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rbudai98rbudai98
committedFeb 9, 2024
Docker: Add readme and add user docker files
Signed-off-by: rbudai <[email protected]>
1 parent a764379 commit 83a5e06

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‎dockers/README.md

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‎dockers/lib_gen/README.md

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## Using [DPKG packages](https://github.com/analogdevicesinc/tof-ros2?tab=readme-ov-file#download-debian-package)
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These dockers are intended to prepare the tof dpkg packages for easy library setup for users.
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The generation can be done using the ```docker_build.sh```, by running:
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```console
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bash docker_build.sh
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```
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After the build is completed you can find the ```.dpkg``` tof dependency library files for tof-ros2
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Installing the libraries:
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```console
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sudo dpkg -i tof_lib.deb

‎dockers/docker_build.sh ‎dockers/lib_gen/docker_build.sh

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@@ -4,7 +4,7 @@ echo "Building dockers"
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#Ubuntu 20
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sudo docker build --tag ubuntu20.04/ros2_foxy ./ubuntu_20_04_foxy/
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sudo docker build --tag ubuntu20.04/ros2_galactic ./ubuntu_20_04_galactic/
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# sudo docker build --tag ubuntu20.04/ros2_humble ./ubuntu_20_04_humble/
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sudo docker build --tag ubuntu20.04/ros2_humble ./ubuntu_20_04_humble/
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#Ubuntu 22
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sudo docker build --tag ubuntu22.04/ros2_humble ./ubuntu_22_04_humble/

‎dockers/ubuntu_20_04_foxy/Dockerfile ‎dockers/lib_gen/ubuntu_20_04_foxy/Dockerfile

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FROM ubuntu:20.04
2-
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LABEL maintainer="Robert Budai, <robert.budai@analog.com>"
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ARG DEBIAN_FRONTEND=noninteractive
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@@ -35,13 +34,13 @@ RUN \
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&& cmake -Dprotobuf_BUILD_TESTS=OFF -DCMAKE_POSITION_INDEPENDENT_CODE=ON -DCMAKE_INSTALL_PREFIX=/opt/protobuf ../cmake \
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&& cmake --build . --target install
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# #Install ToF SDK
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# RUN \
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# git clone https://github.com/analogdevicesinc/ToF \
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# && cd ToF \
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# && mkdir build && cd build \
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# && cmake -DUSE_DEPTH_COMPUTE_OPENSOURCE=1 -DWITH_NETWORK=1 -DWITH_EXAMPLES=off -DCMAKE_PREFIX_PATH="/opt/glog;/opt/protobuf;/opt/websockets" .. \
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# && cmake --build . --target install
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#Install ToF SDK
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RUN \
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git clone https://github.com/analogdevicesinc/ToF \
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&& cd ToF \
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&& mkdir build && cd build \
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&& cmake -DWITH_NETWORK=1 -DWITH_EXAMPLES=off -DCMAKE_PREFIX_PATH="/opt/glog;/opt/protobuf;/opt/websockets" .. \
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&& cmake --build . --target install
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#Install ROS2
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RUN \

‎dockers/ubuntu_20_04_galactic/Dockerfile ‎dockers/lib_gen/ubuntu_20_04_galactic/Dockerfile

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FROM ubuntu:20.04
2-
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LABEL maintainer="Robert Budai, <robert.budai@analog.com>"
43
ARG DEBIAN_FRONTEND=noninteractive
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@@ -35,13 +34,13 @@ RUN \
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&& cmake -Dprotobuf_BUILD_TESTS=OFF -DCMAKE_POSITION_INDEPENDENT_CODE=ON -DCMAKE_INSTALL_PREFIX=/opt/protobuf ../cmake \
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&& cmake --build . --target install
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# #Install ToF SDK
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# RUN \
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# git clone https://github.com/analogdevicesinc/ToF \
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# && cd ToF \
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# && mkdir build && cd build \
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# && cmake -DUSE_DEPTH_COMPUTE_OPENSOURCE=1 -DWITH_NETWORK=1 -DWITH_EXAMPLES=off -DCMAKE_PREFIX_PATH="/opt/glog;/opt/protobuf;/opt/websockets" .. \
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# && cmake --build . --target install
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#Install ToF SDK
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RUN \
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git clone https://github.com/analogdevicesinc/ToF \
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&& cd ToF \
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&& mkdir build && cd build \
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&& cmake -DWITH_NETWORK=1 -DWITH_EXAMPLES=off -DCMAKE_PREFIX_PATH="/opt/glog;/opt/protobuf;/opt/websockets" .. \
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&& cmake --build . --target install
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#Install ROS2
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RUN \

