIPT_DIR}/.."
+  docker build $BUILD_ARGS --target ros2-qgc-zenoh-image -t common-ros2-qgc-zenoh-image:latest -f "${SCRIPT_DIR}/docker/ground.dockerfile" "${SCRIPT_DIR}/.."
+  # Three main images, the first build takes ~45'
   docker build $BUILD_ARGS -t aircraft-image -f "${SCRIPT_DIR}/docker/aircraft.dockerfile" "${SCRIPT_DIR}/.."
-  docker build $BUILD_ARGS -t simulation-image -f "${SCRIPT_DIR}/docker/simulation.dockerfile" "${SCRIPT_DIR}/.."
   docker build $BUILD_ARGS -t ground-image -f "${SCRIPT_DIR}/docker/ground.dockerfile" "${SCRIPT_DIR}/.."
+  docker build $BUILD_ARGS -t simulation-image -f "${SCRIPT_DIR}/docker/simulation.dockerfile" "${SCRIPT_DIR}/.."
 else
   echo -e "Skipping Docker builds"
 fi

From 73bf2b3aa66310549bd8c6c7ea7a695133643736 Mon Sep 17 00:00:00 2001
From: Jacopo Panerati <jacopo.panerati@utoronto.ca>
Date: Thu, 21 May 2026 23:28:34 -0400
Subject: [PATCH 04/11] github actions

---
 .github/workflows/ground-amd64-build.yml     | 4 ++--
 .github/workflows/simulation-amd64-build.yml | 6 +++---
 tools_and_docs/docker/aircraft.dockerfile    | 4 +++-
 3 files changed, 8 insertions(+), 6 deletions(-)

diff --git a/.github/workflows/ground-amd64-build.yml b/.github/workflows/ground-amd64-build.yml
index 14d15cc..d4a3d80 100644
--- a/.github/workflows/ground-amd64-build.yml
+++ b/.github/workflows/ground-amd64-build.yml
@@ -86,5 +86,5 @@ jobs:
 
       - name: Build the ground image
         run: |
-          docker buildx build --load --target ros2-image -t common-ros2-base:latest -f ./tools_and_docs/docker/aircraft.dockerfile .
-          docker buildx build --push -t ghcr.io/jacopopan/ground-image:${{ env.DOCKER_TAG }} -f ./tools_and_docs/docker/ground.dockerfile .
+          docker buildx build --load --target ros2-image -t common-ros2-image:latest -f ./tools_and_docs/docker/aircraft.dockerfile .
+          docker buildx build --push --build-context common-ros2-image:latest=docker-image://common-ros2-image:latest -t ghcr.io/jacopopan/ground-image:${{ env.DOCKER_TAG }} -f ./tools_and_docs/docker/ground.dockerfile .
diff --git a/.github/workflows/simulation-amd64-build.yml b/.github/workflows/simulation-amd64-build.yml
index dfe8a44..ff0b596 100644
--- a/.github/workflows/simulation-amd64-build.yml
+++ b/.github/workflows/simulation-amd64-build.yml
@@ -86,6 +86,6 @@ jobs:
 
       - name: Build the simulation image
         run: |
-          docker buildx build --load --target ros2-image -t common-ros2-base:latest -f ./tools_and_docs/docker/aircraft.dockerfile .
-          docker buildx build --load --target ros2-qgc-zenoh-image -t common-ros2-qgc-zenoh-image:latest -f ./tools_and_docs/docker/ground.dockerfile .
-          docker buildx build --push -t ghcr.io/jacopopan/simulation-image:${{ env.DOCKER_TAG }} -f ./tools_and_docs/docker/simulation.dockerfile .
+          docker buildx build --load --target ros2-image -t common-ros2-image:latest -f ./tools_and_docs/docker/aircraft.dockerfile .
+          docker buildx build --load --target ros2-qgc-zenoh-image --build-context common-ros2-image:latest=docker-image://common-ros2-image:latest -t common-ros2-qgc-zenoh-image:latest -f ./tools_and_docs/docker/ground.dockerfile .
+          docker buildx build --push --build-context common-ros2-qgc-zenoh-image:latest=docker-image://common-ros2-qgc-zenoh-image:latest -t ghcr.io/jacopopan/simulation-image:${{ env.DOCKER_TAG }} -f ./tools_and_docs/docker/simulation.dockerfile .
diff --git a/tools_and_docs/docker/aircraft.dockerfile b/tools_and_docs/docker/aircraft.dockerfile
index 0db2a2f..462ce9f 100644
--- a/tools_and_docs/docker/aircraft.dockerfile
+++ b/tools_and_docs/docker/aircraft.dockerfile
@@ -177,8 +177,10 @@ RUN apt update \
     && meson build --prefix=/usr \
     && ninja -C build \
     && ninja -C build install \
+    && cd .. \
     && curl -LO 'https://api.ngc.nvidia.com/v2/resources/nvidia/deepstream/versions/7.1/files/deepstream-7.1_7.1.0-1_arm64.deb' \
-    && apt-get install -y ./deepstream-7.1_7.1.0-1_arm64.deb
+    && apt-get install -y ./deepstream-7.1_7.1.0-1_arm64.deb \
+    && rm deepstream-7.1_7.1.0-1_arm64.deb glib-2.76.6.tar.xz
 
