Initial commit

2025-10-31 01:19:37 -04:00
parent 451fc5e471
commit 051b2b7fcd
2 changed files with 225 additions and 0 deletions
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+# Multi-arch base (Ubuntu 20.04)
+FROM ubuntu:20.04
+
+# Make tzdata noninteractive for Docker builds
+ENV DEBIAN_FRONTEND=noninteractive
+
+# ---- Time zone (fix echo to expand $TZ) ----
+ENV TZ=America/Detroit
+RUN ln -snf /usr/share/zoneinfo/$TZ /etc/localtime \
+ && echo "$TZ" > /etc/timezone
+
+# ---- Select proper Ubuntu mirror per arch ----
+# TARGETARCH is set automatically by docker buildx (e.g., amd64 or arm64)
+ARG TARGETARCH
+
+# Rebuild /etc/apt/sources.list with the right base URL and optional [arch=...] tags
+# - amd64  -> archive.ubuntu.com
+# - arm64  -> ports.ubuntu.com/ubuntu-ports
+RUN set -eux; \
+    if [ "$TARGETARCH" = "arm64" ]; then \
+      BASE_URL="http://ports.ubuntu.com/ubuntu-ports"; ARCH_TAG="[arch=arm64]"; \
+    else \
+      BASE_URL="http://archive.ubuntu.com/ubuntu"; ARCH_TAG="[arch=amd64]"; \
+    fi; \
+    cat > /etc/apt/sources.list <<EOF
+deb ${ARCH_TAG} ${BASE_URL} focal main restricted universe multiverse
+deb ${ARCH_TAG} ${BASE_URL} focal-updates main restricted universe multiverse
+deb ${ARCH_TAG} ${BASE_URL} focal-backports main restricted universe multiverse
+deb ${ARCH_TAG} ${BASE_URL} focal-security main restricted universe multiverse
+EOF
+
+RUN apt-get update
+
+# unminimize ubuntu
+RUN yes | unminimize
+
+# config CN environment
+RUN apt install language-pack-zh-hans -y
+
+RUN echo LANG="zh_CN.UTF-8" >> /etc/environment
+RUN echo LANGUAGE="zh_CN:zh:en_US:en" >> /etc/environment
+
+RUN echo LANG="zh_CN.UTF-8" >> /etc/profile
+RUN echo LANGUAGE="zh_CN:zh:en_US:en" >> /etc/profile
+
+RUN echo LANG="zh_CN.UTF-8" >> ~/.bashrc
+RUN echo LANGUAGE="zh_CN:zh:en_US:en" >> ~/.bashrc
+
+RUN locale-gen
+RUN /bin/bash -c "source ~/.bashrc"
+
+# install xfce4
+ARG DEBIAN_FRONTEND=noninteractive
+RUN apt-get install -y xfce4 xfce4-terminal
+
+RUN apt install dbus-x11 -y
+RUN apt install fonts-wqy-microhei -y
+RUN apt install -y \
+    gnome-user-docs-zh-hans \
+    language-pack-gnome-zh-hans \
+    fcitx \
+    fcitx-pinyin \
+    fcitx-table-wubi \
+    vim \
+    less \
+    ca-certificates
+
+# install ROS
+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-get install curl -y
+RUN apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
+RUN apt-get update
+RUN apt install ros-noetic-desktop-full -y
+RUN echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc
+RUN /bin/bash -c "source ~/.bashrc"
+
+# install SAD dependence
+RUN apt-get install -y \
+    ros-noetic-pcl-ros \
+    ros-noetic-velodyne-msgs \
+    libopencv-dev \
+    libgoogle-glog-dev \
+    libeigen3-dev \
+    libsuitesparse-dev \
+    libpcl-dev\
+    libyaml-cpp-dev \
+    libbtbb-dev \
+    libgmock-dev \
+    pcl-tools \
+    libspdlog-dev \
+    libqglviewer-dev-qt5 \
+    git
+
+# Add build + Pangolin deps (incl. epoxy)
+RUN apt-get update && \
+    apt-get install -y software-properties-common && \
+    add-apt-repository -y ppa:ubuntu-toolchain-r/test && \
+    apt-get update && \
+    DEBIAN_FRONTEND=noninteractive apt-get install -y --no-install-recommends \
+        gcc-11 g++-11 \
+        build-essential cmake git pkg-config \
+        libeigen3-dev \
+        libjpeg-turbo8-dev libpng-dev libtiff-dev libopenexr-dev \
+        liblz4-dev libzstd-dev \
+        libgl1-mesa-dev libegl1-mesa-dev libgles2-mesa-dev \
+        libxkbcommon-dev libwayland-dev wayland-protocols \
+        libepoxy-dev
+
+
+WORKDIR /root/software
+
+# Clone Pangolin repository and checkout v0.9.4
+# Hang add git checkout v0.9.4
+#RUN git clone https://github.com/stevenlovegrove/Pangolin.git && \
+#    cd Pangolin && \
+#    git checkout v0.9.4 && \
+#    mkdir build && \
+#    cd build && \
+#    cmake .. && \
+#    make -j8 && \
+#    make install && \
+#    ldconfig
+
+# Build with GCC 11, and still sidestep EXR
+RUN git clone https://github.com/stevenlovegrove/Pangolin.git && \
+    cd Pangolin && \
+    git checkout v0.9.4 && \
+    mkdir -p build && cd build && \
+    cmake -DCMAKE_BUILD_TYPE=Release \
+          -DCMAKE_C_COMPILER=gcc-11 -DCMAKE_CXX_COMPILER=g++-11 \
+          -DCMAKE_DISABLE_FIND_PACKAGE_OpenEXR=ON \
+#          -DBUILD_EXAMPLES=OFF -DBUILD_TOOLS=OFF \
+          .. && \
+    make -j"$(nproc)" && \
+    make install && \
+    ldconfig
+
+# set up vnc
+RUN apt-get install tigervnc-standalone-server x11vnc -y
+WORKDIR /root/.vnc
+COPY ./docker/xstartup ./
+RUN chmod u+x ~/.vnc/xstartup
+
+# set up noVNC
+WORKDIR /usr/lib
+RUN git clone https://github.com/novnc/noVNC.git -o noVNC
+WORKDIR /usr/lib/noVNC/utils
+RUN git clone https://github.com/novnc/websockify.git -o websockify
+
+WORKDIR /
+COPY ./docker/startup.sh ./
+RUN chmod u+x startup.sh
+ENTRYPOINT ["./startup.sh"]
+# ENTRYPOINT ["tail","-f","/dev/null"]
+
+
+
+
+
+