add megapose and cuda to docker

Dockerfile

@@ -1,4 +1,4 @@
-FROM osrf/ros:humble-desktop
+FROM althack/ros2:humble-cuda-full-2023-12-11
 
 ARG WSDIR=rbs_ws
 
@@ -26,6 +26,14 @@ RUN wget https://github.com/nlohmann/json/archive/refs/tags/v3.11.3.tar.gz &&\
     make &&\
     make install
 
+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 .
+RUN git clone https://github.com/thodan/bop_toolkit &&\
+    cd bop_toolkit &&\
+    pip install -r requirements.txt -e .
+
 WORKDIR /${WSDIR}
 #Install Gazebo Fortres
 RUN wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg &&\
@@ -37,7 +45,7 @@ RUN wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pk
 COPY . src/robossembler-ros2/
 
 RUN vcs import src/. < src/robossembler-ros2/rbs.repos
-RUN apt update && \
+RUN apt update && rosdep update && \
     rosdep install -y -r -q --from-paths src --ignore-src --rosdistro humble
 RUN . /opt/ros/humble/setup.sh && \
     colcon build --symlink-install --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=1