31 lines
1.6 KiB
Docker
31 lines
1.6 KiB
Docker
FROM ros:foxy
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ENV DEBIAN_FRONTEND=noninteractive
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SHELL ["/bin/bash", "-c"]
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RUN apt-get update && apt-get install -y -qq --no-install-recommends \
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libglvnd-dev \
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libgl1-mesa-dev \
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libegl1-mesa-dev \
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libgles2-mesa-dev \
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libxext6 \
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libx11-6 \
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freeglut3-dev \
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git \
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python3-pip \
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ros-foxy-rmw-cyclonedds-cpp ros-foxy-rosidl-generator-dds-idl \
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libyaml-cpp-dev \
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ros-foxy-xacro \
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libboost-all-dev\
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build-essential \
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cmake \
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&& rm -rf /var/lib/apt/lists/*
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RUN pip3 install mujoco pin matplotlib
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RUN cd / && git clone https://github.com/unitreerobotics/unitree_ros2 && cd /unitree_ros2/cyclonedds_ws/src && \
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git clone https://github.com/ros2/rmw_cyclonedds -b foxy && git clone https://github.com/eclipse-cyclonedds/cyclonedds -b releases/0.10.x &&\
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cd .. && colcon build --packages-select cyclonedds && source /opt/ros/foxy/setup.bash && colcon build
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# Env vars for the nvidia-container-runtime.
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ENV NVIDIA_VISIBLE_DEVICES all
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ENV NVIDIA_DRIVER_CAPABILITIES graphics,utility,compute |