62 lines
3.3 KiB
Plaintext
62 lines
3.3 KiB
Plaintext
FROM rapidposetriangulation
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# Install ROS2
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# https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html
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RUN apt-get update && apt-get install -y --no-install-recommends locales
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RUN locale-gen en_US en_US.UTF-8 && update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
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RUN apt-get update && apt-get install -y --no-install-recommends software-properties-common
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RUN add-apt-repository universe
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RUN apt-get update && apt-get install -y --no-install-recommends curl
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RUN curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
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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
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RUN apt-get update && apt-get install -y --no-install-recommends ros-humble-ros-base python3-argcomplete
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RUN apt-get update && apt-get install -y --no-install-recommends ros-dev-tools
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RUN echo "source /opt/ros/humble/setup.bash" >> ~/.bashrc
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# Create ROS2 workspace for basic packages
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RUN mkdir -p /project/base/src/
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RUN cd /project/base/; colcon build
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RUN echo "source /project/base/install/setup.bash" >> ~/.bashrc
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# Install opencv and cv_bridge
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RUN apt-get update && apt-get install -y --no-install-recommends libboost-dev
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RUN apt-get update && apt-get install -y --no-install-recommends libboost-python-dev
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RUN apt-get update && apt-get install -y --no-install-recommends libopencv-dev
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RUN cd /project/base/src/; git clone --branch humble --depth=1 https://github.com/ros-perception/vision_opencv.git
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RUN /bin/bash -i -c 'cd /project/base/; colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release'
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# Install ROS2 image viewer
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RUN cd /project/base/src/; git clone --branch=humble --depth=1 https://github.com/ros-perception/image_pipeline.git
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RUN cd /project/base/src/; git clone --branch=humble --depth=1 https://github.com/ros-perception/image_common.git
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RUN /bin/bash -i -c 'cd /project/base/; colcon build --symlink-install --packages-select camera_calibration_parsers image_transport image_view --cmake-args -DCMAKE_BUILD_TYPE=Release'
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# Fix module not found error when displaying images
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RUN apt-get update && apt-get install -y --no-install-recommends libcanberra-gtk-module libcanberra-gtk3-module
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# Create ROS2 workspace for project packages
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RUN mkdir -p /project/dev_ws/src/
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RUN cd /project/dev_ws/; colcon build
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RUN echo "source /project/dev_ws/install/setup.bash" >> ~/.bashrc
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# Fix ros package building error
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RUN pip3 install --no-cache-dir "setuptools<=58.2.0"
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# Copy modules
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COPY ./ros/pose2D_visualizer /RapidPoseTriangulation/ros/pose2D_visualizer/
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COPY ./ros/rpt2D_wrapper /RapidPoseTriangulation/ros/rpt2D_wrapper/
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# Link and build as ros package
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RUN ln -s /RapidPoseTriangulation/ros/pose2D_visualizer/ /project/dev_ws/src/pose2D_visualizer
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RUN ln -s /RapidPoseTriangulation/ros/rpt2D_wrapper/ /project/dev_ws/src/rpt2D_wrapper
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RUN /bin/bash -i -c 'cd /project/dev_ws/; colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release'
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# Update ros packages -> autocompletion and check
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RUN /bin/bash -i -c 'ros2 pkg list'
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# Clear cache to save space, only has an effect if image is squashed
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RUN apt-get autoremove -y \
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&& apt-get clean \
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&& rm -rf /var/lib/apt/lists/*
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CMD ["/bin/bash"]
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