mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-02 01:20:25 +08:00
105 lines
3.9 KiB
Docker
105 lines
3.9 KiB
Docker
ARG ROS_DISTRO=jazzy
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FROM osrf/ros:${ROS_DISTRO}-desktop
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# Install build dependencies with Qt6 (issue: rtabmap has black window)
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#RUN apt-get update && \
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# apt-get install -y git software-properties-common ros-${ROS_DISTRO}-rtabmap-ros libqt6* qt6* qml6* && \
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# apt-get remove -y ros-${ROS_DISTRO}-rtabmap* ros-${ROS_DISTRO}-gtsam ros-${ROS_DISTRO}-libg2o libpcl* libqt5* qt5* libvtk* libopencv* && \
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# apt-get clean && rm -rf /var/lib/apt/lists/
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# Install build dependencies with Qt5
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RUN apt-get update && \
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apt-get install -y git software-properties-common ros-${ROS_DISTRO}-rtabmap-ros && \
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apt-get remove -y ros-${ROS_DISTRO}-rtabmap* ros-${ROS_DISTRO}-gtsam ros-${ROS_DISTRO}-libg2o libpcl* libvtk* libopencv* && \
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apt-get clean && rm -rf /var/lib/apt/lists/
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# remove ubuntu user
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RUN touch /var/mail/ubuntu && chown ubuntu /var/mail/ubuntu && userdel -r ubuntu
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RUN apt-get update && apt-get install -y sudo && \
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apt-get clean && rm -rf /var/lib/apt/lists/
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ARG USERNAME=vscode
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ARG USER_UID=1000
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ARG USER_GID=1000
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RUN set -ex && \
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groupadd --gid ${USER_GID} ${USERNAME} && \
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useradd --uid ${USER_UID} --gid ${USER_GID} -m ${USERNAME} && \
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usermod -a -G sudo ${USERNAME} && \
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echo "${USERNAME} ALL=(ALL) NOPASSWD:ALL" > /etc/sudoers.d/${USERNAME} && \
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chmod 0440 /etc/sudoers.d/${USERNAME}
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RUN mkdir -p /home/${USERNAME}/Documents/RTAB-Map
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RUN echo "source /usr/share/bash-completion/completions/git" >> /home/${USERNAME}/.bashrc
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WORKDIR /home/${USERNAME}/
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RUN rm /bin/sh && ln -s /bin/bash /bin/sh
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# We build main dependencies from source, cleaning up the
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# build directory after install but keeping the source code
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# to change version/reinstall from inside the dev container
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# if needed.
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# Build latest VTK with Qt6
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RUN git clone https://github.com/Kitware/VTK.git
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RUN cd VTK && \
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mkdir build && \
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cd build && \
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cmake -DVTK_GROUP_ENABLE_Qt=YES .. && \
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make -j$(nproc) && \
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make install && \
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make clean
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# Build latest PCL with latest VTK
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# Make sure all libraries depending on Eigen are built with same CXX standard (17)
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RUN git clone https://github.com/PointCloudLibrary/pcl.git
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RUN cd pcl && \
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mkdir build && \
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cd build && \
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cmake -DCMAKE_CXX_STANDARD=17 -DBUILD_tools=ON -DPCL_ENABLE_AVX=OFF -DPCL_ENABLE_MARCHNATIVE=OFF -DPCL_ENABLE_SSE=OFF .. && \
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make -j$(nproc) && \
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make install && \
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make clean
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# Build latest OpenCV
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RUN git clone https://github.com/opencv/opencv.git
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RUN git clone https://github.com/opencv/opencv_contrib.git
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RUN cd opencv && \
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mkdir build && \
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cd build && \
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cmake -DBUILD_opencv_python3=OFF -DBUILD_opencv_python_bindings_generator=OFF -DBUILD_opencv_python_tests=OFF -DBUILD_PERF_TESTS=OFF -DBUILD_TESTS=OFF -DOPENCV_ENABLE_NONFREE=ON -DOPENCV_EXTRA_MODULES_PATH=../../opencv_contrib/modules .. && \
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make -j$(nproc) && \
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make install && \
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make clean
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# Build latest gtsam
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RUN git clone https://github.com/borglab/gtsam.git
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RUN cd gtsam && \
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mkdir build && \
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cd build && \
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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 -DCMAKE_BUILD_TYPE=Release .. && \
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make -j$(nproc) && \
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make install && \
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make clean
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# Build latest g2o
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RUN git clone https://github.com/RainerKuemmerle/g2o.git
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RUN cd g2o && \
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mkdir build && \
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cd build && \
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cmake -DCMAKE_CXX_STANDARD=17 -DBUILD_WITH_MARCH_NATIVE=OFF -DG2O_BUILD_APPS=OFF -DG2O_BUILD_EXAMPLES=OFF -DG2O_USE_OPENGL=OFF -DCMAKE_BUILD_TYPE=Release .. && \
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make -j$(nproc) && \
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make install && \
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make clean
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# ros2 seems not sourcing by default its multi-arch folders
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ENV LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/opt/ros/${ROS_DISTRO}/lib/x86_64-linux-gnu
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RUN ldconfig
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RUN chown -R ${USERNAME} /home/${USERNAME}
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