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Dockerfile
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Dockerfile
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# INSTRUCTIONS #
#This Dockerfile needs to be built into an image prior to testing
#This image, once build, should be pushed to umrover/travis
#Our Travis system will then download this image from DockerHub and run our current system within this image
# UPDATING THE DOCKERFILE #
#If you would like to make changes to the DockerFile you must first install Docker on your system
#You can then download the pre-built image from DockerHub the way specified in the travis.yml
#Now that the image is downloaded you can take advantage of Docker Layers and when you build you
#won't need to rebuild the entire image, but rather, only the RUN commands that you added or modified will be built
#You can build the Dockerfile with the command: 'docker build -t mrover .'
# PUSHING THE DOCKERIMAGE TO DOCKERHUB #
#Now that you have built the Docker Image you must push it to DockerHub
#This can be done by signing into the mrover DockerHub account via the command line
#Once you are signed in make sure the tag for your image is named appropriately. Use 'docker tag' to do any renaming
#Then run 'docker push umrover/travis' to push the appropriately named and versioned image to DockerHub
#Travis is configured to download whatever the latest umrover/travis image is, so once your changes are pushed they
#should be picked up by travis
FROM ubuntu:18.04
#Setup Ansible
ENV ANSIBLE_VERSION 2.9.4
ENV DEBIAN_FRONTEND noninteractive
COPY ansible /tmp/ansible
RUN set -x && \
echo ">> Adding build-dependencies..." && \
sed -i 's/# \(.*multiverse$\)/\1/g' /etc/apt/sources.list && \
apt-get update && \
apt-get -y upgrade && \
apt-get install -y build-essential \
software-properties-common \
apt-transport-https \
git \
wget \
&& apt-add-repository ppa:ansible/ansible && \
apt-get update && \
apt-get install -y ansible && \
echo ttf-mscorefonts-installer msttcorefonts/accepted-mscorefonts-eula select true | debconf-set-selections
RUN ansible-playbook -i "localhost," -c local /tmp/ansible/devbox.yml
ENV ANSIBLE_GATHERING smart
ENV ANSIBLE_HOST_KEY_CHECKING false
ENV ANSIBLE_RETRY_FILES_ENABLED false
ENV ANSIBLE_ROLES_PATH /ansible/playbooks/roles
ENV ANSIBLE_SSH_PIPELINING True
ENV PYTHONPATH /ansible/lib
ENV PATH /ansible/bin:$PATH
ENV ANSIBLE_LIBRARY /ansible/library
WORKDIR /root
ENTRYPOINT ["/bin/bash"]
# Install OpenCV 3.2.0
RUN apt-get update -y && \
apt-get upgrade -y && \
apt-get autoremove -y && \
apt-get install -y --no-install-recommends cmake git libgtk2.0-dev pkg-config libavcodec-dev libavformat-dev \
libswscale-dev python3.6-dev python3-numpy libtbb2 libtbb-dev libjpeg-dev libpng-dev libtiff5-dev jasper \
libdc1394-22-dev libeigen3-dev libtheora-dev libvorbis-dev libxvidcore-dev libx264-dev sphinx-common libtbb-dev \
yasm libfaac-dev libopencore-amrnb-dev libopencore-amrwb-dev libopenexr-dev libgstreamer-plugins-base1.0-dev \
libavutil-dev libavfilter-dev libavresample-dev
RUN apt-get install -y gcc
RUN cd /opt && \
wget --no-check-certificate -O opencv-3.2.0.tar.gz https://github.com/opencv/opencv/archive/3.2.0.tar.gz && \
tar -xzf opencv-3.2.0.tar.gz && \
wget --no-check-certificate -O opencv_contrib-3.2.0.tar.gz https://github.com/opencv/opencv_contrib/archive/3.2.0.tar.gz && \
tar -xzf opencv_contrib-3.2.0.tar.gz && \
rm opencv-3.2.0.tar.gz && \
rm opencv_contrib-3.2.0.tar.gz && \
cd opencv-3.2.0 && \
mkdir release && \
cd release && \
cmake -D WITH_CUDA=OFF -D CMAKE_BUILD_TYPE=RELEASE -D CMAKE_INSTALL_PREFIX=/usr/local \
-D OPENCV_EXTRA_MODULES_PATH=/opt/opencv_contrib-3.2.0/modules -D BUILD_opencv_aruco=ON -D BUILD_opencv_bgsegm=OFF \
-D BUILD_opencv_bioinspired=OFF -D BUILD_opencv_ccalib=OFF -D BUILD_opencv_cnn_3dobj=OFF -D BUILD_opencv_cvv=OFF \