 # Also install the Livox ROS2 driver only on Orin for deployment
 COPY /_github_clones/Livox-SDK2 /aas/github_apps/Livox-SDK2

From 4b1df9d5f84d16f0bf6d14de674c4e4f747b6943 Mon Sep 17 00:00:00 2001
From: Jacopo Panerati <jacopo.panerati@utoronto.ca>
Date: Thu, 21 May 2026 23:29:28 -0400
Subject: [PATCH 05/11] deepstream cleanup

---
 tools_and_docs/docker/aircraft.dockerfile | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/tools_and_docs/docker/aircraft.dockerfile b/tools_and_docs/docker/aircraft.dockerfile
index 462ce9f..e40cff3 100644
--- a/tools_and_docs/docker/aircraft.dockerfile
+++ b/tools_and_docs/docker/aircraft.dockerfile
@@ -180,7 +180,9 @@ RUN apt update \
     && cd .. \
     && curl -LO 'https://api.ngc.nvidia.com/v2/resources/nvidia/deepstream/versions/7.1/files/deepstream-7.1_7.1.0-1_arm64.deb' \
     && apt-get install -y ./deepstream-7.1_7.1.0-1_arm64.deb \
-    && rm deepstream-7.1_7.1.0-1_arm64.deb glib-2.76.6.tar.xz
+    && rm -rf deepstream-7.1_7.1.0-1_arm64.deb glib-2.76.6.tar.xz glib-2.76.6 \
+    && apt-get clean \
+    && rm -rf /var/lib/apt/lists/*
 
 # Also install the Livox ROS2 driver only on Orin for deployment
 COPY /_github_clones/Livox-SDK2 /aas/github_apps/Livox-SDK2

From 1bb7b54928718c8a746771e28324fd7e64c90eb0 Mon Sep 17 00:00:00 2001
From: Jacopo Panerati <jacopo.panerati@utoronto.ca>
Date: Fri, 22 May 2026 08:41:46 -0400
Subject: [PATCH 06/11] testing actions

---
 .github/workflows/ground-amd64-build.yml    | 4 ++--
 tools_and_docs/docker/simulation.dockerfile | 2 +-
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/.github/workflows/ground-amd64-build.yml b/.github/workflows/ground-amd64-build.yml
index d4a3d80..5ed4841 100644
--- a/.github/workflows/ground-amd64-build.yml
+++ b/.github/workflows/ground-amd64-build.yml
@@ -86,5 +86,5 @@ jobs:
 
       - name: Build the ground image
         run: |
-          docker buildx build --load --target ros2-image -t common-ros2-image:latest -f ./tools_and_docs/docker/aircraft.dockerfile .
-          docker buildx build --push --build-context common-ros2-image:latest=docker-image://common-ros2-image:latest -t ghcr.io/jacopopan/ground-image:${{ env.DOCKER_TAG }} -f ./tools_and_docs/docker/ground.dockerfile .
+          docker buildx build --target ros2-image --output type=oci,dest=/tmp/common-ros2-image -f ./tools_and_docs/docker/aircraft.dockerfile .
+          docker buildx build --push --build-context common-ros2-image:latest=oci-layout:///tmp/common-ros2-image -t ghcr.io/jacopopan/ground-image:${{ env.DOCKER_TAG }} -f ./tools_and_docs/docker/ground.dockerfile .
\ No newline at end of file
diff --git a/tools_and_docs/docker/simulation.dockerfile b/tools_and_docs/docker/simulation.dockerfile
index 82cc459..9b0087d 100644
--- a/tools_and_docs/docker/simulation.dockerfile
+++ b/tools_and_docs/docker/simulation.dockerfile
@@ -1,7 +1,7 @@
 ################################################################################
 # Stage 1 & 2 imported from aircraft.dockerfile and ground.dockerfile ##########
 ################################################################################
-FROM common-ros2-qgc-zenoh-image AS ros2-qgc-zenoh-image
+FROM common-ros2-qgc-zenoh-image:latest AS ros2-qgc-zenoh-image
 
 ################################################################################
 # Stage 3 ######################################################################

