robossembler/runtime
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update Dockerfile

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This commit is contained in:
Ilya Uraev 2023-12-19 08:11:39 +03:00
parent df335c0cd0
commit 09b4c79e55
1 changed files with 7 additions and 7 deletions
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Dockerfile
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@ -1,4 +1,4 @@
FROM althack/ros2:humble-cuda-full-2023-12-11
FROM billf1nger/ros2-humble-cuda:v12.2.2-cudnn8-ubuntu22.04-gz-nvidia
ARG WSDIR=rbs_ws
@ -29,17 +29,17 @@ RUN wget https://github.com/nlohmann/json/archive/refs/tags/v3.11.3.tar.gz &&\
RUN git clone https://gitlab.com/robossembler/forks/megapose6d.git &&\
cd megapose6d &&\
pip install bokeh joblib pin torch transforms3d webdataset omegaconf tqdm &&\
pin install -e .
pip install -e .
RUN git clone https://github.com/thodan/bop_toolkit &&\
cd bop_toolkit &&\
pip install -r requirements.txt -e .
pip install -e .
WORKDIR /${WSDIR}
#Install Gazebo Fortres
RUN wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg &&\
"deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null &&\
apt-get update &&\
apt-get install -y ignition-fortress
# RUN wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg &&\
# "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null &&\
# apt-get update &&\
# apt-get install -y ignition-fortress
# Install RBS
COPY . src/robossembler-ros2/