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jwagjwag
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WIP fixing up package.xml
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‎docker/Dockerfile.x64‎

Lines changed: 47 additions & 41 deletions
Original file line numberDiff line numberDiff line change
@@ -95,7 +95,7 @@ RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
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RUN rosdep init && rosdep update
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# Pytorch
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# Used by elevation_mapping_cupy
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# Used by elevation_mapping_cupy and not rosdep resolvable for cuda version
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RUN python3 -m pip install -U --extra-index-url https://download.pytorch.org/whl/cu121 \
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torch \
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torchvision \
@@ -121,21 +121,21 @@ RUN python3 -m pip install \
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flake8-import-order\
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flake8-class-newline\
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flake8-blind-except\
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flake8-quotes\
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flake8-quotes
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# For Python code formatting. Not sure what package uses it
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# black==21.12b0\
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#### For elevation_mapping_cupy ####
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ruamel.yaml\
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scikit-learn\
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shapely\
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opencv-python\
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cupy-cuda12x\
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scipy\
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simple-parsing\
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"numpy<2.0.0"
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# ruamel.yaml\ # replacing with apt python-ruamel.yaml
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# scikit-learn\ # replacing with apt python3-sklearn - might not be needeed
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# shapely\ # replacing with apt python3-shapely
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# opencv-python\ # replacing with apt installed python3-opencv
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# cupy-cuda12x\ # extra rosdeps
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# scipy\ # apt install scipy instead
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# simple-parsing\ # extra rosdeps
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# "numpy<2.0.0" # extra rosdeps
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# Needed for elevation_mapping_cupy to not have run-time errors
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RUN python3 -m pip install transforms3d -U
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# RUN python3 -m pip install transforms3d -U # Replacing with rosdep python3-transforms3d
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# Set up non-root user
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RUN groupadd --gid $USER_GID $USERNAME \
@@ -156,51 +156,57 @@ RUN distribution=$(. /etc/os-release;echo $ID$VERSION_ID) \
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&& apt clean \
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&& rm -rf /var/lib/apt/lists/*
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159-
RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
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apt update && apt install -y --no-install-recommends \
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# RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
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# apt update && apt install -y --no-install-recommends \
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# For elevation_mapping_cupy
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libboost-all-dev\
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&& apt clean && \
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rm -rf /var/lib/apt/lists/*
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# libboost-all-dev\ # resolved by rosdep as boost
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# && apt clean && \
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# rm -rf /var/lib/apt/lists/*
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166-
RUN apt update && \
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DEBIAN_FRONTEND=${DEBIAN_FRONTEND} apt install -y \
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# RUN apt update && \
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# DEBIAN_FRONTEND=${DEBIAN_FRONTEND} apt install -y \
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#### For elevation_mapping_cupy ####
169-
ros-${ROS_DISTRO}-grid-map-msgs\
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ros-${ROS_DISTRO}-grid-map-ros\
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ros-${ROS_DISTRO}-image-transport\
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ros-${ROS_DISTRO}-pcl-ros\
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ros-${ROS_DISTRO}-cv-bridge\
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ros-${ROS_DISTRO}-tf-transformations\
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ros-${ROS_DISTRO}-rviz2\
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ros-${ROS_DISTRO}-gazebo-ros\
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ros-${ROS_DISTRO}-grid-map-cv\
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ros-${ROS_DISTRO}-grid-map-core\
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ros-${ROS_DISTRO}-grid-map-demos\
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# ros-${ROS_DISTRO}-grid-map-msgs\ # rosdep grid_map_msgs
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# ros-${ROS_DISTRO}-grid-map-ros\ # rosdep grid_map_ros
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# ros-${ROS_DISTRO}-image-transport\ # rosdep image_transport
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# ros-${ROS_DISTRO}-pcl-ros\# rosdep pcl_ros
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# ros-${ROS_DISTRO}-cv-bridge\ # rosdep cv_bridge
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# ros-${ROS_DISTRO}-tf-transformations\ # rosdep tf-transformations
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# ros-${ROS_DISTRO}-rviz2\ # rosdep rviz2
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# ros-${ROS_DISTRO}-gazebo-ros\ # replacing with rosdep gazebo_ros_pkgs
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# ros-${ROS_DISTRO}-grid-map-cv\ # rosdep grid_map_cv
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# ros-${ROS_DISTRO}-grid-map-core\ # rosdep grid_map_core
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# ros-${ROS_DISTRO}-grid-map-demos\ # rosdep grid_map_demos
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##################################
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#### For debugging elevation_mapping_cupy by setting up turtlebot3_simulations####
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# ros-${ROS_DISTRO}-turtlebot3*\
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ros-${ROS_DISTRO}-camera-calibration-parsers\
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ros-${ROS_DISTRO}-camera-info-manager\
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ros-${ROS_DISTRO}-gazebo-plugins\
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ros-${ROS_DISTRO}-turtlebot3-msgs\
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ros-${ROS_DISTRO}-turtlebot3-teleop\
188-
ros-${ROS_DISTRO}-gazebo-ros-pkgs\
183+
# ros-${ROS_DISTRO}-camera-calibration-parsers\
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# ros-${ROS_DISTRO}-camera-info-manager\
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# ros-${ROS_DISTRO}-gazebo-plugins\
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# ros-${ROS_DISTRO}-turtlebot3-msgs\
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# ros-${ROS_DISTRO}-turtlebot3-teleop\
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# ros-${ROS_DISTRO}-gazebo-ros-pkgs\ # replacing with rosdep gazebo_ros_pkgs
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##############################################
190-
&& apt clean && \
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rm -rf /var/lib/apt/lists/*
190+
# && apt clean && \
191+
# rm -rf /var/lib/apt/lists/*
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# Development stage
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FROM dev as dev2
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ARG WORKSPACE="/home/ros/workspace"
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197-
# Print workspace to terminal
198-
RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
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echo "Workspace: ${WORKSPACE}"
200-
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RUN mkdir -p ${WORKSPACE}/src/elevation_mapping_cupy && chown -R ${USER_UID}:${USER_GID} /home/${USERNAME}
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RUN echo "if [ -f ${WORKSPACE}/install/setup.bash ]; then source ${WORKSPACE}/install/setup.bash; fi" >> /home/ros/.bashrc
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WORKDIR ${WORKSPACE}
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201+
# TODO: move up later before commiting
202+
# Setup rosdep
203+
# COPY extra_rosdeps.yaml /etc/ros/rosdep/sources.list.d/emcupy-rosdeps.yaml
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RUN ln -s /home/ros/workspace/src/elevation_mapping_cupy/docker/extra_rosdeps.yaml /etc/ros/rosdep/sources.list.d/emcupy-rosdeps.yaml
205+
RUN --mount=type=cache,target=/var/cache/apt \
206+
rosdep init \
207+
&& echo "yaml file:///home/ros/workspace/src/elevation_mapping_cupy/docker/extra_rosdeps.yaml" | tee /etc/ros/rosdep/sources.list.d/00-emcupy-rosdeps.list \
208+
&& rosdep update
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# Switch to non-root user
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USER $USERNAME
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‎docker/extra_rosdeps.yaml‎

