init commit

2026-02-11 17:54:06 +03:00
commit c15a3552ae
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+FROM osrf/ros:jazzy-desktop-full AS builder
+
+ARG DEBIAN_FRONTEND=noninteractive
+
+# catkin-tools
+RUN apt-get update && apt-get install -y \
+    ca-certificates \
+    gnupg \
+    sudo \
+    curl \
+    wget \
+    && rm -rf /var/lib/apt/lists/*
+
+# PX4 dependencies
+WORKDIR /root
+RUN wget https://raw.githubusercontent.com/PX4/PX4-Autopilot/main/Tools/setup/ubuntu.sh \
+    && wget https://raw.githubusercontent.com/PX4/PX4-Autopilot/main/Tools/setup/requirements.txt \
+    && chmod +x /root/ubuntu.sh \
+    && ./ubuntu.sh \
+    && rm -rf /var/lib/apt/lists/*  \
+    && rm /root/requirements.txt /root/ubuntu.sh
+# COPY requirements.txt /requirements.txt
+# COPY ubuntu.sh /ubuntu.sh
+# RUN /ubuntu.sh && rm -rf /var/lib/apt/lists/*  && rm  /requirements.txt  /ubuntu.sh
+
+# for WSL2 GPU Support
+ENV LD_LIBRARY_PATH=/usr/lib/wsl/lib
+
+RUN apt update && apt install -y \
+    mesa-utils \
+    vainfo \
+    mesa-va-drivers \
+    vim \
+    net-tools \
+    openssh-server \
+    libasio-dev \
+    python3-future \
+    libgeographiclib-dev \
+    ros-jazzy-eigen-stl-containers \
+    ros-jazzy-diagnostic-updater \
+    ros-jazzy-rmw-zenoh-cpp \
+    ros-jazzy-ros-gz \
+    && rm -rf /var/lib/apt/lists/*
+
+# ceres
+WORKDIR /root
+RUN apt update && apt install -y \
+    libgoogle-glog-dev \
+    libgflags-dev \
+    libatlas-base-dev \
+    libeigen3-dev \
+    libsuitesparse-dev \
+    && rm -rf /var/lib/apt/lists/*
+RUN wget https://github.com/ceres-solver/ceres-solver/archive/refs/tags/2.1.0.tar.gz \
+    && tar -zxf 2.1.0.tar.gz \
+    && cd ceres-solver-2.1.0 \
+    && mkdir build && cd build \
+    && cmake .. -DCXSPARSE=OFF \
+    && make install -j4 \
+    && rm -rf /root/ceres-solver-2.1.0 /root/2.1.0.tar.gz
+
+# spdlog
+RUN wget https://github.com/gabime/spdlog/archive/refs/tags/v1.12.0.tar.gz \
+    && tar -zxf v1.12.0.tar.gz \
+    && cd spdlog-1.12.0 \
+    && mkdir build && cd build \
+    && cmake .. -DSPDLOG_BUILD_SHARED=ON \
+    && make install -j \
+    && rm -rf /root/v1.12.0.tar.gz /root/spdlog-1.12.0