docker

2022-06-16 21:36:28 -04:00
parent c139ee8e0d
commit 6b10bcbbc9
3 changed files with 286 additions and 0 deletions
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+++ b/114
@ -0,0 +1,114 @@
+FROM ubuntu:20.04 as base_build
+ENV DEBIAN_FRONTEND noninteractive
+ENV PYTHON_VERSION="3.8"
+ARG BASE_IMAGE=nvcr.io/nvidia/l4t-base:r32.5.0
+
+ARG ROS_ENVIROMENT_VERSION_GIT_BRANCH=master
+ARG ROS_ENVIROMENT_VERSION_GIT_COMMIT=HEAD
+
+LABEL maintainer=ronaldsonbellande@gmail.com
+LABEL ros_enviroment_github_branchtag=${ROS_ENVIROMENT_VERSION_GIT_BRANCH}
+LABEL ros_enviroment_github_commit=${ROS_ENVIROMENT_VERSION_GIT_COMMIT}
+
+# Ubuntu setup
+RUN apt-get update -y
+RUN apt-get upgrade -y
+
+# RUN workspace and sourcing
+WORKDIR ./
+COPY requirements.txt .
+
+ARG ROS_PKG=ros_base
+ENV ROS_DISTRO=noetic
+ENV ROS_ROOT=/opt/ros/${ROS_DISTRO}
+ENV DEBIAN_FRONTEND=noninteractive
+
+# add the ROS deb repo to the apt sources list
+RUN apt-get update && \
+    apt-get install -y --no-install-recommends \
+    git \
+		cmake \
+		build-essential \
+		curl \
+		wget \
+		gnupg2 \
+		lsb-release \
+		ca-certificates \
+    && rm -rf /var/lib/apt/lists/*
+
+RUN sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
+RUN curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | apt-key add -
+
+
+# install bootstrap dependencies
+RUN apt-get update && \
+    apt-get install -y --no-install-recommends \
+          libpython3-dev \
+          python3-rosdep \
+          python3-rosinstall-generator \
+          python3-vcstool \
+          build-essential && \
+    rosdep init && \
+    rosdep update && \
+    rm -rf /var/lib/apt/lists/*
+
+
+# download/build the ROS source
+RUN mkdir ros_catkin_ws && \
+    cd ros_catkin_ws && \
+    rosinstall_generator ${ROS_PKG} vision_msgs --rosdistro ${ROS_DISTRO} --deps --tar > ${ROS_DISTRO}-${ROS_PKG}.rosinstall && \
+    mkdir src && \
+    vcs import --input ${ROS_DISTRO}-${ROS_PKG}.rosinstall ./src && \
+    apt-get update && \
+    rosdep install --from-paths ./src --ignore-packages-from-source --rosdistro ${ROS_DISTRO} --skip-keys python3-pykdl -y && \
+    python3 ./src/catkin/bin/catkin_make_isolated --install --install-space ${ROS_ROOT} -DCMAKE_BUILD_TYPE=Release && \
+    rm -rf /var/lib/apt/lists/*
+
+
+ # Install dependencies
+RUN apt-get update && apt-get install -y --no-install-recommends \
+        apt-utils \
+        automake \
+        build-essential \
+        ca-certificates \
+        curl \
+        git \
+        python3-pip \
+        libcurl3-dev \
+        libfreetype6-dev \
+        libpng-dev \
+        libtool \
+        libzmq3-dev \
+        mlocate \
+        openjdk-8-jdk\
+        openjdk-8-jre-headless \
+        pkg-config \
+        python-dev \
+        software-properties-common \
+        swig \
+        unzip \
+        wget \
+        zip \
+        zlib1g-dev \
+        python3-distutils \
+        && \
+    apt-get clean && \
+    rm -rf /var/lib/apt/lists/*
+
+
+# Install python 3.8 and make primary 
+RUN add-apt-repository ppa:deadsnakes/ppa && \
+    apt-get update && apt-get install -y \
+    python3.8 python3.8-dev python3-pip python3.8-venv && \
+    update-alternatives --install /usr/bin/python python /usr/bin/python3.8 1
+
+# pip install 
+RUN pip3 install --upgrade pip
+
+RUN curl -fSsL -O https://bootstrap.pypa.io/get-pip.py && \
+    python3 get-pip.py && \
+    rm get-pip.py
+
+
+# Install python libraries
+RUN pip --no-cache-dir install -r requirements.txt