Dockerfile.liloc

FROM ros:noetic

ENV ROS_DISTRO=noetic
ENV DEBIAN_FRONTEND=noninteractive

RUN apt-get update && \
    apt-get install -y software-properties-common locales && \
    add-apt-repository universe
RUN locale-gen en_US en_US.UTF-8 && \
    update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
ENV LANG=en_US.UTF-8

# Create a non-root user
ARG USERNAME=local
ARG USER_UID=1000
ARG USER_GID=$USER_UID
RUN groupadd --gid $USER_GID $USERNAME \
  && useradd -s /bin/bash --uid $USER_UID --gid $USER_GID -m $USERNAME \
  # [Optional] Add sudo support for the non-root user
  && apt-get update \
  && apt-get install -y sudo \
  && echo $USERNAME ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USERNAME\
  && chmod 0440 /etc/sudoers.d/$USERNAME \
  # Cleanup
  && rm -rf /var/lib/apt/lists/* \
  && echo "source /usr/share/bash-completion/completions/git" >> /home/$USERNAME/.bashrc

  RUN apt-get update && apt-get install -y -q --no-install-recommends \
  git \
  vim \
  build-essential \
  cmake \
  make \
  gdb \
  curl \
  tmux \
  vim \
  libpcl-dev \
  libeigen3-dev \
  libopencv-dev \
  libboost-all-dev \
  libtbb-dev \
  && rm -rf /var/lib/apt/lists/*

# Install OpenCV 4.2
RUN apt-get update && apt-get install -y -q --no-install-recommends \
  libopencv-dev=4.2.0+dfsg-5 \
  ros-${ROS_DISTRO}-pcl-ros \
  ros-${ROS_DISTRO}-cv-bridge \
  ros-${ROS_DISTRO}-tf \
  ros-${ROS_DISTRO}-rviz \
  && rm -rf /var/lib/apt/lists/*

# Install GTSAM 4.2 from source
RUN apt-get update && apt-get install -y -q --no-install-recommends \
    libboost-all-dev \
    libtbb-dev \
    && rm -rf /var/lib/apt/lists/* \
    && git clone https://github.com/borglab/gtsam.git /tmp/gtsam \
    && cd /tmp/gtsam \
    && git checkout 4.2 \
    && mkdir build && cd build \
    && cmake .. \
    && make -j$(nproc) \
    && make install \
    && rm -rf /tmp/gtsam

WORKDIR /dev_ws

RUN mkdir -p /dev_ws/src && cd /dev_ws/src && \
    git clone https://github.com/koide3/ndt_omp && \
    git clone https://github.com/Livox-SDK/livox_ros_driver && \
    git clone https://github.com/Yixin-F/LiLoc

RUN /bin/bash -c '. /opt/ros/${ROS_DISTRO}/setup.bash; catkin_make -DCMAKE_BUILD_TYPE=Release'
RUN sed -i "6i source \"/dev_ws/devel/setup.bash\"" /ros_entrypoint.sh

ENV QT_DEBUG_PLUGINS=1

CMD [ "bash" ]