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add megapose and cuda to docker

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This commit is contained in:
Ilya Uraev 2023-12-14 17:09:16 +03:00
parent 34c8961723
commit cafc5faad8
1 changed files with 10 additions and 2 deletions
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@ -1,4 +1,4 @@
FROM osrf/ros:humble-desktop FROM althack/ros2:humble-cuda-full-2023-12-11
ARG WSDIR=rbs_ws 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 &&\
make install 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 /${WSDIR} WORKDIR /${WSDIR}
#Install Gazebo Fortres #Install Gazebo Fortres
RUN wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg &&\ 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/ COPY . src/robossembler-ros2/
RUN vcs import src/. < src/robossembler-ros2/rbs.repos 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 rosdep install -y -r -q --from-paths src --ignore-src --rosdistro humble
RUN . /opt/ros/humble/setup.sh && \ RUN . /opt/ros/humble/setup.sh && \
colcon build --symlink-install --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=1 colcon build --symlink-install --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=1