31 lines
1.6 KiB
Docker
31 lines
1.6 KiB
Docker
FROM ros:humble
|
|
ENV DEBIAN_FRONTEND=noninteractive
|
|
SHELL ["/bin/bash", "-c"]
|
|
RUN apt-get update && apt-get install -y -qq --no-install-recommends \
|
|
libglvnd-dev \
|
|
libgl1-mesa-dev \
|
|
libegl1-mesa-dev \
|
|
libgles2-mesa-dev \
|
|
libxext6 \
|
|
libx11-6 \
|
|
freeglut3-dev \
|
|
git \
|
|
python3-pip \
|
|
ros-humble-rmw-cyclonedds-cpp ros-humble-rosidl-generator-dds-idl \
|
|
libyaml-cpp-dev \
|
|
ros-humble-xacro \
|
|
libboost-all-dev\
|
|
build-essential \
|
|
cmake \
|
|
&& rm -rf /var/lib/apt/lists/*
|
|
|
|
|
|
RUN pip3 install mujoco pin matplotlib
|
|
|
|
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
|
|
|
|
# Env vars for the nvidia-container-runtime.
|
|
ENV NVIDIA_VISIBLE_DEVICES all
|
|
ENV NVIDIA_DRIVER_CAPABILITIES graphics,utility,compute |