From da3c0575b2056953e10d5b65dd2eae571487e118 Mon Sep 17 00:00:00 2001
From: Jacopo Panerati <jacopo.panerati@utoronto.ca>
Date: Fri, 22 May 2026 08:54:02 -0400
Subject: [PATCH 07/11] testing actions

---
 .github/workflows/ground-amd64-build.yml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/ground-amd64-build.yml b/.github/workflows/ground-amd64-build.yml
index 5ed4841..552a0d2 100644
--- a/.github/workflows/ground-amd64-build.yml
+++ b/.github/workflows/ground-amd64-build.yml
@@ -86,5 +86,5 @@ jobs:
 
       - name: Build the ground image
         run: |
-          docker buildx build --target ros2-image --output type=oci,dest=/tmp/common-ros2-image -f ./tools_and_docs/docker/aircraft.dockerfile .
-          docker buildx build --push --build-context common-ros2-image:latest=oci-layout:///tmp/common-ros2-image -t ghcr.io/jacopopan/ground-image:${{ env.DOCKER_TAG }} -f ./tools_and_docs/docker/ground.dockerfile .
\ No newline at end of file
+          docker buildx build --target ros2-image --output type=oci,dest=/tmp/common-ros2-image,tar=false -f ./tools_and_docs/docker/aircraft.dockerfile .
+          docker buildx build --push --build-context common-ros2-image:latest=oci-layout:///tmp/common-ros2-image -t ghcr.io/jacopopan/ground-image:${{ env.DOCKER_TAG }} -f ./tools_and_docs/docker/ground.dockerfile .

From 5bb207b1af2d0c096db427bf1dda3ca131287837 Mon Sep 17 00:00:00 2001
From: Jacopo Panerati <jacopo.panerati@utoronto.ca>
Date: Fri, 22 May 2026 09:22:19 -0400
Subject: [PATCH 08/11] testing actions

---
 .github/workflows/simulation-amd64-build.yml | 7 ++++---
 1 file changed, 4 insertions(+), 3 deletions(-)

diff --git a/.github/workflows/simulation-amd64-build.yml b/.github/workflows/simulation-amd64-build.yml
index ff0b596..437ac8e 100644
--- a/.github/workflows/simulation-amd64-build.yml
+++ b/.github/workflows/simulation-amd64-build.yml
@@ -86,6 +86,7 @@ jobs:
 
       - name: Build the simulation image
         run: |
-          docker buildx build --load --target ros2-image -t common-ros2-image:latest -f ./tools_and_docs/docker/aircraft.dockerfile .
-          docker buildx build --load --target ros2-qgc-zenoh-image --build-context common-ros2-image:latest=docker-image://common-ros2-image:latest -t common-ros2-qgc-zenoh-image:latest -f ./tools_and_docs/docker/ground.dockerfile .
-          docker buildx build --push --build-context common-ros2-qgc-zenoh-image:latest=docker-image://common-ros2-qgc-zenoh-image:latest -t ghcr.io/jacopopan/simulation-image:${{ env.DOCKER_TAG }} -f ./tools_and_docs/docker/simulation.dockerfile .
+
+          docker buildx build --target ros2-image --output type=oci,dest=/tmp/common-ros2-image,tar=false -f ./tools_and_docs/docker/aircraft.dockerfile .
+          docker buildx build --target ros2-qgc-zenoh-image --build-context common-ros2-image:latest=oci-layout:///tmp/common-ros2-image --output type=oci,dest=/tmp/common-ros2-qgc-zenoh-image,tar=false -f ./tools_and_docs/docker/ground.dockerfile .
+          docker buildx build --push --build-context common-ros2-qgc-zenoh-image:latest=oci-layout:///tmp/common-ros2-qgc-zenoh-image -t ghcr.io/jacopopan/simulation-image:${{ env.DOCKER_TAG }} -f ./tools_and_docs/docker/simulation.dockerfile .

From 85808b6ca5053677802a17a12cf4624f23469332 Mon Sep 17 00:00:00 2001
From: Jacopo Panerati <jacopo.panerati@utoronto.ca>
Date: Fri, 22 May 2026 11:16:23 -0400
Subject: [PATCH 09/11] comments and renaming

---
 .github/workflows/ground-amd64-build.yml     |  4 +-
 .github/workflows/simulation-amd64-build.yml |  6 +--
 tools_and_docs/docker/aircraft.dockerfile    | 39 +++++++++++---------
 tools_and_docs/docker/ground.dockerfile      | 23 ++++--------
 tools_and_docs/docker/simulation.dockerfile  | 30 +++++++--------
 tools_and_docs/sim_build.sh                  |  6 +--
 6 files changed, 53 insertions(+), 55 deletions(-)

diff --git a/.github/workflows/ground-amd64-build.yml b/.github/workflows/ground-amd64-build.yml
index 552a0d2..3421438 100644
--- a/.github/workflows/ground-amd64-build.yml
+++ b/.github/workflows/ground-amd64-build.yml
@@ -86,5 +86,5 @@ jobs:
 
