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.github/workflows/cmake.yml
vendored
67
.github/workflows/cmake.yml
vendored
@ -2,65 +2,36 @@ name: CMake
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on:
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push:
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branches: [ master ]
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branches: [ noetic ]
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pull_request:
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branches: [ master ]
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branches: [ noetic ]
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env:
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# Customize the CMake build type here (Release, Debug, RelWithDebInfo, etc.)
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BUILD_TYPE: Release
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jobs:
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build:
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# The CMake configure and build commands are platform agnostic and should work equally well on Windows or Mac.
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# You can convert this to a matrix build if you need cross-platform coverage.
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# See: https://docs.github.com/en/free-pro-team@latest/actions/learn-github-actions/managing-complex-workflows#using-a-build-matrix
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runs-on: ubuntu-latest
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steps:
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- uses: actions/checkout@v3
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- name: Configure CMake 1
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run: cmake -E make_directory ${{runner.workspace}}/robotis_controller/build
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- name: Configure CMake 2
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run: cmake -E make_directory ${{runner.workspace}}/robotis_device/build
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- name: Configure CMake 3
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run: cmake -E make_directory ${{runner.workspace}}/robotis_framework/build
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- name: Configure CMake 4
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run: cmake -E make_directory ${{runner.workspace}}/robotis_framework_common/build
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- name: Install dependencies
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shell: bash
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run: sudo apt-get update ; sudo apt-get install <system_requirements.txt ; sudo apt-get install <ros_requirements.txt ;
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python3 -m pip install -r requirements.txt
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- name: Configure CMake
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# Configure CMake in a 'build' subdirectory. `CMAKE_BUILD_TYPE` is only required if you are using a single-configuration generator such as make.
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# See https://cmake.org/cmake/help/latest/variable/CMAKE_BUILD_TYPE.html?highlight=cmake_build_type
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run: cmake -B ${{github.workspace}}/build -DCMAKE_BUILD_TYPE=${{env.BUILD_TYPE}}
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- name: Build 1
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run: cmake -E make_directory --build ${{runner.workspace}}/robotis_controller/build --config ${{env.BUILD_TYPE}}
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- name: Build 2
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run: cmake -E make_directory --build ${{runner.workspace}}/robotis_device/build --config ${{env.BUILD_TYPE}}
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- name: Build
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# Build your program with the given configuration
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run: cmake --build ${{github.workspace}}/build --config ${{env.BUILD_TYPE}}
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- name: Build 3
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run: cmake -E make_directory --build ${{runner.workspace}}/robotis_framework/build --config ${{env.BUILD_TYPE}}
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- name: Test
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working-directory: ${{github.workspace}}/build
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# Execute tests defined by the CMake configuration.
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# See https://cmake.org/cmake/help/latest/manual/ctest.1.html for more detail
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run: ctest -C ${{env.BUILD_TYPE}}
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- name: Build 4
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run: cmake -E make_directory --build ${{runner.workspace}}/robotis_framework_common/build --config ${{env.BUILD_TYPE}}
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- name: Test 1
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working-directory: ${{runner.workspace}}/robotis_controller/build
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run: ctest -C $BUILD_TYPE --output-on-failure
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- name: Test 2
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working-directory: ${{runner.workspace}}/robotis_device/build
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run: ctest -C $BUILD_TYPE --output-on-failure
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- name: Test 3
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working-directory: ${{runner.workspace}}/robotis_framework/build
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run: ctest -C $BUILD_TYPE --output-on-failure
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- name: Test 4
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working-directory: ${{runner.workspace}}/robotis_framework_common/build
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run: ctest -C $BUILD_TYPE --output-on-failure
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73
docker/Dockerfile
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73
docker/Dockerfile
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ARG ROS_ARCHITECTURE_VERSION=latest
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FROM ubuntu:20.04 as base_build
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SHELL [ "/bin/bash" , "-c" ]
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ENV DEBIAN_FRONTEND noninteractive
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ENV PYTHON_VERSION="3.8"
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ARG ROS_ARCHITECTURE_VERSION_GIT_BRANCH=master
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ARG ROS_ARCHITECTURE_VERSION_GIT_COMMIT=HEAD
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LABEL maintainer=ronaldsonbellande@gmail.com
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LABEL ROS_architecture_github_branchtag=${ROS_ARCHITECTURE_VERSION_GIT_BRANCH}
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LABEL ROS_architecture_github_commit=${ROS_ARCHITECTURE_VERSION_GIT_COMMIT}
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# Ubuntu setup
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RUN apt-get update -y
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RUN apt-get upgrade -y
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# RUN workspace and sourcing
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WORKDIR ./
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COPY requirements.txt .
