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starbots-sim-yolo
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starbots-sim-yolo
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# This Docker image will contain everything necessary
# for starting the Gazebo simulation in ROS2
# Start from ROS Humble desktop image
FROM osrf/ros:humble-desktop
# Use ARG to set DEBIAN_FRONTEND to noninteractive only during the build
ARG DEBIAN_FRONTEND=noninteractive
# Install necessary packages including apt-utils
RUN apt-get update && apt-get install -y \
apt-utils \
git \
build-essential \
python3-colcon-common-extensions \
python3-rosdep \
python3-rosinstall-generator \
python3-vcstool \
wget \
# Add other necessary packages here
python3-pip \
&& rm -rf /var/lib/apt/lists/*
# It's generally a good idea to run rosdep update as a non-root user,
# but in Docker, we typically ignore this warning.
RUN rosdep update
# clone yolov5 repo in / directory
RUN git clone https://github.com/ultralytics/yolov5.git /yolov5
# Create an overlay Colcon workspace
RUN /bin/bash -c "source /opt/ros/humble/setup.bash \
&& mkdir -p /ros2_ws/src \
&& cd /ros2_ws \
&& colcon build --symlink-install"
COPY /robot_ur3e_perception/ /ros2_ws/src/robot_ur3e_perception/
COPY /robot_ur3e_yolov5/ /ros2_ws/src/robot_ur3e_yolov5/
# Install dependencies
RUN /bin/bash -c "source /opt/ros/humble/setup.bash \
&& cd /ros2_ws/src/robot_ur3e_perception; \
python3 -m pip install torch torchvision; \
python3 -m pip install -r requirements.txt"
# Attempt to install dependencies, skipping the problematic package
RUN apt-get update && apt-get upgrade -y && \
cd /ros2_ws && \
rosdep install --from-paths src --ignore-src -r -y || true
# Build the workspace
RUN /bin/bash -c "source /opt/ros/humble/setup.bash \
&& cd /ros2_ws \
&& colcon build --symlink-install \
&& source /ros2_ws/install/setup.bash \
&& echo 'source /ros2_ws/install/setup.bash' >> ~/.bashrc"
# Set up the work directory
WORKDIR /ros2_ws
# Set up the entrypoint
# CMD /bin/bash -c "source /ros2_ws/install/setup.bash \
# && cd /home/user/ros2_ws/src/robot_ur3e_perception; source venv/bin/activate
# && ros2 launch robot_ur3e_perception alt_yolov5_tf.launch.py