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Dockerfile.dependencies_humble
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FROM nvidia/opengl:1.2-glvnd-runtime-ubuntu22.04
# Make all NVIDIA GPUS visible
ARG NVIDIA_VISIBLE_DEVICES=all
ENV NVIDIA_DRIVER_CAPABILITIES all
ENV VIRTUALGL_VERSION=3.0.2
ENV TURBOVNC_VERSION=3.0.3
# Setup NON INTERACTIVE ENVIRONMENT
ENV DEBIAN_FRONTEND=noninteractive
# Install locales to prevent errors
RUN apt-get clean && \
apt-get update && \
apt-get install --no-install-recommends -y locales && \
rm -rf /var/lib/apt/lists/* && \
locale-gen en_US.UTF-8
ENV LANG en_US.UTF-8
ENV LANGUAGE en_US:en
ENV LC_ALL en_US.UTF-8
ENV ROS_DISTRO=humble
ENV AMENT_PREFIX_PATH=/opt/ros/${ROS_DISTRO}
ENV COLCON_PREFIX_PATH=/opt/ros/${ROS_DISTRO}
ENV LD_LIBRARY_PATH=/usr/lib/x86_64-linux-gnu/gazebo-11/plugins:/opt/ros/${ROS_DISTRO}/opt/rviz_ogre_vendor/lib:/opt/ros/${ROS_DISTRO}/lib/x86_64-linux-gnu:/opt/ros/${ROS_DISTRO}/lib:/usr/share/gazebo/../../lib/x86_64-linux-gnu/gazebo-11/plugins:
ENV PATH=/opt/ros/${ROS_DISTRO}/bin:$PATH
ENV PYTHONPATH=/opt/ros/${ROS_DISTRO}/lib/python3.10/site-packages
ENV ROS_PYTHON_VERSION=3
ENV ROS_VERSION=2
# Install common tools
RUN apt-get update && apt-get install -y \
software-properties-common \
bash-completion \
apt-utils \
build-essential \
git curl wget cmake \
nano vim \
gnupg \
lsb-release \
sudo \
net-tools \
pciutils \
&& rm -rf /var/lib/apt/lists/*
# Install ROS2 and ROS packages
RUN curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg \
&& echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null \
&& apt-get update && apt-get install -y \
ros-${ROS_DISTRO}-ros-base \
ros-${ROS_DISTRO}-xacro \
ros-${ROS_DISTRO}-joint-state-publisher \
ros-${ROS_DISTRO}-rviz2 \
python3-colcon-common-extensions \
python3-pip python3-rosdep python3-vcstool \
python3-argcomplete \
&& rosdep init \
&& rm -rf /var/lib/apt/lists/*
# Install Gazebo 11
RUN add-apt-repository ppa:openrobotics/gazebo11-gz-cli
RUN apt-get update && apt-get install -y \
gazebo11 \
ros-humble-gazebo-ros-pkgs \
gstreamer1.0-plugins-bad \
gstreamer1.0-plugins-good \
gstreamer1.0-plugins-ugly \
gstreamer1.0-libav \
libgstreamer-plugins-base1.0-dev \
libimage-exiftool-perl \
&& apt-get -y autoremove \
&& apt-get clean autoclean \
&& rm -rf /var/lib/apt/lists/* /tmp/* /var/tmp/*
RUN mkdir ~/.gazebo && touch ~/.gazebo/gui.ini
# Install Gazebo Harmonic
RUN apt-get update \
&& wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg \
&& echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null \
&& apt-get update && apt-get install -y -q \
gz-harmonic \
&& rm -rf /var/lib/apt/lists/*
RUN apt-get update && apt-get install -y \
ros-humble-ros-gzharmonic \
&& rm -rf /var/lib/apt/lists/*
# Install VNC
# Xorg segfault error mitigation
RUN apt-get update && apt-get install -y --no-install-recommends \
dbus-x11 \
libdbus-c++-1-0v5 \
xvfb xauth xfonts-base xkb-data x11-xkb-utils \
x11vnc \
xterm \
xserver-xorg-video-dummy \
x11-apps \
&& apt-get -y autoremove \
&& apt-get clean autoclean \
&& rm -rf /var/lib/apt/lists/{apt,dpkg,cache,log} /tmp/* /var/tmp/*
RUN wget https://xpra.org/xorg.conf \
&& rm -rf /tmp/*
# Install noVNC and websockify
RUN git clone -b v1.4.0 https://github.com/novnc/noVNC.git
RUN cd /noVNC/utils && git clone -b v0.11.0 https://github.com/novnc/websockify.git
# VirtualGL and TurboVNC
COPY ./gpu/virtualgl_${VIRTUALGL_VERSION}_amd64.deb ./gpu/virtualgl32_${VIRTUALGL_VERSION}_amd64.deb ./gpu/turbovnc_${TURBOVNC_VERSION}_amd64.deb /
RUN dpkg --add-architecture i386 && apt-get update && apt-get install -y \
libxtst6:i386 \
libxv1:i386 \
libglu1-mesa:i386 \
libegl1-mesa:i386 \
