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jazzy_sas_builder_image (latest)

Published 2025-05-27 19:03:14 +09:00 by qlin

Installation

Pull the image from the command line:

docker pull gitea-ansol-home.qlin.me/qlin/jazzy_sas_builder_image:latest

Digest

sha256:574c2af86bf406ab9348567fee12caab9bb91ccf677add886d5f6c807eafed09

For more information on the Container registry, see the documentation.

Image Layers

ARG RELEASE

ARG LAUNCHPAD_BUILD_ARCH

LABEL org.opencontainers.image.ref.name=ubuntu

LABEL org.opencontainers.image.version=24.04

ADD file:1d7c45546e94b90e941c5bf5c7a5d415d7b868581ad96171d4beb76caa8ab683 in /

CMD ["/bin/bash"]

RUN /bin/sh -c apt-get update && apt-get install -y curl git g++ cmake && rm -rf /var/lib/apt/lists/* # buildkit

RUN /bin/sh -c apt-get update && apt-get install -y gnupg2 lsb-release libeigen3-dev libboost-all-dev python3-pip build-essential python3-venv zsh && rm -rf /var/lib/apt/lists/* # buildkit

RUN /bin/sh -c apt-get update && apt-get install -y wget fakeroot debhelper dh-python iputils-ping && rm -rf /var/lib/apt/lists/* # buildkit

RUN /bin/sh -c apt-get update && apt-get install -y liburdfdom-headers-dev libconsole-bridge-dev libtinyxml2-dev libpoco-dev unzip lsb-release dpkg gdb && rm -rf /var/lib/apt/lists/* # buildkit

RUN /bin/sh -c python3 -m venv /opt/venv # buildkit

ENV PATH=/opt/venv/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin

RUN /bin/sh -c pip install --upgrade pip # buildkit

RUN /bin/sh -c pip install -U colcon-common-extensions empy==3.3.4 lark # buildkit

RUN /bin/sh -c sh -c "$(wget -O- https://github.com/deluan/zsh-in-docker/releases/download/v1.1.1/zsh-in-docker.sh)" -- -t robbyrussell # buildkit

RUN /bin/sh -c curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | apt-key add - # buildkit

RUN /bin/sh -c sh -c 'echo "deb [arch=$(dpkg --print-architecture)] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" > /etc/apt/sources.list.d/ros2-latest.list' # buildkit

RUN /bin/sh -c apt-get update && apt-get install -y ros-jazzy-desktop python3-rosdep && rm -rf /var/lib/apt/lists/* # buildkit

RUN /bin/sh -c apt-get update && apt-get install -y python3-bloom unzip && rm -rf /var/lib/apt/lists/* # buildkit

RUN /bin/sh -c rosdep init && rosdep update # buildkit

RUN /bin/sh -c mkdir -p /opt/dqrobotics_libs # buildkit

RUN /bin/sh -c git clone https://github.com/dqrobotics/cpp.git /opt/dqrobotics_libs/dqrobotics_cpp --recursive --depth 1 # buildkit

RUN /bin/sh -c cd /opt/dqrobotics_libs/dqrobotics_cpp && mkdir build && cd build && cmake .. && make -j16 && make install && ldconfig # buildkit

RUN /bin/sh -c git clone https://github.com/dqrobotics/cpp-interface-json11.git /opt/dqrobotics_libs/dqrobotics_cpp_interface_json11 --recursive --depth 1 # buildkit

RUN /bin/sh -c cd /opt/dqrobotics_libs/dqrobotics_cpp_interface_json11 && mkdir build && cd build && cmake .. && make -j16 && make install && ldconfig # buildkit

RUN /bin/sh -c git clone https://github.com/coin-or/qpOASES.git /opt/dqrobotics_libs/qpOASES --recursive --depth 1 # buildkit

RUN /bin/sh -c cd /opt/dqrobotics_libs/qpOASES && sed -i -e 's/option(BUILD_SHARED_LIBS "If ON, build shared library instead of static" OFF)/option(BUILD_SHARED_LIBS "If ON, build shared library instead of static" ON)/g' CMakeLists.txt && mkdir build && cd build && cmake .. && make -j16 && make install && ldconfig # buildkit

