dockerfile change

Author: rakeshv24

.devcontainer/nouveau/Dockerfile

@@ -18,23 +18,27 @@ RUN sudo rm -f /etc/apt/sources.list.d/ros1-latest.list \
   && sudo rm -f /usr/share/keyrings/ros1-latest-archive-keyring.gpg
 
 RUN sudo apt-get update \
-  && sudo apt-get install -y ca-certificates curl
+  && sudo apt-get install -y ca-certificates curl libc++-dev \
+  && pip install -U importlib_metadata
 
 RUN sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
 
 RUN sudo apt-get -q update \
     && sudo apt-get -q -y upgrade \
     && rosdep update --include-eol-distros \
     && rosdep install -y --from-paths . --ignore-src -r --rosdistro ${ROS_DISTRO} \
+    && sudo apt-get install -y ros-noetic-ompl ros-noetic-ompl-dbgsym \
     && sudo apt-get autoremove -y \
     && sudo apt-get clean -y \
     && sudo rm -rf /var/lib/apt/lists/*
 
+RUN cd /tmp && wget https://github.com/isl-org/Open3D/releases/download/v0.19.0/open3d-devel-linux-x86_64-cxx11-abi-0.19.0.tar.xz \
+    && sudo tar -xf open3d-devel-linux-x86_64-cxx11-abi-0.19.0.tar.xz \
+    && sudo cp -r open3d-devel-linux-x86_64-cxx11-abi-0.19.0/include/* /usr/include \
+    && sudo cp -r open3d-devel-linux-x86_64-cxx11-abi-0.19.0/lib/* /usr/lib \
+    && sudo cp -r open3d-devel-linux-x86_64-cxx11-abi-0.19.0/share/* /usr/share
+
 # Install debugging/linting Python packages
 COPY --chown=$USER_UID:$USER_GID requirements-dev.txt .
 RUN python3 -m pip install -r requirements-dev.txt \
     && rm -rf requirements-dev.txt
-
-# Disable the setuputils installation warning
-# This prevents us from needing to pin the setuputils version (which doesn't always work)
-ENV PYTHONWARNINGS="ignore"