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Dockerfile.fbot
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#Use the existing NVIDIA container
FROM nvidia/cuda:11.2.2-cudnn8-devel-ubuntu20.04
SHELL ["/bin/bash", "-c"]
# Install basic apt packages
ARG DEBIAN_FRONTEND=noninteractive
RUN apt-get update && apt-get install -y locales lsb-release
RUN dpkg-reconfigure locales
#Install CUDA samples
RUN apt-get install -y --no-install-recommends cuda-samples-11.2
#Install ROS Noetic
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-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
RUN apt-get update \
&& apt-get install -y --no-install-recommends ros-noetic-desktop-full
RUN apt-get install -y --no-install-recommends python3-rosdep
RUN rosdep init \
&& rosdep fix-permissions \
&& rosdep update
RUN echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc
#Basic Packages
RUN apt-get update -qq \
&& apt-get install -y \
build-essential \
git \
python3-pip \
python3-rosdep
#Install ROS dependencies
RUN apt install -y \
ros-noetic-hector-sensors-description \
ros-noetic-hector-xacro-tools \
ros-noetic-dynamixel-sdk \
ros-noetic-vision-msgs \
ros-noetic-moveit-commander \
ros-noetic-moveit-simple-controller-manager \
ros-noetic-moveit-fake-controller-manager \
ros-noetic-ompl \
ros-noetic-ddynamic-reconfigure \
ros-noetic-librealsense2 \
libqt5x11extras5-dev \
ros-noetic-graph-msgs \
ros-noetic-rviz-visual-tools \
ros-noetic-joint-trajectory-controller \
ros-noetic-apriltag \
ros-noetic-apriltag-ros \
ros-noetic-effort-controllers \
ros-noetic-navigation
RUN apt-get install -y \
ros-noetic-lms1xx \
ros-noetic-ros-numpy \
ros-noetic-urg-node \
ros-noetic-sick-scan \
ros-noetic-joy \
ros-noetic-roboticsgroup-upatras-gazebo-plugins\
ros-noetic-map-server \
ros-noetic-move-base \
ros-noetic-amcl
#Others
RUN apt-get install -y \
beignet-dev \
redis-server \
libusb-1.0-0-dev \
libcusparse-11-0 \
libturbojpeg0-dev \
libglfw3-dev \
python3-pyaudio \
pulseaudio \
pulseaudio-utils \
alsa-base \
alsa-utils
# Create the user
RUN useradd -u 1000 -ms /bin/bash fbot \
&& echo 'fbot ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers \
&& gpasswd -a fbot audio
#Copy the pulseaudio file required to run audio
COPY pulse-client.conf /etc/pulse/client.conf
#Set the user
USER fbot
ENV HOME /home/fbot
WORKDIR /home/fbot
RUN echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc
RUN pip3 install\
numpy==1.22.0 \
tensorflow==2.8.0 \
protobuf==3.19.4 \
tensorboard==2.8 \
espnet==202207 \
pandas==1.3.5 \
matplotlib==3.5.3 \
certifi==2022.6.15.1 \
jinja2==3.1.2 \
urllib3==1.26.12 \
idna==3.3 \
pyparsing==3.0.9 \
props \
librosa==0.9.2 \
multipledispatch==0.6.0 \
yolov5==7.0.9 \
python-dateutil==2.8.2 \
setuptools==67.3.1 \
open3d==0.13.0 \
espnet-model-zoo==0.1.7 \
pygame==2.1.0 \
pvporcupine==2.1.3 \
pvrecorder \
transformers==4.28.0 \
SpeechRecognition \
playsound==1.3.0 \
termcolor==1.1.0 \
spacy==3.5.1 \
pyworld==0.3.0 \
redis==3.4.1 \
typeguard==2.13.3 \
pyyaml==5.4.1 \
wheel==0.40.0 \
audioplayer \
ffmpeg