Skip to content
Snippets Groups Projects
Commit 730c8c86 authored by Montaño Sarria, Andres Felipe's avatar Montaño Sarria, Andres Felipe
Browse files

Merge branch 'main' of git.code.tecnalia.dev:andres.montano/development_environment

parents dcaae344 9f234849
Branches main
No related tags found
No related merge requests found
# ***********************************************************
# * Base Image with Azure and PEAK for Neurondones and ROS2 *
# ***********************************************************
ARG ROS_DISTRO=humble
FROM osrf/ros:${ROS_DISTRO}-desktop-full
ENV ROS_DISTRO="${ROS_DISTRO}"
ARG EXT_SHELL=bash
ENV EXT_SHELL="${EXT_SHELL}"
ENV SHELL="/bin/${EXT_SHELL}"
RUN echo "Building devenv for ROS" $ROS_DISTRO "with shell" $EXT_SHELL
# Avoid warnings by switching to noninteractive
ENV DEBIAN_FRONTEND="noninteractive"
# Setup environment
RUN apt-get update && apt-get install -y apt-utils
# Setup locales
RUN apt-get install -y \
locales \
&& sed -i '/en_US.UTF-8/s/^# //g' /etc/locale.gen && locale-gen en_US.UTF-8
ENV LANG=en_US.UTF-8
ENV LANGUAGE=en_US:en
ENV LC_ALL=en_US.UTF-8
# Setup locales
RUN apt-get install -y tar gzip build-essential wget
# Install rosdeps
#[apt] Installation commands:
RUN apt-get install -y \
ros-humble-controller-manager \
ros-humble-joint-state-publisher \
ros-humble-gazebo-ros2-control \
ros-humble-gripper-controllers \
ros-humble-joint-trajectory-controller \
ros-humble-joint-state-broadcaster \
ros-humble-robotiq-description \
ros-humble-joint-state-publisher-gui \
ros-humble-picknik-reset-fault-controller \
ros-humble-picknik-twist-controller \
ros-humble-hardware-interface \
ros-humble-backward-ros \
ros-humble-forward-command-controller \
ros-humble-position-controllers \
ros-humble-realtime-tools \
ros-humble-ros2controlcli \
ros-humble-velocity-controllers \
ros-humble-moveit-ros-move-group \
ros-humble-moveit-kinematics \
ros-humble-moveit-planners \
ros-humble-moveit-simple-controller-manager \
ros-humble-moveit-configs-utils \
ros-humble-moveit-ros-visualization \
ros-humble-moveit-setup-assistant \
ros-humble-control-msgs \
ros-humble-control-toolbox \
ros-humble-launch-param-builder \
ros-humble-moveit-common \
ros-humble-moveit-msgs \
ros-humble-moveit-core \
ros-humble-moveit-ros-planning-interface \
ros-humble-moveit-resources-panda-moveit-config \
ros-humble-ros-testing \
ros-humble-octomap-msgs \
ros-humble-realsense2-camera \
ros-humble-moveit \
joint-state-publisher-gui
# [apt] End of installation commands
# Copy the requirements.txt file into the container
WORKDIR /tmp/dependencies/
# Install Peak driver
RUN apt-get update && apt-get install -y udev libpopt-dev linux-headers-$(uname -r) gcc-12\
&& update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-11 100 \
&& update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-12 200 \
&& wget https://www.peak-system.com/fileadmin/media/linux/files/peak-linux-driver-8.18.0.tar.gz \
&& wget https://www.peak-system.com/quick/BasicLinux -O PCAN-Basic_Linux.tar.gz \
&& tar -xf peak-linux-driver-8.18.0.tar.gz \
&& cd peak-linux-driver-8.18.0; \
make clean && make && make install \
&& cd .. \
&& tar -xf PCAN-Basic_Linux.tar.gz \
&& cd PCAN-Basic_Linux-4.9.0.7/libpcanbasic; \
make clean && make && make install \
&& update-alternatives --set gcc /usr/bin/gcc-11 \
&& rm -rf /var/lib/apt/lists/* \
&& rm -rf /var/cache/apt/archives/*.deb \
&& rm -rf *;