libegl1-mesa:amd64
RUN apt-get update && dpkg -i /virtualgl_${VIRTUALGL_VERSION}_amd64.deb /virtualgl32_${VIRTUALGL_VERSION}_amd64.deb \
&& rm /virtualgl_${VIRTUALGL_VERSION}_amd64.deb /virtualgl32_${VIRTUALGL_VERSION}_amd64.deb \
&& chmod u+s /usr/lib/libvglfaker.so \
&& chmod u+s /usr/lib/libdlfaker.so \
&& chmod u+s /usr/lib32/libvglfaker.so \
&& chmod u+s /usr/lib32/libdlfaker.so \
&& chmod u+s /usr/lib/i386-linux-gnu/libvglfaker.so \
&& chmod u+s /usr/lib/i386-linux-gnu/libdlfaker.so \
&& apt-get update && apt-get install -y --no-install-recommends \
/turbovnc_${TURBOVNC_VERSION}_amd64.deb \
&& rm turbovnc_${TURBOVNC_VERSION}_amd64.deb \
&& rm -rf /var/lib/apt/lists/*
RUN apt-get update && \
apt-get install -y lxde-common && \
rm -rf /var/lib/apt/lists/*
ENV PATH "$PATH:/opt/VirtualGL/bin:/opt/TurboVNC/bin"
# Node
RUN curl -sL https://deb.nodesource.com/setup_20.x | bash - \
&& apt-get install -y nodejs \
&& npm install -g yarn
# Install Python 3 pip build dependencies first
RUN python3.10 -m pip install --upgrade pip==23.3.1 wheel==0.41.3 setuptools==69.0.2 selenium
# pip install dependencies
RUN python3.10 -m pip install \
pylint==3.3.1 transitions==0.9.0 pydantic==2.4.2 websocket-client==1.5.2 \
argparse==1.4.0 coverage==6.2 cerberus==1.3.4 empy==3.3.4 jinja2==3.0.3 kconfiglib==14.1.0 \
matplotlib==3.0.* numpy==1.24.3 nunavut==1.1.0 packaging==21.3 pkgconfig==1.5.5 pyros-genmsg==0.5.8 \
pyulog==1.0.1 pyyaml==5.4.1 requests==2.31.0 serial==0.0.97 six==1.16.0 toml==0.10.2 psutil==5.9.0 \
onnxruntime==1.15.0 Pillow==9.0.1 opencv-python==4.5.5.64 netron seaborn==0.11.2 watchdog==2.1.5 utm==0.7.0 psycopg2 jedi pyapriltags
# monaco editor
RUN python3.10 -m pip install black==24.10.0
# websocket server dependency
RUN python3.10 -m pip install websocket_server==0.6.4 posix-ipc==1.1.1 django==4.1.7 djangorestframework==3.13.1 \
django-webpack-loader==1.5.0 django-cors-headers==3.14.0 websockets==11.0.3 asyncio==3.4.3
# BT STUDIO hotfix
RUN python3.10 -m pip install py-trees autopep8
RUN curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg \
&& echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null \
&& apt-get update && apt-get install -y \
ros-humble-py-trees \
ros-humble-py-trees-ros
## Aerostack2
WORKDIR /root/
RUN apt-get update && \
apt-get install apt-utils -y \
software-properties-common \
git \
tmux \
tmuxinator \
python3-rosdep \
python3-pip \
python3-colcon-common-extensions \
python3-colcon-mixin \
python-is-python3 \
ros-dev-tools \
python3-flake8 \
python3-flake8-builtins \
python3-flake8-comprehensions \
python3-flake8-docstrings \
python3-flake8-import-order \
python3-flake8-quotes \
cppcheck \
lcov \
lsb-release \
wget \
gnupg \
&& rm -rf /var/lib/apt/lists/*
RUN pip3 install \
pylint \
flake8==4.0.1 \
pycodestyle==2.8 \
cmakelint \
cpplint \
colcon-lcov-result \
PySimpleGUI-4-foss
RUN colcon mixin add default https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
RUN colcon mixin update default
RUN rm -rf log
# remove log folder
RUN mkdir -p /home/drones_ws/src/
WORKDIR /home/drones_ws/src/
RUN git clone https://github.com/aerostack2/aerostack2.git -b robotics-academy-fix
RUN touch aerostack2/as2_hardware_drivers/COLCON_IGNORE
RUN touch aerostack2/as2_behavior_tree/COLCON_IGNORE
RUN touch aerostack2/as2_map_server/COLCON_IGNORE
RUN touch aerostack2/as2_behaviors/as2_behaviors_path_planning/COLCON_IGNORE
RUN touch aerostack2/as2_utilities/as2_geozones/COLCON_IGNORE
RUN touch aerostack2/as2_user_interfaces/as2_visualization/as2_rviz_plugins/COLCON_IGNORE
WORKDIR /home/drones_ws/
RUN apt-get update && \
apt-get install -y \
libbenchmark-dev \
libeigen3-dev \
libgeographic-dev \
libncurses-dev \