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COPY system_requirements.txt .
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COPY ros_requirements.txt .
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COPY ros_repository_requirements.txt .
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# Install dependencies for system
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RUN apt-get update && apt-get install -y --no-install-recommends <system_requirements.txt \
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&& apt-get upgrade -y \
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&& apt-get clean \
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&& rm -rf /var/lib/apt/lists/*
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# Install python 3.8 and make primary
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RUN apt-get update && apt-get install -y \
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python3.8 python3.8-dev python3-pip python3.8-venv \
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&& update-alternatives --install /usr/bin/python python /usr/bin/python3.8 1
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# Pip install update
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RUN pip3 install --upgrade pip
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# Install python libraries
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RUN pip --no-cache-dir install -r requirements.txt
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# Install dependencies for ros system
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RUN apt-get update && apt-get install -y --no-install-recommends <ros_requirements.txt \
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&& rm -rf /var/lib/apt/lists/*
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RUN apt-get update && apt-get -y upgrade \
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&& <ros_repository_requirements.txt
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# Create local catkin workspace
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ENV CATKIN_WS=/root/catkin_ws
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RUN mkdir -p $CATKIN_WS/src
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WORKDIR $CATKIN_WS/src
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# Initialize local catkin workspace, install dependencies and build workpsace
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RUN echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc
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RUN source ~/.bashrc
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RUN cd $CATKIN_WS \
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&& rosdep init \
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&& rosdep update \
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&& rosdep update --rosdistro noetic \
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&& rosdep fix-permissions \
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&& rosdep install -y --from-paths . --ignore-src --rosdistro noetic
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# Always source catkin_setup.sh when launching bash
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RUN echo "source /usr/local/bin/catkin_setup.sh" >> /root/.bashrc
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COPY catkin_setup.sh /usr/local/bin/catkin_setup.sh
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RUN chmod +x /usr/local/bin/catkin_setup.sh
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ENTRYPOINT ["/usr/local/bin/catkin_setup.sh"]
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CMD ["bash"]
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docker/gpu.Dockerfile
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90
docker/gpu.Dockerfile
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ARG ROS_ARCHITECTURE_VERSION=latest
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FROM ubuntu:20.04 as base_build
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FROM nvidia/cuda:11.2.1-base-ubuntu20.04
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ENV DEBIAN_FRONTEND noninteractive
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ENV PYTHON_VERSION="3.8"
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ENV CUDNN_VERSION=8.1.0.77
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ENV TF_TENSORRT_VERSION=7.2.2
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ENV CUDA=11.2
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ENV LD_LIBRARY_PATH /usr/local/cuda/extras/CUPTI/lib64:$LD_LIBRARY_PATH
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ARG ROS_ARCHITECTURE_VERSION_GIT_BRANCH=master
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ARG ROS_ARCHITECTURE_VERSION_GIT_COMMIT=HEAD
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LABEL maintainer=ronaldsonbellande@gmail.com
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LABEL ROS_architecture_github_branchtag=${ROS_ARCHITECTURE_VERSION_GIT_BRANCH}
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LABEL ROS_architecture_github_commit=${ROS_ARCHITECTURE_VERSION_GIT_COMMIT}
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# Ubuntu setup
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RUN apt-get update -y
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RUN apt-get upgrade -y
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# RUN workspace and sourcing
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WORKDIR ./
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COPY requirements.txt .
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COPY system_requirements.txt .
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COPY ros_requirements.txt .
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COPY ros_repository_requirements.txt .
