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[Release] 1.8.0 (autowarefoundation#1487)
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[submodule "ros/src/msgs/platform_automation_msgs"] | ||
path = ros/src/msgs/platform_automation_msgs | ||
url = https://github.com/astuff/platform_automation_msgs.git | ||
branch = 51ceed71c28773887648993ceec803ca498698ae |
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FROM ubuntu:16.04 | ||
MAINTAINER Kenji Funaoka <[email protected]> | ||
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# Develop | ||
RUN apt-get update && apt-get install -y \ | ||
software-properties-common \ | ||
wget curl git cmake cmake-curses-gui \ | ||
libboost-all-dev \ | ||
libflann-dev \ | ||
libgsl0-dev \ | ||
libgoogle-perftools-dev \ | ||
libeigen3-dev | ||
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# Intall some basic GUI and sound libs | ||
RUN apt-get update && apt-get install -y \ | ||
xz-utils file locales dbus-x11 pulseaudio dmz-cursor-theme \ | ||
fonts-dejavu fonts-liberation hicolor-icon-theme \ | ||
libcanberra-gtk3-0 libcanberra-gtk-module libcanberra-gtk3-module \ | ||
libasound2 libgtk2.0-0 libdbus-glib-1-2 libxt6 libexif12 \ | ||
libgl1-mesa-glx libgl1-mesa-dri language-pack-en \ | ||
&& update-locale LANG=en_US.UTF-8 LC_MESSAGES=POSIX | ||
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# Intall some basic GUI tools | ||
RUN apt-get update && apt-get install -y \ | ||
cmake-qt-gui \ | ||
gnome-terminal | ||
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# Intall 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://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116 | ||
RUN apt-get update && apt-get install -y ros-kinetic-desktop-full ros-kinetic-nmea-msgs ros-kinetic-nmea-navsat-driver ros-kinetic-sound-play ros-kinetic-jsk-visualization ros-kinetic-grid-map ros-kinetic-gps-common | ||
RUN apt-get update && apt-get install -y ros-kinetic-controller-manager ros-kinetic-ros-control ros-kinetic-ros-controllers ros-kinetic-gazebo-ros-control ros-kinetic-joystick-drivers | ||
RUN apt-get update && apt-get install -y libnlopt-dev freeglut3-dev qtbase5-dev libqt5opengl5-dev libssh2-1-dev libarmadillo-dev libpcap-dev gksu libgl1-mesa-dev libglew-dev python-wxgtk3.0 software-properties-common libmosquitto-dev libyaml-cpp-dev python-flask python-requests | ||
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# Add basic user | ||
ENV USERNAME autoware | ||
ENV PULSE_SERVER /run/pulse/native | ||
RUN useradd -m $USERNAME && \ | ||
echo "$USERNAME:$USERNAME" | chpasswd && \ | ||
usermod --shell /bin/bash $USERNAME && \ | ||
usermod -aG sudo $USERNAME && \ | ||
echo "$USERNAME ALL=(ALL) NOPASSWD:ALL" >> /etc/sudoers.d/$USERNAME && \ | ||
chmod 0440 /etc/sudoers.d/$USERNAME && \ | ||
# Replace 1000 with your user/group id | ||
usermod --uid 1000 $USERNAME && \ | ||
groupmod --gid 1000 $USERNAME | ||
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# Setup .bashrc for ROS | ||
RUN echo "source /opt/ros/kinetic/setup.bash" >> /home/$USERNAME/.bashrc && \ | ||
#Fix for qt and X server errors | ||
echo "export QT_X11_NO_MITSHM=1" >> /home/$USERNAME/.bashrc && \ | ||
# cd to home on login | ||
echo "cd" >> /home/$USERNAME/.bashrc | ||
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# Change user | ||
USER autoware | ||
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RUN sudo rosdep init \ | ||
&& rosdep update \ | ||
&& echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc | ||
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# YOLO_V2 -> Unable to install because CMakeLists.txt in vision_yolo2_detect depends on CUDA | ||
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# Install Autoware | ||
RUN cd && git clone https://github.com/CPFL/Autoware.git /home/$USERNAME/Autoware | ||
RUN /bin/bash -c 'source /opt/ros/kinetic/setup.bash; cd /home/$USERNAME/Autoware/ros/src; git submodule update --init --recursive; catkin_init_workspace; cd ../; ./catkin_make_release -j2' | ||
RUN echo "source /home/$USERNAME/Autoware/ros/devel/setup.bash" >> /home/$USERNAME/.bashrc | ||
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# Setting | ||
ENV LANG="en_US.UTF-8" | ||
RUN echo "export LANG=\"en_US.UTF-8\"" >> /home/$USERNAME/.bashrc | ||
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# Install dev tools | ||
RUN sudo apt-get -y install vim tmux | ||
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# Change Terminal Color | ||
RUN gconftool-2 --set "/apps/gnome-terminal/profiles/Default/use_theme_background" --type bool false | ||
RUN gconftool-2 --set "/apps/gnome-terminal/profiles/Default/use_theme_colors" --type bool false | ||
RUN gconftool-2 --set "/apps/gnome-terminal/profiles/Default/background_color" --type string "#000000" | ||
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# Default CMD | ||
CMD ["/bin/bash"] |
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# Autoware Docker on 96boards | ||
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See [Wiki](https://github.com/CPFL/Autoware/wiki/Docker) for more information. | ||
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## How to Build | ||
``` | ||
$ cd Autoware/docker/96boards/ | ||
# Ubuntu 16.04 (Kinetic) | ||
$ sh build.sh kinetic | ||
``` | ||
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## How to Run | ||
``` | ||
# Default shared directory path is /home/$USER/shared_dir | ||
# Ubuntu 16.04 (Kinetic) | ||
$ sh run.sh kinetic | ||
# If you select your shared directory path | ||
$ sh run.sh kinetic {SHARED_DIR_PATH} | ||
``` |
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#!/bin/sh | ||
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# Build Docker Image | ||
if [ "$1" = "kinetic" ] | ||
then | ||
echo "Use $1" | ||
docker build -t autoware-$1 -f Dockerfile.$1 . --no-cache | ||
else | ||
echo "Set distribution, kinetic" | ||
fi |
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#!/bin/sh | ||
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XSOCK=/tmp/.X11-unix | ||
XAUTH=/home/$USER/.Xauthority | ||
SHARED_DIR=/home/autoware/shared_dir | ||
HOST_DIR=/home/$USER/shared_dir | ||
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if [ "$1" = "kinetic" ] | ||
then | ||
echo "Use $1" | ||
else | ||
echo "Set distribution, kinetic" | ||
exit | ||
fi | ||
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if [ "$2" = "" ] | ||
then | ||
# Create Shared Folder | ||
mkdir -p $HOST_DIR | ||
else | ||
HOST_DIR=$2 | ||
fi | ||
echo "Shared directory: ${HOST_DIR}" | ||
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docker run \ | ||
-it --rm \ | ||
--volume=$XSOCK:$XSOCK:rw \ | ||
--volume=$XAUTH:$XAUTH:rw \ | ||
--volume=$HOST_DIR:$SHARED_DIR:rw \ | ||
--env="XAUTHORITY=${XAUTH}" \ | ||
--env="DISPLAY=${DISPLAY}" \ | ||
-u autoware \ | ||
--privileged -v /dev/bus/usb:/dev/bus/usb \ | ||
--net=host \ | ||
autoware-$1 |
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