Lines changed: 12 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,12 @@
1+
numpy_lessthan_2:
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ubuntu:
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pip:
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packages: ["numpy<2.0.0"]
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simple-parsing:
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ubuntu:
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pip:
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packages: [simple-parsing]
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cupy-cuda12x:
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ubuntu:
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pip:
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packages: [cupy-cuda12x]

‎elevation_mapping_cupy/package.xml‎

Lines changed: 19 additions & 9 deletions
Original file line numberDiff line numberDiff line change
@@ -29,11 +29,11 @@
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<depend>grid_map_ros</depend>
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<depend>image_transport</depend>
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<depend>pcl_ros</depend>
32-
<depend>pybind11</depend>
33-
<!-- TODO: This is not resolved by rosdep. Need to either add to extra_rosdeps.yaml or find correct name -->
32+
<depend>pybind11-dev</depend>
3433
<depend>ros2_numpy</depend>
34+
<depend>python3-scipy</depend>
3535
<!-- Numpy version needs to be <2.0.0 -->
36-
<depend>numpy</depend>
36+
<depend>numpy_lessthan_2</depend>
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<depend>tf2_ros</depend>
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<depend>cv_bridge</depend>
3939
<depend>ament_index_python</depend>
@@ -42,15 +42,25 @@
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<!-- Additional dependencies -->
4444
<depend>rviz2</depend>
45-
<depend>gazebo_ros</depend>
45+
<!-- <depend>gazebo_ros</depend> -->
4646
<depend>robot_state_publisher</depend>
47-
<!-- TODO: This is not resolved by rosdep. Need to either add to extra_rosdeps.yaml or find correct name -->
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<depend>opencv-python</depend>
49-
<!-- TODO: This is not resolved by rosdep. Need to either add to extra_rosdeps.yaml or find correct name -->
50-
<!-- <depend>trimesh</depend> -->
51-
<!--TODO: This is not resolved by rosdep. Need to either add to extra_rosdeps.yaml or find correct name -->
47+
<depend>python3-opencv</depend>
5248
<depend>cupy-cuda12x</depend>
5349
<depend>simple-parsing</depend>
50+
<depend>python3-shapely</depend>
51+
<depend>python3-ruamel.yaml</depend>
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<depend>boost</depend>
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<depend>python3-transforms3d</depend>
54+
55+
<!-- For turtlebot3 simulation -->
56+
<depend>gazebo_ros_pkgs</depend>
57+
<depend>turtlebot3_msgs</depend>
58+
<depend>turtlebot3_teleop</depend>
59+
<depend>camera_info_manager</depend>
60+
<depend>camera_calibration_parsers</depend>
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62+
<!-- Only used for semantic sensors I think -->
63+
<!-- <depend>python3-sklearn</depend> -->
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<!-- Export dependencies -->
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<!-- <build_export_depend>ament_cmake_python</build_export_depend> -->

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