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# Install dependencies for system
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RUN apt-get update && apt-get install -y --no-install-recommends <system_requirements.txt \
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&& apt-get upgrade -y \
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&& apt-get clean \
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&& rm -rf /var/lib/apt/lists/*
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# Install python 3.8 and make primary
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RUN apt-get update && apt-get install -y \
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python3.8 python3.8-dev python3-pip python3.8-venv \
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&& update-alternatives --install /usr/bin/python python /usr/bin/python3.8 1
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# Pip install update
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RUN pip3 install --upgrade pip
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# Install python libraries
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RUN pip --no-cache-dir install -r requirements.txt
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# Install dependencies for ros system
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RUN apt-get update && apt-get install -y --no-install-recommends <ros_requirements.txt \
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&& rm -rf /var/lib/apt/lists/*
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# Create local catkin workspace
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ENV CATKIN_WS=/root/catkin_ws
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RUN mkdir -p $CATKIN_WS/src
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WORKDIR $CATKIN_WS/src
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# Initialize local catkin workspace, install dependencies and build workpsace
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RUN echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc
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RUN source ~/.bashrc
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RUN cd $CATKIN_WS \
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&& rosdep init \
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&& rosdep update \
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&& rosdep update --rosdistro noetic \
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&& rosdep fix-permissions \
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&& rosdep install -y --from-paths . --ignore-src --rosdistro noetic
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# Always source catkin_setup.sh when launching bash
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RUN echo "source /usr/local/bin/catkin_setup.sh" >> /root/.bashrc
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COPY catkin_setup.sh /usr/local/bin/catkin_setup.sh
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RUN chmod +x /usr/local/bin/catkin_setup.sh
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ENTRYPOINT ["/usr/local/bin/catkin_setup.sh"]
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CMD ["bash"]
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RUN apt-key adv --fetch-keys https://developer.download.nvidia.com/compute/cuda/repos/ubuntu2004/x86_64/3bf863cc.pub && \
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apt-get update && apt-get install -y --no-install-recommends \
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cuda-nvrtc-${CUDA/./-} \
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libcudnn8=${CUDNN_VERSION}-1+cuda${CUDA} \
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-r cuda_requirements.txt
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# We don't install libnvinfer-dev since we don't need to build against TensorRT
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RUN apt-key adv --fetch-keys https://developer.download.nvidia.com/compute/machine-learning/repos/ubuntu2004/x86_64/7fa2af80.pub && \
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echo "deb https://developer.download.nvidia.com/compute/machine-learning/repos/ubuntu2004/x86_64 /" > /etc/apt/sources.list.d/tensorRT.list && \
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apt-get update && \
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apt-get install -y --no-install-recommends libnvinfer7=${TF_TENSORRT_VERSION}-1+cuda11.0 \
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libnvinfer-plugin7=${TF_TENSORRT_VERSION}-1+cuda11.0 \
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&& apt-get clean && \
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rm -rf /var/lib/apt/lists/*;
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39
requirements/requirements.txt
Normal file
39
requirements/requirements.txt
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# Recomandation for library to install in python
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setuptools
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pandas
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scipy
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sklearn
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future
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grpcio
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h5py
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requests
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opencv-python
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python-math
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random2
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pytest-warnings
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os.path2
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pydicom
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glob2
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pytest-shutil
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DateTime
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zipfile36
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urllib3
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python-time
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trimesh
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librosa
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gym
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matplotlib
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image-slicer
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nvidia-ml-py3
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imgaug
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tqdm
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rosdep
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protobuf==3.15.2
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numpy==1.19.2
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numba==0.55.2
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imageio==2.9.0
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pillow==7.2.0
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tensorflow==2.7.0
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keras==2.7.0
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9
requirements/ros_repository_requirements.txt
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9
requirements/ros_repository_requirements.txt
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git clone -b https://github.com/Robotics-Sensors/ROBOTIS-OP3-msgs
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git clone -b https://github.com/Robotics-Sensors/ROBOTIS-OP3
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git clone -b https://github.com/Robotics-Sensors/ROBOTIS-OP3-Tools
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git clone -b https://github.com/Robotics-Sensors/ROBOTIS-Framework-msgs
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git clone -b https://github.com/Robotics-Sensors/ROBOTIS-Framework
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git clone -b https://github.com/Robotics-Sensors/ROBOTIS-OP3-Common
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git clone -b https://github.com/Robotics-Sensors/ROBOTIS-Utility
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git clone -b https://github.com/Robotics-Sensors/ROBOTIS-OP3-Demo
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git clone -b https://github.com/Robotics-Sensors/ROBOTIS-Math
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15
requirements/ros_requirements.txt
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15
requirements/ros_requirements.txt
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# Recomandation for dependencies for ros system
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ros-noetic-desktop-full
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build-essential
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ros-noetic-catkin
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python-rosdep
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python-rosinstall
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python-rosinstall-generator
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python-wstool
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python-catkin-tools
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ros-noetic-pcl-ros
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ros-noetic-flexbe-behavior-engine
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ros-noetic-moveit
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ros-noetic-gazebo-ros-pkgs
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ros-noetic-gazebo-ros-control
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29
requirements/system_requirements.txt
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29
requirements/system_requirements.txt
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# Recomandation for dependencies for linux system
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software-properties-common
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python3.8
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neovim
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apt-utils
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automake
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build-essential
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ca-certificates
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pycurl
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git
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python3-pip
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libcurl3-dev
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libfreetype6-dev
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libpng-dev
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libtool
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libzmq3-dev
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mlocate
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openjdk-8-jdk
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openjdk-8-jre-headless
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pkg-config
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python-dev
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software-properties-common
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swig
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unzip
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wget
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zip
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zlib1g-dev
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python3-distutils
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