ScanNplan demo working from docker -- OK

Eigen/installEigen.sh

+#!/usr/bin/env bash
+
+# Script to download and install Eigen3
+
+set -ex
+
+version="3.4.0" # Release tag on GitLab
+prefix="$HOME/.local"
+
+cd /tmp
+# Download
+git clone --single-branch --depth=1 --branch "$version" \
+    https://gitlab.com/libeigen/eigen.git
+mkdir eigen/build && cd $_
+# Configure
+cmake .. \
+    -DCMAKE_BUILD_TYPE=Release \
+    -DCMAKE_INSTALL_PREFIX="$prefix"
+# Install
+make install
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dockerfiles/DevenvKinetic.Dockerfile

@@ -77,6 +77,9 @@ RUN apt-get update && apt-get install -y \
     ros-kinetic-urdfdom-py \
     ros-kinetic-moveit-ros-manipulation \
     ros-kinetic-moveit-simple-controller-manager \
+    ros-kinetic-moveit-fake-controller-manager \
+    ros-kinetic-moveit-setup-assistant \
+    ros-kinetic-trac-ik-kinematics-plugin \
     ros-kinetic-swri-profiler \
     ros-kinetic-fanuc-cr7ia-support \
     ros-kinetic-fanuc-driver \

dockerfiles/ScanNnplan.Dockerfile

+FROM nvidia/cuda:11.3.0-base-ubuntu16.04
+ 
+WORKDIR /root/ws
+ENV ROS_DISTRO kinetic
+ 
+RUN echo 'debconf debconf/frontend select Noninteractive' | debconf-set-selections
+ 
+# nvidia-container-runtime
+ENV NVIDIA_VISIBLE_DEVICES \
+ ${NVIDIA_VISIBLE_DEVICES:-all}
+ENV NVIDIA_DRIVER_CAPABILITIES \
+ ${NVIDIA_DRIVER_CAPABILITIES:+$NVIDIA_DRIVER_CAPABILITIES,}graphics
+ 
+# install basic packages
+RUN apt-get update && apt-get install -q -y --no-install-recommends \
+ dirmngr \
+ gnupg2 \
+ lsb-release \
+ sudo \
+ ocl-icd-libopencl1 \
+ clinfo \
+ && rm -rf /var/lib/apt/lists/*
+ 
+RUN mkdir -p /etc/OpenCL/vendors && \
+ echo "libnvidia-opencl.so.1" > /etc/OpenCL/vendors/nvidia.icd
+
+# Setup environment
+RUN apt-get update && apt-get install -y \
+    locales \
+    && sed -i '/en_US.UTF-8/s/^# //g' /etc/locale.gen && locale-gen en_US.UTF-8
+ENV LANG en_US.UTF-8
+ENV LANGUAGE en_US:en
+ENV LC_ALL en_US.UTF-8
+
+# Setup sources.list
+RUN sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
+RUN apt-get -y install --no-install-recommends \
+    curl
+RUN curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
+
+RUN apt-get update && apt-get install -y \ 
+    ros-kinetic-desktop-full
+
+# Configure apt and install packages
+RUN apt-get -y install --no-install-recommends \
+    apt-transport-https \
+    ca-certificates \
+    software-properties-common \
+    gnupg-agent \
+    apt-utils dialog 2>&1 \
+    git \
+    #git-lfs \
+    nano \
+    less \
+    iproute2 \ 
+    procps \
+    lsb-release \
+    curl \
+    cmake \
+    openssh-client \
+    python-catkin-tools \
+    python-osrf-pycommon \
+    python-rosdep \
+    python-rosinstall \
+    python-rosinstall-generator \
+    python-wstool \
+    build-essential \
+    ros-${ROS_DISTRO}-rosmon \
+    xterm \
+    wget \
+    clinfo \
+    && rm -rf /var/lib/apt/lists/*
+
+# Install docker-ce
+RUN curl -fsSL https://download.docker.com/linux/ubuntu/gpg | apt-key add -
+RUN add-apt-repository \
+    "deb [arch=amd64] https://download.docker.com/linux/ubuntu $(lsb_release -cs) stable"
+RUN apt-get update && apt-get -y install --no-install-recommends \
+    docker-ce-cli \
