cpu.Dockerfile

FROM ubuntu:18.04

# ------ powered by Ge Yao, alexgecontrol@qq.com ------

LABEL maintainer="alexgecontrol@qq.com, Ge Yao"

# ------ USER ROOT HAS BEEN ACTIVATED ------

# use root for dependency installation:
USER root

# ------ PART 0: set environment variables ------

# set up environment:
ENV DEBIAN_FRONTEND noninteractive
ENV LANG=C.UTF-8 LC_ALL=C.UTF-8
ENV HOME=/root SHELL=/bin/bash

# ------ PART 1: set up CN sources ------

# Ubuntu:
COPY ${PWD}/image/etc/apt/sources.list /etc/apt/sources.list
RUN rm -f /etc/apt/sources.list.d/*

# Python: 
COPY ${PWD}/image/etc/pip.conf /root/.pip/pip.conf 

# ------ PART 2: set up apt-fast -- NEED PROXY DUE TO UNSTABLE CN CONNECTION ------

# install:
RUN apt-get update -q --fix-missing && \
    apt-get install -y --no-install-recommends --allow-unauthenticated \
        # PPA utilities:
        software-properties-common \
        # certificates management:
        dirmngr gnupg2 \
        # download utilities:
        axel aria2 && \
    apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-keys 1EE2FF37CA8DA16B && \
    add-apt-repository ppa:apt-fast/stable && \
    apt-get update -q --fix-missing && \
    apt-get install -y --no-install-recommends --allow-unauthenticated apt-fast && \
    rm -rf /var/lib/apt/lists/*

# CN config:
COPY ${PWD}/image/etc/apt-fast.conf /etc/apt-fast.conf

# ------ PART 3: add external repositories ------

# ROS:
RUN apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
COPY ${PWD}/image/etc/apt/sources.list.d/ /etc/apt/sources.list.d/
# libsparse:
RUN add-apt-repository -r ppa:bzindovic/suitesparse-bugfix-1319687

# ------ PART 4: install packages ------

RUN apt-fast update --fix-missing && \
    apt-fast install -y --no-install-recommends --allow-unauthenticated \
        # package utils:
        sudo dpkg pkg-config apt-utils \
        # security:
        openssh-server pwgen ca-certificates \
        # network utils:
        curl wget iputils-ping net-tools \
        # command line:
        vim grep sed patch \
        # io:
        pv zip unzip bzip2 \
        # version control:
        git mercurial subversion \
        # daemon & services:
        supervisor nginx \
        # dev. tools:
        terminator \
        firefox \
        # potential image & rich text IO:
        libsdl1.2-dev libsdl-net1.2-dev libsdl-image1.2-dev \
        lxde \
        gnome-themes-standard \
        xvfb dbus-x11 x11-utils libxext6 libsm6 x11vnc \
        gtk2-engines-pixbuf gtk2-engines-murrine pinta ttf-ubuntu-font-family \
        mesa-utils libgl1-mesa-dri libxrender1 \
        gnuplot \
        texlive-latex-extra \
        #
        # general development:
        #
        # a. c++:
        gcc g++ \
        make cmake build-essential autoconf automake libtool \
        libglib2.0-dev libboost-dev libboost-all-dev \
        libomp-dev libtbb-dev \
        libgoogle-glog-dev \
        googletest \
        # b. Python 2 & 3:
        python-pip python-dev python-tk \
        # c. lua:
        lua5.3 liblua5.3-dev libluabind-dev \
        # 
        # numerical optimization:
        # 
        coinor-libcoinutils-dev \
        coinor-libcbc-dev \
        libeigen3-dev \
        gfortran \
        libopenblas-dev liblapack-dev \
        libdw-dev libatlas-base-dev libsuitesparse-dev \
        libcholmod3 libcxsparse3 \
        libmetis-dev \
        # optional dependencies for armadillo https://gitlab.com/conradsnicta/armadillo-code#5-linux-and-macos-installation
        libparpack2-dev libsuperlu-dev \
        #
        # 3D graphics:
        #
        freeglut3-dev \
        libqt4-dev libqt4-opengl-dev \
        qt5-default qt5-qmake \
        qtdeclarative5-dev libqglviewer-dev-qt5 \
        #
        # ROS melodic:
        # 
        ros-melodic-desktop-full \
        ros-melodic-ecl-threads \
        ros-melodic-rosbridge-server \
        ros-melodic-tf2 ros-melodic-tf2-ros ros-melodic-tf2-sensor-msgs \
        ros-melodic-teleop-twist-keyboard \
        ros-melodic-rviz-visual-tools \
        ros-melodic-plotjuggler \ 
        python-catkin-tools python-rosdep python-rosinstall python-rosinstall-generator python-wstool \
        ninja-build \
        # imu:
        ros-melodic-imu-complementary-filter ros-melodic-imu-filter-madgwick ros-melodic-rviz-imu-plugin \
        # lidar:
        ros-melodic-laser-pipeline \
        ros-melodic-perception-pcl \
        # localization:
        ros-melodic-amcl \
        # planning:
        ros-melodic-mrpt-navigation \
        libompl-dev ompl-demos && \
    apt-fast autoclean && \
    apt-fast autoremove && \
    rm -rf /var/lib/apt/lists/*

# ordered startup fix for supervisord:
RUN pip install ordered-startup-supervisord

# ------ PART 5: set up ROS environments ------

# initialize rosdep
# 
# NOTE:
# be careful about DNS resolution problem caused by https://raw.githubusercontent.com
# get the latest IP address of the site from Baidu and Google search engine
# 
RUN rosdep fix-permissions && \
    rosdep init && \
    rosdep update

