mirror of
https://github.com/introlab/rtabmap.git
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bc724a2125
* iOS CI * g2o hard-coded path * bump ios version * Fixed opencv 4.10.0 build on docker resolute
122 lines
4.8 KiB
Docker
122 lines
4.8 KiB
Docker
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# Image: introlab3it/rtabmap:resolute-deps
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FROM ubuntu:26.04
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ARG TARGETPLATFORM
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ENV TARGETPLATFORM=${TARGETPLATFORM:-linux/amd64}
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RUN echo "I am building for $TARGETPLATFORM"
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ENV DEBIAN_FRONTEND=noninteractive
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# Install ROS2
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RUN apt update && \
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apt install software-properties-common -y && \
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add-apt-repository universe && \
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apt update && \
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apt install curl -y && \
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curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg && \
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echo "deb [arch=$(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 && \
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apt-get clean && rm -rf /var/lib/apt/lists/
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# Install build dependencies
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RUN apt-get update && \
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apt upgrade -y && \
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apt-get install -y \
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git \
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wget \
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libtbb-dev \
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libproj-dev \
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libpcl-dev \
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liboctomap-dev \
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libfreenect-dev \
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libceres-dev \
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ros-lyrical-ros-base \
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ros-dev-tools \
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ros-lyrical-cv-bridge \
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ros-lyrical-image-geometry \
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ros-lyrical-laser-geometry \
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ros-lyrical-pcl-conversions \
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ros-lyrical-rviz-common \
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ros-lyrical-rviz-rendering \
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ros-lyrical-rviz-default-plugins \
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ros-lyrical-pcl-ros \
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ros-lyrical-imu-filter-madgwick \
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ros-lyrical-image-transport \
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ros-lyrical-octomap-msgs \
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ros-lyrical-libg2o \
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ros-lyrical-gtsam \
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ros-lyrical-qt-gui-cpp \
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ros-lyrical-diagnostic-updater && \
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apt-get clean && rm -rf /var/lib/apt/lists/
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WORKDIR /root/
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# libfreenect2
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RUN if [ "$TARGETPLATFORM" = "linux/amd64" ]; then echo "Installing libfreenect2..." && \
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apt-get update && apt-get install -y mesa-utils xserver-xorg-video-all libusb-1.0-0-dev libturbojpeg0-dev libglfw3-dev && \
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apt-get clean && rm -rf /var/lib/apt/lists/ && \
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git clone https://github.com/OpenKinect/libfreenect2 && \
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cd libfreenect2 && \
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mkdir build && \
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cd build && \
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cmake -DCMAKE_BUILD_TYPE=Release -DCMAKE_POLICY_VERSION_MINIMUM=3.5 .. && \
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make -j4 && \
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make install && \
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cd && \
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rm -r libfreenect2; fi
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# zed open capture
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RUN if [ "$TARGETPLATFORM" = "linux/amd64" ]; then echo "Installing zed-open-capture..." && \
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apt-get update && apt install -y libusb-1.0-0-dev libhidapi-libusb0 libhidapi-dev wget && \
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apt-get clean && rm -rf /var/lib/apt/lists/ && \
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git clone https://github.com/stereolabs/zed-open-capture.git && \
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cd zed-open-capture && \
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mkdir build && \
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cd build && \
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cmake -DCMAKE_BUILD_TYPE=Release -DCMAKE_POLICY_VERSION_MINIMUM=3.5 .. && \
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make -j4 && \
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make install && \
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cd && \
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rm -r zed-open-capture; fi
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# OpenCV with all modules (same version than distro version to avoid conflicts with cv_bridge ros package)
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RUN git clone --branch 4.10.0 https://github.com/opencv/opencv.git && \
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git clone --branch 4.10.0 https://github.com/opencv/opencv_contrib.git && \
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cd opencv && \
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# FFmpeg 7/8 compatibility (Ubuntu 26.04): avcodec_close / av_stream_get_side_data removed
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git -c user.email=docker@build -c user.name=docker cherry-pick -x 90c444abd387ffa70b2e72a34922903a2f0f4f5a 443d0ae63fad6dfd8c485d609203db16c8bd0ec3 && \
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mkdir build && \
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cd build && \
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cmake -DCMAKE_BUILD_TYPE=Release -DWITH_TBB=ON -DWITH_ADE=OFF -DWITH_OPENMP=ON -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=/root/opencv_contrib/modules .. && \
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make -j4 && \
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make install && \
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cd ../.. && \
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rm -rf opencv opencv_contrib
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RUN git clone https://github.com/laurentkneip/opengv.git && \
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cd opengv && \
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git checkout 91f4b19c73450833a40e463ad3648aae80b3a7f3 && \
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wget https://gist.githubusercontent.com/matlabbe/a412cf7c4627253874f81a00745a7fbb/raw/accc3acf465d1ffd0304a46b17741f62d4d354ef/opengv_disable_march_native.patch && \
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git apply opengv_disable_march_native.patch && \
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mkdir build && \
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cd build && \
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cmake -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTS=OFF -DCMAKE_POLICY_VERSION_MINIMUM=3.5 .. && \
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make -j4 && \
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make install && \
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cd && \
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rm -r opengv
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RUN rm /bin/sh && ln -s /bin/bash /bin/sh
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RUN echo -e '#!/bin/bash\nset -e\n\n# setup ros2 environment\nsource "/opt/ros/lyrical/setup.bash" --\nexec "$@"' > /ros_entrypoint.sh
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RUN chmod +x /ros_entrypoint.sh
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ENTRYPOINT [ "/ros_entrypoint.sh" ]
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# ros2 seems not sourcing by default its multi-arch folders
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ENV LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/opt/ros/lyrical/lib/x86_64-linux-gnu:/opt/ros/lyrical/lib/aarch64-linux-gnu
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# for jetson (https://github.com/introlab/rtabmap/issues/776)
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ENV LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/lib/aarch64-linux-gnu/tegra
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