SignLoc/HumbleDockerfile at main · AdaCompNUS/SignLoc · GitHub

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FROM ros:humble-ros-base
ENV DEBIAN_FRONTEND=noninteractive
ENV NVIDIA_VISIBLE_DEVICES=all
ENV NVIDIA_DRIVER_CAPABILITIES=graphics,utility,compute


RUN apt-get update && apt-get install -y \
    locales \
    python3-pip \
    ros-humble-xacro \
    ros-humble-launch-xml \
    ros-humble-cv-bridge \
    ros-humble-launch-testing-ament-cmake \
    ros-humble-rviz2 \
    ros-humble-tf-transformations \
    ros-humble-rqt \
    ros-humble-rqt-image-view \
    ros-humble-rqt-tf-tree \
    libopus-dev \
    python3 \
    python3-dev \
    nano \
    && rm -rf /var/lib/apt/lists/*

RUN locale-gen en_US.UTF-8

SHELL ["/bin/bash", "-c"]


RUN pip install opencv-python networkx matplotlib shapely tqdm thefuzz utm geopy contextily
RUN apt-get update && \
    apt-get install -y tmux libeigen3-dev python3-pybind11 ros-humble-rviz-satellite ros-humble-navigation2 \
    ros-humble-nav2-bringup  libboost-all-dev && \
    rm -rf /var/lib/apt/lists/*
RUN pip install numpy==1.24.4


COPY /ros2_ws /ros_ws

COPY /signloc_core /ros_ws/src/signloc_ros/signloc_core

RUN cd /usr/include/ && sudo ln -sf eigen3/Eigen Eigen

RUN cd /ros_ws/src/signloc_ros/signloc_core &&  cmake -S . -B build  -DPYTHON_INCLUDE_DIR="/usr/include/python3.10" && cmake --build build

RUN cd /ros_ws && source /ros_entrypoint.sh && \
  colcon build  --packages-up-to signloc_msgs  --cmake-clean-cache && rm -r build log

RUN cd /ros_ws && source install/setup.bash && \
  colcon build  --packages-up-to signloc_ros  --cmake-clean-cache && rm -r build log


COPY /data /ros_ws/data

WORKDIR /ros_ws

# numpy == 1.24.4