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Merge pull request #2 from dbonattoj/master

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Added missing scripts and changed Readme for mounting a dev volume
This commit is contained in:
bdelhaisse
2019-06-23 02:19:12 +02:00
committed by GitHub
parent 17bb7579c5 80f49675c5
commit a22afe195e
3 changed files with 54 additions and 7 deletions
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.gitignore
+3
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@@ -3,6 +3,9 @@ __pycache__/
*.py[cod]
*$py.class
# Docker dev
dev/
# C extensions
*.so
Dockerfile
+46 -4
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@@ -159,16 +159,58 @@ RUN mkdir build && cd build && cmake -DBUILD_PYTHON=ON -DPYBIND11_PYTHON_VERSION
RUN cp build/python/openpose/pyopenpose.cpython-36m-x86_64-linux-gnu.so /usr/local/lib/python3.6/dist-packages/
ENV OPENPOSE_PATH=/pyrobolearn/openpose/
WORKDIR /pyrobolearn/
# Audio
RUN apt-get install -y libasound-dev portaudio19-dev libportaudio2 libportaudiocpp0 ffmpeg #libav-tools
RUN yes | pip3 install pyaudio
# GDAL
RUN apt-get install -y libgdal-dev
ENV CPLUS_INCLUDE_PATH=/usr/include/gdal
ENV C_INCLUDE_PATH=/usr/include/gdal
RUN apt-get install -y python-gdal
# INSTALL PYROBOLEARN
RUN git clone https://github.com/robotlearn/pyrobolearn.git
RUN cd /pyrobolearn/pyrobolearn/ && yes | pip3 install -e .
WORKDIR /pyrobolearn/pyrobolearn/
# gazebo models
RUN apt-get install mercurial
RUN hg clone https://bitbucket.org/osrf/gazebo_models/
# trac ik
# TODO not found libfcl-dev
RUN apt-get install -y libccd-dev libccd2 libfcl0.5 libnlopt-dev libnlopt0 libeigen3-dev
RUN yes | pip3 install nlopt
RUN yes | pip3 install catkin_pkg
RUN cd /pyrobolearn/catkin_ws/ && git clone https://github.com/ros/cmake_modules.git && catkin_make
RUN apt-get install -y ros-melodic-cmake-modules
ENV CMAKE_PREFIX_PATH /usr/local/share/trac_ik_lib/cmake/;/opt/ros/melodic/share/cmake_modules/cmake/
RUN git clone https://bitbucket.org/traclabs/trac_ik.git
RUN cd trac_ik/trac_ik_lib/ && mkdir build && cd build && cmake -Dkdl_parser_DIR=/opt/ros/melodic/share/kdl_parser/cmake/ -Dcmake_modules_DIR=/opt/ros/melodic/share/cmake_modules/cmake/ -DCATKIN_ENABLE_TESTING=FALSE -DPYTHON_VERSION=3.6 .. && make -j`nproc` && make install
RUN apt-get install -y swig
RUN cd trac_ik/trac_ik_python/ && mkdir build && cd build && cmake -Drospy_DIR=/opt/ros/melodic/share/rospy/cmake/ -Dtrac_ik_lib_DIR=/usr/local/share/trac_ik_lib/cmake/ -Dtf_conversions_DIR=/opt/ros/melodic/share/tf_conversions/cmake/ -DPYTHON_VERSION=3.6 .. && make -j`nproc` && make install
### Finishing
WORKDIR /pyrobolearn/
RUN mkdir /pyrobolearn/dev/
VOLUME /pyrobolearn/dev/
WORKDIR /pyrobolearn/dev/
RUN ldconfig
RUN cat /proc/driver/nvidia/version && nvcc -V
RUN printenv
ADD . .
RUN cat /proc/driver/nvidia/version && nvcc -V
# TODO maybe transform for alpine linux
README.md
+5 -3
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@@ -32,16 +32,18 @@ $ sudo systemctl status docker # check that docker is active
$ docker build -t pyrobolearn .
```
3. Launch
You can now start the python interpreter with every library already installed
```bash
$ docker run -p 11311:11311 -v catkin_ws:/pyrobolearn/catkin_ws/ -ti pyrobolearn python3
$ docker run -p 11311:11311 -v $PWD/dev:/pyrobolearn/dev/:rw -ti pyrobolearn python3
```
To open an interactive terminal in the docker image use:
```bash
$ docker run -p 11311:11311 -v catkin_ws:/pyrobolearn/catkin_ws/ -ti pyrobolearn /bin/bash
$ docker run -p 11311:11311 -v $PWD/dev:/pyrobolearn/dev/:rw -ti pyrobolearn /bin/bash
```
4. nvidia-docker
@@ -58,7 +60,7 @@ sudo pkill -SIGHUP dockerd
And use:
```bash
$ nvidia-docker run -p 11311:11311 -v catkin_ws:/pyrobolearn/catkin_ws/ -ti pyrobolearn
$ nvidia-docker run -p 11311:11311 -v $PWD/dev:/pyrobolearn/dev/:rw -ti pyrobolearn
```
### Ubuntu