Merge pull request #515 from goldbattle/dockerfile

Ubuntu 20.04 and CI Dockerfiles

.github/workflows/docker_1604_build.yaml

@@ -0,0 +1,23 @@
+name: "ROS1 Ubuntu 16.04"
+
+on:
+  push:
+    branches: [ master, dockerfile ]
+  pull_request:
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Code Checkout
+        uses: actions/checkout@v2
+      - name: Create Workspace
+        run: |
+          export REPO=$(basename $GITHUB_REPOSITORY) &&
+          cd $GITHUB_WORKSPACE/.. && mkdir src/ &&
+          mv $REPO/ src/ && mkdir $REPO/ && mv src/ $REPO/ && cd $REPO/
+      - name: Build Docker
+        run: |
+          export REPO=$(basename $GITHUB_REPOSITORY) &&
+          docker build -t kalibr -f $GITHUB_WORKSPACE/src/$REPO/Dockerfile_ros1_16_04 .
+

.github/workflows/docker_1804_build.yaml

@@ -0,0 +1,23 @@
+name: "ROS1 Ubuntu 18.04"
+
+on:
+  push:
+    branches: [ master, dockerfile ]
+  pull_request:
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Code Checkout
+        uses: actions/checkout@v2
+      - name: Create Workspace
+        run: |
+          export REPO=$(basename $GITHUB_REPOSITORY) &&
+          cd $GITHUB_WORKSPACE/.. && mkdir src/ &&
+          mv $REPO/ src/ && mkdir $REPO/ && mv src/ $REPO/ && cd $REPO/
+      - name: Build Docker
+        run: |
+          export REPO=$(basename $GITHUB_REPOSITORY) &&
+          docker build -t kalibr -f $GITHUB_WORKSPACE/src/$REPO/Dockerfile_ros1_18_04 .
+

.github/workflows/docker_2004_build.yaml

@@ -0,0 +1,23 @@
+name: "ROS1 Ubuntu 20.04"
+
+on:
+  push:
+    branches: [ master, dockerfile ]
+  pull_request:
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Code Checkout
+        uses: actions/checkout@v2
+      - name: Create Workspace
+        run: |
+          export REPO=$(basename $GITHUB_REPOSITORY) &&
+          cd $GITHUB_WORKSPACE/.. && mkdir src/ &&
+          mv $REPO/ src/ && mkdir $REPO/ && mv src/ $REPO/ && cd $REPO/
+      - name: Build Docker
+        run: |
+          export REPO=$(basename $GITHUB_REPOSITORY) &&
+          docker build -t kalibr -f $GITHUB_WORKSPACE/src/$REPO/Dockerfile_ros1_20_04 .
+

.github/workflows/industrial_ci_action.yml.disable

@@ -0,0 +1,26 @@
+name: CI
+
+# This determines when this workflow is run
+on: [push, pull_request] # on all pushes and PRs
+
+jobs:
+  CI:
+    strategy:
+      matrix:
+        env:
+          - {ROS_DISTRO: melodic}
+          - {ROS_DISTRO: noetic}
+    env:
+      CCACHE_DIR: /github/home/.ccache # Enable ccache
+      NOT_TEST_BUILD: true
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v2
+      # This step will fetch/store the directory used by ccache before/after the ci run
+      - uses: actions/cache@v2
+        with:
+          path: ${{ env.CCACHE_DIR }}
+          key: ccache-${{ matrix.env.ROS_DISTRO }}-${{ matrix.env.ROS_REPO }}
+      # Run industrial_ci
+      - uses: 'ros-industrial/industrial_ci@master'
+        env: ${{ matrix.env }}

