X-lanni
72 lines
2.7 KiB
Docker
72 lines
2.7 KiB
Docker
# Image: introlab3it/rtabmap:bionic
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FROM ros:melodic-perception
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# Install build dependencies
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RUN apt-get update && \
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apt-get install -y git software-properties-common ros-melodic-rtabmap-ros && \
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apt-get remove -y ros-melodic-rtabmap* && \
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apt-get clean && rm -rf /var/lib/apt/lists/
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WORKDIR /root/
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# GTSAM
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RUN add-apt-repository ppa:borglab/gtsam-release-4.0 -y
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RUN apt-get update && apt install libgtsam-dev libgtsam-unstable-dev -y && \
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apt-get clean && rm -rf /var/lib/apt/lists/
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# MRPT # build failed: https://github.com/introlab/rtabmap/actions/runs/7259315306/job/19776230419
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#RUN add-apt-repository ppa:joseluisblancoc/mrpt-stable -y
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#RUN apt-get update && apt install libmrpt-poses-dev -y && \
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# apt-get clean && rm -rf /var/lib/apt/lists/
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ARG TARGETPLATFORM
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ENV TARGETPLATFORM=${TARGETPLATFORM:-linux/amd64}
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RUN echo "I am building for $TARGETPLATFORM"
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# cmake >=3.14 required
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RUN if [ "$TARGETPLATFORM" = "linux/arm64" ]; then apt update && apt install -y wget && apt-get clean && rm -rf /var/lib/apt/lists/ && \
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wget -nv https://github.com/Kitware/CMake/releases/download/v3.20.0/cmake-3.20.0-linux-aarch64.tar.gz && \
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tar -xzf cmake-3.20.0-linux-aarch64.tar.gz && \
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rm cmake-3.20.0-linux-aarch64.tar.gz &&\
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ln -s ~/cmake-3.20.0-linux-aarch64/bin/cmake ~/cmake; fi
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RUN if [ "$TARGETPLATFORM" = "linux/amd64" ]; then apt update && apt install -y wget && apt-get clean && rm -rf /var/lib/apt/lists/ && \
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wget -nv https://github.com/Kitware/CMake/releases/download/v3.20.0/cmake-3.20.0-linux-x86_64.tar.gz && \
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tar -xzf cmake-3.20.0-linux-x86_64.tar.gz && \
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rm cmake-3.20.0-linux-x86_64.tar.gz &&\
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ln -s ~/cmake-3.20.0-linux-x86_64/bin/cmake ~/cmake; fi
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#commit Aug 6 2020
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RUN apt-get update && apt install wget && apt-get clean && rm -rf /var/lib/apt/lists/
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RUN git clone https://github.com/laurentkneip/opengv.git && \
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cd opengv && \
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git checkout 91f4b19c73450833a40e463ad3648aae80b3a7f3 && \
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wget https://gist.githubusercontent.com/matlabbe/a412cf7c4627253874f81a00745a7fbb/raw/accc3acf465d1ffd0304a46b17741f62d4d354ef/opengv_disable_march_native.patch && \
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git apply opengv_disable_march_native.patch && \
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mkdir build && \
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cd build && \
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~/cmake -DCMAKE_BUILD_TYPE=Release .. && \
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make -j4 && \
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make install && \
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cd && \
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rm -r opengv
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# Will be used to read/store databases on host
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RUN mkdir -p /root/Documents/RTAB-Map
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RUN rm /bin/sh && ln -s /bin/bash /bin/sh
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# Copy current source code
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COPY . /root/rtabmap
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# Build RTAB-Map project
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RUN source /ros_entrypoint.sh && \
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cd rtabmap/build && \
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~/cmake -DWITH_OPENGV=ON .. && \
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make -j4 && \
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make install && \
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cd ../.. && \
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rm -rf rtabmap && \
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ldconfig
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