-D BUILD_opencv_datasets=OFF -D BUILD_opencv_dnn_objdetect=OFF -D BUILD_opencv_dnn_superres=OFF \
-D BUILD_opencv_dnns_easily_fooled=OFF -D BUILD_opencv_dpm=OFF -D BUILD_opencv_face=OFF -D BUILD_opencv_fuzzy=OFF \
-D BUILD_opencv_freetype=OFF -D BUILD_opencv_hdf=OFF -D BUILD_opencv_line_descriptor=OFF -D BUILD_opencv_matlab=OFF \
-D BUILD_opencv_optflow=OFF -D BUILD_opencv_ovis=OFF -D BUILD_opencv_plot=OFF -D BUILD_opencv_reg=OFF \
-D BUILD_opencv_rgbd=OFF -D BUILD_opencv_saliency=OFF -D BUILD_opencv_sfm=OFF -D BUILD_opencv_stereo=OFF \
-D BUILD_opencv_structured_light=OFF -D BUILD_opencv_surface_matching=OFF -D BUILD_opencv_text=OFF \
-D BUILD_opencv_tracking=OFF -D BUILD_opencv_xfeatures2d=OFF -D BUILD_opencv_ximgproc=OFF \
-D BUILD_opencv_xobjdetect=OFF -D BUILD_opencv_xphoto=OFF /opt/opencv-3.2.0/ && make -j4 && make install && ldconfig
RUN cd /usr/local && rm -rf opencv-3.2.0
#Install CUDA Driver
COPY cuda-repo-ubuntu1804_10.0.130-1_amd64.deb /usr/local
RUN cd /usr/local && \
apt-get update -y && apt-get upgrade -y && apt-get update && apt-get install -y gnupg2 && \
dpkg -i cuda-repo-ubuntu1804_10.0.130-1_amd64.deb
RUN apt-key adv --fetch-keys http://developer.download.nvidia.com/compute/cuda/repos/ubuntu1804/x86_64/7fa2af80.pub
RUN apt-get update -y
RUN apt-get install -y cuda-10-0
#Install ZED
RUN apt-get update -y && apt-get upgrade -y
RUN apt-get install -y libturbojpeg0-dev
RUN apt-get install --no-install-recommends lsb-release wget less udev sudo apt-transport-https -y && \
apt-get update -y && \
wget -O ZED_SDK_Linux_Ubuntu18.run https://download.stereolabs.com/zedsdk/3.2/cu100/ubuntu18 && \
chmod +x ZED_SDK_Linux_Ubuntu18.run && \
./ZED_SDK_Linux_Ubuntu18.run silent && \
rm ZED_SDK_Linux_Ubuntu18.run && \
cd /usr/local && \
chmod a+xwr --preserve-root --recursive zed
#Install VTK
ENV TERM xterm
RUN echo "!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!INSTALLING VTK" && \
apt-get update -y && apt-get upgrade -y && apt-get install -y keyboard-configuration libboost-all-dev curl cmake libxt-dev && \
apt-get install -y --no-install-recommends cmake git libgtk2.0-dev pkg-config libavcodec-dev libavformat-dev \
libswscale-dev python3.6-dev python3-numpy libtbb2 libtbb-dev libjpeg-dev libpng-dev libtiff5-dev jasper \
libdc1394-22-dev libeigen3-dev libtheora-dev libvorbis-dev libxvidcore-dev libx264-dev sphinx-common \
libtbb-dev yasm libfaac-dev libopencore-amrnb-dev libopencore-amrwb-dev libopenexr-dev \
libgstreamer-plugins-base1.0-dev libavutil-dev libavfilter-dev libavresample-dev && \
curl https://vtk.org/files/release/8.2/VTK-8.2.0.tar.gz --output VTK-8.2.0.tar.gz && \
tar -xvzf VTK-8.2.0.tar.gz && \
mv VTK-8.2.0 /usr/local && \
cd /usr/local/VTK-8.2.0/ && \
mkdir VTK-Release-build && \
cd VTK-Release-build/ && \
cmake -DCMAKE_BUILD_TYPE:STRING=Release /usr/local/VTK-8.2.0/ -DVTK_USE_SYSTEM_PNG=ON && \
make -j1 install
#Intall Eigen
RUN echo "!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!INSTALLING EIGEN" && \
cd /usr/local && \
wget -qO- https://gitlab.com/libeigen/eigen/-/archive/3.3.7/eigen-3.3.7.tar.gz | sudo tar xz && \
apt install -y libblas-dev && \
cd eigen-3.3.7 && sudo mkdir build && cd build && \
cmake .. && \
make install && \
cd ../.. && sudo rm -rf eigen-3.3.7/ && sudo rm -f eigen-3.3.7.tar.gz
#Install PCL
RUN echo "!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!INSTALLING PCL" && \
apt-get install -y libflann-dev libgtest-dev libboost-all-dev && \
cd /usr/local && \
curl https://codeload.github.com/PointCloudLibrary/pcl/tar.gz/pcl-1.11.1 --output pcl-pcl-1.11.1.tar.gz && \
tar -xvzf pcl-pcl-1.11.1.tar.gz && \
rm pcl-pcl-1.11.1.tar.gz && \
cd pcl-pcl-1.11.1 && \
mkdir build && cd build && \
cmake -DCMAKE_BUILD_TYPE=Release .. && \
make -j1 && make install && ldconfig && \
cd /usr/local && \
rm -rf pcl-pcl-1.11.1