Add Dockerfile.ros2 (stella-cv#13)

gaoshuai · Feb 11, 2021 · e592648 · e592648
1 parent c60285b
commit e592648
Showing 1 changed file with 281 additions and 0 deletions.
diff --git a/Dockerfile.ros2 b/Dockerfile.ros2
@@ -0,0 +1,281 @@
+FROM ubuntu:18.04
+ENV DEBIAN_FRONTEND noninteractive
+
+# install dependencies via apt
+ENV DEBCONF_NOWARNINGS yes
+RUN set -x && \
+  apt-get update -y -qq && \
+  apt-get upgrade -y -qq --no-install-recommends && \
+  : "basic dependencies" && \
+  apt-get install -y -qq \
+    build-essential \
+    pkg-config \
+    cmake \
+    git \
+    wget \
+    curl \
+    tar \
+    unzip && \
+  : "g2o dependencies" && \
+  apt-get install -y -qq \
+    libgoogle-glog-dev \
+    libatlas-base-dev \
+    libsuitesparse-dev && \
+  : "OpenCV dependencies" && \
+  apt-get install -y -qq \
+    libgtk-3-dev \
+    libjpeg-dev \
+    libpng++-dev \
+    libtiff-dev \
+    libopenexr-dev \
+    libwebp-dev \
+    ffmpeg \
+    libavcodec-dev \
+    libavformat-dev \
+    libavutil-dev \
+    libswscale-dev \
+    libavresample-dev && \
+  : "Pangolin dependencies" && \
+  apt-get install -y -qq \
+    libglew-dev && \
+  : "other dependencies" && \
+  apt-get install -y -qq \
+    libyaml-cpp-dev && \
+  : "remove cache" && \
+  apt-get autoremove -y -qq && \
+  rm -rf /var/lib/apt/lists/*
+
+ARG CMAKE_INSTALL_PREFIX=/usr/local
+ARG NUM_THREADS=1
+
+ENV CPATH=${CMAKE_INSTALL_PREFIX}/include:${CPATH}
+ENV C_INCLUDE_PATH=${CMAKE_INSTALL_PREFIX}/include:${C_INCLUDE_PATH}
+ENV CPLUS_INCLUDE_PATH=${CMAKE_INSTALL_PREFIX}/include:${CPLUS_INCLUDE_PATH}
+ENV LIBRARY_PATH=${CMAKE_INSTALL_PREFIX}/lib:${LIBRARY_PATH}
+ENV LD_LIBRARY_PATH=${CMAKE_INSTALL_PREFIX}/lib:${LD_LIBRARY_PATH}
+
+ENV NVIDIA_VISIBLE_DEVICES ${NVIDIA_VISIBLE_DEVICES:-all}
+ENV NVIDIA_DRIVER_CAPABILITIES ${NVIDIA_DRIVER_CAPABILITIES:+$NVIDIA_DRIVER_CAPABILITIES,}graphics
+
+# Eigen
+ARG EIGEN3_VERSION=3.3.7
+WORKDIR /tmp
+RUN set -x && \
+  wget -q https://gitlab.com/libeigen/eigen/-/archive/${EIGEN3_VERSION}/eigen-${EIGEN3_VERSION}.tar.bz2 && \
+  tar xf eigen-${EIGEN3_VERSION}.tar.bz2 && \
+  rm -rf eigen-${EIGEN3_VERSION}.tar.bz2 && \
+  cd eigen-${EIGEN3_VERSION} && \
+  mkdir -p build && \
+  cd build && \
+  cmake \
+    -DCMAKE_BUILD_TYPE=Release \
+    -DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX} \
+    .. && \
+  make -j${NUM_THREADS} && \
+  make install && \
+  cd /tmp && \
+  rm -rf *
+ENV Eigen3_DIR=${CMAKE_INSTALL_PREFIX}/share/eigen3/cmake
+
+# g2o
+ARG G2O_COMMIT=9b41a4ea5ade8e1250b9c1b279f3a9c098811b5a
+WORKDIR /tmp
+RUN set -x && \
+  git clone https://github.com/RainerKuemmerle/g2o.git && \
+  cd g2o && \
+  git checkout ${G2O_COMMIT} && \
+  mkdir -p build && \
+  cd build && \
+  cmake \
+    -DCMAKE_BUILD_TYPE=Release \
+    -DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX} \