       - name: Build the ground image
         run: |
-          docker buildx build --target ros2-image --output type=oci,dest=/tmp/common-ros2-image,tar=false -f ./tools_and_docs/docker/aircraft.dockerfile .
-          docker buildx build --push --build-context common-ros2-image:latest=oci-layout:///tmp/common-ros2-image -t ghcr.io/jacopopan/ground-image:${{ env.DOCKER_TAG }} -f ./tools_and_docs/docker/ground.dockerfile .
+          docker buildx build --target ros2-image --output type=oci,dest=/tmp/transitionary-ros2-image,tar=false -f ./tools_and_docs/docker/aircraft.dockerfile .
+          docker buildx build --push --build-context transitionary-ros2-image=oci-layout:///tmp/transitionary-ros2-image -t ghcr.io/jacopopan/ground-image:${{ env.DOCKER_TAG }} -f ./tools_and_docs/docker/ground.dockerfile .
diff --git a/.github/workflows/simulation-amd64-build.yml b/.github/workflows/simulation-amd64-build.yml
index 437ac8e..1bf9ba2 100644
--- a/.github/workflows/simulation-amd64-build.yml
+++ b/.github/workflows/simulation-amd64-build.yml
@@ -87,6 +87,6 @@ jobs:
       - name: Build the simulation image
         run: |
 
-          docker buildx build --target ros2-image --output type=oci,dest=/tmp/common-ros2-image,tar=false -f ./tools_and_docs/docker/aircraft.dockerfile .
-          docker buildx build --target ros2-qgc-zenoh-image --build-context common-ros2-image:latest=oci-layout:///tmp/common-ros2-image --output type=oci,dest=/tmp/common-ros2-qgc-zenoh-image,tar=false -f ./tools_and_docs/docker/ground.dockerfile .
-          docker buildx build --push --build-context common-ros2-qgc-zenoh-image:latest=oci-layout:///tmp/common-ros2-qgc-zenoh-image -t ghcr.io/jacopopan/simulation-image:${{ env.DOCKER_TAG }} -f ./tools_and_docs/docker/simulation.dockerfile .
+          docker buildx build --target ros2-image --output type=oci,dest=/tmp/transitionary-ros2-image,tar=false -f ./tools_and_docs/docker/aircraft.dockerfile .
+          docker buildx build --target ros2-qgc-image --build-context transitionary-ros2-image=oci-layout:///tmp/transitionary-ros2-image --output type=oci,dest=/tmp/transitionary-ros2-qgc-image,tar=false -f ./tools_and_docs/docker/ground.dockerfile .
+          docker buildx build --push --build-context transitionary-ros2-qgc-image=oci-layout:///tmp/transitionary-ros2-qgc-image -t ghcr.io/jacopopan/simulation-image:${{ env.DOCKER_TAG }} -f ./tools_and_docs/docker/simulation.dockerfile .
diff --git a/tools_and_docs/docker/aircraft.dockerfile b/tools_and_docs/docker/aircraft.dockerfile
index e40cff3..65ac15d 100644
--- a/tools_and_docs/docker/aircraft.dockerfile
+++ b/tools_and_docs/docker/aircraft.dockerfile
@@ -5,7 +5,7 @@ FROM nvcr.io/nvidia/cuda:12.9.1-cudnn-runtime-ubuntu22.04 AS base_amd64
 FROM nvcr.io/nvidia/l4t-jetpack:r36.4.0 AS base_arm64
 
 ################################################################################
-# Stage 1 ######################################################################
+# Add tools and ROS2 ###########################################################
 ################################################################################
 FROM base_${TARGETARCH} AS ros2-image
 
@@ -45,8 +45,15 @@ RUN apt update \
     && echo "source /opt/ros/humble/setup.bash" >> /root/.bashrc \
     && rosdep init
 
+# Install Zenoh ROS2 bridge
+RUN echo "deb [trusted=yes] https://download.eclipse.org/zenoh/debian-repo/ /" | sudo tee -a /etc/apt/sources.list > /dev/null \
+    && apt-get update && \
+    apt-get install -y zenoh-bridge-ros2dds \
+    && apt clean \
+    && rm -rf /var/lib/apt/lists/*
+
 ################################################################################
-# Stage 2 ######################################################################
+# Add PX4 messages #############################################################
 ################################################################################
 FROM ros2-image AS ros2-px4msgs-image
 
@@ -59,7 +66,7 @@ RUN rosdep install --from-paths src --ignore-src --rosdistro humble -y && apt cl
 RUN bash -c "source /opt/ros/humble/setup.bash && colcon build --symlink-install"
 
