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FROM ubuntu:20.04
SHELL ["/bin/bash", "-c"]
ENV DEBIAN_FRONTEND="noninteractive"
ENV TZ="Europe/Paris"
WORKDIR /deps
# Install required packages
RUN apt-get update && apt-get upgrade -y && apt-get clean && apt-get install -y g++-10 python3-dev \
python-is-python3 \
python3-pip \
git \
ninja-build \
cmake \
gedit \
build-essential \
libopenblas-dev \
clang unzip \
curl \
wget \
software-properties-common \
bash-completion \
libx11-dev \
python3-tk \
neovim \
libc++-dev \
libc++abi-dev \
libomp-dev \
xorg-dev \
libxcb-shm0 \
libglu1-mesa-dev \
libc++-dev \
libc++abi-dev \
libsdl2-dev \
libxi-dev \
libtbb-dev \
libosmesa6-dev \
libudev-dev \
autoconf \
libtool \
libglew-dev \
locate\
nano \
cmake-curses-gui \
ffmpeg && \
apt-get clean
RUN sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
RUN curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | apt-key add -
RUN apt-get update && apt-get install -y ros-noetic-desktop-full ros-noetic-srdfdom \
ros-noetic-urdf ros-noetic-geometric-shapes ros-noetic-moveit-core ros-noetic-franka-ros ros-noetic-rosmon terminator \
ros-noetic-moveit-ros-planning ros-noetic-moveit-ros-planning-interface
RUN echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc
# create forest ws and use it to clone and install CONCERT's simulation package
WORKDIR /home/forest_ws
ENV HHCM_FOREST_CLONE_DEFAULT_PROTO=https
ENV PYTHONUNBUFFERED=1
RUN pip install --upgrade ttictoc hhcm-forest && forest init
RUN echo "source $PWD/setup.bash" >> ~/.bashrc
RUN forest add-recipes git@github.com:advrhumanoids/multidof_recipes.git
# pre-install pybind11 and custom matlogger2
RUN forest grow pybind11 --verbose --jobs 4 --pwd user && \
forest grow matlogger2 --verbose --jobs 4 --pwd user
## HPP-FCL
WORKDIR /home/forest_ws/src
RUN git clone /~https://github.com/humanoid-path-planner/hpp-fcl.git && \
ls -a && \
cd /home/forest_ws/src/hpp-fcl && \
git checkout 45e60ca7ba81e5394605f8c1097c016245d221c2 && \
git submodule init && \
git submodule update && \
mkdir -p /home/forest_ws/build/hpp-fcl && \
cd /home/forest_ws/build/hpp-fcl && \
cmake -DCMAKE_INSTALL_PREFIX:STRING=/home/forest_ws/install -DCMAKE_BUILD_TYPE:STRING=Release -DBUILD_PYTHON_INTERFACE=OFF ../../src/hpp-fcl && \
make -j && \
make install
## PINOCCHIO
WORKDIR /home/forest_ws/src
RUN git clone /~https://github.com/stack-of-tasks/pinocchio.git && \
cd /home/forest_ws/src/pinocchio && \
git submodule init && \
git submodule update && \
mkdir -p /home/forest_ws/build/pinocchio && \
cd /home/forest_ws/build/pinocchio && \
cmake -DCMAKE_INSTALL_PREFIX:STRING=/home/forest_ws/install -DCMAKE_BUILD_TYPE:STRING=Release -DBUILD_WITH_URDF_SUPPORT=ON -DBUILD_WITH_COLLISION_SUPPORT=ON -DBUILD_PYTHON_INTERFACE=OFF ../../src/pinocchio && \
make -j && \
make install
# xbot_msgs
WORKDIR /home/forest_ws
RUN source /opt/ros/noetic/setup.bash && forest grow xbot_msgs --verbose --jobs 4 --pwd user
# xbot2_interface
WORKDIR /home/forest_ws/src
RUN git clone /~https://github.com/ADVRHumanoids/xbot2_interface.git && \
mkdir -p /home/forest_ws/build/xbot2_interface && \
cd /home/forest_ws/build/xbot2_interface && \
