FROM billf1nger/ros2-humble-cuda:v12.2.2-cudnn8-ubuntu22.04-gz-nvidia ARG WSDIR=rbs_ws ARG config_type=sim ENV RBS_ASSEMBLY_DIR=/assembly # COPY /home/bill-finger/assembly /assembly ENV IGN_GAZEBO_RESOURCE_PATH=/${WSDIR}/install/rbs_simulation/share/rbs_simulation/ RUN apt update && apt install -y \ git \ python3-pip \ lsb-release \ wget \ gnupg RUN pip install vcstool WORKDIR /libs RUN wget https://github.com/nlohmann/json/archive/refs/tags/v3.11.3.tar.gz &&\ tar -xf v3.11.3.tar.gz &&\ cd json-3.11.3 &&\ mkdir build &&\ cd build &&\ cmake .. &&\ make &&\ make install RUN git clone https://gitlab.com/robossembler/forks/megapose6d.git &&\ cd megapose6d &&\ pip install bokeh joblib pin torch transforms3d webdataset omegaconf tqdm &&\ pip install -e . RUN git clone https://github.com/thodan/bop_toolkit &&\ cd bop_toolkit &&\ pip install -e . WORKDIR /${WSDIR} COPY . src/robossembler-ros2/ RUN vcs import src/. < src/robossembler-ros2/rbs.${config_type}.repos 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