X-lanni
89 lines
3.4 KiB
Docker
89 lines
3.4 KiB
Docker
# Image: introlab3it/rtabmap:jammy-iron-deps
|
|
|
|
FROM ubuntu:22.04
|
|
|
|
# Install ROS2
|
|
RUN apt update && \
|
|
apt install software-properties-common -y && \
|
|
add-apt-repository universe && \
|
|
apt update && \
|
|
apt install curl -y && \
|
|
curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg && \
|
|
echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null && \
|
|
apt-get clean && rm -rf /var/lib/apt/lists/
|
|
|
|
ENV DEBIAN_FRONTEND=noninteractive
|
|
|
|
# Install build dependencies
|
|
RUN apt-get update && \
|
|
apt upgrade -y && \
|
|
apt-get install -y git libtbb-dev ros-iron-ros-base ros-dev-tools ros-iron-rtabmap-ros && \
|
|
apt-get remove -y ros-iron-rtabmap* && \
|
|
apt-get clean && rm -rf /var/lib/apt/lists/
|
|
|
|
WORKDIR /root/
|
|
|
|
# PDAL
|
|
RUN apt-get update && apt-get install -y libpdal-dev && \
|
|
apt-get clean && rm -rf /var/lib/apt/lists/
|
|
|
|
# RealSense2
|
|
RUN apt-get update && apt-get install -y ros-iron-librealsense2 && \
|
|
apt-get clean && rm -rf /var/lib/apt/lists/
|
|
|
|
ARG TARGETPLATFORM
|
|
ENV TARGETPLATFORM=${TARGETPLATFORM:-linux/amd64}
|
|
RUN echo "I am building for $TARGETPLATFORM"
|
|
|
|
# libfreenect2
|
|
RUN if [ "$TARGETPLATFORM" = "linux/amd64" ]; then echo "Installing libfreenect2..." && \
|
|
apt-get update && apt-get install -y mesa-utils xserver-xorg-video-all libusb-1.0-0-dev libturbojpeg0-dev libglfw3-dev && \
|
|
apt-get clean && rm -rf /var/lib/apt/lists/ && \
|
|
git clone https://github.com/OpenKinect/libfreenect2 && \
|
|
cd libfreenect2 && \
|
|
mkdir build && \
|
|
cd build && \
|
|
cmake .. && \
|
|
make -j$(nproc) && \
|
|
make install && \
|
|
cd && \
|
|
rm -r libfreenect2; fi
|
|
|
|
# zed open capture
|
|
RUN if [ "$TARGETPLATFORM" = "linux/amd64" ]; then echo "Installing zed-open-capture..." && \
|
|
apt-get update && apt install -y libusb-1.0-0-dev libhidapi-libusb0 libhidapi-dev wget && \
|
|
apt-get clean && rm -rf /var/lib/apt/lists/ && \
|
|
git clone https://github.com/stereolabs/zed-open-capture.git && \
|
|
cd zed-open-capture && \
|
|
mkdir build && \
|
|
cd build && \
|
|
cmake .. && \
|
|
make -j$(nproc) && \
|
|
make install && \
|
|
cd && \
|
|
rm -r zed-open-capture; fi
|
|
|
|
RUN git clone --branch 4.5.4 https://github.com/opencv/opencv.git && \
|
|
git clone --branch 4.5.4 https://github.com/opencv/opencv_contrib.git && \
|
|
cd opencv && \
|
|
mkdir build && \
|
|
cd build && \
|
|
cmake -DWITH_TBB=ON -DWITH_OPENMP=ON -DBUILD_opencv_python3=OFF -DBUILD_opencv_python_bindings_generator=OFF -DBUILD_opencv_python_tests=OFF -DBUILD_PERF_TESTS=OFF -DBUILD_TESTS=OFF -DOPENCV_ENABLE_NONFREE=ON -DOPENCV_EXTRA_MODULES_PATH=/root/opencv_contrib/modules .. && \
|
|
make -j$(nproc) && \
|
|
make install && \
|
|
cd ../.. && \
|
|
rm -rf opencv opencv_contrib
|
|
|
|
RUN rm /bin/sh && ln -s /bin/bash /bin/sh
|
|
|
|
COPY ./docker/jammy-iron/deps/ros_entrypoint.sh /ros_entrypoint.sh
|
|
RUN chmod +x /ros_entrypoint.sh
|
|
ENTRYPOINT [ "/ros_entrypoint.sh" ]
|
|
|
|
# ros2 seems not sourcing by default its multi-arch folders
|
|
ENV LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/opt/ros/iron/lib/x86_64-linux-gnu:/opt/ros/iron/lib/aarch64-linux-gnu
|
|
|
|
# for jetson (https://github.com/introlab/rtabmap/issues/776)
|
|
ENV LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/lib/aarch64-linux-gnu/tegra
|
|
|