source /opt/ros/noetic/setup.bash && \
source /home/forest_ws/setup.bash && \
cmake -DXBOT2_IFC_BUILD_TESTS=ON -DCMAKE_INSTALL_PREFIX:STRING=/home/forest_ws/install -DCMAKE_BUILD_TYPE:STRING=Release ../../src/xbot2_interface && \
make -j && \
make install
# osqp
RUN git clone /~https://github.com/oxfordcontrol/osqp.git && \
cd /home/forest_ws/src/osqp && \
git checkout 0b34f2ef5c5eec314e7945762e1c8167e937afbd && \
git submodule init && \
git submodule update && \
mkdir -p /home/forest_ws/build/osqp && \
cd /home/forest_ws/build/osqp && \
source /opt/ros/noetic/setup.bash && \
source /home/forest_ws/setup.bash && \
cmake -DDLONG=OFF -DCMAKE_INSTALL_PREFIX:STRING=/home/forest_ws/install -DCMAKE_BUILD_TYPE:STRING=Release ../../src/osqp && \
make -j && \
make install
# proxQP
RUN git clone /~https://github.com/Simple-Robotics/proxsuite.git && \
cd /home/forest_ws/src/proxsuite && \
git submodule init && \
git submodule update && \
mkdir -p /home/forest_ws/build/proxsuite && \
cd /home/forest_ws/build/proxsuite && \
source /opt/ros/noetic/setup.bash && \
source /home/forest_ws/setup.bash && \
cmake -DBUILD_WITH_VECTORIZATION_SUPPORT=OFF -DBUILD_TESTING=OFF -DCMAKE_INSTALL_PREFIX:STRING=/home/forest_ws/install -DCMAKE_BUILD_TYPE:STRING=Release ../../src/proxsuite && \
make -j && \
make install
# opensot
RUN git clone -b 4.0-devel /~https://github.com/ADVRHumanoids/OpenSoT.git && \
mkdir -p /home/forest_ws/build/OpenSoT && \
cd /home/forest_ws/build/OpenSoT && \
source /opt/ros/noetic/setup.bash && \
source /home/forest_ws/setup.bash && \
cmake -DCMAKE_INSTALL_PREFIX:STRING=/home/forest_ws/install -DCMAKE_BUILD_TYPE:STRING=Release -DOPENSOT_SOTH_FRONT_END=ON ../../src/OpenSoT && \
make -j && \
make install
# reflexxes
RUN git clone /~https://github.com/ADVRHumanoids/RMLTypeII.git && \
mkdir -p /home/forest_ws/build/RMLTypeII && \
cd /home/forest_ws/build/RMLTypeII && \
source /opt/ros/noetic/setup.bash && \
source /home/forest_ws/setup.bash && \
cmake -DCMAKE_INSTALL_PREFIX:STRING=/home/forest_ws/install -DCMAKE_BUILD_TYPE:STRING=Release ../../src/RMLTypeII && \
make -j && \
make install
# CartesI/O
RUN git clone -b 3.0-devel /~https://github.com/ADVRHumanoids/CartesianInterface.git && \
mkdir -p /home/forest_ws/build/CartesianInterface && cd /home/forest_ws/build/CartesianInterface && \
source /opt/ros/noetic/setup.bash && \
source /home/forest_ws/setup.bash && \
cmake -DCARTESIO_COMPILE_EXAMPLES=ON -DCMAKE_INSTALL_PREFIX:STRING=/home/forest_ws/install -DCMAKE_BUILD_TYPE:STRING=Release ../../src/CartesianInterface && \
make -j && \
make install
# cartesio_acceleration_support
RUN git clone -b 2.0-devel /~https://github.com/ADVRHumanoids/cartesio_acceleration_support.git && \
mkdir -p /home/forest_ws/build/cartesio_acceleration_support && \
cd /home/forest_ws/build/cartesio_acceleration_support && \
source /opt/ros/noetic/setup.bash && \
source /home/forest_ws/setup.bash && \
cmake -DCARTESIO_COMPILE_EXAMPLES=ON -DCMAKE_INSTALL_PREFIX:STRING=/home/forest_ws/install -DCMAKE_BUILD_TYPE:STRING=Release ../../src/cartesio_acceleration_support && \
make -j && \
make install
