gazebo_experimental Dockerfile

Dockerfile

FROM ubuntu:16.04

# This is a dockerfile for building gazebo_experimental
# Build:
#  - docker build --build-arg user_id=$EUID --tag gazebo_experimental .
# Run:
#  - nvidia-docker run -i -t -v /home/$USER:/home/developer gazebo_experimental /bin/bash

# Need these to do useful stuff below
RUN apt-get update \
 && apt-get install -y \
        wget \
        lsb-release \
        sudo \
        mercurial \
        vim \
        gdb \
        valgrind \
        autotools-dev \
        automake \
 && apt-get clean

# Install gazebo dependencies
# see http://gazebosim.org/tutorials?tut=install_from_source

RUN echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list
RUN wget http://packages.osrfoundation.org/gazebo.key -O - | apt-key add -
RUN wget https://bitbucket.org/osrf/release-tools/raw/default/jenkins-scripts/lib/dependencies_archive.sh -O /tmp/dependencies.sh

# Required and optional dependencies
# Strips ignition and sdformat so they can be built from source
RUN bash -c 'ROS_DISTRO=Dummy GAZEBO_EXPERIMENTAL_BUILD=true source /tmp/dependencies.sh \
 && apt-get update \
 && deps=" \
        $BASE_DEPENDENCIES \
        $GAZEBO_BASE_DEPENDENCIES \
        $GAZEBO_EXTRA_DEPENDENCIES \
        $SDFORMAT_BASE_DEPENDENCIES \
        $IGN_COMMON_DEPENDENCIES \
        $IGN_TRANSPORT_DEPENDENCIES \
        $IGN_GUI_DEPENDENCIES \
        libgflags-dev \
        libusb-1.0-0-dev \
        libglew-dev \
        python3-setuptools \
        python3-nose \
        python3-nose-cov \
        python-protobuf \
        " \
 && deps=$(sed "s/\\\ //g" <<< $deps) \
 && apt-get install -y \
        $deps \
 && apt-get clean'

# Remove from source builds
RUN apt-get remove -y .*sdformat.* .*ignition-common.* .*ignition-transport.* \
 && apt-get clean

# Install ignition-common from source
RUN hg clone https://bitbucket.org/osrf/sdformat && \
    rm -fr sdformat/build && mkdir sdformat/build && \
    cd sdformat/build && \
    cmake .. -DCMAKE_INSTALL_PREFIX=/usr && \
    make -j2 install
# Install ignition-common from source
RUN hg clone https://bitbucket.org/ignitionrobotics/ign-common && \
    rm -fr ign-common/build && mkdir ign-common/build && \
    cd ign-common/build && \
    cmake .. -DCMAKE_INSTALL_PREFIX=/usr && \
    make -j2 install
# Install ignition-transport from source
RUN hg clone https://bitbucket.org/ignitionrobotics/ign-transport && \
    rm -fr ign-transport/build && mkdir ign-transport/build && \
    cd ign-transport/build && \
    cmake .. -DCMAKE_INSTALL_PREFIX=/usr && \
    make -j2 install
# Install ignition-gui from source
RUN hg clone https://bitbucket.org/ignitionrobotics/ign-gui && \
    rm -fr ign-gui/build && mkdir ign-gui/build && \
    cd ign-gui/build && \
    cmake .. -DCMAKE_INSTALL_PREFIX=/usr && \
    make -j2 install

#nvidia docker
LABEL com.nvidia.volumes.needed="nvidia_driver"
ENV PATH /usr/local/nvidia/bin:${PATH}
ENV LD_LIBRARY_PATH /usr/local/nvidia/lib:/usr/local/nvidia/lib64:${LD_LIBRARY_PATH}

# stuff for gazebo
ENV LD_LIBRARY_PATH=/usr/local/lib:/usr/local/lib64:${LD_LIBRARY_PATH}
EXPOSE 11345

ARG user_id
ENV USERNAME developer
RUN useradd -U --uid ${user_id} -ms /bin/bash $USERNAME \
 && echo "$USERNAME:$USERNAME" | chpasswd \
 && adduser $USERNAME sudo \
 && echo "$USERNAME ALL=NOPASSWD: ALL" >> /etc/sudoers.d/$USERNAME
USER $USERNAME
WORKDIR /home/$USERNAME