+    && rm -rf /var/lib/apt/lists/*
+
+# Configure system to look for debian packages in the Artifactory repository
+ARG USER_API_KEY_ARTIFACTS_TECNALIA
+RUN sh -c "echo \
+	'deb https://${USER_API_KEY_ARTIFACTS_TECNALIA}@artifact.tecnalia.com/artifactory/tecnalia-robotics-debian xenial main' \
+    >> /etc/apt/sources.list.d/tecnalia.list"
+
+# Import the key in order to be able to use the packages from the repository
+RUN apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-keys 7E72C5B4111A50084C63C9489E7A9B1D990CF897
+
+# Configure rosdep
+RUN rosdep init
+RUN sh -c "echo 'yaml https://git.code.tecnalia.com/tecnalia_robotics-public/gitlab_templates/raw/master/rosdistro/rosdep_tecnalia.yaml' \
+    >> /etc/ros/rosdep/sources.list.d/20-default.list"
+RUN rosdep update
+
+# Packages installed as dependecies of kawada_lab_aplication 
+RUN apt-get update && apt-get install -y \
+    cmake \
+    ros-kinetic-moveit-planners-ompl \
+    ros-kinetic-moveit-ros-planning \
+    ros-kinetic-ompl \
+    ros-kinetic-moveit-kinematics \
+    ros-kinetic-moveit-ros-planning-interface \
+    ros-kinetic-moveit-ros-visualization \
+    ros-kinetic-catkin-virtualenv \
+    ros-kinetic-zivid-camera \
+    ros-kinetic-abb-driver \
+    ros-kinetic-industrial-robot-simulator \
+    ros-kinetic-moveit-ros-move-group \
+    ros-kinetic-moveit-core \
+    ros-kinetic-srdfdom \
+    ros-kinetic-urdfdom-py \
+    ros-kinetic-moveit-ros-manipulation \
+    ros-kinetic-moveit-simple-controller-manager \
+    ros-kinetic-moveit-fake-controller-manager \
+    ros-kinetic-moveit-setup-assistant \
+    ros-kinetic-trac-ik-kinematics-plugin \
+    ros-kinetic-swri-profiler \
+    ros-kinetic-fanuc-cr7ia-support \
+    ros-kinetic-fanuc-driver \
+    ros-kinetic-fanuc-resources \
+    libqd-dev \
+    python-zmq \
+    python3-catkin-pkg-modules \
+    && rm -rf /var/lib/apt/lists/*
+
+# Update final image
+RUN apt-get update && apt-get -y upgrade 
+
+RUN wget https://www.zivid.com/hubfs/softwarefiles/releases/1.8.1+6967bc1b-1/u16/zivid-studio_1.8.1+6967bc1b-1_amd64.deb
+RUN wget https://www.zivid.com/hubfs/softwarefiles/releases/1.8.1+6967bc1b-1/u16/zivid-tools_1.8.1+6967bc1b-1_amd64.deb
+RUN dpkg -i zivid-studio_1.8.1+6967bc1b-1_amd64.deb
+RUN dpkg -i zivid-tools_1.8.1+6967bc1b-1_amd64.deb
+
+# Set entrypoint
+COPY ./ros_entrypoint.sh /
+RUN chmod a+x /ros_entrypoint.sh
+
+ENTRYPOINT ["/ros_entrypoint.sh"]
+CMD ["bash"]
+
+# Switch back to dialog for any ad-hoc use of apt-get
+ENV DEBIAN_FRONTEND=
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dockerfiles/urko.Dockerfile

@@ -7,7 +7,7 @@ RUN apt-get update
 # Add ssh private key
 RUN apt-get install -y ssh
 
-arg SSH_PRIVATE_KEY
+ARG SSH_PRIVATE_KEY
 RUN mkdir ~/.ssh/
 RUN echo "${SSH_PRIVATE_KEY}" > /root/.ssh/id_rsa
 RUN chmod 600 ~/.ssh/id_rsa

notes/Docker_cheatsheet.md

+# Docker cheatsheet
+
+Para guardar una imagen que se hace en una máquina y se quiere transferir a otro sistema
+
+```
+docker save -o <path for generated tar file> <image name>
+```
+
+Para cargar una imagen desde un archivo tar
+
+```
+docker load -i <path to image tar file>
+```
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