remove unused variables
This commit is contained in:
Balakumar Sundaralingam
@@ -1,181 +0,0 @@
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##
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## Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
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##
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## NVIDIA CORPORATION, its affiliates and licensors retain all intellectual
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## property and proprietary rights in and to this material, related
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## documentation and any modifications thereto. Any use, reproduction,
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## disclosure or distribution of this material and related documentation
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## without an express license agreement from NVIDIA CORPORATION or
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## its affiliates is strictly prohibited.
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##
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FROM nvcr.io/nvidia/l4t-pytorch:r35.1.0-pth1.13-py3 AS l4t_pytorch
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# Install ros components:
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RUN apt-get update &&\
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apt-get install -y sudo git bash unattended-upgrades glmark2 &&\
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rm -rf /var/lib/apt/lists/*
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# Deal with getting tons of debconf messages
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# See: https://github.com/phusion/baseimage-docker/issues/58
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RUN echo 'debconf debconf/frontend select Noninteractive' | debconf-set-selections
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# TODO: Don't hardcode timezone setting to Los_Angeles, pull from host computer
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# Set timezone info
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RUN apt-get update && apt-get install -y \
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tzdata \
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&& rm -rf /var/lib/apt/lists/* \
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&& ln -fs /usr/share/zoneinfo/America/Los_Angeles /etc/localtime \
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&& echo "America/Los_Angeles" > /etc/timezone \
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&& dpkg-reconfigure -f noninteractive tzdata
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# Install apt-get packages necessary for building, downloading, etc
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# NOTE: Dockerfile best practices recommends having apt-get update
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# and install commands in one line to avoid apt-get caching issues.
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# https://docs.docker.com/develop/develop-images/dockerfile_best-practices/#run
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RUN apt-get update && apt-get install -y \
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curl \
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lsb-core \
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software-properties-common \
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wget \
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&& rm -rf /var/lib/apt/lists/*
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RUN add-apt-repository -y ppa:git-core/ppa
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RUN apt-get update && apt-get install -y \
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build-essential \
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cmake \
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git \
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git-lfs \
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iputils-ping \
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make \
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openssh-server \
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openssh-client \
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libeigen3-dev \
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libssl-dev \
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python3-pip \
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python3-ipdb \
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python3-tk \
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python3-wstool \
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sudo git bash unattended-upgrades \
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apt-utils \
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terminator \
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&& rm -rf /var/lib/apt/lists/*
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ARG ROS_PKG=ros_base # desktop does not work
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ENV ROS_DISTRO=noetic
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ENV ROS_ROOT=/opt/ros/${ROS_DISTRO}
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ENV ROS_PYTHON_VERSION=3
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ENV DEBIAN_FRONTEND=noninteractive
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WORKDIR /workspace
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#
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# add the ROS deb repo to the apt sources list
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#
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RUN apt-get update && \
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apt-get install -y --no-install-recommends \
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git \
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cmake \
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build-essential \
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curl \
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wget \
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gnupg2 \
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lsb-release \
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ca-certificates \
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&& rm -rf /var/lib/apt/lists/*
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RUN sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
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RUN curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | apt-key add -
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#
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# install bootstrap dependencies
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#
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RUN apt-get update && \
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apt-get install -y --no-install-recommends \
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libpython3-dev \
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python3-rosdep \
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python3-rosinstall-generator \
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python3-vcstool \
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build-essential && \
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rosdep init && \
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rosdep update && \
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rm -rf /var/lib/apt/lists/*
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#
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# download/build the ROS source
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#
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RUN mkdir ros_catkin_ws && \
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cd ros_catkin_ws && \
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rosinstall_generator ${ROS_PKG} vision_msgs --rosdistro ${ROS_DISTRO} --deps --tar > ${ROS_DISTRO}-${ROS_PKG}.rosinstall && \
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mkdir src && \
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vcs import --input ${ROS_DISTRO}-${ROS_PKG}.rosinstall ./src && \
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apt-get update && \
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rosdep install --from-paths ./src --ignore-packages-from-source --rosdistro ${ROS_DISTRO} --skip-keys python3-pykdl -y && \
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python3 ./src/catkin/bin/catkin_make_isolated --install --install-space ${ROS_ROOT} -DCMAKE_BUILD_TYPE=Release && \
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rm -rf /var/lib/apt/lists/*
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RUN pip3 install trimesh \
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numpy-quaternion \
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networkx \
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pyyaml \
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rospkg \
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rosdep \
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empy
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# copy pkgs directory:
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COPY pkgs /pkgs
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# install warp:
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RUN cd /pkgs/warp && python3 build_lib.py && pip3 install .
