forked from scorpio1/PX4Docker
added ros container
This commit is contained in:
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af14343ba0
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@ -0,0 +1,252 @@
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FROM ubuntu:18.04
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SHELL ["/bin/bash","-c"]
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ENV DEBIAN_FRONTEND noninteractive
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ENV LANG C.UTF-8
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ENV LC_ALL C.UTF-8
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RUN apt-get update && apt-get install -y gnupg
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#RUN apt-key adv --fetch-keys https://developer.download.nvidia.com/compute/cuda/repos/ubuntu1804/x86_64/3bf863cc.pub
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#RUN apt-key adv --fetch-keys https://developer.download.nvidia.com/compute/machine-learning/repos/ubuntu1804/x86_64/7fa2af80.pub
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RUN apt-get update && apt-get -y --quiet --no-install-recommends install \
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sudo \
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nano \
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gedit \
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net-tools \
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iputils-* \
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bash-completion \
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autotools-dev \
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dh-autoreconf \
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bzip2 \
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ca-certificates \
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ccache \
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cmake \
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cppcheck \
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curl \
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dirmngr \
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doxygen \
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file \
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g++ \
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gcc \
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gdb \
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git \
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gnupg \
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gosu \
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lcov \
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libfreetype6-dev \
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libgtest-dev \
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libpng-dev \
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lsb-release \
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make \
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ninja-build \
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openjdk-8-jdk \
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openjdk-8-jre \
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openssh-client \
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pkg-config \
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python-pip \
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python-pygments \
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python-setuptools \
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python-wstool \
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python3-dev \
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python3-pip \
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python3-pygments \
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python3-setuptools \
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locate \
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rsync \
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shellcheck \
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tzdata \
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unzip \
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wget \
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xsltproc \
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zip \
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xterm \
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vim \
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&& apt-get -y autoremove \
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&& apt-get clean autoclean \
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&& rm -rf /var/lib/apt/lists/{apt,dpkg,cache,log} /tmp/* /var/tmp/*
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RUN python -m pip install --upgrade pip \
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&& pip install setuptools pkgconfig wheel \
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&& pip install argparse argcomplete coverage jinja2 empy numpy requests serial toml pyyaml cerberus
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# Python 3 dependencies installed by pip
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RUN pip3 install argparse argcomplete coverage cerberus empy jinja2 \
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matplotlib==3.0.* numpy pkgconfig pyros-genmsg pyulog pyyaml \
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requests serial toml pyulog wheel
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# create arrow with id 1000 with sudo access
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RUN useradd --shell /bin/bash -u 1000 -c "" -m arrow && usermod -a -G dialout arrow && echo "arrow:arrow" | chpasswd && adduser arrow sudo
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RUN sed -i '/force_color_prompt/s/^#//g' ~/.bashrc
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RUN sed -i '/force_color_prompt/s/^#//g' /home/arrow/.bashrc
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# setup virtual X server
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RUN mkdir /tmp/.X11-unix && \
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chmod 1777 /tmp/.X11-unix && \
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chown -R root:root /tmp/.X11-unix
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ENV DISPLAY :99
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ENV CCACHE_UMASK=000
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ENV FASTRTPSGEN_DIR="/usr/local/bin/"
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ENV PATH="/usr/lib/ccache:$PATH"
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ENV TERM=xterm
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ENV TZ=UTC
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RUN echo "source /etc/profile.d/bash_completion.sh" >> /home/arrow/.bashrc
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# SITL UDP PORTS
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EXPOSE 14556/udp
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EXPOSE 14557/udp
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#start of ros install
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ENV ROS_DISTRO melodic
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ARG TOKEN
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RUN echo "arrow" | sudo -S apt-key adv --fetch-keys https://developer.download.nvidia.com/compute/cuda/repos/ubuntu1804/x86_64/3bf863cc.pub
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RUN echo "arrow" | sudo -S apt-key adv --fetch-keys https://developer.download.nvidia.com/compute/machine-learning/repos/ubuntu1804/x86_64/7fa2af80.pub
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RUN pip3 install --upgrade pip
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RUN wget --quiet http://packages.osrfoundation.org/gazebo.key -O - | apt-key add - \
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&& sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -sc` main" > /etc/apt/sources.list.d/gazebo-stable.list' \
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&& apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654 \
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&& sh -c 'echo "deb http://packages.ros.org/ros/ubuntu `lsb_release -sc` main" > /etc/apt/sources.list.d/ros-latest.list' \
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&& sh -c 'echo "deb http://packages.ros.org/ros-shadow-fixed/ubuntu `lsb_release -sc` main" > /etc/apt/sources.list.d/ros-shadow.list' \
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&& curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | apt-key add - \
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&& apt-get update \
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&& apt-get -y upgrade \
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&& apt-get -y dist-upgrade \
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&& DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
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ant \
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gazebo9 \
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gstreamer1.0-plugins-bad \
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gstreamer1.0-plugins-base \