# cartesio_collision_support
RUN git clone -b 2.0-devel /~https://github.com/ADVRHumanoids/cartesio_collision_support.git && \
mkdir -p /home/forest_ws/build/cartesio_collision_support && \
cd /home/forest_ws/build/cartesio_collision_support && \
source /opt/ros/noetic/setup.bash && \
source /home/forest_ws/setup.bash && \
cmake -DCARTESIO_COMPILE_EXAMPLES=ON -DCMAKE_INSTALL_PREFIX:STRING=/home/forest_ws/install -DCMAKE_BUILD_TYPE:STRING=Release ../../src/cartesio_collision_support && \
make -j && \
make install
# centauro_cartesio
RUN git clone -b xbot2ifc /~https://github.com/ADVRHumanoids/centauro_cartesio.git && \
mkdir -p /home/forest_ws/build/centauro_cartesio && \
cd /home/forest_ws/build/centauro_cartesio && \
source /opt/ros/noetic/setup.bash && \
source /home/forest_ws/setup.bash && \
cmake -DCMAKE_INSTALL_PREFIX:STRING=/home/forest_ws/install -DCMAKE_BUILD_TYPE:STRING=Release ../../src/centauro_cartesio && \
make -j && \
make install
# base_estimation
RUN git clone -b xbot2ifc /~https://github.com/ADVRHumanoids/base_estimation.git && \
mkdir -p /home/forest_ws/build/base_estimation && \
cd /home/forest_ws/build/base_estimation && \
source /opt/ros/noetic/setup.bash && \
source /home/forest_ws/setup.bash && \
cmake -DCMAKE_INSTALL_PREFIX:STRING=/home/forest_ws/install -DCMAKE_BUILD_TYPE:STRING=Release ../../src/base_estimation && \
make -j && \
make install
# franka_cartesio_config
WORKDIR /opt/ros/noetic/share/franka_description/robots/panda
RUN cp panda.urdf.xacro ../ && cd .. && mv panda.urdf.xacro panda_arm.urdf.xacro
WORKDIR /home/forest_ws/src
RUN git clone -b xbot2ifc /~https://github.com/EnricoMingo/franka_cartesio_config.git
# Talos
RUN git clone /~https://github.com/hucebot/talos_cartesio_config.git \
&& git clone /~https://github.com/pal-robotics/talos_robot.git
## Tiago
RUN git clone /~https://github.com/hucebot/tiago_dual_cartesio_config.git \
&& git clone -b kinetic-devel /~https://github.com/EnricoMingo/tiago_dual_robot.git \
&& git clone /~https://github.com/pal-robotics/tiago_dual_description_calibration.git \
&& git clone /~https://github.com/pal-robotics/pal_urdf_utils.git \
&& git clone -b melodic-devel /~https://github.com/pal-robotics/omni_base_robot.git \
&& git clone -b foxy-devel /~https://github.com/pal-robotics/tiago_robot.git \
&& git clone -b humble-devel /~https://github.com/pal-robotics/hey5_description.git \
&& git clone -b humble-devel /~https://github.com/pal-robotics/pmb2_robot.git \
&& git clone -b humble-devel /~https://github.com/EnricoMingo/pal_gripper.git
# Little Dog
RUN git clone /~https://github.com/EnricoMingo/LittleDog.git
RUN echo 'export ROS_PACKAGE_PATH="${ROS_PACKAGE_PATH}:/home/forest_ws/src/tiago_dual_cartesio_config:/home/forest_ws/src/tiago_dual_robot:/home/forest_ws/src/tiago_dual_description_calibration:/home/forest_ws/src/pal_urdf_utils:/home/forest_ws/src/omni_base_robot:/home/forest_ws/src/tiago_robot:/home/forest_ws/src/hey5_description:/home/forest_ws/src/pmb2_robot:/home/forest_ws/src/pal_gripper:/home/forest_ws/src/LittleDog:/home/forest_ws/src/franka_cartesio_config:/home/forest_ws/src/talos_cartesio_config:/home/forest_ws/src/talos_robot"' >> /home/forest_ws/setup.bash