diff --git a/Docker_ROS/Dockerfile b/Docker_ROS/Dockerfile new file mode 100644 index 0000000..8a378e8 --- /dev/null +++ b/Docker_ROS/Dockerfile @@ -0,0 +1,252 @@ +FROM ubuntu:18.04 + +SHELL ["/bin/bash","-c"] + +ENV DEBIAN_FRONTEND noninteractive +ENV LANG C.UTF-8 +ENV LC_ALL C.UTF-8 + +RUN apt-get update && apt-get install -y gnupg + + +#RUN apt-key adv --fetch-keys https://developer.download.nvidia.com/compute/cuda/repos/ubuntu1804/x86_64/3bf863cc.pub +#RUN apt-key adv --fetch-keys https://developer.download.nvidia.com/compute/machine-learning/repos/ubuntu1804/x86_64/7fa2af80.pub + + + +RUN apt-get update && apt-get -y --quiet --no-install-recommends install \ + sudo \ + nano \ + gedit \ + net-tools \ + iputils-* \ + bash-completion \ + autotools-dev \ + dh-autoreconf \ + bzip2 \ + ca-certificates \ + ccache \ + cmake \ + cppcheck \ + curl \ + dirmngr \ + doxygen \ + file \ + g++ \ + gcc \ + gdb \ + git \ + gnupg \ + gosu \ + lcov \ + libfreetype6-dev \ + libgtest-dev \ + libpng-dev \ + lsb-release \ + make \ + ninja-build \ + openjdk-8-jdk \ + openjdk-8-jre \ + openssh-client \ + pkg-config \ + python-pip \ + python-pygments \ + python-setuptools \ + python-wstool \ + python3-dev \ + python3-pip \ + python3-pygments \ + python3-setuptools \ + locate \ + rsync \ + shellcheck \ + tzdata \ + unzip \ + wget \ + xsltproc \ + zip \ + xterm \ + vim \ + && apt-get -y autoremove \ + && apt-get clean autoclean \ + && rm -rf /var/lib/apt/lists/{apt,dpkg,cache,log} /tmp/* /var/tmp/* + +RUN python -m pip install --upgrade pip \ + && pip install setuptools pkgconfig wheel \ + && pip install argparse argcomplete coverage jinja2 empy numpy requests serial toml pyyaml cerberus + +# Python 3 dependencies installed by pip +RUN pip3 install argparse argcomplete coverage cerberus empy jinja2 \ + matplotlib==3.0.* numpy pkgconfig pyros-genmsg pyulog pyyaml \ + requests serial toml pyulog wheel + + +# create arrow with id 1000 with sudo access +RUN useradd --shell /bin/bash -u 1000 -c "" -m arrow && usermod -a -G dialout arrow && echo "arrow:arrow" | chpasswd && adduser arrow sudo +RUN sed -i '/force_color_prompt/s/^#//g' ~/.bashrc +RUN sed -i '/force_color_prompt/s/^#//g' /home/arrow/.bashrc + +# setup virtual X server +RUN mkdir /tmp/.X11-unix && \ + chmod 1777 /tmp/.X11-unix && \ + chown -R root:root /tmp/.X11-unix +ENV DISPLAY :99 + +ENV CCACHE_UMASK=000 +ENV FASTRTPSGEN_DIR="/usr/local/bin/" +ENV PATH="/usr/lib/ccache:$PATH" +ENV TERM=xterm +ENV TZ=UTC + +RUN echo "source /etc/profile.d/bash_completion.sh" >> /home/arrow/.bashrc + +# SITL UDP PORTS +EXPOSE 14556/udp +EXPOSE 14557/udp + + +#start of ros install +ENV ROS_DISTRO melodic +ARG TOKEN + + +RUN echo "arrow" | sudo -S apt-key adv --fetch-keys https://developer.download.nvidia.com/compute/cuda/repos/ubuntu1804/x86_64/3bf863cc.pub + +RUN echo "arrow" | sudo -S apt-key adv --fetch-keys https://developer.download.nvidia.com/compute/machine-learning/repos/ubuntu1804/x86_64/7fa2af80.pub +RUN pip3 install --upgrade pip + +RUN wget --quiet http://packages.osrfoundation.org/gazebo.key -O - | apt-key add - \ + && sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -sc` main" > /etc/apt/sources.list.d/gazebo-stable.list' \ + && apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654 \ + && sh -c 'echo "deb http://packages.ros.org/ros/ubuntu `lsb_release -sc` main" > /etc/apt/sources.list.d/ros-latest.list' \ + && sh -c 'echo "deb http://packages.ros.org/ros-shadow-fixed/ubuntu `lsb_release -sc` main" > /etc/apt/sources.list.d/ros-shadow.list' \ + && curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | apt-key add - \ + && apt-get update \ + && apt-get -y upgrade \ + && apt-get -y dist-upgrade \ + && DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \ + ant \ + gazebo9 \ + gstreamer1.0-plugins-bad \ + gstreamer1.0-plugins-base \ + gstreamer1.0-plugins-good \ + gstreamer1.0-plugins-ugly \ + libeigen3-dev \ + libgazebo9-dev \ + libgstreamer-plugins-base1.0-dev \ + libimage-exiftool-perl \ + libopencv-dev \ + libxml2-utils \ + pkg-config \ + protobuf-compiler \ + geographiclib-tools \ + libeigen3-dev \ + libgeographic-dev \ + libopencv-dev \ + python-catkin-tools \ + python-tk \ + python3-pip \ + ros-$ROS_DISTRO-gazebo-ros-pkgs \ + ros-$ROS_DISTRO-mavlink \ + ros-$ROS_DISTRO-mavros \ + ros-$ROS_DISTRO-mavros-extras \ + ros-$ROS_DISTRO-pcl-conversions \ + ros-$ROS_DISTRO-pcl-msgs \ + ros-$ROS_DISTRO-pcl-ros \ + ros-$ROS_DISTRO-ros-base \ + ros-$ROS_DISTRO-rostest \ + ros-$ROS_DISTRO-rosunit \ + ros-$ROS_DISTRO-xacro \ + ros-$ROS_DISTRO-tf2-ros \ + ros-$ROS_DISTRO-roslint \ + ros-$ROS_DISTRO-rviz \ + xvfb \ + python-pil \ + python-yaml \ + libgeos-dev \ + python-lxml \ + libgdal-dev \ + build-essential \ + python-dev \ + libjpeg-dev \ + zlib1g-dev \ + libfreetype6-dev \ + python-virtualenv \ + python-rosdep \ + && geographiclib-get-geoids egm96-5 \ + && apt-get -y autoremove \ + && apt-get clean autoclean \ + && rm -rf /var/lib/apt/lists/{apt,dpkg,cache,log} /tmp/* /var/tmp/* \ + && pip3 install setuptools wheel \ + && pip3 install pyulog matplotlib \ + && pip3 install catkin_pkg px4tools pymavlink \ + && rm -rf /var/lib/apt/lists/{apt,dpkg,cache,log} /tmp/* /var/tmp/* + + + +RUN echo "source /opt/ros/melodic/setup.bash" >> /home/arrow/.bashrc + + +# install MAVLink headers +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 + +# Some QT-Apps/Gazebo don't not show controls without this +ENV QT_X11_NO_MITSHM 1 + +# Use UTF8 encoding in java tools (needed to compile jMAVSim) +ENV JAVA_TOOL_OPTIONS=-Dfile.encoding=UTF8 + +# Install MAVSDK library +RUN wget https://github.com/mavlink/MAVSDK/releases/download/v0.23.0/mavsdk_0.23.0_ubuntu18.04_amd64.deb \ + && dpkg -i mavsdk_0.23.0_ubuntu18.04_amd64.deb + +RUN rosdep init && su -c "rosdep update -c /home/arrow/.ros/rosdep/sources.cache" - arrow +RUN echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc + +USER arrow +ENV ARROW_HOME /home/arrow +ENV CATKIN_WS $ARROW_HOME/catkin_ws + +RUN echo "Working Folder is:$ARROW_HOME" +RUN rosdep update + RUN echo "Setting up the workspace" + #Create & build catkin_ws +RUN mkdir -p $ARROW_HOME/catkin_ws/src \ + && echo "arrow" | sudo -S chown -R arrow:arrow $ARROW_HOME/catkin_ws \ + && source /opt/ros/melodic/setup.bash \ + && cd ~/catkin_ws \ + && catkin init \ + && catkin build \ + && cd ~/catkin_ws/src + + + +#start of px4 setup + +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 + +RUN sed -i '/source ~\/catkin_ws\/devel\/setup.bash/d' $HOME/.bashrc && \ + sed -i 's+source /opt/ros/melodic/setup.bash+source /opt/ros/melodic/setup.bash\nsource ~/catkin_ws/devel/setup.bash+g' $ARROW_HOME/.bashrc + +# Install some useful ros tf packages +RUN echo "arrow" | sudo -S apt-get install ros-melodic-tf-conversions ros-melodic-rqt-tf-tree -y +RUN if [ ! -d "$ARROW_HOME/src" ]; then \ + mkdir -p $ARROW_HOME/src; fi + + + + +RUN git clone https://git.spirirobotics.com/scorpio1/oscillation_ctrl.git ~/catkin_ws/src/oscillation_ctrl + + + +RUN echo "export PATH=\$PATH:/usr/local/cuda-10.1/bin" >> /home/arrow/.bashrc +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 +RUN echo "export CUDA_HOME=/usr/local/cuda" >> /home/arrow/.bashrc + + + +RUN echo "arrow" | sudo -S apt-get update +RUN echo "arrow" | sudo -S pip install scipy +RUN echo "arrow" | sudo -S apt install ros-melodic-tf2-geometry-msgs +RUN cd ~ && source .bashrc && cd ~/catkin_ws && source ./devel/setup.bash && catkin build || true && catkin build diff --git a/compose.yaml b/compose.yaml index ba72d1d..60ab006 100644 --- a/compose.yaml +++ b/compose.yaml @@ -23,5 +23,9 @@ services: #- driver: nvidia # # capabilities: [gpu] - + ros: + build: Docker_ROS + command: bash + tty: true + privileged: true