Dockerfile.arm64

# We have a dockerfile for arm64 provided by Benny Dai @bennydai
FROM --platform=linux/arm64 ros:noetic-perception

# Install graphical drivers
RUN apt-get update && apt-get install -y xorg-dev libglu1-mesa-dev

# Install git and software properties
RUN apt-get update && apt-get install -y software-properties-common git

# Install full desktop
RUN apt-get update && apt-get install -y ros-noetic-desktop-full

# Upgrade Python Packages, cmake and catkin tools
RUN apt-get install -y python3-pip
RUN pip3 install --upgrade pip
RUN pip3 install cmake --upgrade
RUN pip3 install catkin-tools
RUN pip3 install catkin_pkg
RUN apt-get install -y python3-catkin-tools python3-vcstool
RUN rosdep update

# Install tf2
RUN apt-get update && apt-get install -y ros-noetic-tf2-sensor-msgs

# Install OpenVDB dependencies
RUN apt-get update && apt-get install -y \
    libblosc-dev \
    libboost-iostreams-dev \
    libboost-system-dev \
    libboost-system-dev \
    libeigen3-dev

# Install OpenVDB
WORKDIR /opt/
RUN git clone --depth 1 https://github.com/nachovizzo/openvdb.git \
    -b nacho/vdbfusion \
    && cd openvdb \
    && mkdir build && cd build \
    && cmake  -DCMAKE_POSITION_INDEPENDENT_CODE=ON -DUSE_ZLIB=OFF .. \
    && make -j4 \
    && make install

# Install glog
RUN git clone https://github.com/google/glog.git \
    && cd glog \
    && git fetch --all --tags \
    && git checkout tags/v0.4.0 -b v0.4.0 \
    && mkdir build && cd build \
    && cmake .. && make -j4 \
    && make install

# Install glag
RUN git clone https://github.com/gflags/gflags.git \
    && cd gflags \
    && mkdir build && cd build \
    && cmake .. -DBUILD_SHARED_LIBS=ON && make -j4 \
    && make install

# Make a catkin workspace
RUN mkdir -p /catkin_ws/src/
WORKDIR /catkin_ws/

# Create workspace
RUN /bin/bash -c "/ros_entrypoint.sh; catkin config \
        --init --mkdirs --extend /opt/ros/noetic --merge-devel \
        --cmake-args -DCMAKE_BUILD_TYPE=Release"

# Copy the VDB_GPDF repo
COPY ./VDB_GPDF/ /catkin_ws/src/VDB_GPDF/

# Build the workspace
RUN /bin/bash -c "/ros_entrypoint.sh; catkin build"

# Copy source into .bashrc
RUN echo "source /catkin_ws/devel/setup.bash" >> /root/.bashrc

# Set the working directory and make terminal colourful
ENV TERM xterm-=256color
WORKDIR /catkin_ws/
SHELL ["/bin/bash", "-c"]