‎dockers/ubuntu_22_04_humble/Dockerfile ‎dockers/lib_gen/ubuntu_22_04_humble/Dockerfile

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FROM ubuntu:22.04
2-
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LABEL maintainer="Robert Budai, <robert.budai@analog.com>"
43
ARG DEBIAN_FRONTEND=noninteractive
54

@@ -35,13 +34,13 @@ RUN \
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&& cmake -Dprotobuf_BUILD_TESTS=OFF -DCMAKE_POSITION_INDEPENDENT_CODE=ON -DCMAKE_INSTALL_PREFIX=/opt/protobuf ../cmake \
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&& cmake --build . --target install
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# #Install ToF SDK
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# RUN \
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# git clone https://github.com/analogdevicesinc/ToF \
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# && cd ToF \
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# && mkdir build && cd build \
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# && cmake -DUSE_DEPTH_COMPUTE_OPENSOURCE=1 -DWITH_NETWORK=1 -DWITH_EXAMPLES=off -DCMAKE_PREFIX_PATH="/opt/glog;/opt/protobuf;/opt/websockets" .. \
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# && cmake --build . --target install
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#Install ToF SDK
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RUN \
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git clone https://github.com/analogdevicesinc/ToF \
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&& cd ToF \
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&& mkdir build && cd build \
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&& cmake -DWITH_NETWORK=1 -DWITH_EXAMPLES=off -DCMAKE_PREFIX_PATH="/opt/glog;/opt/protobuf;/opt/websockets" .. \
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&& cmake --build . --target install
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#Install ROS2
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RUN \

‎dockers/users/README.md

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# Dockers for tof and tof-ros2
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## Running Docker files:
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Choose the appropriate ubuntu docker from the available list:
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* Ubuntu 20.04 ROS2 Foxy
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* Ubuntu 20.04 ROS2 Galactic
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* Ubuntu 22.04 ROS2 Humble
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### Step 1:
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Build the Docker file with:
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```console
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sudo docker build --tag <build_tag> .
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```
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Or build from skratch:
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```console
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sudo docker build --no-cache --tag <build_tag> .
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``
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### Step 2:
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Run Docker image in container interactively:
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```console
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sudo docker run -it <docker_image_name>
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```

