benjaminn13/openrave repository overview

FROM ubuntu:16.04

RUN useradd -m user && echo "user:user" | chpasswd && adduser user sudo

RUN apt-get update
RUN apt-get upgrade -y
RUN apt-get install -y sudo cmake g++ git ipython minizip python-dev python-h5py python-numpy python-scipy python-sympy qt4-dev-tools
RUN apt-get install -y libassimp-dev libavcodec-dev libavformat-dev libavformat-dev libboost-all-dev libboost-date-time-dev libbullet-dev libfaac-dev libglew-dev libgsm1-dev liblapack-dev liblog4cxx-dev libmpfr-dev libode-dev libogg-dev libpcrecpp0v5 libpcre3-dev libqhull-dev libqt4-dev libsoqt-dev-common libsoqt4-dev libswscale-dev libswscale-dev libvorbis-dev libx264-dev libxml2-dev libxvidcore-dev
# For OpenSceneGraph
RUN apt-get install -y libcairo2-dev libjasper-dev libpoppler-glib-dev libsdl2-dev libtiff5-dev libxrandr-dev
# For FCL
RUN apt-get install -y libccd-dev

ENV HOME /home/user

# Install collada-dom from source
WORKDIR /home/user
RUN git clone https://github.com/rdiankov/collada-dom.git
RUN mkdir collada-dom/build
WORKDIR /home/user/collada-dom/build
RUN cmake ..
RUN make -j4
RUN make install

# Install OpenSceneGraph from source
WORKDIR /home/user
RUN git clone --branch OpenSceneGraph-3.4 https://github.com/openscenegraph/OpenSceneGraph.git
RUN mkdir OpenSceneGraph/build
WORKDIR /home/user/OpenSceneGraph/build
RUN cmake .. -DDESIRED_QT_VERSION=4
RUN make -j4
RUN make install

# Install FCL from source
RUN ln -sf /usr/include/eigen3/Eigen /usr/include/Eigen
WORKDIR /home/user
RUN git clone --branch 0.5.0 https://github.com/flexible-collision-library/fcl.git
RUN mkdir fcl/build
WORKDIR /home/user/fcl/build
RUN cmake ..
RUN make -j4
RUN make install

# Install OpenRAVE from source
WORKDIR /home/user
RUN git clone --branch latest_stable https://github.com/rdiankov/openrave.git
RUN mkdir openrave/build
WORKDIR /home/user/openrave/build
# only run this if you don't need the latest version of OpenRAVE:
# RUN git checkout 9c79ea260e1c009b0a6f7c03ec34f59629ccbe2c
RUN cmake .. -DOSG_DIR=/usr/local/lib64/
RUN make -j4
RUN make install

# Configure the environment
RUN echo "export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:$(openrave-config --python-dir)/openravepy/_openravepy_" >> /home/user/.bashrc
RUN echo "export PYTHONPATH=$PYTHONPATH:$(openrave-config --python-dir)" >> /home/user/.bashrc
WORKDIR /home/user
RUN mkdir development

USER user

-   name: OpenRAVE
    image: openrave
    tag: xenial
    autosave: false
    gui: true
    folders:
        -   host: /mnt/Storage/Docker/OpenRAVE/development
            container: /home/user/development