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Docker: updated latest_deps dockerfile

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matlabbe
2023-05-14 12:20:00 -07:00
parent 376c82325e
commit 2da448f4ee
1 changed files with 21 additions and 1 deletions
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22
docker/latest_deps/Dockerfile
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@@ -4,7 +4,7 @@ FROM osrf/ros:humble-desktop
# Install build dependencies
RUN apt-get update && \
apt-get install -y git software-properties-common ros-humble-rtabmap-ros libqt6* qt6* && \
apt-get remove -y ros-humble-rtabmap libpcl* libqt5* qt5* libvtk* libopencv* && \
apt-get remove -y ros-humble-rtabmap* ros-humble-libg2o libpcl* libqt5* qt5* libvtk* libopencv* && \
apt-get clean && rm -rf /var/lib/apt/lists/
WORKDIR /root/
@@ -48,6 +48,26 @@ RUN git clone https://github.com/opencv/opencv.git && \
cd ../.. && \
rm -rf opencv
# Build latest gtsam
RUN git clone https://github.com/borglab/gtsam.git && \
cd gtsam && \
mkdir build && \
cd build && \
cmake -DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF -DGTSAM_BUILD_TESTS=OFF -DGTSAM_BUILD_STATIC_LIBRARY=OFF -DGTSAM_BUILD_UNSTABLE=OFF -DGTSAM_INSTALL_CPPUNILITE=OFF -DGTSAM_USE_SYSTEM_EIGEN=ON .. && \
cmake --build . --config Release --target install && \
cd ../.. && \
rm -rf gtsam
# Build latest g2o
RUN git clone https://github.com/RainerKuemmerle/g2o.git && \
cd g2o && \
mkdir build && \
cd build && \
cmake -DBUILD_WITH_MARCH_NATIVE=OFF -DG2O_BUILD_APPS=OFF -DG2O_BUILD_EXAMPLES=OFF -DG2O_USE_OPENGL=OFF .. && \
cmake --build . --config Release --target install && \
cd ../.. && \
rm -rf g2o
RUN mkdir -p /root/Documents/RTAB-Map
# Copy current source code