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gstreamer1.0-plugins-good \
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gstreamer1.0-plugins-ugly \
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libeigen3-dev \
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libgazebo9-dev \
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libgstreamer-plugins-base1.0-dev \
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libimage-exiftool-perl \
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libopencv-dev \
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libxml2-utils \
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pkg-config \
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protobuf-compiler \
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geographiclib-tools \
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libeigen3-dev \
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libgeographic-dev \
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libopencv-dev \
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python-catkin-tools \
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python-tk \
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python3-pip \
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ros-$ROS_DISTRO-gazebo-ros-pkgs \
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ros-$ROS_DISTRO-mavlink \
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ros-$ROS_DISTRO-mavros \
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ros-$ROS_DISTRO-mavros-extras \
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ros-$ROS_DISTRO-pcl-conversions \
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ros-$ROS_DISTRO-pcl-msgs \
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ros-$ROS_DISTRO-pcl-ros \
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ros-$ROS_DISTRO-ros-base \
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ros-$ROS_DISTRO-rostest \
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ros-$ROS_DISTRO-rosunit \
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ros-$ROS_DISTRO-xacro \
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ros-$ROS_DISTRO-tf2-ros \
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ros-$ROS_DISTRO-roslint \
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ros-$ROS_DISTRO-rviz \
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xvfb \
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python-pil \
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python-yaml \
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libgeos-dev \
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python-lxml \
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libgdal-dev \
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build-essential \
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python-dev \
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libjpeg-dev \
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zlib1g-dev \
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libfreetype6-dev \
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python-virtualenv \
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python-rosdep \
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&& geographiclib-get-geoids egm96-5 \
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&& apt-get -y autoremove \
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&& apt-get clean autoclean \
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&& rm -rf /var/lib/apt/lists/{apt,dpkg,cache,log} /tmp/* /var/tmp/* \
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&& pip3 install setuptools wheel \
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&& pip3 install pyulog matplotlib \
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&& pip3 install catkin_pkg px4tools pymavlink \
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&& rm -rf /var/lib/apt/lists/{apt,dpkg,cache,log} /tmp/* /var/tmp/*
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RUN echo "source /opt/ros/melodic/setup.bash" >> /home/arrow/.bashrc
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# install MAVLink headers
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RUN git clone --depth 1 https://github.com/mavlink/c_library_v2.git /usr/local/include/mavlink/v2.0 && rm -rf /usr/local/include/mavlink/v2.0/.git
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# Some QT-Apps/Gazebo don't not show controls without this
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ENV QT_X11_NO_MITSHM 1
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# Use UTF8 encoding in java tools (needed to compile jMAVSim)
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ENV JAVA_TOOL_OPTIONS=-Dfile.encoding=UTF8
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# Install MAVSDK library
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RUN wget https://github.com/mavlink/MAVSDK/releases/download/v0.23.0/mavsdk_0.23.0_ubuntu18.04_amd64.deb \
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&& dpkg -i mavsdk_0.23.0_ubuntu18.04_amd64.deb
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RUN rosdep init && su -c "rosdep update -c /home/arrow/.ros/rosdep/sources.cache" - arrow
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RUN echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc
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USER arrow
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ENV ARROW_HOME /home/arrow
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ENV CATKIN_WS $ARROW_HOME/catkin_ws
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RUN echo "Working Folder is:$ARROW_HOME"
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RUN rosdep update
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RUN echo "Setting up the workspace"
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#Create & build catkin_ws
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RUN mkdir -p $ARROW_HOME/catkin_ws/src \
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&& echo "arrow" | sudo -S chown -R arrow:arrow $ARROW_HOME/catkin_ws \
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&& source /opt/ros/melodic/setup.bash \
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&& cd ~/catkin_ws \
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&& catkin init \
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&& catkin build \
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&& cd ~/catkin_ws/src
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#start of px4 setup
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RUN echo "arrow" | sudo -S apt-get update && echo "arrow" | sudo -S apt-get -y --quiet --no-install-recommends install software-properties-common apt-utils
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RUN sed -i '/source ~\/catkin_ws\/devel\/setup.bash/d' $HOME/.bashrc && \
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sed -i 's+source /opt/ros/melodic/setup.bash+source /opt/ros/melodic/setup.bash\nsource ~/catkin_ws/devel/setup.bash+g' $ARROW_HOME/.bashrc
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# Install some useful ros tf packages
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RUN echo "arrow" | sudo -S apt-get install ros-melodic-tf-conversions ros-melodic-rqt-tf-tree -y
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RUN if [ ! -d "$ARROW_HOME/src" ]; then \
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mkdir -p $ARROW_HOME/src; fi
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RUN git clone https://git.spirirobotics.com/scorpio1/oscillation_ctrl.git ~/catkin_ws/src/oscillation_ctrl
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RUN echo "export PATH=\$PATH:/usr/local/cuda-10.1/bin" >> /home/arrow/.bashrc
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RUN echo "export LD_LIBRARY_PATH=\$LD_LIBRARY_PATH:/usr/local/cuda-10.1/lib64:/usr/local/cuda-10.1/targets/x86_64-linux/lib/:/usr/local/cuda/extras/CUPTI/lib64/" >> /home/arrow/.bashrc
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RUN echo "export CUDA_HOME=/usr/local/cuda" >> /home/arrow/.bashrc
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RUN echo "arrow" | sudo -S apt-get update
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RUN echo "arrow" | sudo -S pip install scipy
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RUN echo "arrow" | sudo -S apt install ros-melodic-tf2-geometry-msgs
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RUN cd ~ && source .bashrc && cd ~/catkin_ws && source ./devel/setup.bash && catkin build || true && catkin build
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@ -23,5 +23,9 @@ services:
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#- driver: nvidia
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#
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# capabilities: [gpu]
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ros:
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build: Docker_ROS
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command: bash
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tty: true
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privileged: true
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