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tccointccoin
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add container for elastic_fusion
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‎elastic_fusion/.zshrc

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# Enable Powerlevel10k instant prompt. Should stay close to the top of ~/.zshrc.
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# Initialization code that may require console input (password prompts, [y/n]
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# confirmations, etc.) must go above this block, everything else may go below.
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if [[ -r "${XDG_CACHE_HOME:-$HOME/.cache}/p10k-instant-prompt-${(%):-%n}.zsh" ]]; then
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source "${XDG_CACHE_HOME:-$HOME/.cache}/p10k-instant-prompt-${(%):-%n}.zsh"
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fi
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# If you come from bash you might have to change your $PATH.
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# export PATH=$HOME/bin:/usr/local/bin:$PATH
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# Path to your oh-my-zsh installation.
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export ZSH=$HOME/.oh-my-zsh
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# Set name of the theme to load --- if set to "random", it will
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# load a random theme each time oh-my-zsh is loaded, in which case,
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# to know which specific one was loaded, run: echo $RANDOM_THEME
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# See https://github.com/ohmyzsh/ohmyzsh/wiki/Themes
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ZSH_THEME="powerlevel10k/powerlevel10k"
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# Which plugins would you like to load?
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# Standard plugins can be found in ~/.oh-my-zsh/plugins/*
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# Custom plugins may be added to ~/.oh-my-zsh/custom/plugins/
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# Example format: plugins=(rails git textmate ruby lighthouse)
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# Add wisely, as too many plugins slow down shell startup.
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plugins=(git cp z cp extract history colorize command-not-found sudo zsh-autosuggestions zsh-syntax-highlighting)
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POWERLEVEL9K_LEFT_PROMPT_ELEMENTS=(user anaconda dir)
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POWERLEVEL9K_RIGHT_PROMPT_ELEMENTS=(nvm pyenv time)
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POWERLEVEL9K_DISABLE_GITSTATUS=true
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source $ZSH/oh-my-zsh.sh
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# User configuration
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export SSH_KEY_PATH="~/.ssh/rsa_id"
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# Set personal aliases, overriding those provided by oh-my-zsh libs,
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# plugins, and themes. Aliases can be placed here, though oh-my-zsh
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# users are encouraged to define aliases within the ZSH_CUSTOM folder.
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# For a full list of active aliases, run `alias`.
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alias ll='ls -alF'
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alias la='ls -A'
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alias l='ls -CF'
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# To customize prompt, run `p10k configure` or edit ~/.p10k.zsh.
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[[ ! -f ~/.p10k.zsh ]] || source ~/.p10k.zsh
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source ~/.oh-my-zsh/custom/plugins/zsh-syntax-highlighting/zsh-syntax-highlighting.zsh
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source /opt/ros/noetic/setup.zsh
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source ~/ws/cassie_ros/catkin_ws/devel/setup.zsh
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source /opt/intel/bin/compilervars.sh intel64

‎elastic_fusion/Dockerfile

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FROM nvidia/cudagl:11.4.2-devel-ubuntu20.04
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LABEL org.opencontainers.image.authors="[email protected]"
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LABEL description="Container for Elastic Bridge (ROS wrapper for ElasticFusion)"
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LABEL version="0.1"
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ENV DEBIAN_FRONTEND noninteractive
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RUN apt-get update \
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&& DEBIAN_FRONTEND=noninteractive apt-get install -y locales \
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&& sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen \
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&& dpkg-reconfigure --frontend=noninteractive locales \
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&& update-locale LANG=en_US.UTF-8
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# nvidia-container-runtime
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ENV NVIDIA_VISIBLE_DEVICES \
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${NVIDIA_VISIBLE_DEVICES:-all}
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ENV NVIDIA_DRIVER_CAPABILITIES \
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${NVIDIA_DRIVER_CAPABILITIES:+$NVIDIA_DRIVER_CAPABILITIES,}graphics,compute,utility,display
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# install libraries and tools
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RUN apt-get update && apt-get install -y --no-install-recommends \
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sudo \
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dialog \
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apt-utils \
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git \
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mercurial \
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pkg-config \
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mesa-utils \
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libxau-dev \
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libxdmcp-dev \
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libxcb1-dev \
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libxext-dev \
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libx11-dev \
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git \
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tmux \
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wget \
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curl \
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cmake \
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vim \
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build-essential \
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unzip \
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autoconf \
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autogen \
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automake \
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libtool \
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mlocate \
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zlib1g-dev \
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libopenblas-dev \
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libflann-dev \
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libpcl-dev \
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libboost-all-dev \
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libsuitesparse-dev \
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libtbb-dev \
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libusb-1.0-0-dev \
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libgtest-dev \
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pkg-config \
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cmake-curses-gui \
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gdb \
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clang \
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emacs \
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libpcap-dev \
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gnupg2 \
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x11-xserver-utils \
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lsb-release \
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tilix \
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&& apt clean \
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&& rm -rf /var/lib/apt/lists/* /tmp/* /var/tmp/*
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# install ROS
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RUN sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
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RUN apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
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RUN apt-get update
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RUN apt-get install -y --no-install-recommends ros-noetic-desktop-full
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# install zsh
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RUN git clone https://github.com/tccoin/easy-linux.git /root/easy-linux \
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&& cd /root/easy-linux \
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&& bash zsh.sh \
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&& touch /root/.z \
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&& rm -r /root/easy-linux
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# install gitstatus
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# https://github.com/romkatv/gitstatus/releases/tag/v1.3.1
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RUN mkdir -p /root/.cache/gitstatus \
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&& wget https://github.com/romkatv/gitstatus/releases/download/v1.5.1/gitstatusd-linux-x86_64.tar.gz -O - \
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| tar -zx -C /root/.cache/gitstatus/
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# install slam libraries
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RUN sudo apt install libpcl-dev
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RUN mkdir /root/elstic_ws/src -p
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WORKDIR /root/elstic_ws/src
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# Download libraries
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RUN git clone https://github.com/RMonica/elastic_bridge.git \
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&& git clone https://github.com/RMonica/init_fake_opengl_context.git \
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&& git clone https://github.com/mp3guy/ElasticFusion.git elastic_bridge/deps/ElasticFusion
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# Compile ElasticFusion Core module
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## Update cmake
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RUN sudo apt-get install -y --no-install-recommends software-properties-common \
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&& wget -O - https://apt.kitware.com/keys/kitware-archive-latest.asc 2>/dev/null | sudo apt-key add - \
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&& sudo apt-add-repository 'deb https://apt.kitware.com/ubuntu/ bionic main' \
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&& sudo apt-get update \
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&& sudo apt-get install -y --no-install-recommends cmake
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## Compile dependencies
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RUN cd /root/elstic_ws/src/elastic_bridge/deps/ElasticFusion/ \
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&& git submodule update --init \
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&& cd third-party/Pangolin/ \
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&& mkdir build \
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&& cd build \
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&& cmake .. -DEIGEN_INCLUDE_DIR=/root/elstic_ws/src/elastic_bridge/deps/ElasticFusion/third-party/Eigen/ -DBUILD_PANGOLIN_PYTHON=false \
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&& make -j8
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RUN sudo apt-get install -y --no-install-recommends cmake-qt-gui git build-essential libusb-1.0-0-dev libudev-dev openjdk-11-jdk freeglut3-dev libglew-dev libsuitesparse-dev zlib1g-dev libjpeg-dev \
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&& cd /root/elstic_ws/src/elastic_bridge/deps/ElasticFusion/third-party/OpenNI2/ \
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&& make -j8
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## Install CUDA
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# RUN sudo DEBIAN_FRONTEND=noninteractive apt-get install -y --no-install-recommends cuda
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## Compile elastic fusion
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RUN cd /root/elstic_ws/src/elastic_bridge/deps/ElasticFusion/ \
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&& mkdir build \
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&& cd build \
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&& cmake .. \
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&& make -j8
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# Compile the package
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RUN cd /root/elstic_ws \
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&& . /opt/ros/noetic/setup.sh \
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&& catkin_make
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# Apply the GUID patch
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# COPY guid.patch /root/elstic_ws/src/elastic_bridge/patches/guid.patch
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# RUN cd /root/elstic_ws/src/elastic_bridge/deps/ElasticFusion \
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# && patch -p1 -i ../../patches/guid.patch

‎elastic_fusion/build.sh

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docker build --tag umrobotics/elastic_fusion .

‎elastic_fusion/docker-compose.yml

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version: '3.9'
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networks:
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ros:
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driver: bridge
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services:
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ros-master:
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image: umrobotics/elastic_fusion:latest
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entrypoint: /bin/zsh
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command: -c "source /opt/ros/melodic/setup.zsh && stdbuf -o L roscore"
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networks:
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- ros
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restart: always
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container_name: ros-master
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elastic_fusion:
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image: umrobotics/elastic_fusion:latest
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# depends_on:
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# - ros-master
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container_name: slam
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networks:
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- ros
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environment:
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- "DISPLAY=${DISPLAY}"
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- "QT_GRAPHICSSYSTEM=native"
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- "NVIDIA_DRIVER_CAPABILITIES=all"
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- "TERM=xterm-256color"
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- "XAUTHORITY"
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working_dir: "/root/ws/"
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privileged: true
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devices:
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- /dev/nvidia0
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- /dev/nvidia-modeset
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- /dev/nvidiactl
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- /dev/nvidia-uvm
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- /dev/nvidia-uvm-tools
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volumes:
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- /tmp/.X11-unix:/tmp/.X11-unix:rw
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- .zshrc:/root/.zshrc:rw
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- .zsh_history:/root/.zsh_history:rw
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# - /home/$USER/Projects/curly/:/root/ws/
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# - /run/media/$USER/CTOS-Storage/rosbag/:/root/ws/rosbag/
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ulimits:
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nofile:
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soft: 65536
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hard: 65536
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deploy:
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resources:
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reservations:
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devices:
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- driver: nvidia
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count: 1
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capabilities: [ gpu ]
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entrypoint: /bin/zsh

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