RUN /bin/sh -c git clone https://github.com/dqrobotics/cpp-interface-qpoases.git /opt/dqrobotics_libs/dqrobotics_cpp_interface_qpoases --recursive --depth 1 # buildkit

RUN /bin/sh -c cd /opt/dqrobotics_libs/dqrobotics_cpp_interface_qpoases && mkdir build && cd build && cmake .. && make -j16 && make install && ldconfig # buildkit

RUN /bin/sh -c git clone https://github.com/dqrobotics/cpp-interface-vrep.git /opt/dqrobotics_libs/dqrobotics_cpp_interface_vrep --recursive --depth 1 # buildkit

RUN /bin/sh -c cd /opt/dqrobotics_libs/dqrobotics_cpp_interface_vrep && git submodule update --init --recursive && mkdir build && cd build && cmake .. && make -j16 && make install && ldconfig # buildkit

RUN /bin/sh -c git clone https://github.com/zeromq/libzmq.git /opt/dqrobotics_libs/libzmq --recursive --depth 1 #--branch=zeromq3-x # buildkit

RUN /bin/sh -c cd /opt/dqrobotics_libs/libzmq && mkdir build && cd build && cmake .. && make -j16 && make install && ldconfig # buildkit

RUN /bin/sh -c git clone https://github.com/zeromq/cppzmq.git /opt/dqrobotics_libs/cppzmq --recursive --depth 1 #--branch=zeromq3-x # buildkit

RUN /bin/sh -c cd /opt/dqrobotics_libs/cppzmq && mkdir build && cd build && cmake .. && make -j16 && make install && ldconfig # buildkit

RUN /bin/sh -c git clone https://github.com/dqrobotics/cpp-interface-coppeliasim.git /opt/dqrobotics_libs/dqrobotics_cpp_interface_coppeliasim --recursive --depth 1 # buildkit

RUN /bin/sh -c cd /opt/dqrobotics_libs/dqrobotics_cpp_interface_coppeliasim && mkdir build && cd build && cmake .. && make -j16 && make install && ldconfig # buildkit

RUN /bin/sh -c git clone https://github.com/dqrobotics/cpp-interface-coppeliasim-zmq.git /opt/dqrobotics_libs/dqrobotics_cpp_interface_coppeliasim_zmq --recursive --depth 1 # buildkit

RUN /bin/sh -c cd /opt/dqrobotics_libs/dqrobotics_cpp_interface_coppeliasim_zmq/submodules/zmqRemoteApi && git checkout coppeliasim-v4.8.0-rev0 && cd ../.. && mkdir build && cd build && cmake .. && make -j16 && make install # buildkit

RUN /bin/sh -c git clone https://github.com/dqrobotics/python.git /opt/dqrobotics_libs/dqrobotics_python --recursive --depth 1 # buildkit

RUN /bin/sh -c cd /opt/dqrobotics_libs/dqrobotics_python && python3 -m pip install . -v # buildkit

RUN /bin/sh -c git clone https://github.com/numpy/numpy.git /opt/numpy --recursive --depth 1 # buildkit

RUN /bin/sh -c cd /opt/numpy && git submodule update --init && pip install . # buildkit

COPY ssh_credentials/* /root/.git-credentials/ # buildkit

RUN /bin/sh -c chmod 600 /root/.git-credentials/id_ed25519 && chmod 600 /root/.git-credentials/id_ed25519_qlin_control && mkdir -p /root/.ssh && touch /root/.ssh/config && echo "Host github.com\n\tHostname github.com\n\tStrictHostKeyChecking no\n\tIdentityFile ~/.git-credentials/id_ed25519\n" >> /root/.ssh/config && echo "Host git_qlin_control\n\tHostname gitlab.com\n\tStrictHostKeyChecking no\n\tIdentityFile ~/.git-credentials/id_ed25519_qlin_control\n" >> /root/.ssh/config # buildkit