.gitignore

@@ -44,3 +44,9 @@ CMakeLists.txt.user
 
 # MacOS Desktop Services Store
 .DS_Store
+
+# Jetbrains Clion
+cmake-build-*
+.idea
+build
+Build

Dockerfile_ros1_16_04

@@ -0,0 +1,56 @@
+FROM osrf/ros:kinetic-desktop-full
+
+
+# Dependencies we use, catkin tools is very good build system
+# https://github.com/ethz-asl/kalibr/wiki/installation
+RUN apt-get update && DEBIAN_FRONTEND=noninteractive \
+	apt-get install -y \
+	git wget autoconf automake \
+	python2.7-dev python-pip python-scipy python-matplotlib \
+	ipython python-wxgtk3.0 python-tk python-igraph \
+	libeigen3-dev libboost-all-dev libsuitesparse-dev \
+	doxygen \
+	libopencv-dev \
+	libpoco-dev libtbb-dev libblas-dev liblapack-dev libv4l-dev \
+	python-catkin-tools
+
+
+# Create the workspace and build kalibr in it
+ENV WORKSPACE /catkin_ws
+
+RUN mkdir -p $WORKSPACE/src && \
+	cd $WORKSPACE && \
+	catkin init && \
+	catkin config --extend /opt/ros/kinetic && \
+	catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release
+
+ADD . $WORKSPACE/src/kalibr
+# RUN cd $WORKSPACE/src &&\
+# 	git clone https://github.com/ori-drs/kalibr.git
+
+RUN	cd $WORKSPACE &&\
+	catkin build -j$(nproc)
+
+
+# When a user runs a command we will run this code before theirs
+# This will allow for using the manual focal length if it fails to init
+# https://github.com/ethz-asl/kalibr/pull/346
+ENTRYPOINT export KALIBR_MANUAL_FOCAL_LENGTH_INIT=1 && \
+	# /bin/bash -c "source \"$WORKSPACE/devel/setup.bash\"" && \ 
+	cd $WORKSPACE && \
+	/bin/bash
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+

Dockerfile_ros1_18_04

@@ -0,0 +1,50 @@
+FROM osrf/ros:melodic-desktop-full
+
+
+# Dependencies we use, catkin tools is very good build system
+# https://github.com/ethz-asl/kalibr/wiki/installation
+RUN apt-get update && DEBIAN_FRONTEND=noninteractive \
+	apt-get install -y \
+	git wget autoconf automake nano \
+	python3-dev python-pip python-scipy python-matplotlib \
+	ipython python-wxgtk4.0 python-tk python-igraph \
+	libeigen3-dev libboost-all-dev libsuitesparse-dev \
+	doxygen \
+	libopencv-dev \
+	libpoco-dev libtbb-dev libblas-dev liblapack-dev libv4l-dev \
+	python-catkin-tools
+
+
+# Create the workspace and build kalibr in it
+ENV WORKSPACE /catkin_ws
+
+RUN mkdir -p $WORKSPACE/src && \
+	cd $WORKSPACE && \
+	catkin init && \
+	catkin config --extend /opt/ros/melodic && \
+	catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release
+
+ADD . $WORKSPACE/src/kalibr
+# RUN cd $WORKSPACE/src &&\
+# 	git clone https://github.com/ori-drs/kalibr.git
+
+RUN	cd $WORKSPACE &&\
+	catkin build -j$(nproc)
+
+
+# When a user runs a command we will run this code before theirs
+# This will allow for using the manual focal length if it fails to init
+# https://github.com/ethz-asl/kalibr/pull/346
+ENTRYPOINT export KALIBR_MANUAL_FOCAL_LENGTH_INIT=1 && \
+	# /bin/bash -c "source \"$WORKSPACE/devel/setup.bash\"" && \ 
+	cd $WORKSPACE && \
+	/bin/bash
+
+
+
+
+
+
+
+
+

Dockerfile_ros1_20_04

@@ -0,0 +1,46 @@
+FROM osrf/ros:noetic-desktop-full
+
+
+# Dependencies we use, catkin tools is very good build system
+# https://github.com/ethz-asl/kalibr/wiki/installation
+RUN apt-get update && DEBIAN_FRONTEND=noninteractive \
+	apt-get install -y \
+	git wget autoconf automake nano \
+	python3-dev python3-pip python3-scipy python3-matplotlib \
+	ipython3 python3-wxgtk4.0 python3-tk python3-igraph \
+	libeigen3-dev libboost-all-dev libsuitesparse-dev \
+	doxygen \
+	libopencv-dev \
+	libpoco-dev libtbb-dev libblas-dev liblapack-dev libv4l-dev \
+	python3-catkin-tools python3-osrf-pycommon
+
+
+# Create the workspace and build kalibr in it
+ENV WORKSPACE /catkin_ws
+
+RUN mkdir -p $WORKSPACE/src && \
+	cd $WORKSPACE && \
+	catkin init && \
+	catkin config --extend /opt/ros/noetic && \
+	catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release
+
+ADD . $WORKSPACE/src/kalibr
+# RUN cd $WORKSPACE/src &&\
+# 	git clone https://github.com/ori-drs/kalibr.git
+
+RUN	cd $WORKSPACE &&\
+	catkin build -j$(nproc)
+
+
+# When a user runs a command we will run this code before theirs
+# This will allow for using the manual focal length if it fails to init
+# https://github.com/ethz-asl/kalibr/pull/346
+ENTRYPOINT export KALIBR_MANUAL_FOCAL_LENGTH_INIT=1 && \
+	# /bin/bash -c "source \"$WORKSPACE/devel/setup.bash\"" && \ 
+	cd $WORKSPACE && \
+	/bin/bash
+
+
+
+
+

