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Merged ros dockerfiles.

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This commit is contained in:
Isse
2025-01-27 17:21:34 +01:00
parent 8bf5a5e596
commit 19aecee4c4
3 changed files with 5 additions and 65 deletions
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4
extras/jetson/README.md
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@ -116,13 +116,13 @@ Tested with a _Jetson AGX Orin Developer Kit_ module.
- Build docker container: - Build docker container:
```bash ```bash
docker build --progress=plain -f extras/jetson/dockerfile_ros -t rapidposetriangulation_ros . docker build --progress=plain -f extras/ros/dockerfile -t rapidposetriangulation_ros .
./run_container.sh ./run_container.sh
``` ```
- Run and test: - Run and test:
```bash ```bash
xhost +; docker compose -f extras/jetson/docker-compose.yml up docker compose -f extras/jetson/docker-compose.yml up
docker exec -it ros-test_node-1 bash docker exec -it ros-test_node-1 bash
export ROS_DOMAIN_ID=18 export ROS_DOMAIN_ID=18

60
extras/jetson/dockerfile_ros
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@ -1,60 +0,0 @@
FROM rapidposetriangulation
WORKDIR /
ARG DEBIAN_FRONTEND=noninteractive
ENV LANG=C.UTF-8
ENV LC_ALL=C.UTF-8
WORKDIR /
# Install ROS2
# https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html
RUN apt-get update && apt-get install -y --no-install-recommends locales
RUN locale-gen en_US en_US.UTF-8 && update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
RUN apt-get update && apt-get install -y --no-install-recommends software-properties-common
RUN add-apt-repository universe
RUN apt-get update && apt-get install -y --no-install-recommends curl
RUN curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
RUN echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" > /etc/apt/sources.list.d/ros2.list
RUN apt-get update && apt-get install -y --no-install-recommends ros-humble-ros-base python3-argcomplete
RUN apt-get update && apt-get install -y --no-install-recommends ros-dev-tools
RUN echo "source /opt/ros/humble/setup.bash" >> ~/.bashrc
# Create ROS2 workspace for basic packages
RUN mkdir -p /project/base/src/
RUN cd /project/base/; colcon build
RUN echo "source /project/base/install/setup.bash" >> ~/.bashrc
# Fix ros package building error
RUN pip3 install --no-cache-dir "setuptools<=58.2.0"
# Install opencv and cv_bridge
RUN apt-get update && apt-get install -y --no-install-recommends libboost-dev
RUN apt-get update && apt-get install -y --no-install-recommends libboost-python-dev
RUN apt-get update && apt-get install -y --no-install-recommends libopencv-dev
RUN cd /project/base/src/; git clone --branch humble --depth=1 https://github.com/ros-perception/vision_opencv.git
RUN /bin/bash -i -c 'cd /project/base/; colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release'
# Create ROS2 workspace for project packages
RUN mkdir -p /project/dev_ws/src/
RUN cd /project/dev_ws/; colcon build
RUN echo "source /project/dev_ws/install/setup.bash" >> ~/.bashrc
# Copy modules
COPY ./extras/include/ /RapidPoseTriangulation/extras/include/
COPY ./scripts/ /RapidPoseTriangulation/scripts/
COPY ./extras/ros/rpt2d_wrapper_cpp /RapidPoseTriangulation/extras/ros/rpt2d_wrapper_cpp/
# Link and build as ros package
RUN ln -s /RapidPoseTriangulation/extras/ros/rpt2d_wrapper_cpp/ /project/dev_ws/src/rpt2d_wrapper_cpp
RUN /bin/bash -i -c 'cd /project/dev_ws/; colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release'
# Update ros packages -> autocompletion and check
RUN /bin/bash -i -c 'ros2 pkg list'
# Clear cache to save space, only has an effect if image is squashed
RUN apt-get autoremove -y \
&& apt-get clean \
&& rm -rf /var/lib/apt/lists/*
WORKDIR /RapidPoseTriangulation/
CMD ["/bin/bash"]

6
extras/ros/dockerfile
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@ -14,6 +14,9 @@ RUN apt-get update && apt-get install -y --no-install-recommends ros-humble-ros-
RUN apt-get update && apt-get install -y --no-install-recommends ros-dev-tools RUN apt-get update && apt-get install -y --no-install-recommends ros-dev-tools
RUN echo "source /opt/ros/humble/setup.bash" >> ~/.bashrc RUN echo "source /opt/ros/humble/setup.bash" >> ~/.bashrc
# Fix ros package building error
RUN pip3 install --no-cache-dir "setuptools<=58.2.0"
# Create ROS2 workspace for basic packages # Create ROS2 workspace for basic packages
RUN mkdir -p /project/base/src/ RUN mkdir -p /project/base/src/
RUN cd /project/base/; colcon build RUN cd /project/base/; colcon build
@ -39,9 +42,6 @@ RUN mkdir -p /project/dev_ws/src/
RUN cd /project/dev_ws/; colcon build RUN cd /project/dev_ws/; colcon build
RUN echo "source /project/dev_ws/install/setup.bash" >> ~/.bashrc RUN echo "source /project/dev_ws/install/setup.bash" >> ~/.bashrc
# Fix ros package building error
RUN pip3 install --no-cache-dir "setuptools<=58.2.0"
# Copy modules # Copy modules
COPY ./extras/include/ /RapidPoseTriangulation/extras/include/ COPY ./extras/include/ /RapidPoseTriangulation/extras/include/
COPY ./scripts/ /RapidPoseTriangulation/scripts/ COPY ./scripts/ /RapidPoseTriangulation/scripts/