-
Notifications
You must be signed in to change notification settings - Fork 4
/
Copy pathDockerfile
102 lines (91 loc) · 5.99 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
FROM ros:noetic
LABEL maintainer = "Georg Novotny FHTW"
RUN apt-get update && \
apt-get install -y bash-completion\
less htop tmux xterm gosu python3-pip git vim python3-pip python3-catkin-tools python-is-python3 \
ros-noetic-amcl ros-noetic-angles ros-noetic-base-local-planner ros-noetic-clear-costmap-recovery ros-noetic-global-planner* \
ros-noetic-costmap-2d ros-noetic-diagnostic-updater ros-noetic-hls-lfcd-lds-driver ros-noetic-interactive-markers \
ros-noetic-joint-state-publisher ros-noetic-kdl-parser ros-noetic-laser-geometry ros-noetic-map-msgs \
ros-noetic-map-server ros-noetic-move-base ros-noetic-move-base-msgs ros-noetic-nav-core ros-noetic-navfn \
ros-noetic-robot-state-publisher ros-noetic-rotate-recovery ros-noetic-dwa-local-planner* \
ros-noetic-tf ros-noetic-tf2 ros-noetic-tf2-geometry-msgs ros-noetic-tf2-kdl ros-noetic-tf2-msgs ros-noetic-tf2-py \
ros-noetic-tf2-ros ros-noetic-turtlebot3 ros-noetic-turtlebot3-bringup ros-noetic-turtlebot3-description \
ros-noetic-turtlebot3-example ros-noetic-turtlebot3-navigation ros-noetic-turtlebot3-slam \
ros-noetic-turtlebot3-teleop ros-noetic-urdf ros-noetic-voxel-grid ros-noetic-xacro \
ros-noetic-rosdoc-lite ros-noetic-gmapping ros-noetic-rqt* ros-noetic-gazebo-ros ros-noetic-gazebo-plugins* \
ros-noetic-pid ros-noetic-turtlebot3-simulations \
ros-noetic-controller-manager ros-noetic-moveit ros-noetic-moveit-visual-tools ros-noetic-gazebo-ros-control ros-noetic-ros-controllers \
--no-install-recommends \
&& rm -rf /var/lib/apt/lists/
ENV USERNAME fhtw_user
ARG USER_ID=1000
ARG GROUP_ID=15214
RUN groupadd --gid $GROUP_ID $USERNAME && \
useradd --gid $GROUP_ID -m $USERNAME && \
echo "$USERNAME:$USERNAME" | chpasswd && \
usermod --shell /bin/bash $USERNAME && \
usermod -aG sudo $USERNAME && \
usermod --uid $USER_ID $USERNAME && \
echo "$USERNAME ALL=(ALL) NOPASSWD:ALL" >> /etc/sudoers.d/$USERNAME && \
chmod 0440 /etc/sudoers.d/$USERNAME
RUN su ${USERNAME} -c "rosdep update"
RUN echo "export TURTLEBOT3_MODEL=burger" >> /home/$USERNAME/.bashrc
RUN echo "export ROS_HOSTNAME=\"\$(hostname -I | awk '{print \$1;}')\"" >> /home/$USERNAME/.bashrc
RUN echo "export ROS_IP=\"\$(hostname -I | awk '{print \$1;}')\"" >> /home/$USERNAME/.bashrc
RUN echo 'echo "ROS_HOSTNAME=>$ROS_HOSTNAME<"' >> /home/$USERNAME/.bashrc
RUN echo 'echo "ROS_IP=>$ROS_IP<"' >> /home/$USERNAME/.bashrc
RUN mkdir -p /home/$USERNAME/catkin_ws/src &&\
cd /home/$USERNAME/catkin_ws/src && \
/ros_entrypoint.sh catkin_init_workspace &&\
cd .. &&\
/ros_entrypoint.sh catkin_make
RUN chown $USERNAME:$USERNAME --recursive /home/$USERNAME/catkin_ws
RUN echo "source /opt/ros/noetic/setup.bash" >> /home/$USERNAME/.bashrc
RUN echo "source /home/$USERNAME/catkin_ws/devel/setup.bash" >> /home/$USERNAME/.bashrc
RUN pip3 install --upgrade pip
RUN pip3 install jupyterlab