+    -DBUILD_SHARED_LIBS=ON \
+    -DBUILD_UNITTESTS=OFF \
+    -DBUILD_WITH_MARCH_NATIVE=OFF \
+    -DG2O_USE_CHOLMOD=OFF \
+    -DG2O_USE_CSPARSE=ON \
+    -DG2O_USE_OPENGL=OFF \
+    -DG2O_USE_OPENMP=ON \
+    -DG2O_BUILD_APPS=OFF \
+    -DG2O_BUILD_EXAMPLES=OFF \
+    -DG2O_BUILD_LINKED_APPS=OFF \
+    .. && \
+  make -j${NUM_THREADS} && \
+  make install && \
+  cd /tmp && \
+  rm -rf *
+ENV g2o_DIR=${CMAKE_INSTALL_PREFIX}/lib/cmake/g2o
+
+# OpenCV
+ARG OPENCV_VERSION=3.4.8
+WORKDIR /tmp
+RUN set -x && \
+  wget -q https://github.com/opencv/opencv/archive/${OPENCV_VERSION}.zip && \
+  unzip -q ${OPENCV_VERSION}.zip && \
+  rm -rf ${OPENCV_VERSION}.zip && \
+  cd opencv-${OPENCV_VERSION} && \
+  mkdir -p build && \
+  cd build && \
+  cmake \
+    -DCMAKE_BUILD_TYPE=Release \
+    -DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX} \
+    -DBUILD_DOCS=OFF \
+    -DBUILD_EXAMPLES=OFF \
+    -DBUILD_JASPER=OFF \
+    -DBUILD_OPENEXR=OFF \
+    -DBUILD_PERF_TESTS=OFF \
+    -DBUILD_TESTS=OFF \
+    -DBUILD_opencv_apps=OFF \
+    -DBUILD_opencv_dnn=OFF \
+    -DBUILD_opencv_ml=OFF \
+    -DBUILD_opencv_python_bindings_generator=OFF \
+    -DENABLE_CXX11=ON \
+    -DENABLE_FAST_MATH=ON \
+    -DWITH_EIGEN=ON \
+    -DWITH_FFMPEG=ON \
+    -DWITH_OPENMP=ON \
+    .. && \
+  make -j${NUM_THREADS} && \
+  make install && \
+  cd /tmp && \
+  rm -rf *
+ENV OpenCV_DIR=${CMAKE_INSTALL_PREFIX}/lib/cmake/opencv4
+
+# DBoW2
+ARG DBOW2_COMMIT=687fcb74dd13717c46add667e3fbfa9828a7019f
+WORKDIR /tmp
+RUN set -x && \
+  git clone https://github.com/shinsumicco/DBoW2.git && \
+  cd DBoW2 && \
+  git checkout ${DBOW2_COMMIT} && \
+  mkdir -p build && \
+  cd build && \
+  cmake \
+    -DCMAKE_BUILD_TYPE=Release \
+    -DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX} \
+    .. && \
+  make -j${NUM_THREADS} && \
+  make install && \
+  cd /tmp && \
+  rm -rf *
+ENV DBoW2_DIR=${CMAKE_INSTALL_PREFIX}/lib/cmake/DBoW2
+
+# Pangolin
+ARG PANGOLIN_COMMIT=ad8b5f83222291c51b4800d5a5873b0e90a0cf81
+WORKDIR /tmp
+RUN set -x && \
+  git clone https://github.com/stevenlovegrove/Pangolin.git && \
+  cd Pangolin && \
+  git checkout ${PANGOLIN_COMMIT} && \
+  sed -i -e "193,198d" ./src/utils/file_utils.cpp && \
+  mkdir -p build && \
+  cd build && \
+  cmake \
+    -DCMAKE_BUILD_TYPE=Release \
+    -DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX} \
+    -DBUILD_EXAMPLES=OFF \
+    -DBUILD_PANGOLIN_DEPTHSENSE=OFF \
+    -DBUILD_PANGOLIN_FFMPEG=OFF \
+    -DBUILD_PANGOLIN_LIBDC1394=OFF \
+    -DBUILD_PANGOLIN_LIBJPEG=OFF \
+    -DBUILD_PANGOLIN_LIBOPENEXR=OFF \
+    -DBUILD_PANGOLIN_LIBPNG=OFF \
+    -DBUILD_PANGOLIN_LIBREALSENSE=OFF \
+    -DBUILD_PANGOLIN_LIBREALSENSE2=OFF \
+    -DBUILD_PANGOLIN_LIBTIFF=OFF \
+    -DBUILD_PANGOLIN_LIBUVC=OFF \
+    -DBUILD_PANGOLIN_LZ4=OFF \
+    -DBUILD_PANGOLIN_OPENNI=OFF \