RUN /bin/sh -c mkdir -p /etc/apt/keyrings && curl http://robotpkg.openrobots.org/packages/debian/robotpkg.asc | sudo tee /etc/apt/keyrings/robotpkg.asc && echo "deb [arch=amd64 signed-by=/etc/apt/keyrings/robotpkg.asc] http://robotpkg.openrobots.org/packages/debian/pub $(lsb_release -cs) robotpkg" | sudo tee /etc/apt/sources.list.d/robotpkg.list # buildkit

RUN /bin/sh -c apt-get update && apt-get install -qqy robotpkg-pinocchio && rm -rf /var/lib/apt/lists/* # buildkit

RUN /bin/sh -c git clone --recursive -b 0.15.0 https://github.com/frankaemika/libfranka.git /opt/libfranka --depth 1 # buildkit

RUN /bin/sh -c cd /opt/libfranka && git submodule update --recursive && mkdir build && cd build && export CMAKE_PREFIX_PATH=/opt/openrobots/lib/cmake && cmake -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTS=OFF -DCMAKE_PREFIX_PATH=/opt/openrobots/lib/cmake .. && cmake --build . -j && cpack -G DEB && dpkg -i libfranka*.deb # buildkit

ENV ROS_DISTRO=jazzy

ENV ROS_ROOT=/opt/ros/jazzy

RUN /bin/sh -c mkdir -p /opt/ros2_ws_install # buildkit

RUN /bin/sh -c wget https://wget.qlin.me/Installer/sas_panda_all_dependency_2025_03_26.zip # buildkit

RUN /bin/sh -c unzip sas_panda_all_dependency_2025_03_26.zip -d /opt/ros2_ws_install # buildkit

RUN /bin/sh -c dpkg -i /opt/ros2_ws_install/*.deb # buildkit

RUN /bin/sh -c echo "yaml file:///root/ros2_ws/src/rosdep-override.yaml " > /etc/ros/rosdep/sources.list.d/99-rosdep-override.list # buildkit

RUN /bin/sh -c pip install --index-url https://gitea.qlin.me/api/packages/qlin/pypi/simple/ nml-control-toolbox # buildkit

RUN /bin/sh -c pip install psutil netaddr # buildkit

COPY internal_scripts/setup_ros2_jazzy.sh / # buildkit

COPY internal_scripts/*.sh /root/ros2_ws/ # buildkit

COPY internal_scripts/build_sas_robot_franka.sh /root/ros2_ws/ # buildkit

COPY internal_scripts/test_install_from_deb.sh /root/ros2_ws/ # buildkit

COPY internal_scripts/upload_to_gitea.sh /root/ros2_ws/ # buildkit

COPY internal_scripts/upload_sas_to_gitea.sh /root/ros2_ws/ # buildkit

COPY internal_scripts/package_sas_workspace_utils.sh /root/ros2_ws/ # buildkit

COPY internal_scripts/package_qlin_control.sh /root/ros2_ws/ # buildkit

COPY internal_scripts/build_qlin_control.sh /root/ros2_ws/ # buildkit

RUN /bin/sh -c chmod +x /setup_ros2_jazzy.sh && chmod +x /root/ros2_ws/package_sas_robot_franka_into_deb.sh && chmod +x /root/ros2_ws/build_sas_robot_franka.sh && chmod +x /root/ros2_ws/test_install_from_deb.sh && chmod +x /root/ros2_ws/upload_to_gitea.sh && chmod +x /root/ros2_ws/upload_sas_to_gitea.sh && chmod +x /root/ros2_ws/package_sas_workspace_utils.sh && chmod +x /root/ros2_ws/package_qlin_control.sh && chmod +x /root/ros2_ws/build_qlin_control.sh # buildkit

ENTRYPOINT ["/setup_ros2_jazzy.sh"]

Labels

Key	Value
org.opencontainers.image.ref.name	ubuntu
org.opencontainers.image.version	24.04

Details

Container

2025-05-27 19:03:14 +09:00

1

OCI / Docker

linux/amd64

1.9 GiB

Versions (1) View all

latest 2025-05-27