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Save some time in some jobs unifying them and add naoqi libs
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@awesomebytes
awesomebytes committed Mar 15, 2020
1 parent 02ac135 commit 46e4b89
Showing 1 changed file with 39 additions and 44 deletions.
83 changes: 39 additions & 44 deletions Dockerfile
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Expand Up @@ -78,8 +78,8 @@ RUN emerge sci-libs/pcl

RUN emerge ros-kinetic/robot_state_publisher \
ros-kinetic/geometry2 \
ros-kinetic/ros_control
RUN emerge ros-kinetic/image_common \
ros-kinetic/ros_control \
ros-kinetic/image_common \
ros-kinetic/image_transport_plugins \
ros-kinetic/diagnostics \
ros-kinetic/octomap_msgs \
Expand All @@ -90,42 +90,39 @@ RUN emerge ros-kinetic/image_common \

RUN emerge ros-kinetic/navigation
RUN emerge ros-kinetic/slam_gmapping
RUN emerge ros-kinetic/depthimage_to_laserscan
RUN emerge ros-kinetic/rosbridge_suite
RUN emerge ros-kinetic/cmake_modules \
ros-kinetic/naoqi_bridge_msgs \
ros-kinetic/perception_pcl \
ros-kinetic/pcl_conversions \
ros-kinetic/pcl_ros
ros-kinetic/pcl_ros \
ros-kinetic/depthimage_to_laserscan \
ros-kinetic/rosbridge_suite
RUN emerge media-libs/portaudio \
net-libs/libnsl \
dev-cpp/eigen

RUN emerge media-libs/opus
dev-cpp/eigen \
media-libs/opus

# emerging pulseaudio asks for this
RUN echo ">=media-plugins/alsa-plugins-1.2.1 pulseaudio" >> $EPREFIX/etc/portage/package.use
# To avoid:
# * Error: circular dependencies:
# (sys-libs/pam-1.3.1-r1:0/0::gentoo, ebuild scheduled for merge) depends on
# (sys-libs/libcap-2.27:0/0::gentoo, ebuild scheduled for merge) (buildtime)
# (sys-libs/pam-1.3.1-r1:0/0::gentoo, ebuild scheduled for merge) (buildtime)
RUN echo ">=sys-libs/libcap-2.27 -pam" >> $EPREFIX/etc/portage/package.use
# Until https://bugs.gentoo.org/702566 it's solved
RUN echo ">=sys-libs/libcap-2.28" >> $EPREFIX/etc/portage/package.mask
RUN echo "media-sound/pulseaudio -udev" >> $EPREFIX/etc/portage/package.use
RUN emerge media-sound/pulseaudio


RUN echo ">=ros-kinetic/mbf_simple_nav-0.2.5-r1 3-Clause" >> $EPREFIX/etc/portage/package.license
RUN echo ">=ros-kinetic/mbf_costmap_nav-0.2.5-r1 3-Clause" >> $EPREFIX/etc/portage/package.license
RUN echo ">=ros-kinetic/mbf_msgs-0.2.5-r1 3-Clause" >> $EPREFIX/etc/portage/package.license
RUN echo ">=ros-kinetic/mbf_abstract_nav-0.2.5-r1 3-Clause" >> $EPREFIX/etc/portage/package.license
RUN emerge ros-kinetic/move_base_flex

# # ros-kinetic/naoqi_libqicore \
# # ros-kinetic/naoqi_libqi \
# # need the patches I made in ros_pepperfix
RUN echo ">=media-plugins/alsa-plugins-1.2.1 pulseaudio" >> $EPREFIX/etc/portage/package.use &&\
echo "media-sound/pulseaudio -udev" >> $EPREFIX/etc/portage/package.use &&\
emerge media-sound/pulseaudio


RUN echo ">=ros-kinetic/mbf_simple_nav-0.2.5-r1 3-Clause" >> $EPREFIX/etc/portage/package.license &&\
echo ">=ros-kinetic/mbf_costmap_nav-0.2.5-r1 3-Clause" >> $EPREFIX/etc/portage/package.license &&\
echo ">=ros-kinetic/mbf_msgs-0.2.5-r1 3-Clause" >> $EPREFIX/etc/portage/package.license &&\
echo ">=ros-kinetic/mbf_abstract_nav-0.2.5-r1 3-Clause" >> $EPREFIX/etc/portage/package.license &&\
emerge ros-kinetic/move_base_flex

