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appliedAI-Initiative / orb_slam_2_ros

A ROS implementation of ORB_SLAM2
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noetic dockerfile （how to use in noetic version with astra camera） #127

Open martin2021-sh opened 2 years ago

martin2021-sh commented 2 years ago

FROM ros:noetic-robot

Update

RUN apt update RUN apt-get install software-properties-common apt-utils -y

Set working directory

WORKDIR /home/ros/src

Get the realsense package from git

RUN git clone https://github.com/orbbec/ros_astra_camera.git RUN git clone https://github.com/appliedAI-Initiative/orb_slam_2_ros.git

Set up Noetic keys

RUN apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654

Set up astracamera keys

RUN apt-key adv --keyserver keys.gnupg.net --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE || apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE RUN apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key C8B3A55A6F3EFCDE

Add astropro repo

RUN add-apt-repository "deb http://realsense-hw-public.s3.amazonaws.com/Debian/apt-repo bionic main" -u

Install required astrapro and ROS packages

RUN apt-get update && \ apt-get install librealsense2-dkms librealsense2-utils librealsense2-dev librealsense2-dbg ros-melodic-tf2-geometry-msgs python-catkin-tools -y

WORKDIR /home/ros

Install ROS dependencies

RUN rosdep update \ && rosdep install --from-paths src --ignore-src -r -y --skip-keys=librealsense2

build ros package source

RUN catkin config \ --extend /opt/ros/$ROS_DISTRO && \ catkin build

RUN echo "source /home/ros/devel/setup.bash" >> /$HOME/.bashrc

CMD "bash"