35 lines
1.7 KiB
Docker
35 lines
1.7 KiB
Docker
|
# FROM isaac_ros_dev-aarch64
|
||
|
|
FROM ros:humble
|
||
|
|
ENV DEBIAN_FRONTEND=noninteractive
|
||
|
|
SHELL ["/bin/bash", "-c"]
|
||
|
|
# uodate and install dependencies
|
||
|
|
RUN apt-get update && apt-get install -y \
|
||
|
|
ros-humble-rmw-cyclonedds-cpp ros-humble-rosidl-generator-dds-idl \
|
||
|
|
# ros-humble-realsense2-camera \
|
||
|
|
ros-humble-pointcloud-to-laserscan \
|
||
|
|
libyaml-cpp-dev \
|
||
|
|
libboost-all-dev\
|
||
|
|
build-essential \
|
||
|
|
cmake \
|
||
|
|
git \
|
||
|
|
ros-humble-pcl-ros \
|
||
|
|
&& rm -rf /var/lib/apt/lists/*
|
||
|
|
|
||
|
|
# Cheange the ROS2 RMW to CycloneDDS as instructed by Unitree
|
||
|
|
RUN cd / && git clone https://github.com/unitreerobotics/unitree_ros2 && cd /unitree_ros2/cyclonedds_ws/src && \
|
||
|
|
git clone https://github.com/ros2/rmw_cyclonedds -b humble && git clone https://github.com/eclipse-cyclonedds/cyclonedds -b releases/0.10.x &&\
|
||
|
|
cd .. && colcon build --packages-select cyclonedds && source /opt/ros/humble/setup.bash && colcon build
|
||
|
|
|
||
|
|
RUN cd /root && git clone https://github.com/Livox-SDK/Livox-SDK2.git && cd cd ./Livox-SDK2/ && mkdir build && cd build && cmake .. && make -j4 && make install
|
||
|
|
RUN cd /root && git clone git clone https://github.com/Livox-SDK/livox_ros_driver2.git ws_livox/src/livox_ros_driver2 && cd ws_livox/src/livox_ros_driver2
|
||
|
|
|
||
|
|
COPY docker/scripts/MID360_config.json /root/ws_livox/src/livox_ros_driver2/config/MID360_config.json
|
||
|
|
COPY launch_files/msg_MID360_launch.py /root/ws_livox/src/livox_ros_driver2/launch_ROS2/msg_MID360_launch.py
|
||
|
|
RUN cd /root/ws_livox/src/livox_ros_driver2 && && source /opt/ros/humble/setup.sh && ./build.sh humble
|
||
|
|
|
||
|
|
# Copy the script to start the nodes
|
||
|
|
COPY docker/scripts/mid360_start.sh /root/mid360_start.sh
|
||
|
|
# set the entrypoint to bash
|
||
|
|
# ENTRYPOINT ["/bin/bash"]
|
||
|
|
ENTRYPOINT ["/bin/bash", "/root/mid360_start.sh"]
|