 ################################################################################
-# Stage 3 ######################################################################
+# Add uXRCE-DDS agent ##########################################################
 ################################################################################
 FROM ros2-px4msgs-image AS ros2-px4msgs-dds-image
 
@@ -75,7 +82,7 @@ RUN mkdir build && cd build && \
 # Run with $ MicroXRCEAgent udp4 -p 8888
 
 ################################################################################
-# Stage 4 ######################################################################
+# Add MAVROS ###################################################################
 ################################################################################
 FROM ros2-px4msgs-dds-image AS ros2-px4msgs-dds-mavros-image
 
@@ -88,7 +95,7 @@ RUN apt-get update && \
 # Run with $ ros2 launch mavros apm.launch fcu_url:=[URI]
 
 ################################################################################
-# Stage 5 ######################################################################
+# Add GStreamer, OpenCV, and Ultralytics YOLO ##################################
 ################################################################################
 FROM ros2-px4msgs-dds-mavros-image AS ros2-px4msgs-dds-mavros-yolo-image
 
@@ -119,7 +126,8 @@ RUN python3 -m venv /yolo-env \
 # Versus $ /yolo-env/bin/python3 -c "import cv2; print(cv2.getBuildInformation())"
 
 ################################################################################
-# Alternate stage for ONNX Runtime GPU: use CUDA in sim, TensorRT on Orin ######
+# amd64 stage for ONNX Runtime GPU: from wheel with CUDA in simulation #########
+# Mutually exclusive with the next stage #######################################
 ################################################################################
 FROM ros2-px4msgs-dds-mavros-yolo-image AS image-with-hardware-specific-ort-deepstream-and-drivers_amd64
 # Add ONNX Runtime with GPU (CUDA) support for system Python
@@ -127,6 +135,10 @@ RUN pip3 install --no-cache-dir --upgrade pip && \
     pip3 install --no-cache-dir --resume-retries 5 onnxruntime-gpu
 # Check with $ python3 -c "import onnxruntime as ort; print(ort.__version__); print(ort.get_available_providers())"
 
+################################################################################
+# arm64 stage for ONNX Runtime GPU: compile for TensorRT support on Jetson #####
+# Mutually exclusive with the previous stage ###################################
+################################################################################
 FROM ros2-px4msgs-dds-mavros-yolo-image AS image-with-hardware-specific-ort-deepstream-and-drivers_arm64
 # Build ONNX Runtime from source with Jetson (TensorRT) support for system Python
 # Based on https://onnxruntime.ai/docs/build/eps.html#nvidia-jetson-tx1tx2nanoxavierorin
@@ -158,7 +170,7 @@ RUN apt update && \
 ENV PYTHONPATH=/aas/github_apps/onnxruntime/build/Linux/Release
 # Check with $ python3 -c "import onnxruntime as ort; print(ort.__version__); print(ort.get_available_providers())"
 
-# Install DeepStream 7.1 on Orin to use NVIDIA accelerated GStreamer preprocessing (e.g. nvdewarper)
+# Also install DeepStream 7.1 on Orin to use NVIDIA accelerated GStreamer preprocessing (e.g. nvdewarper)
 # Based on https://docs.nvidia.com/metropolis/deepstream/7.1/text/DS_Installation.html
 WORKDIR /
 RUN apt update \
@@ -202,7 +214,7 @@ RUN cp -f src/livox_ros_driver2/package_ROS2.xml src/livox_ros_driver2/package.x
 RUN bash -c "source /opt/ros/humble/setup.bash && colcon build --symlink-install --packages-select livox_ros_driver2 --cmake-args -DROS_EDITION=ROS2 -DDISTRO_ROS=humble -DCMAKE_BUILD_TYPE=Release"
 
 ################################################################################
-# Stage 6 ######################################################################
+# Add KISS-ICP #################################################################
 ################################################################################
 FROM image-with-hardware-specific-ort-deepstream-and-drivers_${TARGETARCH} AS ros2-px4msgs-dds-mavros-yolo-kissicp-zenoh-image
 
@@ -213,15 +225,8 @@ WORKDIR /aas/github_ws
 # Explicitly use bash, not sh, to source and build the workspace
 RUN bash -c "source /opt/ros/humble/setup.bash && colcon build --symlink-install --packages-skip livox_ros_driver2 --cmake-args -DCMAKE_BUILD_TYPE=Release"
 
-# Install Zenoh
-RUN echo "deb [trusted=yes] https://download.eclipse.org/zenoh/debian-repo/ /" | sudo tee -a /etc/apt/sources.list > /dev/null \
-    && apt-get update && \
-    apt-get install -y zenoh-bridge-ros2dds \
-    && apt clean \
-    && rm -rf /var/lib/apt/lists/*
-
 ################################################################################
-# Stage 7 ######################################################################
+# Add analysis tools and YOLO models ###########################################
 ################################################################################
 FROM ros2-px4msgs-dds-mavros-yolo-kissicp-zenoh-image AS ros2-px4msgs-dds-mavros-yolo-kissicp-zenoh-analysis-models-image
 
