253 lines
7.5 KiB
Docker
253 lines
7.5 KiB
Docker
|
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
|