From cafc5faad8048df010c745db75e58fa27b29974a Mon Sep 17 00:00:00 2001 From: Bill Finger Date: Thu, 14 Dec 2023 17:09:16 +0300 Subject: [PATCH] add megapose and cuda to docker --- Dockerfile | 12 ++++++++++-- 1 file changed, 10 insertions(+), 2 deletions(-) diff --git a/Dockerfile b/Dockerfile index 91f81c1..ba0eb01 100644 --- a/Dockerfile +++ b/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 \ No newline at end of file