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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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30
docker/jammy/Dockerfile
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@@ -1,15 +1,28 @@
# Image: introlab3it/rtabmap:jammy
FROM osrf/ros:humble-desktop
FROM ubuntu:22.04
# Install ROS2
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 $UBUNTU_CODENAME) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null && \
apt-get clean && rm -rf /var/lib/apt/lists/
ENV DEBIAN_FRONTEND=noninteractive
# Install build dependencies
RUN apt-get update && \
apt-get install -y git software-properties-common ros-humble-rtabmap-ros && \
apt upgrade -y && \
apt-get install -y git ros-humble-ros-base ros-dev-tools ros-humble-rtabmap-ros && \
apt-get remove -y ros-humble-rtabmap* && \
apt-get clean && rm -rf /var/lib/apt/lists/
WORKDIR /root/
# PDAL
RUN apt-get update && apt-get install -y libpdal-dev && \
apt-get clean && rm -rf /var/lib/apt/lists/
@@ -22,8 +35,6 @@ ARG TARGETPLATFORM
ENV TARGETPLATFORM=${TARGETPLATFORM:-linux/amd64}
RUN echo "I am building for $TARGETPLATFORM"
ENV DEBIAN_FRONTEND=noninteractive
# libfreenect2
RUN if [ "$TARGETPLATFORM" = "linux/amd64" ]; then echo "Installing libfreenect2..." && \
apt-get update && apt-get install -y mesa-utils xserver-xorg-video-all libusb-1.0-0-dev libturbojpeg0-dev libglfw3-dev && \
@@ -40,7 +51,7 @@ 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 && \
@@ -53,7 +64,7 @@ RUN if [ "$TARGETPLATFORM" = "linux/amd64" ]; then echo "Installing zed-open-cap
rm -r zed-open-capture; fi
#commit Aug 6 2020
RUN apt-get update && apt install wget && \
RUN apt-get update && apt install -y wget && \
apt-get clean && rm -rf /var/lib/apt/lists/
RUN git clone https://github.com/laurentkneip/opengv.git && \
cd opengv && \
@@ -80,13 +91,16 @@ RUN git clone --branch 4.5.4 https://github.com/opencv/opencv.git && \
rm -rf opencv opencv_contrib
# Will be used to read/store databases on host
RUN mkdir -p /root/Documents/RTAB-Map
RUN mkdir -p /root/Documents/RTAB-Map && chmod 777 /root/Documents/RTAB-Map
RUN rm /bin/sh && ln -s /bin/bash /bin/sh
# Copy current source code
COPY . /root/rtabmap
RUN cp /root/rtabmap/docker/jammy/ros_entrypoint.sh /ros_entrypoint.sh
ENTRYPOINT [ "/ros_entrypoint.sh" ]
# ros2 seems not sourcing by default its multi-arch folders
ENV LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/opt/ros/humble/lib/x86_64-linux-gnu:/opt/ros/humble/lib/aarch64-linux-gnu