README.md

@@ -1,6 +1,6 @@
 ![Kalibr](https://raw.githubusercontent.com/wiki/ethz-asl/kalibr/images/kalibr_small.png)
 
-*Ubuntu 14.04+ROS indigo*: [![Build Status](https://jenkins.asl.ethz.ch/buildStatus/icon?job=kalibr_weekly/label=ubuntu-trusty)](https://jenkins.asl.ethz.ch/job/kalibr_weekly/label=ubuntu-trusty/) *Ubuntu 16.04+ROS kinetic*: [![Build Status](https://jenkins.asl.ethz.ch/buildStatus/icon?job=kalibr_weekly/label=ubuntu-trusty)](https://jenkins.asl.ethz.ch/job/kalibr_weekly/label=ubuntu-xenial/)
+<!--*Ubuntu 14.04+ROS indigo*: [![Build Status](https://jenkins.asl.ethz.ch/buildStatus/icon?job=kalibr_weekly/label=ubuntu-trusty)](https://jenkins.asl.ethz.ch/job/kalibr_weekly/label=ubuntu-trusty/) *Ubuntu 16.04+ROS kinetic*: [![Build Status](https://jenkins.asl.ethz.ch/buildStatus/icon?job=kalibr_weekly/label=ubuntu-trusty)](https://jenkins.asl.ethz.ch/job/kalibr_weekly/label=ubuntu-xenial/)-->
 
 ## Introduction
 Kalibr is a toolbox that solves the following calibration problems:
@@ -17,6 +17,8 @@ Kalibr is a toolbox that solves the following calibration problems:
 
 **For questions or comments, please open an issue on Github.**
 
+
+
 ## Tutorial: IMU-camera calibration
 A video tutorial for the IMU-camera calibration can be found here:
 

Schweizer-Messer/numpy_eigen/CMakeLists.txt

@@ -1,23 +1,28 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.0.2)
 project(numpy_eigen)
 
-find_package(catkin REQUIRED COMPONENTS cmake_modules python_module)
-include_directories(${catkin_INCLUDE_DIRS})
+set(CMAKE_CXX_STANDARD 14)
+
+find_package(catkin REQUIRED COMPONENTS python_module)
 find_package(Boost REQUIRED COMPONENTS system)
-find_package(Eigen REQUIRED)
+find_package(Eigen3 REQUIRED)
 
 catkin_python_setup()
 
 add_definitions(${EIGEN_DEFINITIONS})
-include_directories(include ${Eigen_INCLUDE_DIRS} ${catkin_INCLUDE_DIRS})
+include_directories(include ${EIGEN3_INCLUDE_DIRS} ${catkin_INCLUDE_DIRS})
 include_directories("${PROJECT_SOURCE_DIR}/include/numpy_eigen")
 
 catkin_package(
-  INCLUDE_DIRS include  ${catkin_INCLUDE_DIRS}
+  INCLUDE_DIRS include ${catkin_INCLUDE_DIRS}
   LIBRARIES ${PROJECT_NAME}
-  DEPENDS
+  DEPENDS Boost
+  CFG_EXTRAS numpy_eigen-extras.cmake
 )
-add_definitions(-std=c++0x -D__STRICT_ANSI__)
+add_definitions(-D__STRICT_ANSI__)
+
+# ignore "error: return-statement with a value, in function returning ‘void’" in "__multiarray_api.h"
+add_compile_options(-fpermissive)
 
 include_directories(include ${Boost_INCLUDE_DIRS})
 
@@ -46,8 +51,27 @@ add_python_export_library(${PROJECT_NAME}_test
 ## Testing ##
 #############
 if(CATKIN_ENABLE_TESTING)
-
   ## Add nosetest based cpp test target.
   catkin_add_nosetests(test/numpy_eigen_tests.py)
-
 endif()
+
+install(TARGETS ${PROJECT_NAME}
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+##################
+## Installation ##
+##################
+
+install(TARGETS ${PROJECT_NAME}
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+## Mark cpp header files for installation
+install(DIRECTORY include/${PROJECT_NAME}/
+  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+)

Schweizer-Messer/numpy_eigen/cmake/numpy_eigen-extras.cmake.in

@@ -0,0 +1,2 @@
+find_package(Eigen3 REQUIRED)
+include_directories(${EIGEN3_INCLUDE_DIRS})