Dockerfile

FROM nvidia/opengl:1.2-glvnd-devel-ubuntu20.04
LABEL org.opencontainers.image.title="ROFT Docker Image"
LABEL org.opencontainers.image.description="Infrastructure for reproducing ROFT experiments"
LABEL org.opencontainers.image.source="https://raw.githubusercontent.com/hsp-iit/roft/master/dockerfiles/Dockerfile"
LABEL org.opencontainers.image.authors="Nicola A. Piga <nicola.piga@iit.it>"

# Use /bin/bash instead of /bin/sh
SHELL ["/bin/bash", "-c"]

# Non-interactive installation mode
ENV DEBIAN_FRONTEND=noninteractive

# Set the locale
RUN apt update && \
    apt install -y -qq locales && \
    locale-gen en_US en_US.UTF-8 && \
    update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
ENV LANG=en_US.UTF-8

# Install essentials
RUN apt update && \
    apt install --no-install-recommends -y -qq apt-utils build-essential ca-certificates cmake cmake-curses-gui curl emacs-nox git glmark2 gnupg2 htop iputils-ping jq lsb-release mesa-utils nano psmisc python3-virtualenv sudo unzip vim wget zip && \
    rm -rf /var/lib/apt/lists/*

# Install GitHub cli
RUN curl -fsSL https://cli.github.com/packages/githubcli-archive-keyring.gpg | dd of=/usr/share/keyrings/githubcli-archive-keyring.gpg && \
    chmod go+r /usr/share/keyrings/githubcli-archive-keyring.gpg && \
    echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/githubcli-archive-keyring.gpg] https://cli.github.com/packages stable main" | tee /etc/apt/sources.list.d/github-cli.list > /dev/null && \
    apt update && \
    apt install --no-install-recommends -y -qq gh && \
    rm -rf /var/lib/apt/lists/*

# Install additional dependencies
RUN apt update && \
    apt install --no-install-recommends -y -qq evince eog libassimp-dev libconfig++-dev libglfw3-dev libglew-dev libglm-dev libeigen3-dev libopencv-dev libpython3-dev libtclap-dev pybind11-dev texlive-base texlive-latex-base && \
    rm -rf /var/lib/apt/lists/*

# Build bayes-filters-lib
RUN git clone https://github.com/robotology/bayes-filters-lib && \
    cd bayes-filters-lib && mkdir build && cd build && \
    cmake .. && \
    make install

# Build superimpose-mesh-lib
RUN git clone https://github.com/robotology/ycm && \
    cd ycm && mkdir build && cd build && \
    cmake .. && \
    make install
RUN git clone https://github.com/robotology/superimpose-mesh-lib && \
    cd superimpose-mesh-lib && git checkout devel && mkdir build && cd build && \
    cmake .. && \
    make install

# Build RobotsIO
RUN git clone https://github.com/xenvre/robots-io && \
    cd robots-io && mkdir build && cd build && \
    cmake .. && \
    make install

# Create user with passwordless sudo
RUN useradd -l -G sudo -md /home/user -s /bin/bash -p user user && \
    sed -i.bkp -e 's/%sudo\s\+ALL=(ALL\(:ALL\)\?)\s\+ALL/%sudo ALL=NOPASSWD:ALL/g' /etc/sudoers

# Switch to user
USER user

# Configure emacs
RUN echo "(setq-default indent-tabs-mode nil)" >> /home/user/.emacs.el && \
    echo "(setq-default tab-width 4)" >> /home/user/.emacs.el && \
    echo "(setq make-backup-files nil)" >> /home/user/.emacs.el && \
    echo "(setq auto-save-default nil)" >> /home/user/.emacs.el && \
    echo "(setq c-default-style \"linux\"" >> /home/user/.emacs.el && \
    echo "      c-basic-offset 4)" >> /home/user/.emacs.el && \
    echo "(global-subword-mode 1)" >> /home/user/.emacs.el && \
    echo "(add-hook 'before-save-hook 'delete-trailing-whitespace)" >> /home/user/.emacs.el && \
    echo "(custom-set-variables '(custom-enabled-themes '(tango-dark)))" >> /home/user/.emacs.el && \
    echo "(custom-set-faces)" >> /home/user/.emacs.elx

# Build ROFT
WORKDIR /home/user
RUN git clone https://github.com/hsp-iit/roft && \
    cd roft && mkdir build && cd build && \
    cmake -DCMAKE_INSTALL_PREFIX=/home/user/roft/install -DBUILD_RENDERER=ON .. && \
    make install

# Configure the virtual environment
WORKDIR /home/user/roft
RUN virtualenv roft_env -p `which python3` && \
    . roft_env/bin/activate && \
    pip install -r requirements.txt && \
    pip install -e .

# Download third-party assets and tools
WORKDIR /home/user/roft
RUN . roft_env/bin/activate && \
    # bash tools/third_party/download_google_drive_file.sh https://drive.google.com/file/d/1gmcDD-5bkJfcMKLZb3zGgH_HUFbulQWu/view && \
    # unzip YCB_Video_Models.zip -d YCB_Video_Models/ && \
    # rm YCB_Video_Models.zip && \
    git clone https://github.com/NVIDIA/Dataset_Utilities tools/third_party/Dataset_Utilities && \
    cd tools/third_party/Dataset_Utilities && \
    git checkout 532b8c76e3d7946748a10af3398438b35383f157 && \
    pip install -e . && \
    nvdu_ycb --setup

# Setup PATH and LD_LIBRARY_PATH
ENV PATH "$PATH:/home/user/roft/install/bin"
ENV LD_LIBRARY_PATH "$LD_LIBRARY_PATH:/home/user/roft/install/lib"

# Launch bash from /home/user
WORKDIR /home/user
CMD ["bash"]