OpenRAVE + ROS melodic docker environment

Prerequiresites

• docker
• docker-compose
• buildkit
• nvidia-docker
• jinja2 (for generating Dockerfile)
• (vscode)

Usage

####### run only once  ##########
# activate buildkit for build cache
# (https://github.com/docker/buildx#setting-buildx-as-default-builder-in-docker-1903)
docker buildx install
cd path/to/openrave_docker_development_template
touch .devcontainer/.bash_history
mkdir common_pkgs catkin_ws
git clone https://github.com/ompugao/openrave -b myworkingbranch
git clone https://github.com/ompugao/openrave_extras

# put whatever ros packages which depends only on openrave into common_pkgs
git clone https://github.com/personalrobotics/openrave_catkin common_pkgs/personalrobotics/openrave_catkin
#git clone https://github.com/personalrobotics/or_rviz catkin_ws/personalrobotics/or_rviz
git clone https://github.com/ompugao/or_rviz common_pkgs/ompugao/or_rviz -b feature/viewer_drawboxarray
git clone https://github.com/ompugao/openrave_extras_msgs common_pkgs/ompugao/openrave_extras_msgs
git clone https://github.com/crigroup/osr_course_pkgs common_pkgs/crigroup/osr_course_pkgs
git clone https://github.com/crigroup/robotiq common_pkgs/crigroup/robotiq -b melodic-devel
git clone https://github.com/quangounet/denso_common common_pkgs/quangounet/denso_common -b melodic-devel
git clone https://github.com/fsuarez6/bcap/  common_pkgs/fsuarez6/bcap
git clone https://github.com/ompugao/iai_kinect2.git common_pkgs/ompugao/iai_kinect2 -b mybranch
git clone https://github.com/UbiquityRobotics/fiducials common_pkgs/UbiquityRobotics/fiducials

########## Build docker images ############
bash ./set_xauth.sh
python3 gen_dockerfile.py .devcontainer/Dockerfile.openrave .devcontainer/Dockerfile.openrave.gen
# run vscode and open in Remote Dev Container, or
cd .devcontainer/ && bash build-deps.sh

########## Run ############
bash ./set_xauth.sh # if you do not run this yet
cd .devcontainer/ 
./bash-on-docker.sh