56 lines
2.8 KiB
Docker
56 lines
2.8 KiB
Docker
FROM ros:humble
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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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python3-tk \
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curl \
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vim \
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libcgal-dev \
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libcgal-demo \
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ros-humble-rmw-cyclonedds-cpp ros-humble-rosidl-generator-dds-idl \
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libyaml-cpp-dev \
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ros-humble-xacro \
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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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RUN curl -s https://packagecloud.io/install/repositories/github/git-lfs/script.deb.sh | bash
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RUN apt-get install git-lfs
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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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# Install Python dependencies
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RUN pip3 install scipy ipykernel warp-lang
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RUN pip3 install torch torchvision torchaudio --index-url https://download.pytorch.org/whl/cu118
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RUN pip3 install matplotlib opencv-python proxsuite
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RUN pip3 install isort black
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RUN pip3 install warp-lang scikit-learn casadi mujoco pin
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RUN pip install jupyter ipykernel
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RUN pip install cyclonedds pygame
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RUN pip install pynput pygame
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RUN pip install onnx onnxruntime
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# Set environmental variables required for using ROS
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RUN echo 'source /opt/ros/humble/setup.bash' >> ~/.bashrc
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RUN echo 'source /unitree_ros2/cyclonedds_ws/install/setup.bash' >> ~/.bashrc
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RUN echo 'export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp' >> ~/.bashrc
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RUN echo 'export CYCLONEDDS_URI=file:///home/Go2py/Go2Py/assets/cyclonedds.xml' >> ~/.bashrc
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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 |