-
Notifications
You must be signed in to change notification settings - Fork 15
/
Dockerfile
110 lines (88 loc) · 3.44 KB
/
Dockerfile
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
FROM nvidia/cuda:11.2.2-runtime-ubuntu20.04
ENV DEBIAN_FRONTEND=noninteractive
RUN rm /etc/apt/sources.list.d/cuda.list
RUN echo 'Etc/UTC' > /etc/timezone && \
ln -s /usr/share/zoneinfo/Etc/UTC /etc/localtime && \
apt-get update && \
apt-get install -q -y --no-install-recommends tzdata && \
rm -rf /var/lib/apt/lists/*
RUN apt update
# install minimum tools:
RUN apt install -y build-essential sudo git
RUN \
useradd user && \
echo "user ALL=(root) NOPASSWD:ALL" > /etc/sudoers.d/user && \
chmod 0440 /etc/sudoers.d/user && \
mkdir -p /home/user && \
chown user:user /home/user && \
chsh -s /bin/bash user
RUN echo 'root:root' | chpasswd
RUN echo 'user:user' | chpasswd
# install packages
RUN apt-get update && apt-get install -q -y --no-install-recommends \
dirmngr \
gnupg2 \
curl \
&& rm -rf /var/lib/apt/lists/*
# setup sources.list
RUN sudo apt-get update && apt-get install -y lsb-release
RUN sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
# setup keys
RUN curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
# setup environment
ENV LANG C.UTF-8
ENV LC_ALL C.UTF-8
ENV ROS_DISTRO noetic
# install ros packages
RUN apt-get update && apt-get install -y --no-install-recommends \
ros-noetic-ros-core=1.5.0-1* \
&& rm -rf /var/lib/apt/lists/*
# install bootstrap tools
RUN apt-get update && apt-get install --no-install-recommends -y \
build-essential \
python3-rosdep \
python3-rosinstall \
python3-vcstools \
&& rm -rf /var/lib/apt/lists/*
# install ros packages
RUN apt-get update && apt-get install -y --no-install-recommends \
ros-noetic-ros-base=1.5.0-1* \
&& rm -rf /var/lib/apt/lists/*
RUN apt update && apt install python3-osrf-pycommon python3-catkin-tools python3-wstool -y
RUN apt update && apt install ros-noetic-jsk-tools -y
RUN apt update && apt install ros-noetic-image-transport-plugins -y
# install launch/sample_detection.launch dependencies if you work with point clouds
RUN apt-get update && apt-get install -y ros-noetic-jsk-pcl-ros ros-noetic-jsk-pcl-ros-utils
WORKDIR /home/user
USER user
CMD /bin/bash
SHELL ["/bin/bash", "-c"]
RUN sudo apt install python3-pip -y
RUN pip3 install torch==1.9.0+cu111 torchvision==0.10.0+cu111 torchaudio==0.9.0 -f https://download.pytorch.org/whl/torch_stable.html
########################################
########### WORKSPACE BUILD ############
########################################
# Installing catkin package
RUN mkdir -p ~/detic_ws/src
RUN sudo apt install -y wget
RUN sudo rosdep init && rosdep update && sudo apt update
COPY --chown=user . /home/user/detic_ws/src/detic_ros
RUN cd ~/detic_ws/src &&\
source /opt/ros/noetic/setup.bash &&\
wstool init &&\
wstool merge detic_ros/rosinstall.noetic &&\
wstool update &&\
rosdep install --from-paths . --ignore-src -y -r &&\
source /opt/ros/noetic/setup.bash &&\
rosdep install --from-paths . -i -r -y &&\
cd ~/detic_ws/src/detic_ros && ./prepare.sh &&\
cd ~/detic_ws && catkin init && catkin build
# to avoid conflcit when mounting
RUN rm -rf ~/detic_ws/src/detic_ros/launch
########################################
########### ENV VARIABLE STUFF #########
########################################
RUN touch ~/.bashrc
RUN echo "source ~/detic_ws/devel/setup.bash" >> ~/.bashrc
RUN echo 'export PATH="$PATH:$HOME/.local/bin"' >> ~/.bashrc
CMD ["bash"]