@@ -247,7 +252,7 @@ RUN /yolo-env/bin/python3 -c "from ultralytics import YOLO; YOLO('yolo26n.pt').e
     rm yolo26n.pt
 
 ################################################################################
-# Stage 8 ######################################################################
+# Copy AAS resources and build AAS ROS2 workspace ##############################
 ################################################################################
 FROM ros2-px4msgs-dds-mavros-yolo-kissicp-zenoh-analysis-models-image AS aircraft-dev-image
 
diff --git a/tools_and_docs/docker/ground.dockerfile b/tools_and_docs/docker/ground.dockerfile
index 3836ba1..26d8b2a 100644
--- a/tools_and_docs/docker/ground.dockerfile
+++ b/tools_and_docs/docker/ground.dockerfile
@@ -1,12 +1,12 @@
 ################################################################################
-# Stage 1 imported from aircraft.dockerfile ####################################
+# Import ROS2 layer from aircraft.dockerfile ###################################
 ################################################################################
-FROM common-ros2-image:latest AS ros2-image
+FROM transitionary-ros2-image AS ros2-image
 
 ################################################################################
-# Stage 2 ######################################################################
+# Add QGroundControl ###########################################################
 ################################################################################
-FROM ros2-image AS ros2-qgc-zenoh-image
+FROM ros2-image AS ros2-qgc-image
 
 # QGroundControl (as qgcuser)
 # Based on https://docs.qgroundcontrol.com/master/en/qgc-user-guide/getting_started/download_and_install.html
@@ -34,17 +34,10 @@ RUN apt update \
     && apt clean \
     && rm -rf /var/lib/apt/lists/*
 
-# Install Zenoh
-RUN echo "deb [trusted=yes] https://download.eclipse.org/zenoh/debian-repo/ /" | sudo tee -a /etc/apt/sources.list > /dev/null \
-    && apt-get update && \
-    apt-get install -y zenoh-bridge-ros2dds \
-    && apt clean \
-    && rm -rf /var/lib/apt/lists/*
-
 ################################################################################
-# Stage 3 ######################################################################
+# Add GStreamer and MAVLink ####################################################
 ################################################################################
-FROM ros2-qgc-zenoh-image AS ros2-qgc-zenoh-gst-mavlink-image
+FROM ros2-qgc-image AS ros2-qgc-gst-mavlink-image
 
 # Add GStreamer packages to stream the cameras to the aircraft containers
 RUN apt update \
@@ -76,9 +69,9 @@ RUN meson setup build . --buildtype=release \
 COPY /_github_clones/c_library_v2 /usr/local/include/mavlink/
 
 ################################################################################
-# Stage 4 ######################################################################
+# Copy AAS resources and build AAS ROS2 workspace ##############################
 ################################################################################
-FROM ros2-qgc-zenoh-gst-mavlink-image AS ground-dev-image
+FROM ros2-qgc-gst-mavlink-image AS ground-dev-image
 
 # Build the ROS 2 workspace
 COPY ground/ground_ws/src /aas/ground_ws/src
diff --git a/tools_and_docs/docker/simulation.dockerfile b/tools_and_docs/docker/simulation.dockerfile
index 9b0087d..2988eca 100644
--- a/tools_and_docs/docker/simulation.dockerfile
+++ b/tools_and_docs/docker/simulation.dockerfile
@@ -1,12 +1,12 @@
 ################################################################################
-# Stage 1 & 2 imported from aircraft.dockerfile and ground.dockerfile ##########
+# Import ROS2 layer from aircraft.dockerfile, QGC layer from ground.dockerfile #
 ################################################################################
-FROM common-ros2-qgc-zenoh-image:latest AS ros2-qgc-zenoh-image
+FROM transitionary-ros2-qgc-image AS ros2-qgc-image
 
 ################################################################################
-# Stage 3 ######################################################################
+# Add Gazebo Sim ###############################################################
 ################################################################################
-FROM ros2-qgc-zenoh-image AS ros2-qgc-zenoh-gz-image
+FROM ros2-qgc-image AS ros2-qgc-gz-image
 
 # Gazebo Harmonic
 # Based on https://gazebosim.org/docs/harmonic/install_ubuntu/
@@ -25,9 +25,9 @@ RUN apt update \
 # Run with $ gz sim
 
 ################################################################################
-# Stage 4 ######################################################################
+# Add PX4 ######################################################################
 ################################################################################
-FROM ros2-qgc-zenoh-gz-image AS ros2-qgc-zenoh-gz-px4-image
+FROM ros2-qgc-gz-image AS ros2-qgc-gz-px4-image
 