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# install curobolib-extras/warp_torch:
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RUN cd /pkgs/warp_torch && pip3 install .
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# install nvblox:
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RUN apt-get update && \
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apt-get install -y libgoogle-glog-dev libgtest-dev curl libsqlite3-dev && \
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cd /usr/src/googletest && cmake . && cmake --build . --target install && \
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rm -rf /var/lib/apt/lists/*
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RUN cd /pkgs/nvblox/nvblox && mkdir build && cd build && cmake .. && \
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make -j8 && make install
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# install curobolib-extras/nvblox_torch:
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RUN cd /pkgs/nvblox_torch && sh install.sh
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# install curobolib and curobo:
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RUN cd /pkgs/curobolib && pip3 install .
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RUN cd /pkgs/curobo && pip3 install .
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# sudo apt-get install lcov libbullet-extras-dev python3-catkin-tools swig ros-noetic-ifopt libyaml-cpp-dev libjsoncpp-dev
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# pip3 install tqdm
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# sudo apt-get install liborocos-kdl-dev ros-noetic-fcl libpcl-dev libompl-dev libnlopt-cxx-dev liburdf-dev libkdlparser-dev
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# clone taskflow and compile
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# libfranka:
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RUN apt-get update && apt-get install -y build-essential cmake git libpoco-dev libeigen3-dev && cd /pkgs && git clone --recursive https://github.com/frankaemika/libfranka && cd libfranka && git checkout 0.7.1 && git submodule update && mkdir build && cd build && cmake -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTS=OFF .. && \
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cmake --build . && cpack -G DEB && dpkg -i libfranka*.deb && rm -rf /var/lib/apt/lists/*
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# franka_ros and franka_motion_control:
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RUN mkdir -p /curobo_ws/src && mv /pkgs/curobo_ros /curobo_ws/src/ && mv /pkgs/franka_motion_control /curobo_ws/src/
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RUN cd /curobo_ws/src && git clone --branch 0.7.1 https://github.com/frankaemika/franka_ros.git && \
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git clone https://github.com/justagist/franka_panda_description.git
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RUN apt-get update && apt-get install -y ros-noetic-robot-state-publisher ros-noetic-rviz \
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ros-noetic-moveit-visualization ros-noetic-moveit-msgs \
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ros-noetic-controller-interface ros-noetic-combined-robot-hw ros-noetic-joint-limits-interface \
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ros-noetic-control-msgs ros-noetic-controller-manager ros-noetic-realtime-tools ros-noetic-eigen-conversions ros-noetic-tf-conversions ros-noetic-moveit-ros-visualization && rm -rf /var/lib/apt/lists/*
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RUN cd /curobo_ws && \
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/bin/bash -c "source /opt/ros/noetic/setup.bash && catkin_make -DCMAKE_BUILD_TYPE=Release"
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#RUN apt-get update && apt-get install -y ros-noetic-robot-state-publisher ros-noetic-rviz ros-noetic-moveit-msgs\
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# ros-noetic-moveit-ros ros-noetic-controller-interface ros-noetic-combined-robot-hw ros-noetic-joint-limits-interface ros-noetic-control-msgs && rm -rf /var/lib/apt/lists/*
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@@ -1,15 +0,0 @@
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##
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## Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
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||||
##
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||||
## NVIDIA CORPORATION, its affiliates and licensors retain all intellectual
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## property and proprietary rights in and to this material, related
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||||
## documentation and any modifications thereto. Any use, reproduction,
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||||
## disclosure or distribution of this material and related documentation
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||||
## without an express license agreement from NVIDIA CORPORATION or
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## its affiliates is strictly prohibited.
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##
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echo $1
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USER_ID=$(id -g "$USER")
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docker build --build-arg USERNAME="$USER" --no-cache --build-arg USER_ID="$USER_ID" --build-arg IMAGE_TAG="$1" -f user.dockerfile --tag curobo_docker:user_"$1" .
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