161 lines
4.6 KiB
Docker
161 lines
4.6 KiB
Docker
# 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 -j2 && \
|
|
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"]
|
|
|
|
|
|
|
|
|
|
|
|
|