 # PX4 SITL (NOTE: install PX4 tools first to avoid conflicts with ArduPilot, build later to customize)
 # Based on https://docs.px4.io/main/en/dev_setup/dev_env_linux_ubuntu.html
@@ -38,9 +38,9 @@ RUN bash ./Tools/setup/ubuntu.sh --no-sim-tools \
     && rm -rf /var/lib/apt/lists/*
 
 ################################################################################
-# Stage 5 ######################################################################
+# Add ArduPilot ################################################################
 ################################################################################
-FROM ros2-qgc-zenoh-gz-px4-image AS ros2-qgc-zenoh-gz-px4-ardupilot-image
+FROM ros2-qgc-gz-px4-image AS ros2-qgc-gz-px4-ardupilot-image
 
 # ArduPilot SITL (temporarily as arduuser, then re chown to root)
 # Based on https://ardupilot.org/dev/docs/building-setup-linux.html#building-setup-linux
@@ -79,7 +79,7 @@ RUN /aas/github_apps/ardupilot/Tools/autotest/sim_vehicle.py -v ArduCopter \
     && /aas/github_apps/ardupilot/Tools/autotest/sim_vehicle.py -v ArduPlane
 
 ################################################################################
-# Temporary stage to filter airframes ##########################################
+# Ephemeral stage to grab AAS PX4 custom airframes #############################
 ################################################################################
 FROM ubuntu:22.04 AS airframe_filter_stage
 COPY simulation/simulation_resources/aircraft_models/ /temp_folder
@@ -87,9 +87,9 @@ RUN mkdir /airframes
 RUN find /temp_folder -type f -regex '.*/[0-9]+_.*' -exec cp {} /airframes/ \;
 
 ################################################################################
-# Stage 6 ######################################################################
+# Build PX4 SITL with AAS airframes using the airframe_filter_stage stage ######
 ################################################################################
-FROM ros2-qgc-zenoh-gz-px4-ardupilot-image AS ros2-qgc-zenoh-gz-px4custom-ardupilot-image
+FROM ros2-qgc-gz-px4-ardupilot-image AS ros2-qgc-gz-px4custom-ardupilot-image
 
 # Apply PX4 patch (DDS Agent on custom IP, ...) created with $ git diff > ../px4-v1.16.2.patch
 COPY simulation/simulation_resources/patches/px4-v1.16.2.patch /aas/github_apps/px4-v1.16.2.patch
@@ -113,9 +113,9 @@ RUN make px4_sitl
 # Run with $ /aas/github_apps/PX4-Autopilot/build/px4_sitl_default/bin/px4
 
 ################################################################################
-# Stage 7 ######################################################################
+# Add GStreamer, MAVLink, flight_review, wave simulation, ZeroMQ ###############
 ################################################################################
-FROM ros2-qgc-zenoh-gz-px4custom-ardupilot-image AS ros2-qgc-zenoh-gz-px4custom-ardupilot-gst-logs-waves-zmq-image
+FROM ros2-qgc-gz-px4custom-ardupilot-image AS ros2-qgc-gz-px4custom-ardupilot-gst-logs-waves-zmq-image
 
 # Add GStreamer packages to stream the cameras to the aircraft containers
 RUN apt update \
@@ -168,9 +168,9 @@ RUN pip3 install --no-cache-dir --upgrade pip \
     && pip3 install --no-cache-dir --resume-retries 5 pyzmq
 
 ################################################################################
-# Stage 8 ######################################################################
+# Copy AAS resources and build AAS ROS2 workspace ##############################
 ################################################################################
-FROM ros2-qgc-zenoh-gz-px4custom-ardupilot-gst-logs-waves-zmq-image AS simulation-dev-image
+FROM ros2-qgc-gz-px4custom-ardupilot-gst-logs-waves-zmq-image AS simulation-dev-image
 
 # Build the ROS 2 workspace
 COPY simulation/simulation_ws/src /aas/simulation_ws/src
diff --git a/tools_and_docs/sim_build.sh b/tools_and_docs/sim_build.sh
index 9fa8c93..5be28c8 100755
--- a/tools_and_docs/sim_build.sh
+++ b/tools_and_docs/sim_build.sh
@@ -95,9 +95,9 @@ fi
 unzip -q -o "$ZIP_FILE" -d "$SCRIPT_DIR/.."
 
