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