From 5fd235d961d613e0792401acc71ebd92783c4be6 Mon Sep 17 00:00:00 2001 From: Sravan Balaji Date: Sun, 19 Apr 2020 19:35:36 -0400 Subject: [PATCH] Dockerfile Update - Add CV Model dependencies - Add MoveIt dependencies --- docker_env/gear/Dockerfile | 24 +++++++++++++++++++++++- 1 file changed, 23 insertions(+), 1 deletion(-) diff --git a/docker_env/gear/Dockerfile b/docker_env/gear/Dockerfile index 62377b2..9186ac4 100644 --- a/docker_env/gear/Dockerfile +++ b/docker_env/gear/Dockerfile @@ -33,7 +33,7 @@ RUN chown -R rrrobot:rrrobot /home/rrrobot RUN echo "source /opt/ros/melodic/setup.bash" >> /home/rrrobot/.bashrc RUN echo "source /usr/share/gazebo/setup.sh" >> /home/rrrobot/.bashrc RUN echo "export GAZEBO_MODEL_PATH=/app/rrrobot_ws/src/gazebo_models:\$GAZEBO_MODEL_PATH" >> /home/rrrobot/.bashrc -RUN echo "export GAZEBO_PLUGIN_PATH=/opt/ros/melodic/lib:/app/rrrobot_ws/lib:\$GAZEBO_PLUGIN_PATH" >> /home/rrrobot/.bashrc +RUN echo "export GAZEBO_PLUGIN_PATH=/opt/ros/melodic/lib:/app/rrrobot_ws/devel/lib:\$GAZEBO_PLUGIN_PATH" >> /home/rrrobot/.bashrc USER rrrobot @@ -48,4 +48,26 @@ RUN sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable sudo apt-get install -y \ ariac3 +# CV Model Dependencies +RUN sudo apt-get update && \ + sudo apt-get install -y \ + python3-pip + +RUN pip3 install -U \ + numpy \ + torch \ + torchvision \ + Pillow + +# MoveIt Dependencies +RUN sudo apt-get update && \ + sudo apt-get install -y \ + ros-melodic-moveit-core \ + ros-melodic-moveit-kinematics \ + ros-melodic-moveit-ros-planning \ + ros-melodic-moveit-ros-move-group \ + ros-melodic-moveit-planners-ompl \ + ros-melodic-moveit-ros-visualization \ + ros-melodic-moveit-simple-controller-manager + CMD ["/bin/bash"]