Bill Finger
a8874fa0d7
- Switched base image in `Dockerfile` to `nvidia/cuda:12.6.2-cudnn-devel-ubuntu22.04`. - Added non-interactive mode for Debian and streamlined package installation. - Removed unused JSON library build steps. - Enhanced ROS2 installation with keyring and repository setup. - Simplified Python package and framework dependencies installation. - Added commands for `git-lfs` installation and cloning `rbs_assets_library`. - Introduced a new Russian installation guide (`doc/ru/installation.md`) with detailed steps for setting up the framework and dependencies. - Fixed import paths in `octree.py` for consistency with project structure. - Added `all-deps.repos` and `requirements.txt` for managing dependencies.
65 lines
2.2 KiB
Docker
65 lines
2.2 KiB
Docker
FROM nvidia/cuda:12.6.2-cudnn-devel-ubuntu22.04
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ARG WSDIR=rbs_ws
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ENV RBS_ASSEMBLY_DIR=/assembly
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ENV DEBIAN_FRONTEND=noninteractive
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# COPY /home/bill-finger/assembly /assembly
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ENV IGN_GAZEBO_RESOURCE_PATH=/${WSDIR}/install/rbs_simulation/share/rbs_simulation/
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RUN apt-get update && apt-get upgrade -y && apt-get install -y \
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git \
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software-properties-common \
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python3-pip \
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lsb-release \
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curl \
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wget
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# WORKDIR /libs
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# RUN wget https://github.com/nlohmann/json/archive/refs/tags/v3.11.3.tar.gz &&\
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# tar -xf v3.11.3.tar.gz &&\
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# cd json-3.11.3 &&\
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# mkdir build &&\
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# cd build &&\
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# cmake .. &&\
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# make &&\
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# make install
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RUN add-apt-repository universe
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RUN curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
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RUN echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null
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RUN apt-get update && apt-get upgrade && apt-get install -y ros-humble-ros-base
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# RUN git clone https://gitlab.com/robossembler/forks/megapose6d.git &&\
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# cd megapose6d &&\
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# pip install bokeh joblib pin torch transforms3d webdataset omegaconf tqdm &&\
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# pip install -e .
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# RUN git clone https://github.com/thodan/bop_toolkit &&\
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# cd bop_toolkit &&\
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# pip install -e .
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WORKDIR /${WSDIR}
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COPY . src/robossembler-ros2/
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RUN pip install vcstool uv
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# Install framework and dependencies
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RUN vcs import src/. < src/robossembler-ros2/repos/all-deps.repos
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RUN uv pip install --system -r src/robossembler-ros2/repos/requirements.txt
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RUN apt-get update && rosdep update && \
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rosdep install -y -r -q --from-paths src --ignore-src --rosdistro humble
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RUN . /opt/ros/humble/setup.sh && \
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colcon build --symlink-install --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=1
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WORKDIR /${RBS_ASSEMBLY_DIR}
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RUN curl -s https://packagecloud.io/install/repositories/github/git-lfs/script.deb.sh | bash
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RUN apt-get install git-lfs
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RUN git clone https://github.com/solid-sinusoid/rbs_assets_library.git
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RUN cd rbs_assets_library && git lfs pull && pip install -e .
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WORKDIR /${WSDIR}
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