openrave_container.def

BootStrap: docker
From: ubuntu:trusty

%files
    src /usr/project/catkin/src
    requirements.txt /usr/project/python/requirements.txt
    requirements_networking.txt /usr/project/python/requirements_networking.txt
    openrave_pybind_cmakelists.txt /usr/project/openrave_pybind_cmakelists.txt

%post -c /bin/bash
    apt-get update

    # Tzdata
    DEBIAN_FRONTEND=noninteractive TZ=Etc/UTC apt-get install -y tzdata

    # Basic requirements
    apt-get install -y \
        git \
        cmake \
        doxygen \
        g++ \
        build-essential \
        checkinstall \
        curl \
        wget \
        gnupg \
        ca-certificates \
        software-properties-common \
        libreadline-gplv2-dev \
        libncursesw5-dev \
        libssl-dev \
        libsqlite3-dev \
        tk-dev \
        libgdbm-dev \
        libc6-dev \
        libbz2-dev

    # Python 2.7.12 and Pip
    curl https://www.python.org/ftp/python/2.7.12/Python-2.7.12.tgz --output Python-2.7.12.tgz
    tar xzf Python-2.7.12.tgz
    cd Python-2.7.12
    ./configure --enable-shared  --enable-unicode=ucs4
    LD_LIBRARY_PATH=/usr/local/lib:${LD_LIBRARY_PATH}
    make
    make install
    curl https://bootstrap.pypa.io/pip/2.7/get-pip.py --output get-pip.py
    python get-pip.py
    pip install --upgrade pip
    cd ..
    rm -rf Python-2.7.12*

    # ROS install
    echo "deb http://packages.ros.org/ros/ubuntu trusty main" > /etc/apt/sources.list.d/ros-latest.list
    curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | apt-key add -
    apt-get update
    apt-get install -y ros-indigo-desktop
    rosdep init
    rosdep update

    # OpenRAVE install (from https://github.com/crigroup/openrave-installation.git)
    ## Dependencies
    apt-add-repository -y ppa:imnmfotmal/libccd
    apt-get update
    apt-get install -y \
        ann-tools \
        libann-dev \
        libassimp-dev \
        libavcodec-dev \
        libavformat-dev \
        libeigen3-dev \
        libfaac-dev \
        libflann-dev \
        libfreetype6-dev \
        liblapack-dev \
        libglew-dev \
        libgsm1-dev \
        libmpfi-dev \
        libmpfr-dev \
        liboctave-dev \
        libode-dev \
        libogg-dev \
        libpcre3-dev \
        libqhull-dev \
        libswscale-dev \
        libtinyxml-dev \
        libvorbis-dev \
        libx264-dev \
        libxml2-dev \
        libxvidcore-dev \
        libbz2-dev \
        octave \
        mlocate \
        qt4-dev-tools \
        zlib-bin \
        libsoqt-dev-common \
        libsoqt4-dev \
        collada-dom-dev \
        libccd \
        libpcrecpp0 \
        liblog4cxx10-dev \
        libqt4-dev \
        libboost-all-dev \
        libboost-python-dev \
        libutil-freebsd-dev

    pip install numpy==1.16.6

    ## OpenSceneGraph
    OSG_COMMIT=1f89e6eb1087add6cd9c743ab07a5bce53b2f480
    echo ""
    echo "Installing OpenSceneGraph 3.4 from source (Commit ${OSG_COMMIT})..."
    echo ""

    mkdir -p git; cd git
    git clone https://github.com/openscenegraph/OpenSceneGraph.git
    cd OpenSceneGraph; git reset --hard ${OSG_COMMIT}
    mkdir build; cd build

    cmake ..
    make -j `nproc`
    make install
    make install_ld_conf
    cd ../..

    ## FCL - The Flexible Collision Library
    echo ""
    echo "Installing FCL 0.5.0 from source..."
    echo ""
    git clone https://github.com/flexible-collision-library/fcl
    cd fcl; git reset --hard 0.5.0
    mkdir build; cd build
    cmake .. -DFCL_BUILD_TESTS=OFF
    make -j `nproc`
    make install
    cd ../..

    ## OpenRAVE
    pip install --upgrade --user sympy==0.7.1
    RAVE_COMMIT=7c5f5e27eec2b2ef10aa63fbc519a998c276f908
	echo ""
	echo "Installing OpenRAVE 0.9 from source (Commit ${RAVE_COMMIT})..."
	echo ""
	git clone https://github.com/rdiankov/openrave.git
	cd openrave; git reset --hard ${RAVE_COMMIT}
	cp /usr/project/openrave_pybind_cmakelists.txt python/bindings/CMakeLists.txt
    mkdir build; cd build
    cmake -DODE_USE_MULTITHREAD=ON -DOSG_DIR=/usr/local/lib64/ ..
    make -j `nproc`
    make install

    cd ../../..
    rm -rf git/

    # Install catkin + project dependencies
    apt-get install -y \
        python-catkin-tools \
        python-wstool \
        ros-indigo-srdfdom \
        ros-indigo-ros-controllers \
        ros-indigo-ros-control \
        libnewmat10ldbl \
        libnewmat10-dev \
        ros-indigo-trac-ik-python \
        libxml2-dev \
        libxslt-dev

    # Catkin build since rosdep dependencies are required
    cd /usr/project/catkin
    wstool init src
    catkin init
    catkin config --extend /opt/ros/indigo
    rosdep update
    rosdep install -y -r --ignore-src --rosdistro=indigo --from-paths src

    # More dependencies (rosdep messes up the versions, so they need to be here)
    apt-get install -y \
        libogre-1.8-dev \
        ros-indigo-rviz
    pip install catkin-tools==0.6.1 catkin-pkg==0.4.13
    catkin build

    # Since env section uses sh instead of bash, source the setup file here
    # and just pass the commands to export the new env variables.
    printenv >>tmp_init_env
    . devel/setup.bash
    printenv >>tmp_final_env
    echo "set -a" >>$SINGULARITY_ENVIRONMENT
    grep -vf tmp_init_env tmp_final_env >>$SINGULARITY_ENVIRONMENT
    echo "set +a" >>$SINGULARITY_ENVIRONMENT
    rm tmp_init_env tmp_final_env

    # nlopt install
    git clone https://github.com/stevengj/nlopt.git
    cd nlopt
    git checkout v2.6.2
    mkdir build
    cd build
    cmake -DBUILD_SHARED_LIBS=OFF ..
    make
    make install
    cd ..
    rm -rf nlopt

    # Clean
    apt-get clean
    rm -rf /var/lib/apt/lists/*

    # Python packages
    pip install -r /usr/project/python/requirements.txt
    pip install -r /usr/project/python/requirements_networking.txt

%environment
    # To fix issue with python shared libraries
    export LD_LIBRARY_PATH=/usr/local/lib:${LD_LIBRARY_PATH}