45 lines
1.9 KiB
Docker
45 lines
1.9 KiB
Docker
# FROM isaac_ros_dev-aarch64
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FROM ros:humble
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ENV DEBIAN_FRONTEND=noninteractive
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SHELL ["/bin/bash", "-c"]
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# uodate and install dependencies
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RUN apt-get update && apt-get install -y \
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ros-humble-rmw-cyclonedds-cpp ros-humble-rosidl-generator-dds-idl \
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# ros-humble-realsense2-camera \
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# ros-humble-pointcloud-to-laserscan \
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libyaml-cpp-dev \
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libboost-all-dev\
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build-essential \
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cmake \
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git \
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&& rm -rf /var/lib/apt/lists/*
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# Cheange the ROS2 RMW to CycloneDDS as instructed by Unitree
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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 humble && 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/humble/setup.bash && colcon build
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COPY scripts/build-librealsense.sh /opt/realsense/build-librealsense.sh
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COPY scripts/install-realsense-dependencies.sh /opt/realsense/install-realsense-dependencies.sh
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RUN chmod +x /opt/realsense/install-realsense-dependencies.sh && /opt/realsense/install-realsense-dependencies.sh
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RUN chmod +x /opt/realsense/build-librealsense.sh && /opt/realsense/build-librealsense.sh --no_cuda
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# Copy hotplug script which will get invoked whenever a devices plugged or un-plugged
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RUN mkdir -p /opt/realsense/
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COPY scripts/hotplug-realsense.sh /opt/realsense/hotplug-realsense.sh
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# Copy custom udev rules file
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COPY udev_rules/99-realsense-libusb-custom.rules /etc/udev/rules.d/99-realsense-libusb-custom.rules
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# copy the go2py ros2 nodes
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# COPY ros2_nodes/lidar_node /hesai_ws/src/lidar_node
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# RUN cd /hesai_ws && source /opt/ros/humble/setup.bash && colcon build --symlink-install
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# Copy the script to start the nodes
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# COPY docker/scripts /root/scripts
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# COPY launch_files /root/launch
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# set the entrypoint to bash
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ENTRYPOINT ["/bin/bash"]
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# ENTRYPOINT ["/bin/bash", "/root/scripts/hesai_start.sh"] |