Bill Finger
71f86ab17d
- Updated `.gitlab-ci.yml` to use `all-deps.repos` and install additional Python dependencies via `requirements.txt`. - Enhanced `Dockerfile` with better dependency management: - Added `SHELL` declaration for consistent script execution. - Installed `libgeos-dev` for geometry processing. - Included `python3-rosdep` and `python3-colcon-common-extensions` for ROS2 tooling. - Streamlined ROS2 and dependency installation steps. - Refined `requirements.txt` to adjust package versions and include new dependencies such as `tensorflow` and `torch`. - Updated repository URL for `rbs_assets_library` in `requirements.txt`. These changes improve dependency resolution, enhance build reproducibility, and align with updated requirements.
53 lines
1.7 KiB
Docker
53 lines
1.7 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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SHELL ["/bin/bash", "-c"]
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# COPY /home/bill-finger/assembly /assembly
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ENV IGN_GAZEBO_RESOURCE_PATH=/${WSDIR}/install/rbs_simulation/share/rbs_simulation/
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RUN apt-get update && apt-get upgrade -y && apt-get install -y \
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git \
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software-properties-common \
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python3-pip \
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lsb-release \
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curl \
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wget \
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libgeos-dev
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RUN add-apt-repository universe
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RUN curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
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RUN echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null
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# Insatll ROS2 and tools
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RUN apt-get update &&\
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apt-get upgrade &&\
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apt-get install -y ros-humble-ros-base\
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python3-rosdep\
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python3-colcon-common-extensions
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WORKDIR /${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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WORKDIR /${WSDIR}
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COPY . src/robossembler-ros2/
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RUN pip install vcstool
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# Install framework and dependencies
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RUN vcs import src/. < src/robossembler-ros2/repos/all-deps.repos
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RUN pip install -r src/robossembler-ros2/repos/requirements.txt
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RUN apt-get update && source /opt/ros/humble/setup.bash && rosdep init && rosdep update && \
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rosdep install -y -r -q --from-paths src --ignore-src --rosdistro humble
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RUN . /opt/ros/humble/setup.bash && \
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colcon build --symlink-install --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=1
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WORKDIR /${WSDIR}
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