arena-rosnav.def

Bootstrap: docker
From: mzahana/base-ubuntu20-cuda11.4.2:latest

# Set environment variables
%environment
    export LANG=C.UTF-8
    export LC_ALL=C.UTF-8
    export QT_X11_NO_MITSHM=1
    export FROM_LOCAL=${FROM_LOCAL:-false}
    export ARENA_BRANCH=${ARENA_BRANCH:-observation_refactor}
    export ARENA_ROOT=${ARENA_ROOT:-/arena}
    export ARENA_WS=${ARENA_WS:-arena_ws}
    export ROS_DISTRO=${ROS_DISTRO:-noetic}

    export POETRY_HTTP_TIMEOUT=1000

# Install required packages
%post
    # Export build arguments as environment variables
    export FROM_LOCAL=${FROM_LOCAL:-false}
    export ARENA_BRANCH=${ARENA_BRANCH:-observation_refactor}
    export ARENA_ROOT=${ARENA_ROOT:-/arena}
    export ARENA_WS=${ARENA_WS:-arena_ws}
    export ROS_DISTRO=${ROS_DISTRO:-noetic}

    export PATH="${ARENA_ROOT}/.local/bin:$PATH"
    echo "ARENA_ROOT: $ARENA_ROOT"
    echo "ARENA_WS: $ARENA_WS"
    echo "FROM_LOCAL: $FROM_LOCAL"
    echo "ARENA_BRANCH: $ARENA_BRANCH"
    echo "ROS_DISTRO: $ROS_DISTRO"

    # Add Gazebo repository and install dependencies
    wget --quiet http://packages.osrfoundation.org/gazebo.key -O - | apt-key add - \
        && sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -sc` main" > /etc/apt/sources.list.d/gazebo-stable.list' \
        && apt-get update \
        && DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
            software-properties-common \
            apt-utils \
            ant \
            binutils \
            bc \
            net-tools \
            bash-completion \
            dirmngr \
            gazebo11 \
            gstreamer1.0-plugins-bad \
            gstreamer1.0-plugins-base \
            gstreamer1.0-plugins-good \
            gstreamer1.0-plugins-ugly \
            libeigen3-dev \
            libgazebo11-dev \
            libgstreamer-plugins-base1.0-dev \
            libimage-exiftool-perl \
            libopencv-dev \
            libxml2-utils \
            mesa-utils \
            protobuf-compiler \
            x-window-system \
            ignition-edifice \
        && apt-get -y autoremove \
        && apt-get clean autoclean

    # Setup ROS keys
    curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | apt-key add - \
        && sh -c 'echo "deb http://packages.ros.org/ros/ubuntu `lsb_release -sc` main" > /etc/apt/sources.list.d/ros-latest.list' \
        && sh -c 'echo "deb http://packages.ros.org/ros-shadow-fixed/ubuntu `lsb_release -sc` main" > /etc/apt/sources.list.d/ros-shadow.list' \
        && apt-get update \
        && apt-get -y --quiet --no-install-recommends install \
            geographiclib-tools \
            libeigen3-dev \
            libgeographic-dev \
            libopencv-dev \
            libyaml-cpp-dev \
            python3-rosdep \
            python3-catkin-tools \
            python3-catkin-lint \
            ros-$ROS_DISTRO-gazebo-ros-pkgs \
            ros-$ROS_DISTRO-mavlink \
            ros-$ROS_DISTRO-mavros \
            ros-$ROS_DISTRO-mavros-extras \
            ros-$ROS_DISTRO-octomap \
            ros-$ROS_DISTRO-octomap-msgs \
            ros-$ROS_DISTRO-pcl-conversions \
            ros-$ROS_DISTRO-pcl-msgs \
            ros-$ROS_DISTRO-pcl-ros \
            ros-$ROS_DISTRO-ros-base \
            ros-$ROS_DISTRO-rostest \
            ros-$ROS_DISTRO-rosunit \
            ros-$ROS_DISTRO-tf-conversions \
            ros-$ROS_DISTRO-rqt-tf-tree \
            ros-$ROS_DISTRO-rviz \
            xvfb \
            libopencv-dev \
            liblua5.2-dev \
            libarmadillo-dev \
            ros-noetic-nlopt \
            liblcm-dev \
        && geographiclib-get-geoids egm96-5 \
        && apt-get -y autoremove \
        && apt-get clean autoclean 
    
    # Remove conflicting packages
    sudo apt remove -y python3-pyasn1-modules  python3-mpi4py

    # Install additional dependencies
    apt-get install -y python3 python-is-python3 git python3-rosdep python3-pip python3-rosinstall-generator python3-vcstool build-essential python3-catkin-tools ca-certificates

    export POETRY_HOME="$ARENA_ROOT/.local"
    
    # Install Poetry
    curl -sSL https://install.python-poetry.org | python3 -
    # python3 -m pip install --user poetry

    # Check if Poetry is installed
    $ARENA_ROOT/.local/bin/poetry --version

    # Bootstrap rosdep
    rosdep init && rosdep update

    # Install Arena-Rosnav
    if [ -d $ARENA_ROOT/arena_ws/src/arena ]; then \
        echo "Install Folder $ARENA_ROOT/arena_ws/src/arena/arena-rosnav already exists." && \
        echo "This indicates Arena Rosnav is already installed." && \
        echo "If you wish to reinstall, please delete $ARENA_ROOT/arena_ws"; \
    fi

    # Clone Arena-Rosnav if not from local
    if [ "$FROM_LOCAL" = "false" ]; then \
        rm -rf "$ARENA_ROOT/arena_ws/src/arena/arena-rosnav" && \
        git clone --branch $ARENA_BRANCH https://github.com/Arena-Rosnav/arena-rosnav.git $ARENA_ROOT/arena_ws/src/arena/arena-rosnav; \
    fi

    # Pull all dependencies
    git config --global http.postBuffer 524288000
    cd $ARENA_ROOT/arena_ws
    until vcs import src < src/arena/arena-rosnav/.repos ; do echo "failed to update, retrying..." ; done

# Set the working directory
# %files
#    . /home/fe/le/projects/arena_ws/src/arena/arena-rosnav

%runscript
    exec bash