‎dockers/users/ubuntu_20_04_foxy/Dockerfile

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FROM ubuntu:20.04
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LABEL maintainer="Robert Budai, <robert.budai@analog.com>"
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ARG DEBIAN_FRONTEND=noninteractive
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5+
# Install updates to base image
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RUN \
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apt-get update -y \
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&& apt-get install -y git \
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&& apt-get install -y cmake \
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&& apt-get install -y build-essential \
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&& apt-get install apt-utils
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# Install Glog
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RUN \
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git clone -b v0.6.0 --depth 1 https://github.com/google/glog \
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&& cd glog \
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&& mkdir build_0_6_0 && cd build_0_6_0 \
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&& cmake -DWITH_GFLAGS=off -DCMAKE_INSTALL_PREFIX=/opt/glog .. \
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&& cmake --build . --target install
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# Install Libwebsoocket
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RUN \
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git clone --branch v3.1-stable --depth 1 https://github.com/warmcat/libwebsockets \
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&& cd libwebsockets \
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&& mkdir build_3_1 && cd build_3_1 \
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&& cmake -DLWS_WITH_SSL=OFF -DLWS_STATIC_PIC=ON -DCMAKE_INSTALL_PREFIX=/opt/websockets .. \
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&& cmake --build . --target install
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# Install Protobuf
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RUN \
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git clone --branch v3.9.0 --depth 1 https://github.com/protocolbuffers/protobuf \
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&& cd protobuf \
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&& mkdir build_3_9_0 && cd build_3_9_0 \
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&& cmake -Dprotobuf_BUILD_TESTS=OFF -DCMAKE_POSITION_INDEPENDENT_CODE=ON -DCMAKE_INSTALL_PREFIX=/opt/protobuf ../cmake \
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&& cmake --build . --target install
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# Install ToF SDK
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RUN \
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git clone https://github.com/analogdevicesinc/ToF \
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&& cd ToF \
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&& mkdir build && cd build \
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&& cmake -DWITH_NETWORK=1 -DWITH_EXAMPLES=off -DCMAKE_PREFIX_PATH="/opt/glog;/opt/protobuf;/opt/websockets" .. \
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&& cmake --build . --target install
44+
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# Install ROS2
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RUN \
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locale \
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&& apt-get update && apt-get install locales \
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&& locale-gen en_US en_US.UTF-8 \
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&& update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8 \
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&& export LANG=en_US.UTF-8
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RUN \
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apt-get install -y software-properties-common \
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&& add-apt-repository universe \
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&& apt-get update \
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&& apt-get install -y curl
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RUN \
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curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg \
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&& echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null \
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&& apt-get update \
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&& apt-get upgrade -y
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RUN \
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apt-get install -y ros-foxy-desktop python3-argcomplete \
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&& apt-get install -y python3-colcon-common-extensions
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# Install Tof ROS2
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RUN \
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mkdir ros2_ws && cd ros2_ws && mkdir src \
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&& cd src \
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&& git clone https://github.com/analogdevicesinc/tof-ros2
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RUN \
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cd ros2_ws \
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&& source /opt/ros/galactic/setup.bash \
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&& colcon build

‎dockers/users/ubuntu_20_04_galactic/Dockerfile

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FROM ubuntu:20.04
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LABEL maintainer="Robert Budai, <robert.budai@analog.com>"
3+
ARG DEBIAN_FRONTEND=noninteractive
4+
5+
# Install updates to base image
6+
RUN \
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apt-get update -y \
8+
&& apt-get install -y git \
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&& apt-get install -y cmake \
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&& apt-get install -y build-essential \
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&& apt-get install apt-utils
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13+
# Install Glog
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RUN \
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git clone -b v0.6.0 --depth 1 https://github.com/google/glog \
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&& cd glog \
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&& mkdir build_0_6_0 && cd build_0_6_0 \
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&& cmake -DWITH_GFLAGS=off -DCMAKE_INSTALL_PREFIX=/opt/glog .. \
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&& cmake --build . --target install
20+
21+
# Install Libwebsoocket
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RUN \
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git clone --branch v3.1-stable --depth 1 https://github.com/warmcat/libwebsockets \
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&& cd libwebsockets \
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&& mkdir build_3_1 && cd build_3_1 \
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&& cmake -DLWS_WITH_SSL=OFF -DLWS_STATIC_PIC=ON -DCMAKE_INSTALL_PREFIX=/opt/websockets .. \
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&& cmake --build . --target install
28+
29+
# Install Protobuf
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RUN \
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git clone --branch v3.9.0 --depth 1 https://github.com/protocolbuffers/protobuf \
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&& cd protobuf \
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&& mkdir build_3_9_0 && cd build_3_9_0 \
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&& cmake -Dprotobuf_BUILD_TESTS=OFF -DCMAKE_POSITION_INDEPENDENT_CODE=ON -DCMAKE_INSTALL_PREFIX=/opt/protobuf ../cmake \
35+
&& cmake --build . --target install
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37+
# Install ToF SDK
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RUN \
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git clone https://github.com/analogdevicesinc/ToF \
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&& cd ToF \
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&& mkdir build && cd build \
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&& cmake -DWITH_NETWORK=1 -DWITH_EXAMPLES=off -DCMAKE_PREFIX_PATH="/opt/glog;/opt/protobuf;/opt/websockets" .. \
43+
&& cmake --build . --target install
44+
45+
# Install ROS2
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RUN \
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locale \
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&& apt-get update && apt-get install locales \
49+
&& locale-gen en_US en_US.UTF-8 \
50+
&& update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8 \
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&& export LANG=en_US.UTF-8
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RUN \
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apt-get install -y software-properties-common \
54+
&& add-apt-repository universe \
55+
&& apt-get update \
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&& apt-get install -y curl
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RUN \
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curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg \
59+
&& echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null \
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&& apt-get update \
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&& apt-get upgrade -y
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RUN \
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apt-get install -y ros-galactic-desktop python3-argcomplete \
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&& apt-get install -y python3-colcon-common-extensions
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66+
# Install Tof ROS2
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RUN \
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mkdir ros2_ws && cd ros2_ws && mkdir src \
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&& cd src \
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&& git clone https://github.com/analogdevicesinc/tof-ros2
71+
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RUN \
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cd ros2_ws \
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&& source /opt/ros/galactic/setup.bash \
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&& colcon build

