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ARG AUTOWARE_VERSION=latest-melodic-cuda
FROM autoware/autoware:$AUTOWARE_VERSION
USER autoware
ENV USERNAME autoware
WORKDIR /home/autoware
# Update autoware/simulation package version to latest.
COPY --chown=autoware update_sim_version.patch /home/$USERNAME/Autoware
RUN patch ./Autoware/autoware.ai.repos /home/$USERNAME/Autoware/update_sim_version.patch
# Change code in autoware/simulation package.
COPY --chown=autoware update_sim_code.patch /home/$USERNAME/Autoware/src/autoware/simulation
RUN cd /home/$USERNAME/Autoware \
&& vcs import src < autoware.ai.repos \
&& cd /home/$USERNAME/Autoware/src/autoware/simulation \
&& git apply update_sim_code.patch
# Compile with colcon build.
RUN cd ./Autoware \
&& source /opt/ros/melodic/setup.bash \
&& AUTOWARE_COMPILE_WITH_CUDA=1 colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release
# CARLA PythonAPI
RUN mkdir ./PythonAPI
ADD --chown=autoware https://carla-releases.s3.eu-west-3.amazonaws.com/Backup/carla-0.9.11-py2.7-linux-x86_64.egg ./PythonAPI
RUN echo "export PYTHON2_EGG=$(ls /home/autoware/PythonAPI | grep py2.)" >> .bashrc \
&& echo "export PYTHONPATH=\$PYTHONPATH:~/PythonAPI/\$PYTHON2_EGG" >> .bashrc
# CARLA ROS Bridge
# There is some kind of mismatch between the ROS debian packages installed in the Autoware image and
# the latest ros-melodic-ackermann-msgs and ros-melodic-derived-objects-msgs packages. As a
# workaround we use a snapshot of the ROS apt repository to install an older version of the required
# packages.
USER root
RUN rm -f /etc/apt/sources.list.d/ros1-latest.list
RUN apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key 4B63CF8FDE49746E98FA01DDAD19BAB3CBF125EA
RUN sh -c 'echo "deb http://snapshots.ros.org/melodic/2020-08-07/ubuntu $(lsb_release -sc) main" >> /etc/apt/sources.list.d/ros-snapshots.list'
RUN apt-get update && apt-get install -y --no-install-recommends \
python-pip \
python-wheel \
ros-melodic-ackermann-msgs \
ros-melodic-derived-object-msgs \
&& rm -rf /var/lib/apt/lists/*
RUN pip install transforms3d simple-pid pygame networkx==2.2
USER autoware
RUN git clone -b '0.9.11' --recurse-submodules https://github.com/carla-simulator/ros-bridge.git
# Update code in carla-ros-bridge package and fix the tf tree issue.
# The fix has been introduced in latest version (since 0.9.12):
# https://github.com/carla-simulator/ros-bridge/pull/570/commits/9f903cf43c4ef3dd0b909721e044c62a8796f841
COPY --chown=autoware update_ros_bridge.patch /home/$USERNAME/ros-bridge
RUN cd /home/$USERNAME/ros-bridge \
&& git apply update_ros_bridge.patch
# CARLA Autoware agent
COPY --chown=autoware . ./carla-autoware
RUN mkdir -p carla_ws/src
RUN cd carla_ws/src \
&& ln -s ../../ros-bridge \
&& ln -s ../../carla-autoware/carla-autoware-agent \
&& cd .. \
&& source /opt/ros/melodic/setup.bash \
&& catkin_make
RUN echo "export CARLA_AUTOWARE_CONTENTS=~/autoware-contents" >> .bashrc \
&& echo "source ~/carla_ws/devel/setup.bash" >> .bashrc \
&& echo "source ~/Autoware/install/setup.bash" >> .bashrc
USER root
# (Optional) Install vscode
RUN apt-get update
RUN apt-get install -y software-properties-common apt-transport-https wget
RUN wget -q https://packages.microsoft.com/keys/microsoft.asc -O- | apt-key add -
RUN add-apt-repository "deb [arch=amd64] https://packages.microsoft.com/repos/vscode stable main"
RUN apt-get -y install code
CMD ["/bin/bash"]