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docker: updated latest deps Dockerfile example

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matlabbe
2024-11-24 15:12:55 -08:00
parent afde4af3a7
commit 968b9f8609
2 changed files with 12 additions and 10 deletions
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.dockerignore
+1
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@@ -1 +1,2 @@
build/*
build_*
docker/latest_deps/Dockerfile
+11 -10
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@@ -1,19 +1,19 @@
FROM osrf/ros:humble-desktop
# humble or jazzy
ARG ROS_DISTRO=humble
FROM osrf/ros:${ROS_DISTRO}-desktop
# Install build dependencies
RUN apt-get update && \
apt-get install -y git software-properties-common ros-humble-rtabmap-ros libqt6* qt6* && \
apt-get remove -y ros-humble-rtabmap* ros-humble-libg2o libpcl* libqt5* qt5* libvtk* libopencv* && \
apt-get install -y git software-properties-common ros-${ROS_DISTRO}-rtabmap-ros libqt6* qt6* qml6* && \
apt-get remove -y ros-${ROS_DISTRO}-rtabmap* ros-${ROS_DISTRO}-gtsam ros-${ROS_DISTRO}-libg2o libpcl* libqt5* qt5* libvtk* libopencv* && \
apt-get clean && rm -rf /var/lib/apt/lists/
WORKDIR /root/
RUN rm /bin/sh && ln -s /bin/bash /bin/sh
# ros2 seems not sourcing by default its multi-arch folders
ENV LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/opt/ros/humble/lib/x86_64-linux-gnu
# Build latest VTK with Qt6
RUN git clone https://github.com/Kitware/VTK.git && \
cd VTK && \
@@ -26,11 +26,12 @@ RUN git clone https://github.com/Kitware/VTK.git && \
rm -rf VTK
# Build latest PCL with latest VTK
# Make sure all libraries depending on Eigen are built with same CXX standard (17)
RUN git clone https://github.com/PointCloudLibrary/pcl.git && \
cd pcl && \
mkdir build && \
cd build && \
cmake -DBUILD_tools=OFF .. && \
cmake -DCMAKE_CXX_STANDARD=17 -DBUILD_tools=OFF -DPCL_ENABLE_AVX=OFF -DPCL_ENABLE_MARCHNATIVE=OFF -DPCL_ENABLE_SSE=OFF .. && \
make -j$(nproc) && \
make install && \
cd ../.. && \
@@ -46,14 +47,14 @@ RUN git clone https://github.com/opencv/opencv.git && \
make -j$(nproc) && \
make install && \
cd ../.. && \
rm -rf opencv
rm -rf opencv opencv_contrib
# 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 -DCMAKE_CXX_STANDARD=17 -DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF -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
@@ -63,7 +64,7 @@ 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 -DCMAKE_CXX_STANDARD=17 -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