36 lines
1.8 KiB
Docker
36 lines
1.8 KiB
Docker
# FROM isaac_ros_dev-aarch64
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FROM robocaster/mid360:go2
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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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# ros-humble-pcl-ros \
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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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# RUN cd /root && git clone https://github.com/Livox-SDK/Livox-SDK2.git && cd ./Livox-SDK2/ && mkdir build && cd build && cmake .. && make -j4 && make install
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# RUN cd /root && git clone https://github.com/Livox-SDK/livox_ros_driver2.git ws_livox/src/livox_ros_driver2 && cd ws_livox/src/livox_ros_driver2
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COPY docker/scripts/MID360_config.json /root/ws_livox/src/livox_ros_driver2/config/MID360_config.json
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COPY launch_files/msg_MID360_launch.py /root/ws_livox/src/livox_ros_driver2/launch_ROS2/msg_MID360_launch.py
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RUN cd /root/ws_livox/src/livox_ros_driver2 && source /opt/ros/humble/setup.sh && /bin/bash build.sh humble
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# Copy the script to start the nodes
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COPY docker/scripts/mid360_start.sh /root/mid360_start.sh
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# set the entrypoint to bash
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# ENTRYPOINT ["/bin/bash"]
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ENTRYPOINT ["/bin/bash", "/root/mid360_start.sh"]
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