+    -DBUILD_PANGOLIN_OPENNI2=OFF \
+    -DBUILD_PANGOLIN_PLEORA=OFF \
+    -DBUILD_PANGOLIN_PYTHON=OFF \
+    -DBUILD_PANGOLIN_TELICAM=OFF \
+    -DBUILD_PANGOLIN_TOON=OFF \
+    -DBUILD_PANGOLIN_UVC_MEDIAFOUNDATION=OFF \
+    -DBUILD_PANGOLIN_V4L=OFF \
+    -DBUILD_PANGOLIN_VIDEO=OFF \
+    -DBUILD_PANGOLIN_ZSTD=OFF \
+    -DBUILD_PYPANGOLIN_MODULE=OFF \
+    .. && \
+  make -j${NUM_THREADS} && \
+  make install && \
+  cd /tmp && \
+  rm -rf *
+ENV Pangolin_DIR=${CMAKE_INSTALL_PREFIX}/lib/cmake/Pangolin
+
+# OpenVSLAM
+COPY . /openvslam/
+WORKDIR /openvslam/
+RUN set -x && \
+  mkdir -p build && \
+  cd build && \
+  cmake \
+    -DBUILD_WITH_MARCH_NATIVE=OFF \
+    -DUSE_PANGOLIN_VIEWER=ON \
+    -DUSE_SOCKET_PUBLISHER=OFF \
+    -DUSE_STACK_TRACE_LOGGER=ON \
+    -DBOW_FRAMEWORK=DBoW2 \
+    -DBUILD_TESTS=OFF \
+    .. && \
+  make -j${NUM_THREADS} && \
+  rm -rf CMakeCache.txt CMakeFiles Makefile cmake_install.cmake example src && \
+  chmod -R 777 ./*
+
+# ROS2
+ENV ROS_DISTRO eloquent
+
+RUN set -x && \
+  apt-get update -y -qq && \
+  : "for ROS installation" && \
+  apt-get install -y -qq \
+    lsb-release \
+    gnupg2 \
+    python3-pip && \
+  : "remove cache" && \
+  apt-get autoremove -y -qq && \
+  rm -rf /var/lib/apt/lists/*
+
+RUN set -x && \
+  sh -c 'echo "deb http://packages.ros.org/ros2/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros2-latest.list' && \
+  apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654 && \
+  apt-get update -y -qq && \
+  : "install ROS1 and ROS2" && \
+  apt-get install -y -qq \
+    ros-${ROS_DISTRO}-ros-base \
+    ros-${ROS_DISTRO}-image-transport \
+    python3-colcon-common-extensions && \
+  pip3 install -U \
+    argcomplete && \
+  : "remove cache" && \
+  apt-get autoremove -y -qq && \
+  rm -rf /var/lib/apt/lists/*
+
+WORKDIR /openvslam/ros/2
+
+RUN set -x && \
+  : "install cv_bridge" && \
+  apt-get update -y -qq && \
+  apt-get install -y -qq \
+    libboost-python-dev && \
+  apt-get autoremove -y -qq && \
+  rm -rf /var/lib/apt/lists/* && \
+  git clone --branch ${ROS_DISTRO} --depth 1 https://github.com/ros-perception/vision_opencv.git && \
+  cp -r vision_opencv/cv_bridge src/ && \
+  rm -rf vision_opencv
+
+RUN set -x && \
+  : "build ROS2 packages" && \
+  bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash; \
+  colcon build --parallel-workers ${NUM_THREADS} --cmake-args \
+    -DBUILD_WITH_MARCH_NATIVE=ON \
+    -DUSE_PANGOLIN_VIEWER=ON \
+    -DUSE_SOCKET_PUBLISHER=OFF \
+    -DUSE_STACK_TRACE_LOGGER=ON \
+    -DBOW_FRAMEWORK=DBoW2"
+
+RUN set -x && \
+  sh -c "echo '#'\!'/bin/bash\nset -e\nsource /opt/ros/${ROS_DISTRO}/setup.bash\nsource /openvslam/ros/2/install/setup.bash\nexec \"\$@\"' > /ros_entrypoint.sh" && \
+  chmod u+x /ros_entrypoint.sh
+
+ENTRYPOINT ["/ros_entrypoint.sh"]
+CMD ["bash"]