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| FROM ros:humble-perception-jammy | ||
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| RUN rm -f /etc/apt/apt.conf.d/docker-clean | ||
| RUN --mount=type=cache,target=/var/cache/apt apt-get update --fix-missing && apt-get upgrade -y | ||
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| RUN --mount=type=cache,target=/var/cache/apt\ | ||
| DEBIAN_FRONTEND=noninteractive \ | ||
| apt-get install --no-install-recommends --yes \ | ||
| python3-colcon-common-extensions \ | ||
| python3-rosdep | ||
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| WORKDIR /work | ||
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| RUN useradd -ms /bin/bash ros &&\ | ||
| chown ros:ros /work &&\ | ||
| usermod -aG sudo ros &&\ | ||
| echo "ros ALL=(ALL) NOPASSWD:ALL" >> /etc/sudoers &&\ | ||
| echo "ros:ros" | chpasswd | ||
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| USER ros | ||
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| COPY . /work/src/MINS | ||
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| RUN bash /work/src/MINS/build_ros2.sh | ||
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| RUN echo "source '/work/install/setup.bash'" >> ~/.bashrc | ||
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| #!/bin/bash | ||
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| source /opt/ros/humble/setup.bash | ||
| colcon build --paths thirdparty/* | ||
| source install/setup.bash | ||
| colcon build --paths thirdparty/open_vins/* | ||
| source install/setup.bash | ||
| colcon build --paths mins mins_data | ||
| source install/setup.bash | ||
| colcon build --paths mins_eval |
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| cmake_minimum_required(VERSION 3.5.1) | ||
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| find_package(catkin REQUIRED COMPONENTS roscpp rosbag tf std_msgs geometry_msgs sensor_msgs nav_msgs image_geometry visualization_msgs image_transport cv_bridge ov_core pcl_ros) | ||
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| add_definitions(-DROS_AVAILABLE=1) | ||
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| # Add catkin packages | ||
| catkin_package( | ||
| CATKIN_DEPENDS roscpp rosbag tf std_msgs geometry_msgs sensor_msgs nav_msgs image_geometry visualization_msgs image_transport cv_bridge ov_core pcl_ros | ||
| INCLUDE_DIRS src/ | ||
| LIBRARIES mins_lib | ||
| ) | ||
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| # Include our header files | ||
| include_directories( | ||
| src | ||
| ${EIGEN3_INCLUDE_DIR} | ||
| ${PCL_INCLUDE_DIRS} | ||
| ${Boost_INCLUDE_DIRS} | ||
| ${catkin_INCLUDE_DIRS} | ||
| ${libpointmatcher_INCLUDE_DIRS} | ||
| ) | ||
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| # Set link libraries used by all binaries | ||
| list(APPEND thirdparty_libraries | ||
| ${Boost_LIBRARIES} | ||
| ${OpenCV_LIBRARIES} | ||
| ${catkin_LIBRARIES} | ||
| ${libpointmatcher_LIBRARIES} | ||
| ) | ||
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| ################################################## | ||
| # Make the shared library | ||
| ################################################## | ||
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| list(APPEND LIBRARY_SOURCES | ||
| src/options/Options.cpp | ||
| src/options/OptionsCamera.cpp | ||
| src/options/OptionsEstimator.cpp | ||
| src/options/OptionsGPS.cpp | ||
| src/options/OptionsIMU.cpp | ||
| src/options/OptionsInit.cpp | ||
| src/options/OptionsLidar.cpp | ||
| src/options/OptionsSimulation.cpp | ||
| src/options/OptionsSystem.cpp | ||
| src/options/OptionsVicon.cpp | ||
| src/options/OptionsWheel.cpp | ||
| src/core/ROSPublisher.cpp | ||
| src/core/ROSSubscriber.cpp | ||
| src/core/ROSHelper.cpp | ||
| src/sim/Simulator.cpp | ||
| src/sim/ConstBsplineSE3.cpp | ||
| src/sim/SimVisualizer.cpp | ||
| src/utils/Print_Logger.cpp | ||
| src/utils/Jabdongsani.cpp | ||
| src/state/State.cpp | ||
| src/state/StateHelper.cpp | ||
| src/state/Propagator.cpp | ||
| src/core/SystemManager.cpp | ||
| src/update/cam/CamTypes.cpp | ||
| src/update/cam/CamHelper.cpp | ||
| src/update/cam/UpdaterCamera.cpp | ||
| src/update/vicon/UpdaterVicon.cpp | ||
| src/update/gps/UpdaterGPS.cpp | ||
| src/update/wheel/UpdaterWheel.cpp | ||
| src/update/lidar/ikd_Tree.cpp | ||
| src/update/lidar/UpdaterLidar.cpp | ||
| src/update/lidar/LidarHelper.cpp | ||
| src/update/lidar/LidarTypes.cpp | ||
| src/update/UpdaterStatistics.cpp | ||
| src/init/Initializer.cpp | ||
| src/init/imu/I_Initializer.cpp | ||
| src/init/imu_wheel/IW_Initializer.cpp | ||
| ) | ||
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| file(GLOB_RECURSE LIBRARY_HEADERS "src/*.h") | ||
| add_library(mins_lib SHARED ${LIBRARY_SOURCES} ${LIBRARY_HEADERS}) | ||
| target_link_libraries(mins_lib ${thirdparty_libraries}) | ||
| target_include_directories(mins_lib PUBLIC src/) | ||
| install(TARGETS mins_lib | ||
| ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} | ||
| LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} | ||
| RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} | ||
| ) | ||
| install(DIRECTORY src/ | ||
| DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION} | ||
| FILES_MATCHING PATTERN "*.h" PATTERN "*.hpp" | ||
| ) | ||
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| ################################################## | ||
| # Make binary files! | ||
| ################################################## | ||
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| add_executable(simulation src/run_simulation.cpp) | ||
| target_link_libraries(simulation mins_lib) | ||
| install(TARGETS simulation | ||
| ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} | ||
| LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} | ||
| RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} | ||
| ) | ||
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| add_executable(bag src/run_bag.cpp) | ||
| target_link_libraries(bag mins_lib) | ||
| install(TARGETS bag | ||
| ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} | ||
| LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} | ||
| RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} | ||
| ) | ||
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| add_executable(subscribe src/run_subscribe.cpp) | ||
| target_link_libraries(subscribe mins_lib) | ||
| install(TARGETS subscribe | ||
| ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} | ||
| LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} | ||
| RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} | ||
| ) |
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