51 lines
No EOL
1.7 KiB
Docker
51 lines
No EOL
1.7 KiB
Docker
FROM billf1nger/ros2-humble-cuda:v12.2.2-cudnn8-ubuntu22.04-gz-nvidia
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ARG WSDIR=rbs_ws
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ENV RBS_ASSEMBLY_DIR=/assembly
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# COPY /home/bill-finger/assembly /assembly
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ENV IGN_GAZEBO_RESOURCE_PATH=/${WSDIR}/install/rbs_simulation/share/rbs_simulation/
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RUN apt update && apt install -y \
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git \
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python3-pip \
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lsb-release \
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wget \
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gnupg
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RUN pip install vcstool
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WORKDIR /libs
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RUN wget https://github.com/nlohmann/json/archive/refs/tags/v3.11.3.tar.gz &&\
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tar -xf v3.11.3.tar.gz &&\
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cd json-3.11.3 &&\
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mkdir build &&\
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cd build &&\
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cmake .. &&\
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make &&\
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make install
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RUN git clone https://gitlab.com/robossembler/forks/megapose6d.git &&\
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cd megapose6d &&\
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pip install bokeh joblib pin torch transforms3d webdataset omegaconf tqdm &&\
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pip install -e .
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RUN git clone https://github.com/thodan/bop_toolkit &&\
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cd bop_toolkit &&\
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pip install -e .
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WORKDIR /${WSDIR}
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#Install Gazebo Fortres
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# RUN wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg &&\
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# "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null &&\
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# apt-get update &&\
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# apt-get install -y ignition-fortress
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# Install RBS
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COPY . src/robossembler-ros2/
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RUN vcs import src/. < src/robossembler-ros2/rbs.repos
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RUN apt 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 |