Dockerfile.stella_vslam

#FROM nvcr.io/nvidia/isaac/ros:aarch64-ros2_humble_b7e1ed6c02a6fa3c1c7392479291c035
ARG BASE_IMAGE
FROM ${BASE_IMAGE}
RUN apt update && \
    apt install -y ros-humble-rmw-cyclonedds-cpp

# install dependencies via apt
ENV DEBCONF_NOWARNINGS yes
RUN set -x && \
  apt-get update -y -qq && \
  #apt-get upgrade -y  --no-install-recommends --allow-downgrades && \
  : "basic dependencies" && \
  #apt-get install -y  \
  #  build-essential \
  #  pkg-config \
  #  cmake \
  #  git \
  #  wget \
  #  curl \
  #  tar \
  #  unzip && \
  : "g2o dependencies" && \
  apt-get install -y   --allow-downgrades\
    libgoogle-glog-dev \
    libatlas-base-dev \
    libsuitesparse-dev && \
  : "other dependencies" && \
  apt-get install -y - --allow-downgrades \
    libyaml-cpp-dev  \ 
  #   libopencv-dev \
     libeigen3-dev 

ARG CMAKE_INSTALL_PREFIX=/usr/local
ARG NUM_THREADS=10

ENV CPATH=${CMAKE_INSTALL_PREFIX}/include:${CPATH}
ENV C_INCLUDE_PATH=${CMAKE_INSTALL_PREFIX}/include:${C_INCLUDE_PATH}
ENV CPLUS_INCLUDE_PATH=${CMAKE_INSTALL_PREFIX}/include:${CPLUS_INCLUDE_PATH}
ENV LIBRARY_PATH=${CMAKE_INSTALL_PREFIX}/lib:${LIBRARY_PATH}
ENV LD_LIBRARY_PATH=${CMAKE_INSTALL_PREFIX}/lib:${LD_LIBRARY_PATH}
ENV OPENCV_ROOT=/usr/local

ENV NVIDIA_VISIBLE_DEVICES ${NVIDIA_VISIBLE_DEVICES:-all}
ENV NVIDIA_DRIVER_CAPABILITIES ${NVIDIA_DRIVER_CAPABILITIES:+$NVIDIA_DRIVER_CAPABILITIES,}graphics

# socket.io-client-cpp
ARG SIOCLIENT_COMMIT=ff6ef08e45c594e33aa6bc19ebdd07954914efe0
WORKDIR /tmp
RUN set -x && \
  git clone https://github.com/shinsumicco/socket.io-client-cpp.git && \
  cd socket.io-client-cpp && \
  git checkout ${SIOCLIENT_COMMIT} && \
  git submodule init && \
  git submodule update && \
  mkdir -p build && \
  cd build && \
  cmake \
    -DCMAKE_BUILD_TYPE=Release \
    -DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX} \
    -DBUILD_UNIT_TESTS=OFF \
    .. && \
  make -j${NUM_THREADS} && \
  make install && \
  cd /tmp && \
  rm -rf *
ENV sioclient_DIR=${CMAKE_INSTALL_PREFIX}/lib/cmake/sioclient

## protobuf
#WORKDIR /tmp
#RUN set -x && \
#  apt-get update -y -qq && \
#  apt-get upgrade -y -qq --no-install-recommends && \
#  apt-get install -y -qq autogen autoconf libtool && \
#  wget -q https://github.com/google/protobuf/archive/v3.6.1.tar.gz && \
#  tar xf v3.6.1.tar.gz && \
#  cd protobuf-3.6.1 && \
#  ./autogen.sh && \
#  ./configure --prefix=${CMAKE_INSTALL_PREFIX} --enable-static=no && \
#  make -j${NUM_THREADS} && \
#  make install && \
#  cd /tmp && \
#  rm -rf * && \
#  apt-get purge -y -qq autogen autoconf libtool && \
#  apt-get autoremove -y -qq && \
#  rm -rf /var/lib/apt/lists/*

# stella_vslam
RUN set -x && \
  : "stella_vslam dependencies" && \
  apt-get update  && \
  apt-get install -y \
    ros-${ROS_DISTRO}-libg2o 

COPY . /stella_vslam
RUN set -x && \
#  git clone --depth 1 https://github.com/stella-cv/stella_vslam.git && \
  cd /stella_vslam && \
#  git submodule update -i --recursive && \
  mkdir -p build && \
  cd build && \
  CMAKE_PREFIX_PATH=/opt/ros/${ROS_DISTRO}/lib/cmake cmake .. -DUSE_VECTORIZE=1 && \
  make -j${NUM_THREADS} && \
  make install && \
#  rm -rf CMakeCache.txt CMakeFiles Makefile cmake_install.cmake example src && \
  chmod -R 777 ./*

RUN set -x &&\
  apt-get update -y && \
  apt-get install -y protobuf-compiler 

#RUN apt-get update -y && \
#    apt-get install -y bazel && \
#    cd / && \
#    git clone https://github.com/protocolbuffers/protobuf.git && \
#    cd protobuf && \
#    git submodule update --init --recursive && \
#    bazel build :protoc :protobuf && \
#    cp bazel-bin/protoc /usr/local/bin

#ARG SOCKET_PUBLISHER_COMMIT=e2aaf66b27a6477b478bc8e86992907f09f29188
WORKDIR /tmp
RUN set -x && \
  source /opt/ros/${ROS_DISTRO}/setup.bash && \
  git clone https://github.com/stella-cv/socket_publisher.git && \
  cd socket_publisher && \
  mkdir -p build && \
  cd build && \
  CMAKE_PREFIX_PATH=/opt/ros/${ROS_DISTRO}/lib/cmake cmake \
    -DCMAKE_BUILD_TYPE=RelWithDebInfo \
    -DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX} \
    .. && \
  make -j${NUM_THREADS} && \
  make install && \
  cd /tmp && \
  rm -rf *

  # backward-cpp
ARG BACKWARD_CPP_COMMIT=5ffb2c879ebdbea3bdb8477c671e32b1c984beaa
WORKDIR /tmp
RUN set -x && \
  git clone https://github.com/bombela/backward-cpp.git && \
  cd backward-cpp && \
  git checkout ${BACKWARD_CPP_COMMIT} && \
  mkdir -p build && \
  cd build && \
  cmake \
    -DCMAKE_BUILD_TYPE=Release \
    -DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX} \
    .. && \
  make -j${NUM_THREADS} && \
  make install && \
  cd /tmp && \
  rm -rf *
  
# ROS2
RUN set -x && \
  apt-get update -y  && \
  : "install ROS2 packages" && \
  apt-get install -y  \
#    ros-${ROS_DISTRO}-image-transport \
#    ros-${ROS_DISTRO}-cv-bridge \
#    ros-${ROS_DISTRO}-rosbag2-storage-mcap \
#    python3-pip \
#    python3-colcon-common-extensions \
    net-tools &&\
  pip3 install -U \
    argcomplete 
    
RUN apt-get update -y && \
    apt-get install -y nodejs