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FROM nvidia/opengl:1.1-glvnd-devel-ubuntu16.04
ENV DEBIAN_FRONTEND=noninteractive
COPY scripts/ros_kinetic_setup.sh /root
RUN apt-get update \
&& apt-get upgrade -y \
&& apt-get install -y --no-install-recommends apt-utils
#Ros installation
RUN echo -e '\n========== installing ros (from script) ==========' \
&& chmod a+x /root/ros_kinetic_setup.sh \
&& /root/ros_kinetic_setup.sh
# Maplab installation
RUN echo -e '\n========== installing basic utils =======' \
&& apt-get install -y build-essential gedit nano wget curl unzip cmake git software-properties-common mesa-utils vim\
&& echo -e '\n========== install python related stufff ==========' \
&& apt-get install -y libpython2.7-dev libpython3.5-dev python-pip python3-pip python3-pandas python3-numpy \
&& echo '========== install boost ==========' \
&& apt-get install -y libboost-all-dev \
&& echo '========== install eigen3, opencv ==========' \
&& apt-get install -y libeigen3-dev libopencv-dev \
&& echo -e '\n========== install maplab dependencies ==========' \
&& apt-get install -y autotools-dev ccache doxygen dh-autoreconf clang-format-3.8 \
&& apt-get install -y liblapack-dev libblas-dev libgtest-dev libv4l-dev libatlas3-base \
&& apt-get install -y libreadline-dev libssh2-1-dev pylint python-autopep8 python-catkin-tools \
&& apt-get install -y python-git python-setuptools python-termcolor python-wstool \
&& apt-get install -y libglew-dev
# Openvslam dependencies
RUN echo -e '\n=========== Installing OpenVslam dependencies =====0' \
&& apt-get install ros-kinetic-image-transport
# Ceres Dependencies (needed for vins fusion)
RUN echo '========== install ceres dependencies ==========' \
&& apt-get install -y libeigen3-dev libsuitesparse-dev libgoogle-glog-dev libatlas-base-dev libtbb-dev \
&& apt-get install libglew-dev
# Realsense Camera drivers and software instalation
RUN echo -e '\n========== install realsense libs and dependencies ===='\
&& echo 'deb http://realsense-hw-public.s3.amazonaws.com/Debian/apt-repo xenial main' || tee /etc/apt/sources.list.d/realsense-public.list \
&& apt-key adv --keyserver keys.gnupg.net --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE || sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE \
&& add-apt-repository "deb http://realsense-hw-public.s3.amazonaws.com/Debian/apt-repo xenial main" -u \
&& apt-get update -qq \
&& apt-get install librealsense2-dkms --allow-unauthenticated -y \
&& apt-get install librealsense2-utils -y \
&& apt-get install librealsense2-dev --allow-unauthenticated -y \
&& apt-get -y install ros-kinetic-rgbd-launch ros-kinetic-ddynamic-reconfigure \
&& apt-get -y install libglfw3-dev
# Realsense python wrappers
RUN python3 -m pip install --upgrade pip && python3 -m pip install pyrealsense2
# Kalibr installation
RUN echo -e '\n========= install kalibr dependencies ==============='\
&& apt-get install -y python-setuptools python-rosinstall ipython libeigen3-dev libboost-all-dev doxygen \
libopencv-dev ros-kinetic-vision-opencv ros-kinetic-image-transport-plugins ros-kinetic-cmake-modules \
python-software-properties software-properties-common libpoco-dev python-matplotlib python-scipy python-git python-pip \
ipython libtbb-dev libblas-dev liblapack-dev python-catkin-tools libv4l-dev python-igraph
#S-MSCKF dependencies
RUN echo -e '\n=========installing S_MSCKF dependencies ============='\
&& apt-get install -y libsuitesparse-dev ros-kinetic-tf-conversions ros-kinetic-random-numbers \
&& apt-get install -y ros-kinetic-pcl-ros ros-kinetic-pcl-conversions
# More python stuff
RUN python3 -m pip install python-igraph --upgrade
# Additional dependencies and tools
RUN echo -e '\n ====== install gazebo ============================='\
&& sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list' \
&& wget http://packages.osrfoundation.org/gazebo.key -O - | apt-key add - \
&& apt-get update && apt-get install -y \
gazebo7 libignition-math2-dev \
ros-kinetic-gazebo-ros-pkgs ros-kinetic-gazebo-ros-control
#IMU tools
RUN apt-get install libdw-dev ros-kinetic-cv-bridge -y