RUN pip3 install --upgrade jupyter_core jupyter_client
RUN pip3 install matplotlib numpy scikit-learn gdbgui
RUN sudo apt-get update && sudo apt-get install -y checkinstall python-dev python-numpy libtbb2 \
libtbb-dev libjpeg-dev libpng-dev libtiff-dev libdc1394-22-dev cmake git pkg-config \
libavcodec-dev libavformat-dev libswscale-dev cmake git libgtk2.0-dev pkg-config libavcodec-dev \
libavformat-dev libswscale-dev libopencv-dev build-essential checkinstall cmake pkg-config \
yasm libjpeg-dev libswscale-dev libdc1394-22-dev libxine2-dev libv4l-dev python-dev python-numpy \
libtbb-dev qtbase5-dev libgtk2.0-dev libfaac-dev libmp3lame-dev libopencore-amrnb-dev \
libopencore-amrwb-dev libtheora-dev libvorbis-dev libxvidcore-dev x264 v4l-utils ffmpeg \
libgstreamer1.0-dev libgstreamer-plugins-base1.0-dev libgstreamer-plugins-good1.0-dev libgstreamer-plugins-bad1.0-dev \
libeigen3-dev libglfw3 libglfw3-dev
RUN cd /tmp && git clone https://github.com/opencv/opencv.git && git clone https://github.com/opencv/opencv_contrib.git && \
cd opencv && git fetch -a && git checkout 3.4.13 && mkdir build && cd ../opencv_contrib && git fetch -a && git checkout 3.4.13 && cd ../opencv/build && \
cmake -D CMAKE_BUILD_TYPE=RELEASE\
-D CMAKE_INSTALL_PREFIX=/usr/local\
-D OPENCV_ENABLE_NONFREE:BOOL=ON\
-D OPENCV_EXTRA_MODULES_PATH="/tmp/opencv_contrib/modules" \
-D BUILD_opencv_aruco=OFF -D BUILD_opencv_python2=OFF\
-D WITH_IPP=ON -D WITH_TBB=ON\
-D WITH_V4L=ON -D INSTALL_C_EXAMPLES=OFF\
-D BUILD_opencv_cudacodec=OFF\
-D BUILD_opencv_python=OFF \
-D INSTALL_PYTHON_EXAMPLES=OFF -D BUILD_EXAMPLES=OFF\
-D WITH_QT=ON -D WITH_OPENGL=ON -D WITH_OPENCL=ON -D WITH_GSTREAMER=ON .. && \
cores=$(grep -c processor < /proc/cpuinfo) && if [ "$cores" -gt "1" ]; then cores=$((cores-1)); fi && \
make -j"$cores" && \
sudo checkinstall -y --pkgname "opencv3.4.13" && \
sudo apt-get install -f && \
sudo sh -c 'echo "/usr/local/lib" > /etc/ld.so.conf.d/opencv.conf' && \
sudo ldconfig && \
make clean && \
pkgPrefix=$(grep -E "^prefix" < /usr/local/lib/pkgconfig/opencv.pc | tr '=' ' ' | awk '{print $2}') && \
if [ -d "$pkgPrefix/share/OpenCV/3rdparty/lib" ]; then sudo sed -i -e 's/-L${exec_prefix}\/lib/& -L${exec_prefix}\/share\/OpenCV\/3rdparty\/lib/g' /usr/local/lib/pkgconfig/opencv.pc; fi && \
echo "OpenCV 3.4.13 Installed"
COPY ./docker_install /home/$USERNAME/docker_install
RUN bash /home/$USERNAME/docker_install/install_vim.sh "${USERNAME}"
RUN rm -rf /home/$USERNAME/docker_install
RUN apt-get update && apt-get install -y --no-install-recommends python-is-python3
RUN pip3 install jupyterlab
RUN pip3 install --upgrade jupyter_core jupyter_client
RUN pip3 install matplotlib numpy scikit-learn
RUN su ${USERNAME} -c "echo 'if [ -z \"\$TMUX\" ] && [ \"\$TERM_PROGRAM\" != \"vscode\" ] && [ -z \"\$SESSION_MANAGER\" ]; then tmux attach -t default || tmux new -s default; fi' >> /home/${USERNAME}/.bashrc"
COPY ros_entrypoint.sh /
RUN chmod +x /ros_entrypoint.sh
ENTRYPOINT [ "/ros_entrypoint.sh" ]