Dockerfile.socket

FROM ros:humble
ENV DEBIAN_FRONTEND noninteractive

# install dependencies via apt
ENV DEBCONF_NOWARNINGS yes
RUN set -x && \
  apt-get update -y -qq && \
  apt-get upgrade -y -qq --no-install-recommends && \
  : "basic dependencies" && \
  apt-get install -y -qq \
    build-essential \
    pkg-config \
    cmake \
    git \
    wget \
    curl \
    tar \
    unzip && \
  : "g2o dependencies" && \
  apt-get install -y -qq \
    libgoogle-glog-dev \
    libatlas-base-dev \
    libsuitesparse-dev && \
  : "other dependencies" && \
  apt-get install -y -qq \
    libyaml-cpp-dev \ 
    libopencv-dev \
    libeigen3-dev && \
  : "remove cache" && \
  apt-get autoremove -y -qq && \
  rm -rf /var/lib/apt/lists/*

ARG CMAKE_INSTALL_PREFIX=/usr/local
ARG NUM_THREADS=1

ENV CPATH=${CMAKE_INSTALL_PREFIX}/include:${CPATH}
ENV C_INCLUDE_PATH=${CMAKE_INSTALL_PREFIX}/include:${C_INCLUDE_PATH}
ENV CPLUS_INCLUDE_PATH=${CMAKE_INSTALL_PREFIX}/include:${CPLUS_INCLUDE_PATH}
ENV LIBRARY_PATH=${CMAKE_INSTALL_PREFIX}/lib:${LIBRARY_PATH}
ENV LD_LIBRARY_PATH=${CMAKE_INSTALL_PREFIX}/lib:${LD_LIBRARY_PATH}

ENV NVIDIA_VISIBLE_DEVICES ${NVIDIA_VISIBLE_DEVICES:-all}
ENV NVIDIA_DRIVER_CAPABILITIES ${NVIDIA_DRIVER_CAPABILITIES:+$NVIDIA_DRIVER_CAPABILITIES,}graphics

# socket.io-client-cpp
ARG SIOCLIENT_COMMIT=ff6ef08e45c594e33aa6bc19ebdd07954914efe0
WORKDIR /tmp
RUN set -x && \
  git clone https://github.com/shinsumicco/socket.io-client-cpp.git && \
  cd socket.io-client-cpp && \
  git checkout ${SIOCLIENT_COMMIT} && \
  git submodule init && \
  git submodule update && \
  mkdir -p build && \
  cd build && \
  cmake \
    -DCMAKE_BUILD_TYPE=Release \
    -DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX} \
    -DBUILD_UNIT_TESTS=OFF \
    .. && \
  make -j${NUM_THREADS} && \
  make install && \
  cd /tmp && \
  rm -rf *
ENV sioclient_DIR=${CMAKE_INSTALL_PREFIX}/lib/cmake/sioclient

# protobuf
WORKDIR /tmp
RUN set -x && \
  apt-get update -y -qq && \
  apt-get upgrade -y -qq --no-install-recommends && \
  apt-get install -y -qq autogen autoconf libtool && \
  wget -q https://github.com/google/protobuf/archive/v3.6.1.tar.gz && \
  tar xf v3.6.1.tar.gz && \
  cd protobuf-3.6.1 && \
  ./autogen.sh && \
  ./configure --prefix=${CMAKE_INSTALL_PREFIX} --enable-static=no && \
  make -j${NUM_THREADS} && \
  make install && \
  cd /tmp && \
  rm -rf * && \
  apt-get purge -y -qq autogen autoconf libtool && \
  apt-get autoremove -y -qq && \
  rm -rf /var/lib/apt/lists/*

# stella_vslam
RUN set -x && \
  : "stella_vslam dependencies" && \
  apt-get update -y -qq && \
  apt-get install -y -qq \
    ros-${ROS_DISTRO}-libg2o && \
  : "remove cache" && \
  apt-get autoremove -y -qq && \
  rm -rf /var/lib/apt/lists/*

RUN set -x && \
  git clone --depth 1 https://github.com/stella-cv/stella_vslam.git && \
  cd stella_vslam && \
  git submodule update -i --recursive && \
  mkdir -p build && \
  cd build && \
  CMAKE_PREFIX_PATH=/opt/ros/${ROS_DISTRO}/lib/cmake cmake .. && \
  make -j${NUM_THREADS} && \
  make install && \
  rm -rf CMakeCache.txt CMakeFiles Makefile cmake_install.cmake example src && \
  chmod -R 777 ./*

ARG SOCKET_PUBLISHER_COMMIT=e2aaf66b27a6477b478bc8e86992907f09f29188
WORKDIR /tmp
RUN set -x && \
  git clone https://github.com/stella-cv/socket_publisher.git && \
  cd socket_publisher && \
  git checkout ${SOCKET_PUBLISHER_COMMIT} && \
  mkdir -p build && \
  cd build && \
  CMAKE_PREFIX_PATH=/opt/ros/${ROS_DISTRO}/lib/cmake cmake \
    -DCMAKE_BUILD_TYPE=RelWithDebInfo \
    -DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX} \
    .. && \
  make -j${NUM_THREADS} && \
  make install && \
  cd /tmp && \
  rm -rf *

# ROS2
RUN set -x && \
  apt-get update -y -qq && \
  : "install ROS2 packages" && \
  apt-get install -y -qq \
    ros-${ROS_DISTRO}-image-transport \
    ros-${ROS_DISTRO}-cv-bridge \
    ros-${ROS_DISTRO}-rosbag2-storage-mcap \
    python3-pip \
    python3-colcon-common-extensions && \
  pip3 install -U \
    argcomplete && \
  : "remove cache" && \
  apt-get autoremove -y -qq && \
  rm -rf /var/lib/apt/lists/*

WORKDIR /ros2_ws
COPY . /ros2_ws/src/stella_vslam_ros

RUN set -x && \
  : "build ROS2 packages" && \
  bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash; \
  colcon build --parallel-workers ${NUM_THREADS} --cmake-args \
    -DUSE_STACK_TRACE_LOGGER=ON"

RUN set -x && \
  sh -c "echo '#'\!'/bin/bash\nset -e\nsource /opt/ros/${ROS_DISTRO}/setup.bash\nsource /ros2_ws/install/setup.bash\nexec \"\$@\"' > /ros_entrypoint.sh" && \
  chmod u+x /ros_entrypoint.sh

ENTRYPOINT ["/ros_entrypoint.sh"]
CMD ["bash"]