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FROM ubuntu:focal AS builder
# avoid interactive configuration dialog from tzdata, which gets pulled in
# as a dependency
ENV DEBIAN_FRONTEND=noninteractive
RUN apt-get update && \
apt-get install -y \
build-essential \
castxml \
cmake \
libboost-filesystem-dev \
libboost-numpy-dev \
libboost-program-options-dev \
libboost-python-dev \
libboost-serialization-dev \
libboost-system-dev \
libboost-test-dev \
libeigen3-dev \
libexpat1 \
libflann-dev \
libode-dev \
libtinfo5 \
libtriangle-dev \
pkg-config \
python3-dev \
python3-numpy \
python3-pip \
wget && \
# Install spot
wget --no-check-certificate -q -O - https://www.lrde.epita.fr/repo/debian.gpg | apt-key add - && \
echo 'deb http://www.lrde.epita.fr/repo/debian/ stable/' >> /etc/apt/sources.list && \
apt-get update && \
apt-get install -y libspot-dev && \
# Install pypy3:
wget --no-check-certificate -q -O- https://downloads.python.org/pypy/pypy3.7-v7.3.3-linux64.tar.bz2 |tar jxf - && \
pip3 install pygccxml pyplusplus
COPY . /ompl
WORKDIR /build
RUN cmake \
-DPYTHON_EXEC=/usr/bin/python3 \
-DOMPL_REGISTRATION=OFF \
-DCMAKE_INSTALL_PREFIX=/usr \
-DPYPY=/pypy3.7-v7.3.3-linux64/bin/pypy3.7 \
/ompl && \
make update_bindings -j `nproc` && \
make -j `nproc` && \
make install
FROM ubuntu:focal
ENV DEBIAN_FRONTEND=noninteractive
RUN apt-get update && \
apt-get install -y \
build-essential \
cmake \
libboost-filesystem-dev \
libboost-numpy-dev \
libboost-program-options-dev \
libboost-python-dev \
libboost-serialization-dev \
libboost-system-dev \
libeigen3-dev \
libflann-dev \
libode-dev \
libtriangle-dev \
pkg-config \
python3-dev \
python3-numpy \
python3-pip \
wget && \
# Install spot
wget --no-check-certificate -q -O - https://www.lrde.epita.fr/repo/debian.gpg | apt-key add - && \
echo 'deb http://www.lrde.epita.fr/repo/debian/ stable/' >> /etc/apt/sources.list && \
apt-get update && \
apt-get install -y libspot-dev
COPY --from=builder /usr /usr
RUN useradd -ms /bin/bash ompl
USER ompl
WORKDIR /home/ompl
|
