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Dockerfile
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FROM ghcr.io/luxonis/rae-base:2024.01.18-humble
ARG BUILD_TYPE="RelWithDebInfo"
ARG SIM=0
ENV DEBIAN_FRONTEND=noninteractive
RUN apt-get update && apt-get -y install --no-install-recommends \
software-properties-common \
libusb-1.0-0-dev \
python3-colcon-common-extensions \
python3-rosdep \
build-essential \
gpiod \
libasound2-dev \
ros-humble-rmw-cyclonedds-cpp \
gstreamer1.0-plugins-bad \
alsa-utils \
mpg123 \
libmpg123-dev \
ros-humble-rtabmap-slam \
unzip \
ffmpeg \
ros-humble-image-proc \
git \
htop \
libsndfile1-dev \
libsndfile1
RUN pip3 install openai ffmpeg-python
ENV WS=/ws
RUN mkdir -p $WS/src
COPY ./ .$WS/src/rae-ros
RUN rm -rf .$WS/src/rae-ros/assets
RUN rm -rf .$WS/src/rae-ros/rae_gazebo
RUN cd .$WS/ && apt update && rosdep install --from-paths src --ignore-src -y --skip-keys depthai --skip-keys depthai_bridge --skip-keys depthai_ros_driver --skip-keys audio_msgs --skip-keys laserscan_kinect --skip-keys ira_laser_tools
RUN cd .$WS/ && . /opt/ros/${ROS_DISTRO}/setup.sh && . /sai_ros/spectacularai_ros2/install/setup.sh && . /${UNDERLAY_WS}/install/setup.sh && colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=${BUILD_TYPE}
RUN echo "if [ -f ${WS}/install/setup.bash ]; then source ${WS}/install/setup.bash; fi" >> $HOME/.bashrc
RUN echo "if [ -f ${WS}/install/setup.zsh ]; then source ${WS}/install/setup.zsh; fi" >> $HOME/.zshrc
RUN chmod +x /ws/src/rae-ros/entrypoint.sh
ENTRYPOINT [ "/ws/src/rae-ros/entrypoint.sh" ]
RUN rm -rf /usr/share/doc
CMD ["bash"]