# Install Azure SDK on demand
RUN apt-get update && apt-get install -y wget curl libusb-1.0-0-dev udev libasound2 libjack-jackd2-0 libjack-0.125 libpulse0
# Install libsoundio1 dependency
RUN wget http://archive.ubuntu.com/ubuntu/pool/universe/libs/libsoundio/libsoundio1_1.1.0-1_amd64.deb \
&& dpkg -i libsoundio1_1.1.0-1_amd64.deb
# Download and install Azure Kinect SDK packages
RUN wget https://packages.microsoft.com/ubuntu/18.04/prod/pool/main/libk/libk4a1.4/libk4a1.4_1.4.1_amd64.deb \
&& wget https://packages.microsoft.com/ubuntu/18.04/prod/pool/main/libk/libk4a1.4-dev/libk4a1.4-dev_1.4.1_amd64.deb \
&& wget https://packages.microsoft.com/ubuntu/18.04/prod/pool/main/k/k4a-tools/k4a-tools_1.4.1_amd64.deb \
&& wget https://packages.microsoft.com/ubuntu/18.04/prod/pool/main/libk/libk4abt1.1/libk4abt1.1_1.1.2_amd64.deb \
&& wget https://packages.microsoft.com/ubuntu/18.04/prod/pool/main/libk/libk4abt1.1-dev/libk4abt1.1-dev_1.1.2_amd64.deb \
# Install the packages
&& echo 'libk4a1.4 libk4a1.4/accepted-eula-hash string 0f5d5c5de396e4fee4c0753a21fee0c1ed726cf0316204edda484f08cb266d76' | debconf-set-selections \
&& echo 'libk4abt1.1 libk4abt1.1/accepted-eula-hash string 03a13b63730639eeb6626d24fd45cf25131ee8e8e0df3f1b63f552269b176e38' | debconf-set-selections \
&& dpkg -i libk4a1.4_1.4.1_amd64.deb \
&& dpkg -i libk4a1.4-dev_1.4.1_amd64.deb \
&& dpkg -i libk4abt1.1_1.1.2_amd64.deb \
&& dpkg -i libk4abt1.1-dev_1.1.2_amd64.deb \
&& dpkg -i k4a-tools_1.4.1_amd64.deb \
&& rm -rf /var/lib/apt/lists/* \
&& rm -rf /var/cache/apt/archives/*.deb \
&& rm -rf *;
RUN rm -rf *
# Update this date to re-run the image final update
LABEL image.date=09-01-2025
# Update final image
RUN apt-get update \
&& apt-get -y upgrade \
&& apt-get -y autoremove \
&& apt-get -y autoclean \
&& rm -rf /var/lib/apt/lists/* \
&& rm -rf /var/cache/apt/archives/*.deb
# Switch back to dialog for any ad-hoc use of apt-get
ENV DEBIAN_FRONTEND=
CMD [ "bash" ]
\ No newline at end of file
......@@ -180,6 +180,7 @@ RUN if [ "$DOCKER_IN_DOCKER" = "install" ]; \
ARG PEAK_DRIVER=none
RUN if [ "$PEAK_DRIVER" = "install" ]; \
then \
<<<<<<< HEAD
apt-get update && apt-get install -y udev libpopt-dev linux-headers-$(uname -r) gcc-12\
&& update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-11 100 \
&& update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-12 200 \
......@@ -196,6 +197,20 @@ RUN if [ "$PEAK_DRIVER" = "install" ]; \
&& rm -rf /var/lib/apt/lists/* \
&& rm -rf /var/cache/apt/archives/*.deb \
&& rm -rf *; \
=======
apt-get update && apt-get install -y udev libpopt-dev linux-headers-$(uname -r) \
&& wget https://www.peak-system.com/fileadmin/media/linux/files/peak-linux-driver-8.20.0.tar.gz \
&& wget https://www.peak-system.com/produktcd/Develop/PC%20interfaces/Linux/PCAN-Basic_API_for_Linux/PCAN-Basic_Linux-4.10.0.4.tar.gz
# && wget https://www.peak-system.com/quick/BasicLinux -O PCAN-Basic_Linux.tar.gz \
&& tar -xvf peak-linux-driver-8.20.0.tar.gz \
&& cd peak-linux-driver-8.20.0 \
&& make && make install || echo 'make failed but move forward'\
&& cd .. \
&& tar -xvf PCAN-Basic_Linux-4.10.0.4.tar.gz \
&& cd PCAN-Basic_Linux-4.10.0.4/libpcanbasic \
&& make && make install || echo 'make failed but move forward';\
rm -rf /var/lib/apt/lists/*; \
>>>>>>> 9f234849a3bdb7d6f6cf0d3ec5de2786c9ab6815
fi
# Install conan for Kortex driver
......
0% Loading or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment