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Docker: xenial and bionic images now depend on ros:kinetic-perception and ros:melodic-perception respectively

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matlabbe
2019-11-08 18:41:11 -05:00
parent e7be12e0ff
commit 070b308595
2 changed files with 21 additions and 59 deletions
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39
docker/bionic/Dockerfile
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@@ -1,20 +1,12 @@
# Image: introlab3it/rtabmap:bionic # Image: introlab3it/rtabmap:bionic
FROM ubuntu:18.04 FROM ros:melodic-perception
# Install build dependencies # Install build dependencies
RUN apt-get update && DEBIAN_FRONTEND=noninteractive apt-get install -y \ RUN apt-get update && \
libsqlite3-dev \ apt-get install -y ros-melodic-rtabmap-ros && \
libpcl-dev \ apt-get remove -y ros-melodic-rtabmap && \
git \ rm -rf /var/lib/apt/lists/
cmake \
libopencv-dev \
libproj-dev \
libqt5svg5-dev \
libfreenect-dev \
libopenni2-dev \
ffmpeg \
software-properties-common
WORKDIR /root/ WORKDIR /root/
@@ -30,18 +22,6 @@ RUN cd gtsam && \
cd && \ cd && \
rm -r gtsam rm -r gtsam
# g2o
RUN git clone https://github.com/RainerKuemmerle/g2o.git
RUN cd g2o && \
git checkout 20170730_git && \
mkdir build && \
cd build && \
cmake -DBUILD_LGPL_SHARED_LIBS=ON -DG2O_BUILD_APPS=OFF -DBUILD_WITH_MARCH_NATIVE=OFF -DG2O_BUILD_EXAMPLES=OFF -DBUILD_SHARED_LIBS=ON -DCMAKE_BUILD_TYPE=Release .. && \
make -j$(nproc) && \
make install && \
cd && \
rm -r g2o
# libpointmatcher # libpointmatcher
RUN git clone https://github.com/ethz-asl/libnabo.git RUN git clone https://github.com/ethz-asl/libnabo.git
#commit Apr 25 2018 #commit Apr 25 2018
@@ -119,14 +99,15 @@ RUN cd AliceVision && \
ARG CACHE_DATE=2016-01-01 ARG CACHE_DATE=2016-01-01
RUN git clone https://github.com/introlab/rtabmap.git RUN git clone https://github.com/introlab/rtabmap.git
RUN rm /bin/sh && ln -s /bin/bash /bin/sh
# Build RTAB-Map project # Build RTAB-Map project
RUN cd rtabmap/build && \ RUN source /ros_entrypoint.sh && \
cd rtabmap/build && \
cmake .. && \ cmake .. && \
make -j$(nproc) && \ make && \
make install && \ make install && \
cd ../.. && \ cd ../.. && \
rm -rf rtabmap && \ rm -rf rtabmap && \
ldconfig ldconfig
WORKDIR /root

41
docker/xenial/Dockerfile
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@@ -1,20 +1,12 @@
# Image: introlab3it/rtabmap:xenial # Image: introlab3it/rtabmap:xenial
FROM ubuntu:16.04 FROM ros:kinetic-perception
# Install build dependencies # Install/build dependencies
RUN apt-get update && apt-get install -y \ RUN apt-get update && \
libsqlite3-dev \ apt-get install -y ros-kinetic-rtabmap-ros && \
libpcl-dev \ apt-get remove -y ros-kinetic-rtabmap && \
libopencv-dev \ rm -rf /var/lib/apt/lists/
git \
cmake \
libproj-dev \
libqt5svg5-dev \
libfreenect-dev \
libopenni2-dev \
libyaml-cpp-dev \
software-properties-common
WORKDIR /root/ WORKDIR /root/
@@ -30,18 +22,6 @@ RUN cd gtsam && \
cd && \ cd && \
rm -r gtsam rm -r gtsam
# g2o
RUN git clone https://github.com/RainerKuemmerle/g2o.git
RUN cd g2o && \
git checkout 20170730_git && \
mkdir build && \
cd build && \
cmake -DBUILD_LGPL_SHARED_LIBS=ON -DG2O_BUILD_APPS=OFF -DBUILD_WITH_MARCH_NATIVE=OFF -DG2O_BUILD_EXAMPLES=OFF -DBUILD_SHARED_LIBS=ON -DCMAKE_BUILD_TYPE=Release .. && \
make -j$(nproc) && \
make install && \
cd && \
rm -r g2o
# libpointmatcher # libpointmatcher
RUN git clone https://github.com/ethz-asl/libnabo.git RUN git clone https://github.com/ethz-asl/libnabo.git
#commit Apr 25 2018 #commit Apr 25 2018
@@ -70,14 +50,15 @@ RUN cd libpointmatcher && \
ARG CACHE_DATE=2016-01-01 ARG CACHE_DATE=2016-01-01
RUN git clone https://github.com/introlab/rtabmap.git RUN git clone https://github.com/introlab/rtabmap.git
RUN rm /bin/sh && ln -s /bin/bash /bin/sh
# Build RTAB-Map project # Build RTAB-Map project
RUN cd rtabmap/build && \ RUN source /ros_entrypoint.sh && \
cd rtabmap/build && \
cmake .. && \ cmake .. && \
make -j$(nproc) && \ make && \
make install && \ make install && \
cd ../.. && \ cd ../.. && \
rm -rf rtabmap && \ rm -rf rtabmap && \
ldconfig ldconfig
WORKDIR /root