SignLoc/NoeticDockerfile at main · AdaCompNUS/SignLoc · GitHub

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FROM nvidia/cuda:11.4.3-cudnn8-devel-ubuntu20.04
ENV DEBIAN_FRONTEND noninteractive
ENV NVIDIA_VISIBLE_DEVICES all
ENV NVIDIA_DRIVER_CAPABILITIES graphics,utility,compute

# Install some basic utilities
RUN apt-get update && apt-get install -y \
    curl \
    ca-certificates \
    sudo \
    git \
    bzip2 \
    libx11-6 \
    python3 \
    python3-dev \
    python3-pip \
    cmake \
    wget \
    tar \
    libx11-dev \
    xorg-dev \
    libssl-dev \
    build-essential \
    tmux \
    libusb-1.0-0-dev && apt-get clean && rm -rf /var/lib/apt/lists/*


RUN apt-get update && \
    apt-get install -y software-properties-common && \
    rm -rf /var/lib/apt/lists/*
RUN apt-add-repository universe
RUN apt-add-repository multiverse
RUN apt-add-repository restricted

RUN pip install torch==1.12.1+cu113 torchvision==0.13.1+cu113 torchaudio==0.12.1 --extra-index-url https://download.pytorch.org/whl/cu113
RUN pip install opencv-python networkx matplotlib shapely tqdm


# Install ROS
RUN sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
RUN apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
RUN apt-get update && apt-get install -y --allow-downgrades --allow-remove-essential --allow-change-held-packages \
libpcap-dev \
libopenblas-dev \
gstreamer1.0-tools libgstreamer1.0-dev libgstreamer-plugins-base1.0-dev libgstreamer-plugins-good1.0-dev \
ros-noetic-desktop-full python3-rosdep python3-rosinstall-generator python3-vcstool build-essential && \
apt-get clean && rm -rf /var/lib/apt/lists/*
# Configure ROS
RUN rosdep init && rosdep update
RUN echo "source /opt/ros/noetic/setup.bash" >> /root/.bashrc


RUN pip install thefuzz utm geopy contextily
RUN apt-get update && \
    apt-get install -y nano libeigen3-dev python3-pybind11 ros-noetic-rviz-satellite && \
    rm -rf /var/lib/apt/lists/*


SHELL ["/bin/bash", "-c"]

COPY /ros_ws /ros_ws

COPY /signloc_core /ros_ws/src/signloc_ros/signloc_core

RUN cd /usr/include/ && sudo ln -sf eigen3/Eigen Eigen

RUN cd /ros_ws/src/signloc_ros/signloc_core &&  cmake -S . -B build && cmake --build build

RUN cd /ros_ws && source /opt/ros/noetic/setup.bash && catkin_make

COPY /data /ros_ws/data

WORKDIR /ros_ws