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Docker: updated ros2 base image to support arm64

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matlabbe
2023-05-29 23:24:47 -07:00
parent 67df99aa57
commit bfc4e939d1
4 changed files with 54 additions and 15 deletions
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27
docker/focal-foxy/Dockerfile
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@@ -1,10 +1,22 @@
# Image: introlab3it/rtabmap:focal-foxy
FROM osrf/ros:foxy-desktop
FROM ubuntu:20.04
RUN apt update && \
apt install software-properties-common -y && \
add-apt-repository universe && \
apt update && \
apt install curl -y && \
curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg && \
echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null && \
apt-get clean && rm -rf /var/lib/apt/lists/
ENV DEBIAN_FRONTEND=noninteractive
# Install build dependencies
RUN apt-get update && \
apt-get install -y git software-properties-common ros-foxy-rtabmap-ros && \
apt upgrade -y && \
apt-get install -y git ros-foxy-ros-base python3-argcomplete ros-dev-tools ros-foxy-rtabmap-ros && \
apt-get remove -y ros-foxy-rtabmap && \
apt-get clean && rm -rf /var/lib/apt/lists/
@@ -32,8 +44,6 @@ ARG TARGETPLATFORM
ENV TARGETPLATFORM=${TARGETPLATFORM:-linux/amd64}
RUN echo "I am building for $TARGETPLATFORM"
ENV DEBIAN_FRONTEND=noninteractive
# Azure Kinect DK
# Taken from https://github.com/microsoft/Azure-Kinect-Sensor-SDK/issues/1190#issuecomment-822772494
# K4A binaries on 20.04 not released yet, we should take those from 18.04
@@ -77,7 +87,7 @@ RUN if [ "$TARGETPLATFORM" = "linux/amd64" ]; then echo "Installing libfreenect2
# zed open capture
RUN if [ "$TARGETPLATFORM" = "linux/amd64" ]; then echo "Installing zed-open-capture..." && \
apt-get update && apt install libusb-1.0-0-dev libhidapi-libusb0 libhidapi-dev wget && \
apt-get update && apt install -y libusb-1.0-0-dev libhidapi-libusb0 libhidapi-dev wget && \
apt-get clean && rm -rf /var/lib/apt/lists/ && \
git clone https://github.com/stereolabs/zed-open-capture.git && \
cd zed-open-capture && \
@@ -145,7 +155,7 @@ RUN if [ "$TARGETPLATFORM" = "linux/amd64" ]; then git clone https://github.com/
rm -r AliceVision; fi
#commit Aug 6 2020
RUN apt-get update && apt install wget && \
RUN apt-get update && apt install -y wget && \
apt-get clean && rm -rf /var/lib/apt/lists/
RUN git clone https://github.com/laurentkneip/opengv.git && \
cd opengv && \
@@ -172,13 +182,16 @@ RUN git clone --branch 4.2.0 https://github.com/opencv/opencv.git && \
rm -rf opencv opencv_contrib
# Will be used to read/store databases on host
RUN mkdir -p /root/Documents/RTAB-Map
RUN mkdir -p /root/Documents/RTAB-Map && chmod 777 /root/Documents/RTAB-Map
RUN rm /bin/sh && ln -s /bin/bash /bin/sh
# Copy current source code
COPY . /root/rtabmap
RUN cp /root/rtabmap/docker/focal-foxy/ros_entrypoint.sh /ros_entrypoint.sh
ENTRYPOINT [ "/ros_entrypoint.sh" ]
# Build RTAB-Map project
RUN source /ros_entrypoint.sh && \
cd rtabmap/build && \