70 lines
2.7 KiB
Docker
70 lines
2.7 KiB
Docker
##
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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/pytorch:23.02-py3
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RUN echo 'debconf debconf/frontend select Noninteractive' | debconf-set-selections
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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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RUN apt-get update &&\
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apt-get install -y sudo git bash software-properties-common graphviz &&\
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rm -rf /var/lib/apt/lists/*
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RUN python -m pip install --upgrade pip && python3 -m pip install graphviz
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# Install ROS noetic
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RUN sh -c 'echo "deb http://packages.ros.org/ros/ubuntu focal main" > /etc/apt/sources.list.d/ros-latest.list' \
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&& apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654 \
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&& apt-get update && apt-get install -y \
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ros-noetic-desktop-full git build-essential python3-rosdep \
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&& rm -rf /var/lib/apt/lists/*
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# install realsense and azure kinect
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# Install the RealSense library (https://github.com/IntelRealSense/librealsense/blob/master/doc/distribution_linux.md#installing-the-packages)
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#RUN sudo apt-key adv --keyserver keys.gnupg.net --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE || sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE
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#RUN sudo add-apt-repository "deb https://librealsense.intel.com/Debian/apt-repo $(lsb_release -cs) main" -u
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#RUN apt-get update && apt-get install -y \
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# librealsense2-dkms \
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# software-properties-common \
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# librealsense2-utils \
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# && rm -rf /var/lib/apt/lists/*
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# install moveit from source for all algos:
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ARG ROS_DISTRO=noetic
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RUN apt-get update && apt-get install -y \
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ros-$ROS_DISTRO-apriltag-ros \
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ros-$ROS_DISTRO-realsense2-camera \
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ros-$ROS_DISTRO-ros-numpy \
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ros-$ROS_DISTRO-vision-msgs \
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ros-$ROS_DISTRO-franka-ros \
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ros-$ROS_DISTRO-moveit-resources \
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ros-$ROS_DISTRO-rosparam-shortcuts \
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libglfw3-dev \
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ros-$ROS_DISTRO-collada-urdf \
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ros-$ROS_DISTRO-ur-msgs \
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swig \
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&& rm -rf /var/lib/apt/lists/*
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RUN apt-get update && rosdep init && rosdep update && apt-get install -y ros-noetic-moveit-ros-visualization && rm -rf /var/lib/apt/lists/*
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RUN pip3 install netifaces
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