# Start building custom packages maintained by SoftBank Robotics
# Patches for libqi and libqicore
RUN mkdir -p /tmp/gentoo/etc/portage/patches/ros-kinetic/naoqi_libqi-2.5.0-r3
COPY patches/libqi-release.patch /tmp/gentoo/etc/portage/patches/ros-kinetic/naoqi_libqi-2.5.0-r3/libqi-release.patch
RUN mkdir -p /tmp/gentoo/etc/portage/patches/ros-kinetic/naoqi_libqicore-2.3.1-r1
COPY patches/libqicore-release.patch /tmp/gentoo/etc/portage/patches/ros-kinetic/naoqi_libqicore-2.3.1-r1/libqicore-release.patch

#install libqi, libqicore and naoqi_driver
RUN emerge ros-kinetic/naoqi_libqi ros-kinetic/naoqi_libqicore ros-kinetic/naoqi_driver

# # ros-kinetic/web_video_server \
# # CODEC_FLAG_GLOBAL_HEADER -> AV_CODEC_FLAG_GLOBAL_HEADER
Expand Down Expand Up @@ -162,9 +159,8 @@ echo '\
RUN pip install --user h5py
RUN pip install --user opencv-python opencv-contrib-python

RUN pip install --user pyaudio
RUN pip install --user pyaudio SpeechRecognition

RUN pip install --user SpeechRecognition
RUN pip install --user nltk
RUN pip install --user pydub

Expand All @@ -191,11 +187,11 @@ RUN cd /tmp/gentoo/etc/portage/patches/ros-kinetic &&\
wget https://gist.githubusercontent.com/awesomebytes/79bafc394be8389d6430393edf77be47/raw/faae7ba38692d05c841b0aa3495e1618a3a70ca0/002-Hardcode-BLAS.patch
# cholmod-2.1.2 does not build with amd-2.4.6 and colamd-2.9.6
# cholmod is needed for suitesparse, and suitesparse is needed on libg2o
RUN echo ">=sci-libs/amd-2.4.6" >> $EPREFIX/etc/portage/package.mask
RUN echo ">=sci-libs/colamd-2.9.6" >> $EPREFIX/etc/portage/package.mask
RUN emerge sci-libs/suitesparse
RUN echo ">=sci-libs/amd-2.4.6" >> $EPREFIX/etc/portage/package.mask &&\
echo ">=sci-libs/colamd-2.9.6" >> $EPREFIX/etc/portage/package.mask &&\
emerge sci-libs/suitesparse ros-kinetic/libg2o

RUN cd /tmp/gentoo/usr/lib/cmake/Qt5Gui; find ./ -type f -exec sed -i -e 's@/home/user@/tmp@g' {} \;
RUN emerge ros-kinetic/libg2o
RUN cd /tmp/gentoo/etc/portage/patches/ros-kinetic &&\
mkdir -p teb_local_planner &&\
cd teb_local_planner &&\
Expand All @@ -205,8 +201,8 @@ RUN emerge ros-kinetic/dwa_local_planner
# Workaround
RUN cd /tmp/gentoo/usr/local/portage/ros-kinetic/sbpl_lattice_planner &&\
rm Manifest && \
ebuild sbpl*.ebuild manifest
RUN emerge ros-kinetic/sbpl_lattice_planner
ebuild sbpl*.ebuild manifest &&\
emerge ros-kinetic/sbpl_lattice_planner

# Meanwhile https://bugs.gentoo.org/705974 gets fixed upstream (make has a backward incompatible change)
RUN mkdir -p $EPREFIX/etc/portage/patches/media-libs/gstreamer-1.14.5 &&\
Expand All @@ -222,8 +218,9 @@ RUN emerge media-plugins/gst-plugins-opus \
media-plugins/gst-plugins-v4l2 \
media-plugins/gst-plugins-jpeg \
media-plugins/gst-plugins-libpng \
media-plugins/gst-plugins-lame
RUN emerge media-plugins/gst-plugins-x264 media-plugins/gst-plugins-x265
media-plugins/gst-plugins-lame \
media-plugins/gst-plugins-x264 \
media-plugins/gst-plugins-x265

RUN cd /tmp/gentoo/usr/local/portage/ros-kinetic/gscam &&\
wget https://raw.githubusercontent.com/ros/ros-overlay/80a3d06744df220fadb34b638d94d4336af2b720/ros-kinetic/gscam/Manifest&&\
Expand Down Expand Up @@ -253,11 +250,9 @@ RUN wget https://github.com/awesomebytes/pepper_os/releases/download/pynaoqi-pyt

RUN emerge dev-libs/libusb

RUN pip install --user dill cloudpickle
RUN pip install --user uptime
RUN pip install --user dill cloudpickle uptime

RUN emerge ros-kinetic/humanoid_nav_msgs
RUN emerge ros-kinetic/rgbd_launch
RUN emerge ros-kinetic/humanoid_nav_msgs ros-kinetic/rgbd_launch

# Fix all python shebangs
RUN cd ~/.local/bin &&\
Expand Down

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