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Dockerfile.orbslam3
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Dockerfile.orbslam3
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FROM ros:noetic
RUN apt update && apt upgrade -y
RUN apt install -y git \
python3-catkin-tools \
libeigen3-dev \
libopencv-dev \
ros-noetic-rviz
WORKDIR /opt
RUN git clone --recursive https://github.com/stevenlovegrove/Pangolin.git
WORKDIR /opt/Pangolin
RUN apt install -y libgl1-mesa-dev \
libwayland-dev \
libxkbcommon-dev \
wayland-protocols \
libegl1-mesa-dev \
libc++-dev \
libglew-dev \
libeigen3-dev \
cmake \
g++ \
ninja-build \
libjpeg-dev \
libpng-dev \
libavcodec-dev \
libavutil-dev \
libavformat-dev \
libswscale-dev \
libavdevice-dev
WORKDIR /opt/Pangolin/build
RUN cmake .. && make && make install
RUN apt install -y ros-noetic-hector-trajectory-server
WORKDIR /catkin_workspace/src
COPY catkin_workspace/src/orb_slam3_ros/ .
WORKDIR /catkin_workspace
RUN bash -c "source /opt/ros/noetic/setup.bash && \
rosdep install --from-paths src --ignore-src -r -y && \
catkin build"
# nvidia-container-runtime
ENV NVIDIA_VISIBLE_DEVICES \
${NVIDIA_VISIBLE_DEVICES:-all}
ENV NVIDIA_DRIVER_CAPABILITIES \
${NVIDIA_DRIVER_CAPABILITIES:+$NVIDIA_DRIVER_CAPABILITIES,}graphics
# Replace xx.xx.xx.xx with the IP of the duckiebot
ENTRYPOINT [ "/bin/bash", "-c", "echo '# xx.xx.xx.xx [duckiebot.hostname]' >> /etc/hosts && source devel/setup.bash && roslaunch orb_slam3_ros duckie_sim.launch" ]