 if [ "$BUILD_DOCKER" = "true" ]; then
-  # Build common stages first
-  docker build $BUILD_ARGS --target ros2-image -t common-ros2-image:latest -f "${SCRIPT_DIR}/docker/aircraft.dockerfile" "${SCRIPT_DIR}/.."
-  docker build $BUILD_ARGS --target ros2-qgc-zenoh-image -t common-ros2-qgc-zenoh-image:latest -f "${SCRIPT_DIR}/docker/ground.dockerfile" "${SCRIPT_DIR}/.."
+  # Build common layers reused between images
+  docker build $BUILD_ARGS --target ros2-image -t transitionary-ros2-image -f "${SCRIPT_DIR}/docker/aircraft.dockerfile" "${SCRIPT_DIR}/.."
+  docker build $BUILD_ARGS --target ros2-qgc-image -t transitionary-ros2-qgc-image -f "${SCRIPT_DIR}/docker/ground.dockerfile" "${SCRIPT_DIR}/.."
   # Three main images, the first build takes ~45'
   docker build $BUILD_ARGS -t aircraft-image -f "${SCRIPT_DIR}/docker/aircraft.dockerfile" "${SCRIPT_DIR}/.."
   docker build $BUILD_ARGS -t ground-image -f "${SCRIPT_DIR}/docker/ground.dockerfile" "${SCRIPT_DIR}/.."

From 816ea204cf5a8a5248be9bbc3fd7d2738b996745 Mon Sep 17 00:00:00 2001
From: Jacopo Panerati <jacopo.panerati@utoronto.ca>
Date: Fri, 22 May 2026 12:20:31 -0400
Subject: [PATCH 10/11] comment

---
 tools_and_docs/sim_build.sh | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/tools_and_docs/sim_build.sh b/tools_and_docs/sim_build.sh
index 5be28c8..995a2d4 100755
--- a/tools_and_docs/sim_build.sh
+++ b/tools_and_docs/sim_build.sh
@@ -98,7 +98,7 @@ if [ "$BUILD_DOCKER" = "true" ]; then
   # Build common layers reused between images
   docker build $BUILD_ARGS --target ros2-image -t transitionary-ros2-image -f "${SCRIPT_DIR}/docker/aircraft.dockerfile" "${SCRIPT_DIR}/.."
   docker build $BUILD_ARGS --target ros2-qgc-image -t transitionary-ros2-qgc-image -f "${SCRIPT_DIR}/docker/ground.dockerfile" "${SCRIPT_DIR}/.."
-  # Three main images, the first build takes ~45'
+  # Build the 3 main images, the first build takes ~45'
   docker build $BUILD_ARGS -t aircraft-image -f "${SCRIPT_DIR}/docker/aircraft.dockerfile" "${SCRIPT_DIR}/.."
   docker build $BUILD_ARGS -t ground-image -f "${SCRIPT_DIR}/docker/ground.dockerfile" "${SCRIPT_DIR}/.."
   docker build $BUILD_ARGS -t simulation-image -f "${SCRIPT_DIR}/docker/simulation.dockerfile" "${SCRIPT_DIR}/.."

From 2cdca10e7d869b742aa173d4886b83b70a14f60f Mon Sep 17 00:00:00 2001
From: Jacopo Panerati <jacopo.panerati@utoronto.ca>
Date: Fri, 22 May 2026 12:25:56 -0400
Subject: [PATCH 11/11] ort comments

---
 tools_and_docs/docker/aircraft.dockerfile | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/tools_and_docs/docker/aircraft.dockerfile b/tools_and_docs/docker/aircraft.dockerfile
index 65ac15d..f138995 100644
--- a/tools_and_docs/docker/aircraft.dockerfile
+++ b/tools_and_docs/docker/aircraft.dockerfile
@@ -126,7 +126,7 @@ RUN python3 -m venv /yolo-env \
 # Versus $ /yolo-env/bin/python3 -c "import cv2; print(cv2.getBuildInformation())"
 
 ################################################################################
-# amd64 stage for ONNX Runtime GPU: from wheel with CUDA in simulation #########
+# amd64 stage for ONNX Runtime GPU: from wheel for CUDA support in simulation ##
 # Mutually exclusive with the next stage #######################################
 ################################################################################
 FROM ros2-px4msgs-dds-mavros-yolo-image AS image-with-hardware-specific-ort-deepstream-and-drivers_amd64
@@ -136,7 +136,7 @@ RUN pip3 install --no-cache-dir --upgrade pip && \
 # Check with $ python3 -c "import onnxruntime as ort; print(ort.__version__); print(ort.get_available_providers())"
 
 ################################################################################
-# arm64 stage for ONNX Runtime GPU: compile for TensorRT support on Jetson #####
+# arm64 stage for ONNX Runtime GPU: from source for TensorRT support on Jetson #
 # Mutually exclusive with the previous stage ###################################
 ################################################################################
 FROM ros2-px4msgs-dds-mavros-yolo-image AS image-with-hardware-specific-ort-deepstream-and-drivers_arm64