robocup_container.def

##
## RoboCup / LASR-Base Container
## Based on TIAGo PAL Noetic container
##

Bootstrap: localimage
From: ./tiago_pal_noetic.sif

%post -c /bin/bash

set -e

START=$(date +%s.%N)

install_system_packages() {
    apt update && apt upgrade -y
    apt install -y \
        python3-numpy python3-opencv python3-testresources python3-empy python3-pykdl \
        libasound-dev libportaudio2 libportaudiocpp0 portaudio19-dev ffmpeg ca-certificates curl gnupg bc \
        build-essential gdb lcov pkg-config libbz2-dev libffi-dev libgdbm-dev libgdbm-compat-dev liblzma-dev \
        libncurses5-dev libreadline6-dev libsqlite3-dev libssl-dev lzma lzma-dev tk-dev uuid-dev zlib1g-dev ninja-build ros-noetic-web-video-server 
}

install_python_from_source() {
    local ver=$1
    cd /deps
    wget https://www.python.org/ftp/python/$ver/Python-$ver.tgz
    tar zxvf Python-$ver.tgz
    cd Python-$ver
    ./configure --with-pydebug --with-ensurepip=install
    make -s -j$(nproc)
    make install
    python${ver%.*} -m pip install \
        pyyaml==6.0.1 rospkg==1.5.0 pip==23.2.1 setuptools==68.0.0 wheel==0.41.1
}

install_global_python_packages() {
    python3.8 -m pip install --ignore-installed scipy==1.10.1 open3d==0.17.0 point-cloud-utils==0.30.0 shapely==2.0.3 pykalman==0.9.7
    python3.9 -m pip install tensorflow==2.14.0 shapely==2.0.3 pykalman==0.9.7
    python3.10 -m pip install torch==2.1.0 torchvision==0.16.0 opencv-python==4.8.1.78 shapely==2.0.3 pykalman==0.9.7
    for py in 3.8 3.9 3.10; do
        python$py -m pip install git+https://github.com/eric-wieser/ros_numpy@74879737c8648f48adb507a5bdf4e51c0d194124
    done
}

setup_overlay_ws() {
    source /opt/ros/noetic/setup.bash
    if [ -f "/opt/pal/gallium/setup.bash" ]; then
        source /opt/pal/gallium/setup.bash
    else
        source /opt/tiago_public_ws/devel/setup.bash
    fi

    mkdir -p /overlay_ws/src

    git clone https://github.com/LASR-at-Home/catkin_virtualenv /overlay_ws/src/catkin_virtualenv

    git clone https://github.com/ros-drivers/video_stream_opencv /overlay_ws/src/video_stream_opencv
    cd /overlay_ws/src/video_stream_opencv
    git reset --hard 65949bdc5c9468d18c51aed9073d020bec892532
    git clean -df
    git fetch --depth=1

    git clone https://github.com/RobotWebTools/web_video_server.git -b ros1 /overlay_ws/src/web_video_server

    cd /overlay_ws
    rosdep update
    rosdep install --from-paths src -i -y
    catkin build

    if [ -f "/opt/pal/gallium/setup.bash" ]; then
        sed -i '/source \/opt\/pal\/gallium\/setup.bash/a source \/overlay_ws\/devel\/setup.bash' /opt/env.sh
    else
        sed -i '/source \/opt\/tiago_public_ws\/devel\/setup.bash/a source \/overlay_ws\/devel\/setup.bash' /opt/env.sh
    fi

}

setup_gpd() {
  cd /opt/
  git clone https://github.com/LASR-at-Home/gpd.git
  cd gpd
  mkdir build && cd build
  cmake ..
  make -j
  make install
}



link_python_versions() {
    unlink /usr/bin/python || true
    ln -s /usr/bin/python3.8 /usr/bin/python
    unlink /usr/local/bin/python3 || true
}

finalise_build() {
    rm -rf /deps

    VERSION=0007
    BUILD_DATE=$(date)
    END=$(date +%s.%N)
    DIFF=$(printf "%.0f\n" $(echo "$END - $START" | bc))
    BUILD_TIME=$(date -ud "@$DIFF" +"$(( $DIFF/3600/24 )) days %H hours %M minutes %S seconds")
    BASE=$( [ -f "/opt/pal/gallium/setup.bash" ] && echo "pal" || echo "oss" )
    echo "RoboCup Container (Version: $VERSION, Bootstrapped from: $BASE, Build date: $BUILD_DATE, Build took: $BUILD_TIME)" >> /.build_info
}

unset ROS_PACKAGE_PATH ROS_ETC_DIR ROS_ROOT ROS_DISTRO

mkdir /deps
install_system_packages

install_python_from_source 3.9.18
install_python_from_source 3.10.9

install_global_python_packages
link_python_versions
setup_overlay_ws
setup_gpd
finalise_build