115 lines
3.2 KiB
Docker
115 lines
3.2 KiB
Docker
FROM ubuntu:20.04 as base_build
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ENV DEBIAN_FRONTEND noninteractive
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ENV PYTHON_VERSION="3.8"
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ARG BASE_IMAGE=nvcr.io/nvidia/l4t-base:r32.5.0
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ARG ROS_ENVIROMENT_VERSION_GIT_BRANCH=master
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ARG ROS_ENVIROMENT_VERSION_GIT_COMMIT=HEAD
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LABEL maintainer=ronaldsonbellande@gmail.com
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LABEL ros_enviroment_github_branchtag=${ROS_ENVIROMENT_VERSION_GIT_BRANCH}
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LABEL ros_enviroment_github_commit=${ROS_ENVIROMENT_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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ARG ROS_PKG=ros_base
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ENV ROS_DISTRO=noetic
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ENV ROS_ROOT=/opt/ros/${ROS_DISTRO}
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ENV DEBIAN_FRONTEND=noninteractive
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# add the ROS deb repo to the apt sources list
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RUN apt-get update && \
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apt-get install -y --no-install-recommends \
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git \
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cmake \
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build-essential \
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curl \
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wget \
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gnupg2 \
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lsb-release \
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ca-certificates \
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&& rm -rf /var/lib/apt/lists/*
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RUN sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
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RUN curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | apt-key add -
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# install bootstrap dependencies
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RUN apt-get update && \
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apt-get install -y --no-install-recommends \
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libpython3-dev \
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python3-rosdep \
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python3-rosinstall-generator \
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python3-vcstool \
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build-essential && \
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rosdep init && \
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rosdep update && \
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rm -rf /var/lib/apt/lists/*
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# download/build the ROS source
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RUN mkdir ros_catkin_ws && \
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cd ros_catkin_ws && \
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rosinstall_generator ${ROS_PKG} vision_msgs --rosdistro ${ROS_DISTRO} --deps --tar > ${ROS_DISTRO}-${ROS_PKG}.rosinstall && \
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mkdir src && \
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vcs import --input ${ROS_DISTRO}-${ROS_PKG}.rosinstall ./src && \
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apt-get update && \
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rosdep install --from-paths ./src --ignore-packages-from-source --rosdistro ${ROS_DISTRO} --skip-keys python3-pykdl -y && \
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python3 ./src/catkin/bin/catkin_make_isolated --install --install-space ${ROS_ROOT} -DCMAKE_BUILD_TYPE=Release && \
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rm -rf /var/lib/apt/lists/*
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# Install dependencies
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RUN apt-get update && apt-get install -y --no-install-recommends \
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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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curl \
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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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&& \
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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 add-apt-repository ppa:deadsnakes/ppa && \
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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
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RUN pip3 install --upgrade pip
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RUN curl -fSsL -O https://bootstrap.pypa.io/get-pip.py && \
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python3 get-pip.py && \
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rm get-pip.py
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# Install python libraries
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RUN pip --no-cache-dir install -r requirements.txt
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