‎dockers/users/ubuntu_22_04_humble/Dockerfile

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FROM ubuntu:22.04
2+
LABEL maintainer="Robert Budai, <robert.budai@analog.com>"
3+
ARG DEBIAN_FRONTEND=noninteractive
4+
5+
# Install updates to base image
6+
RUN \
7+
apt-get update -y \
8+
&& apt-get install -y git \
9+
&& apt-get install -y cmake \
10+
&& apt-get install -y build-essential \
11+
&& apt-get install apt-utils
12+
13+
#Install Glog
14+
RUN \
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git clone -b v0.6.0 --depth 1 https://github.com/google/glog \
16+
&& cd glog \
17+
&& mkdir build_0_6_0 && cd build_0_6_0 \
18+
&& cmake -DWITH_GFLAGS=off -DCMAKE_INSTALL_PREFIX=/opt/glog .. \
19+
&& cmake --build . --target install
20+
21+
#Install Libwebsoocket
22+
RUN \
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git clone --branch v3.1-stable --depth 1 https://github.com/warmcat/libwebsockets \
24+
&& cd libwebsockets \
25+
&& mkdir build_3_1 && cd build_3_1 \
26+
&& cmake -DLWS_WITH_SSL=OFF -DLWS_STATIC_PIC=ON -DCMAKE_INSTALL_PREFIX=/opt/websockets .. \
27+
&& cmake --build . --target install
28+
29+
#Install Protobuf
30+
RUN \
31+
git clone --branch v3.9.0 --depth 1 https://github.com/protocolbuffers/protobuf \
32+
&& cd protobuf \
33+
&& mkdir build_3_9_0 && cd build_3_9_0 \
34+
&& cmake -Dprotobuf_BUILD_TESTS=OFF -DCMAKE_POSITION_INDEPENDENT_CODE=ON -DCMAKE_INSTALL_PREFIX=/opt/protobuf ../cmake \
35+
&& cmake --build . --target install
36+
37+
#Install ToF SDK
38+
RUN \
39+
git clone https://github.com/analogdevicesinc/ToF \
40+
&& cd ToF \
41+
&& mkdir build && cd build \
42+
&& cmake -DWITH_NETWORK=1 -DWITH_EXAMPLES=off -DCMAKE_PREFIX_PATH="/opt/glog;/opt/protobuf;/opt/websockets" .. \
43+
&& cmake --build . --target install
44+
45+
#Install ROS2
46+
RUN \
47+
locale \
48+
&& apt-get update && apt-get install locales \
49+
&& locale-gen en_US en_US.UTF-8 \
50+
&& update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8 \
51+
&& export LANG=en_US.UTF-8
52+
RUN \
53+
apt-get install -y software-properties-common \
54+
&& add-apt-repository universe \
55+
&& apt-get update \
56+
&& apt-get install -y curl
57+
RUN \
58+
curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg \
59+
&& echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null \
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&& apt-get update \
61+
&& apt-get upgrade -y
62+
RUN \
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apt-get install -y ros-humble-desktop python3-argcomplete \
64+
&& apt-get install -y python3-colcon-common-extensions
65+
66+
# Install Tof ROS2
67+
RUN \
68+
mkdir ros2_ws && cd ros2_ws && mkdir src \
69+
&& cd src \
70+
&& git clone https://github.com/analogdevicesinc/tof-ros2
71+
72+
RUN \
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. /opt/ros/humble/setup.sh \
74+
&& cd ros2_ws \
75+
&& colcon build

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