libyaml-cpp-dev \
pybind11-dev \
python3-jinja2 \
python3-pydantic \
python3-pymap3d \
python3-pytest \
ros-humble-action-msgs \
ros-humble-ament-cmake \
ros-humble-ament-cmake-gtest \
ros-humble-ament-cmake-lint-cmake \
ros-humble-ament-cmake-pytest \
ros-humble-ament-cmake-python \
ros-humble-ament-cmake-xmllint \
ros-humble-ament-copyright \
ros-humble-ament-flake8 \
ros-humble-ament-index-cpp \
ros-humble-ament-lint-auto \
ros-humble-ament-lint-common \
ros-humble-ament-pep257 \
ros-humble-backward-ros \
ros-humble-builtin-interfaces \
ros-humble-cv-bridge \
ros-humble-geographic-msgs \
ros-humble-geometry-msgs \
ros-humble-image-transport \
ros-humble-mocap4r2-msgs \
ros-humble-nav-msgs \
ros-humble-pluginlib \
ros-humble-rclcpp \
ros-humble-rclcpp-action \
ros-humble-rclcpp-components \
ros-humble-rclcpp-lifecycle \
ros-humble-rclpy \
ros-humble-robot-state-publisher \
ros-humble-rosidl-default-generators \
ros-humble-rosidl-default-runtime \
ros-humble-rviz2 \
ros-humble-sdformat-urdf \
ros-humble-sensor-msgs \
ros-humble-std-msgs \
ros-humble-std-srvs \
ros-humble-tf2 \
ros-humble-tf2-geometry-msgs \
ros-humble-tf2-msgs \
ros-humble-tf2-ros \
ros-humble-trajectory-msgs \
ros-humble-visualization-msgs \
ros-humble-moveit \
ros-humble-ros2-control \
ros-humble-ros2-controllers \
ros-humble-gripper-controllers \
ros-humble-rmw-cyclonedds-cpp \
ros-humble-ur \
ros-humble-ros-testing \
libpoco-dev \
&& rm -rf /var/lib/apt/lists/*
RUN . /opt/ros/$ROS_DISTRO/setup.sh && \
colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release
# Install CycloneDDS RMW for ROS 2 Humble to fix cycle time issues in humble-moveit (temporary fix)
RUN echo 'export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp' >> ~/.bashrc
# Instalation for industrial robots
RUN mkdir -p /home/industrial_ws/src/ABBDriver
WORKDIR /home/industrial_ws/src/ABBDriver
RUN git clone https://github.com/PickNikRobotics/abb_ros2.git -b rolling
RUN . /opt/ros/$ROS_DISTRO/setup.sh && rosdep update
RUN vcs import < abb_ros2/abb.repos
RUN . /opt/ros/$ROS_DISTRO/setup.sh && rosdep install -r --from-paths . --ignore-src --rosdistro $ROS_DISTRO -y
WORKDIR /home/industrial_ws/src
RUN git clone https://github.com/ros-controls/gazebo_ros2_control.git
RUN cd gazebo_ros2_control && git reset --hard 9a3736c # Commit for the 0.4.6 version!
RUN git clone https://github.com/IFRA-Cranfield/IFRA_LinkAttacher.git
RUN git clone https://github.com/IFRA-Cranfield/IFRA_ObjectPose.git
RUN git clone https://github.com/IFRA-Cranfield/IFRA_LinkPose.git
RUN git clone https://github.com/IFRA-Cranfield/ros2_RobotiqGripper.git
# Forked needed in order to read the parameters from main launcher
RUN git clone https://github.com/javizqh/ros2_SimRealRobotControl
RUN sudo cp /home/industrial_ws/src/ros2_SimRealRobotControl/include/move_group_interface_improved.h /opt/ros/humble/include/moveit/move_group_interface/move_group_interface_improved.h
WORKDIR /home/industrial_ws
RUN . /opt/ros/$ROS_DISTRO/setup.sh && \
colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release
# Create workspace and add drone packages
RUN echo "source /usr/share/gazebo/setup.bash" >> ~/.bashrc
RUN echo "source /opt/ros/$ROS_DISTRO/setup.bash" >> ~/.bashrc
RUN echo 'export AEROSTACK2_PATH=/home/drones_ws/src/aerostack2' >> ~/.bashrc
RUN echo 'source $AEROSTACK2_PATH/as2_cli/setup_env.bash' >> ~/.bashrc
RUN echo "source /home/drones_ws/install/setup.bash" >> ~/.bashrc
RUN echo "source /home/industrial_ws/install/setup.bash" >> ~/.bashrc
# Download and install OMPL library
COPY install-ompl-ubuntu.sh /
WORKDIR /
RUN chmod u+x install-ompl-ubuntu.sh
RUN ./install-ompl-ubuntu.sh --github --python