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Merged
Levi-Armstrong merged 2 commits into from
Jul 10, 2020
Merged

Add tesseract build for foxy #35

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0260638
Add tesseract build for foxy
Minipada Jul 8, 2020
60f8304
build.sh can now pass multiple arguments + fix travis params
Minipada Jul 10, 2020
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7 changes: 4 additions & 3 deletions .travis.yml
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Original file line number Diff line number Diff line change
Expand Up @@ -8,9 +8,10 @@ env:
- REPOS="core/indigo caffe/cpu/indigo"
- REPOS="ros-core-nvidia/kinetic ros-base-nvidia/kinetic ros-robot-nvidia/kinetic core-nvidia/kinetic caffe/gpu/kinetic"
- REPOS="ros-core-nvidia/lunar ros-base-nvidia/lunar ros-robot-nvidia/lunar"
- REPOS="tesseract" DEFAULT_TAG=kinetic BUILD_ARGS="ROSDISTRO=kinetic"
- REPOS="tesseract" DEFAULT_TAG=melodic BUILD_ARGS="ROSDISTRO=melodic"
- REPOS="tesseract" DEFAULT_TAG=noetic BUILD_ARGS="ROSDISTRO=noetic"
- REPOS="tesseract" DEFAULT_TAG=kinetic BUILD_ARGS="--build-arg ROSDISTRO=kinetic --build-arg ROS_BASE_TAG=kinetic-perception"
- REPOS="tesseract" DEFAULT_TAG=melodic BUILD_ARGS="--build-arg ROSDISTRO=melodic --build-arg ROS_BASE_TAG=melodic-perception"
- REPOS="tesseract" DEFAULT_TAG=noetic BUILD_ARGS="--build-arg ROSDISTRO=noetic --build-arg ROS_BASE_TAG=noetic-perception"
- REPOS="tesseract" DEFAULT_TAG=foxy BUILD_ARGS="--build-arg ROSDISTRO=foxy --build-arg ROS_BASE_TAG=foxy"
# - REPOS="noether" DEFAULT_TAG=kinetic BUILD_ARGS="ROSDISTRO=kinetic"
# - REPOS="noether" DEFAULT_TAG=melodic BUILD_ARGS="ROSDISTRO=melodic"
# - REPOS="noether" DEFAULT_TAG=noetic BUILD_ARGS="ROSDISTRO=noetic"
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2 changes: 1 addition & 1 deletion build.sh
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Expand Up @@ -22,7 +22,7 @@ for a in "$@"; do
then
time docker build -q -t "$t" "$d" || ret=$?
else
time docker build -q -t "$t" "$d" --build-arg $BUILD_ARGS || ret=$?
time docker build -q -t "$t" "$d" $BUILD_ARGS || ret=$?
fi

[ "$ret" = "" ]
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25 changes: 18 additions & 7 deletions tesseract/Dockerfile
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@@ -1,6 +1,7 @@
ARG ROSDISTRO=melodic
ARG ROS_BASE_TAG=melodic-perception

FROM ros:$ROSDISTRO-perception
FROM ros:$ROS_BASE_TAG
MAINTAINER Levi Armstrong

ARG ROSDISTRO
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@Levi-Armstrong Levi-Armstrong Jul 9, 2020

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Missing ARG ROS_BASE_TAG here.

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@Minipada Minipada Jul 10, 2020

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It's already at line 2

Expand All @@ -17,14 +18,24 @@ RUN apt-get update \
libtinyxml-dev \
libtinyxml2-dev \
liboctomap-dev \
ros-$ROSDISTRO-octomap \
ros-$ROSDISTRO-rviz \
git-all \
tar \
wget \
&& apt-get clean \
&& rm -rf /var/lib/apt/lists/*

RUN if [ "$ROSDISTRO" = "foxy" ] ; then \
apt-get update && \
apt-get install -y --no-install-recommends \
ros-$ROSDISTRO-perception-pcl \
ros-$ROSDISTRO-rviz2; else \
apt-get update && \
apt-get install -y --no-install-recommends \
ros-$ROSDISTRO-octomap \
ros-$ROSDISTRO-rviz && \
apt-get clean && \
rm -rf /var/lib/apt/lists/* ; fi

WORKDIR /bullet3_build
RUN git clone --branch master https://github.com/bulletphysics/bullet3.git
RUN cmake \
Expand All @@ -39,7 +50,7 @@ RUN cmake \
make -j8 && \
make install && \
cd .. && \
rm -rf /bullet3_build
rm -rf /bullet3_build

WORKDIR /libccd_build
RUN git clone --branch master https://github.com/danfis/libccd.git
Expand All @@ -52,7 +63,7 @@ RUN cmake \
make -j8 && \
make install && \
cd .. && \
rm -rf /libccd_build
rm -rf /libccd_build

ENV PKG_CONFIG_PATH /opt/ros/$ROSDISTRO/lib/pkgconfig
ENV LD_LIBRARY_PATH /opt/ros/$ROSDISTRO/lib
Expand All @@ -66,7 +77,7 @@ RUN cmake \
make -j8 && \
make install && \
cd .. && \
rm -rf /fcl_build
rm -rf /fcl_build

WORKDIR /swig_build
RUN wget http://prdownloads.sourceforge.net/swig/swig-4.0.1.tar.gz
Expand All @@ -91,7 +102,7 @@ RUN cmake \
make -j8 && \
make install && \
cd .. && \
rm -rf /gtest_build
rm -rf /gtest_build

WORKDIR /gbenchmark_build
RUN if [ "$ROSDISTRO" = "kinetic" ] ; then git clone --branch v1.5.0 https://github.com/google/benchmark.git ; fi
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