# activate ros environment:
RUN echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc

# for remote debugging:
EXPOSE 11311

# ------ PART 6: set up VNC servers ------

COPY image /

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 /usr/lib/webportal

RUN pip install --upgrade pip && pip install -r requirements.txt

EXPOSE 80 5901 9001

# ------ PART 7: offline installers ------

# load installers:
COPY ${PWD}/installers /tmp/installers

# set up environment:
ENV INCLUDE_PATH=${INCLUDE_PATH}:/usr/local/include
ENV LIBRARY_PATH=${LIBRARY_PATH}:/usr/local/lib:/usr/local/lib/x86_64-linux-gnu
ENV LD_LIBRARY_PATH=${LD_LIBRARY_PATH}:/usr/local/lib:/usr/local/lib/x86_64-linux-gnu

# install latest CMake:
WORKDIR /tmp/installers
RUN git clone https://github.com/Kitware/CMake -b release -o CMake && \
    # config:
    cd CMake && chmod u+x ./bootstrap && ./bootstrap && \
    # build:
    make -j8 && \
    # install:
    make install && \
    # done:
    ldconfig

# install GoogleTest latest, release 1.11.0:
WORKDIR /tmp/installers
RUN git clone https://github.com/google/googletest.git -b release-1.11.0 -o googletest && \
    # config:
    cd googletest && mkdir build && cd build && cmake .. -DBUILD_GMOCK=OFF && \
    # build:
    make -j8 && \
    # install:
    make install && \
    # done:
    ldconfig

# install Google Protobuf, 3.16.x:
WORKDIR /tmp/installers
RUN git clone https://github.com/google/protobuf.git -b 3.16.x -o protobuf && cd protobuf && \
    # sync:
    git submodule update --init --recursive && \
    # config:
    ./autogen.sh && ./configure && \ 
    # build:
    make -j8 && \
    # install:
    make install && \
    # done:
    ldconfig

#
# install Google abseil, LTS 2021-11-02:
#     CMake:   /usr/local/lib/cmake
#     include: /usr/local/include/absl
#     lib:     /usr/local/lib/
# 
WORKDIR /tmp/installers
RUN git clone https://github.com/abseil/abseil-cpp.git -b lts_2021_11_02 -o abseil-cpp  && \
    # config:
    cd abseil-cpp && mkdir build && mkdir install && cd build && \
    cmake -DABSL_USE_GOOGLETEST_HEAD=OFF -DCMAKE_CXX_STANDARD=11 -DABSL_ENABLE_INSTALL=ON -DCMAKE_INSTALL_PREFIX=/tmp/installers/abseil-cpp/install .. && \
    # build:
    make -j8 && \
    # install:
    make install && \
    # install headers:
    cp -R /tmp/installers/abseil-cpp/install/include/absl /usr/local/include && \
    # install static libs:
    cp /tmp/installers/abseil-cpp/install/lib/*.a /usr/local/lib && \
    # install cmake:
    cp -R /tmp/installers/abseil-cpp/install/lib/cmake/absl /usr/local/lib/cmake && \
    # done:
    ldconfig

#
# install Eigen, 3.4:
#     CMake:   /usr/local/share/eigen3/cmake/
#     include: /usr/local/include/eigen3
#     lib:     none
# 
WORKDIR /tmp/installers
RUN git clone https://gitlab.com/libeigen/eigen -b 3.4 -o eigen && \
    # config:
    cd eigen && mkdir build && cd build && cmake .. && \
    # build:
    make -j8 && \
    # install:
    make install && \
    # done:
    ldconfig

#
# install OSQP:
#     CMake:   /usr/local/lib/cmake/osqp
#              /usr/local/lib/cmake/qdldl
#     include: /usr/local/include/osqp
#     lib:     /usr/local/lib/
# 
WORKDIR /tmp/installers
RUN git clone --recursive https://github.com/osqp/osqp -o osqp  && \
    # config:
    cd osqp && mkdir build && cd build && cmake -G "Unix Makefiles" .. && \
    # build:
    make -j8 && \
    # install:
    make install && \
    # done:
    ldconfig

# instal OSQP C++:
#     CMake:   /usr/local/lib/cmake/osqp
#              /usr/local/lib/cmake/qdldl
#     include: /usr/local/include/osqp
#     lib:     /usr/local/lib/x86_64-linux-gnu
# 
WORKDIR /tmp/installers
RUN git clone --recursive https://github.com/google/osqp-cpp -o osqp-cpp  && \
    # config:
    cd osqp-cpp && mkdir build && cd build && cmake .. -DOSQP-CPP_BUILD_TESTS=OFF && \
    # build:
    make -j8 && \
    # install:
    make install && \
    # install include:
    mkdir /usr/local/include/osqp-cpp && cp /tmp/installers/osqp-cpp/include/osqp++.h /usr/local/include/osqp-cpp && \
    # install lib:
    cp libosqp-cpp.a /usr/local/lib && \
    # done:
    ldconfig

# install Armadillo 9.870.2
WORKDIR /tmp/installers
RUN tar -xvf armadillo-9.870.2.tar.gz && \
    cd armadillo-9.870.2 && \
    ./configure && \
    # build:
    make -j8 && \
    # install:
    make install && \
    # done:
    ldconfig

# install tini:
WORKDIR /tmp/installers
RUN chmod u+x ./download-tini.sh && ./download-tini.sh && dpkg -i tini.deb && \
    apt-get clean

RUN rm -rf /tmp/installers

# ------ PART 8: set up Motion Planning for Mobile Robots courseware dependencies ------

COPY environment /workspace

WORKDIR /workspace 

RUN pip install -r requirements.txt

# ------------------ DONE -----------------------

ENTRYPOINT ["/startup.sh"]