-
Notifications
You must be signed in to change notification settings - Fork 11
/
Dockerfile
128 lines (110 loc) · 4.28 KB
/
Dockerfile
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
FROM ubuntu:22.04 AS base
ARG USERNAME=bluerov2
ARG USER_UID=1000
ARG USER_GID=$USER_UID
ARG DEBIAN_FRONTEND=noninteractive
RUN apt-get update && apt-get upgrade -y
# Install language
RUN apt-get update \
&& apt-get -y --quiet --no-install-recommends install \
locales \
&& locale-gen en_US.UTF-8 \
&& update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8 \
&& rm -rf /var/lib/apt/lists/*
ENV LANG=en_US.UTF-8
# Install timezone
RUN ln -fs /usr/share/zoneinfo/UTC /etc/localtime \
&& apt-get update \
&& apt-get -y --quiet --no-install-recommends install \
tzdata \
&& dpkg-reconfigure --frontend noninteractive tzdata \
&& rm -rf /var/lib/apt/lists/*
# Install a few handy tools
RUN apt-get update \
&& apt-get -y --quiet --no-install-recommends install \
bash-completion \
build-essential \
git \
glmark2 \
gnupg \
iputils-ping \
lsb-release \
mlocate \
software-properties-common \
sudo \
wget \
vim \
&& rm -rf /var/lib/apt/lists/*
# Install Gazebo Garden
RUN wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg
RUN echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
RUN apt-get update \
&& apt-get -y --quiet --no-install-recommends install \
gz-garden \
&& rm -rf /var/lib/apt/lists/*
# Install NVIDIA software
RUN apt-get update \
&& apt-get -y --quiet --no-install-recommends install \
libglvnd0 \
libgl1 \
libglx0 \
libegl1 \
libxext6 \
libx11-6 \
&& rm -rf /var/lib/apt/lists/* \
ENV NVIDIA_VISIBLE_DEVICES=all
ENV NVIDIA_DRIVER_CAPABILITIES=graphics,utility,compute
ENV QT_X11_NO_MITSHM=1
# Install some ardupilot and ardupilot_gazebo prereqs
RUN apt-get update \
&& apt-get -y --quiet --no-install-recommends install \
python3-wxgtk4.0 \
rapidjson-dev \
xterm \
&& rm -rf /var/lib/apt/lists/*
# Create a non-root user
# Required for ArduSub install, but generally a good idea
RUN groupadd --gid $USER_GID $USERNAME \
&& useradd -s /bin/bash --uid $USER_UID --gid $USER_GID -m $USERNAME \
&& echo $USERNAME ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USERNAME \
&& chmod 0440 /etc/sudoers.d/$USERNAME \
&& echo "\n# Added by bluerov2_ignition Dockerfile:" >> /home/$USERNAME/.bashrc \
&& echo "source /usr/share/bash-completion/completions/git" >> /home/$USERNAME/.bashrc
# Switch to our new user
USER $USERNAME
ENV USER=$USERNAME
# Clone ArduSub code
WORKDIR /home/$USERNAME
RUN git clone https://github.com/ArduPilot/ardupilot.git --recurse-submodules
# Install ArduSub prereqs (this also appends to .bashrc)
WORKDIR /home/$USERNAME/ardupilot
ENV SKIP_AP_EXT_ENV=1 SKIP_AP_GRAPHIC_ENV=1 SKIP_AP_COV_ENV=1 SKIP_AP_GIT_CHECK=1
RUN Tools/environment_install/install-prereqs-ubuntu.sh -y
# Build ArduSub
# Note: waf will capture all of the environment variables in ardupilot/.lock-waf_linux_build.
# Any change to enviroment variables will cause a re-build.
# To avoid this call sim_vehicle.py with the "--no-rebuild" option.
WORKDIR /home/$USERNAME/ardupilot
RUN modules/waf/waf-light configure --board sitl \
&& modules/waf/waf-light build --target bin/ardusub
# Clone ardupilot_gazebo code
WORKDIR /home/$USERNAME
RUN git clone https://github.com/ArduPilot/ardupilot_gazebo.git
# Build ardupilot_gazebo
RUN [ "/bin/bash" , "-c" , " \
cd ardupilot_gazebo \
&& mkdir build \
&& cd build \
&& cmake .. -DCMAKE_BUILD_TYPE=RelWithDebInfo \
&& make -j4" ]
# Copy bluerov2_ignition code
WORKDIR /home/$USERNAME/bluerov2_ignition
COPY --chown=$USER_UID:$USER_GID . .
# Set up the environment
WORKDIR /home/$USERNAME
RUN echo "export PATH=/home/$USERNAME/.local/bin:\$PATH" >> /home/$USERNAME/.bashrc \
&& echo "export PATH=/home/$USERNAME/.local/lib/python3.10/site-packages:\$PATH" >> /home/$USERNAME/.bashrc \
&& echo "export GZ_SIM_SYSTEM_PLUGIN_PATH=/home/$USERNAME/ardupilot_gazebo/build" >> /home/$USERNAME/.bashrc \
&& echo "export GZ_SIM_RESOURCE_PATH=/home/$USERNAME/bluerov2_ignition/models:/home/$USERNAME/bluerov2_ignition/worlds" >> /home/$USERNAME/.bashrc
# Required to use the --console option on sim_vehicle.py
# RUN pip3 install matplotlib