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# # CACHED, DO NOT EDIT -------------------------------------------------------------------------------------------------------------------
# FROM ubuntu:16.04
# SHELL ["/bin/bash", "-c"]
# RUN apt-get update && apt-get install -y lsb-release
# RUN sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list' \
# && apt-get update \
# && apt-get install ros-kinetic-desktop-full ros-kinetic-control-* ros-kinetic-osg-markers ros-kinetic-move-base -y --allow-unauthenticated \
# && rosdep init \
# && rosdep update \
# && echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc
# RUN apt-get install python-rosinstall python-rosinstall-generator python-wstool build-essential python-rosdep python-wxtools python-lxml python-pathlib python-h5py python-scipy python-geolinks python-gdal -y --allow-unauthenticated \
# && apt-get install libfftw3-* libxml++2.6-* libsdl-image1.2-dev libsdl-dev -y --allow-unauthenticated
# RUN source /opt/ros/kinetic/setup.bash \
# && mkdir -p ~/catkin_ws/src \
# && cd ~/catkin_ws/ \
# && catkin_make
# # https://stackoverflow.com/a/46171246
# RUN git config --global http.postBuffer 1048576000
# RUN git config --global https.postBuffer 1048576000
# RUN git config --global http.sslVerify false
# RUN git config --global http.postBuffer 1048576000
# RUN cd ~/catkin_ws/src \
# && git clone https://github.com/lucasmrdt/usv_sim_lsa \
# && cd usv_sim_lsa \
# && git checkout f2a49b3f \
# && git submodule init \
# && git submodule update
# RUN cd ~/catkin_ws/src/usv_sim_lsa \
# && chmod +x ./install_usv_sim \
# && ./install_usv_sim
# RUN cd ~/catkin_ws/ \
# && source /opt/ros/kinetic/setup.bash \
# && rosdep install --from-paths src --ignore-src --rosdistro kinetic -y
# RUN cd ~/catkin_ws/ \
# && source /opt/ros/kinetic/setup.bash \
# && catkin_make_isolated --install \
# && source install_isolated/setup.bash
# RUN cd ~/catkin_ws/ \
# && source /opt/ros/kinetic/setup.bash \
# && source ~/catkin_ws/install_isolated/setup.bash \
# && roslaunch usv_sim sailboat_scenario3.launch parse:=true
# RUN curl https://bootstrap.pypa.io/pip/2.7/get-pip.py --output get-pip.py \
# && python get-pip.py \
# && rm get-pip.py \
# && python -m pip install pyzmq msgpack
# RUN mkdir /root/.ssh
# COPY id_rsa.pub /root/.ssh/authorized_keys
# RUN chmod 700 /root/.ssh && chmod 600 /root/.ssh/authorized_keys
# RUN apt-get install openssh-server -y
# ARG max_step_size=0.001
# ARG physics_type=ode
# # CACHED, DO NOT EDIT -------------------------------------------------------------------------------------------------------------------
from lucasmrdt/sailboat-sim-lsa-gym:mss1-ode
RUN sudo apt-get install mate-desktop-environment -y
RUN sudo apt-get install ubuntu-mate-themes -y
ENV DISPLAY=host.docker.internal:0.0
RUN rm -rf /root/catkin_ws/src/usv_sim_lsa \
&& mkdir /root/catkin_ws/src/usv_sim_lsa
COPY . /root/catkin_ws/src/usv_sim_lsa/
# RUN cd /root/catkin_ws \
# && rm -rf install_isolated build_isolated devel_isolated
RUN source /opt/ros/kinetic/setup.bash \
&& cd /root/catkin_ws \
&& catkin_make_isolated --install -q --pkg usv_sim foil_dynamics_plugin
# RUN cd ~/catkin_ws/ \
# && source /opt/ros/kinetic/setup.bash \
# && catkin_make_isolated --install
# && source install_isolated/setup.bash
# RUN cd ~/catkin_ws/install_isolated/share/usv_sim \
# && sed -i "s/MAX_STEP_SIZE/${max_step_size}/g" world/empty.world \
# && sed -i "s/PHYSICS_TYPE/${physics_type}/g" world/empty.world \
# && cp config/sailboat.${max_step_size}.yaml config/sailboat.yaml
WORKDIR /root/catkin_ws/
RUN echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc \
&& echo "service ssh start" >> ~/.bashrc \
&& echo "source /root/catkin_ws/install_isolated/setup.bash" >> ~/.bashrc
CMD source /opt/ros/kinetic/setup.bash \
&& source /root/catkin_ws/install_isolated/setup.bash \
&& service ssh start \
&& roslaunch usv_sim sailboat_scenario3.launch parse:=false
#\
#& mate-session