70 lines
2.4 KiB
Docker
70 lines
2.4 KiB
Docker
FROM ros:jazzy-perception
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ENV DEBIAN_FRONTEND=noninteractive
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# ---------- System dependencies ----------
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RUN apt-get update && apt-get upgrade && apt-get install -y \
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python3-colcon-common-extensions \
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python3-rosdep \
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meson cmake \
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build-essential \
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udev \
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git
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# ---------- Libcamera ----------
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WORKDIR /extras
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RUN apt-get install -y libboost-dev \
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libgnutls28-dev openssl libtiff5-dev \
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pybind11-dev \
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qtbase5-dev libqt5core5a libqt5gui5 libqt5widgets5 \
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python3-yaml python3-ply python3-jinja2 python3-pip\
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libglib2.0-dev libgstreamer-plugins-base1.0-dev \
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build-essential
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RUN git clone https://github.com/raspberrypi/libcamera.git \
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&& cd libcamera \
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&& meson setup build --buildtype=release -Dpipelines=rpi/vc4,rpi/pisp -Dipas=rpi/vc4,rpi/pisp -Dv4l2=true -Dgstreamer=enabled -Dtest=false -Dlc-compliance=disabled -Dcam=disabled -Dqcam=disabled -Ddocumentation=disabled -Dpycamera=enabled \
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&& ninja -C build install
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# ---------- Initialize rosdep ----------
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RUN rosdep init || true
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RUN rosdep update
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# ---------- Workspace ----------
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WORKDIR /ros_ws
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# ---------- Copy package.xml files ----------
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COPY toid_bot_description/package.xml toid_bot_description/package.xml
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COPY toid_control/package.xml toid_control/package.xml
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COPY toid_msgs/package.xml toid_msgs/package.xml
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COPY toid_odometry/package.xml toid_odometry/package.xml
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COPY toid_lidar/package.xml toid_lidar/package.xml
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COPY toid_interaction/package.xml toid_interaction/package.xml
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COPY toid_costmaps/package.xml toid_costmaps/package.xml
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COPY toid_bt/package.xml toid_bt/package.xml
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COPY toid_spinner_controller/package.xml toid_spinner_controller/package.xml
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COPY toid_behaviors/package.xml toid_behaviors/package.xml
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COPY toid_navigation/package.xml toid_navigation/package.xml
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COPY toid_vision/package.xml toid_vision/package.xml
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COPY ext/camera_ros/package.xml ext/camera_ros/package.xml
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COPY ext/BehaviorTree.ROS2/ ext/BehaviorTree.ROS2/
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# ---------- Install dependencies ----------
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RUN . /opt/ros/jazzy/setup.sh && \
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rosdep install --from-paths ./ --ignore-src -r -y --skip-keys=libcamera \
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&& rm -rf /var/lib/apt/lists/*
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RUN rm -rf ./*
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RUN cat <<EOF >> /root/.bashrc
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source /opt/ros/jazzy/setup.bash
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if [[ -f ./install/setup.bash ]]; then
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source ./install/setup.bash
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fi
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EOF
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CMD ["sleep", "infinity"]
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