-
Notifications
You must be signed in to change notification settings - Fork 2
/
yolo_tiny_dockerfile.dockerfile
63 lines (55 loc) · 1.99 KB
/
yolo_tiny_dockerfile.dockerfile
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
ARG FROM_IMAGE=ros:foxy
ARG OVERLAY_WS=/opt/ros/darknet_ros_tiny
# multi-stage for caching
FROM $FROM_IMAGE AS cacher
# clone overlay source
ARG OVERLAY_WS
WORKDIR $OVERLAY_WS/src
RUN apt-get update && apt-get install -y wget \
&& git clone --single-branch --recursive --branch foxy https://github.com/mariogrdn/darknet_ros_tiny.git \
&& cd ./darknet_ros_tiny \
&& sed -i "s/OPENCV=0/OPENCV=1/g" ./darknet/Makefile \
&& sed -i "s/OPENMP=0/OPENMP=1/g" ./darknet/Makefile \
&& cd ./darknet_ros/yolo_network_config \
&& mkdir weights && cd ./weights \
&& wget https://github.com/dog-qiuqiu/Yolo-Fastest/raw/master/Yolo-Fastest/VOC/yolo-fastest.weights
# copy manifests for caching
WORKDIR /opt
RUN mkdir -p /tmp/opt && \
find ./ -name "package.xml" | \
xargs cp --parents -t /tmp/opt && \
find ./ -name "COLCON_IGNORE" | \
xargs cp --parents -t /tmp/opt || true
# multi-stage for building
FROM $FROM_IMAGE AS builder
# install overlay dependencies
ARG OVERLAY_WS
WORKDIR $OVERLAY_WS
COPY --from=cacher /tmp/$OVERLAY_WS/src ./src
RUN . /opt/ros/$ROS_DISTRO/setup.sh && \
apt-get update && rosdep install -y \
--from-paths \
src/darknet_ros_tiny \
--ignore-src \
&& rm -rf /var/lib/apt/lists/*
# build overlay source
COPY --from=cacher $OVERLAY_WS/src ./src
ARG OVERLAY_MIXINS="release"
RUN apt-get update && apt-get install -y libx11-dev \
&& rm -rf /var/lib/apt/lists/*
RUN . /opt/ros/$ROS_DISTRO/setup.sh && \
colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release \
--packages-select \
darknet_ros \
darknet_ros_msgs \
--mixin $OVERLAY_MIXINS
# source entrypoint setup
ENV OVERLAY_WS $OVERLAY_WS
RUN sed --in-place --expression \
'$isource "$OVERLAY_WS/install/setup.bash"' \
/ros_entrypoint.sh
RUN mkdir /fastRTPS_profile
COPY fastRTPS_profile_ds_yolo.xml /fastRTPS_profile
COPY yolo_entrypoint.sh ./
RUN chmod +x ./yolo_entrypoint.sh
ENTRYPOINT ./yolo_entrypoint.sh