Dockerfile 999 B

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  1. FROM ros:melodic
  2. RUN apt-get update && apt-get install -y --no-install-recommends \
  3. wget nano build-essential libomp-dev clang lld\
  4. ros-melodic-geodesy ros-melodic-pcl-ros ros-melodic-nmea-msgs \
  5. ros-melodic-rviz ros-melodic-tf-conversions ros-melodic-libg2o \
  6. && apt-get clean \
  7. && rm -rf /var/lib/apt/lists/*
  8. RUN mkdir -p /root/catkin_ws/src
  9. WORKDIR /root/catkin_ws/src
  10. RUN /bin/bash -c '. /opt/ros/melodic/setup.bash; catkin_init_workspace'
  11. RUN git config --global http.postBuffer 2M
  12. RUN git clone https://github.com/SMRT-AIST/fast_gicp.git --recursive --depth=1
  13. RUN git clone https://github.com/koide3/hdl_graph_slam.git --depth=1
  14. COPY . /root/catkin_ws/src/ndt_omp/
  15. RUN update-alternatives --install /usr/bin/ld ld /usr/bin/ld.lld 50
  16. WORKDIR /root/catkin_ws
  17. RUN /bin/bash -c '. /opt/ros/melodic/setup.bash; CC=clang CXX=clang++ catkin_make'
  18. RUN sed -i "6i source \"/root/catkin_ws/devel/setup.bash\"" /ros_entrypoint.sh
  19. WORKDIR /
  20. ENTRYPOINT ["/ros_entrypoint.sh"]
  21. CMD ["bash"]