Dockerfile.cicd-devel

ARG from=ubuntu:bionic
FROM ${from}

# CI preset: CMAKE_BUILD_TYPE=Debug   BUILD_SHARED_LIBS=ON
# CD preset: CMAKE_BUILD_TYPE=Release BUILD_SHARED_LIBS=OFF
ARG CMAKE_BUILD_TYPE=Release
ARG BUILD_SHARED_LIBS=OFF

# Install tools and toolchain
RUN apt-get update &&\
    apt-get install -y --no-install-recommends \
        wget \
        software-properties-common \
        apt-transport-https \
        apt-utils \
        gnupg2 \
        nano \
        rename \
        source-highlight \
        &&\
    wget -O - https://apt.kitware.com/keys/kitware-archive-latest.asc 2>/dev/null | apt-key add - && \
    apt-add-repository "deb https://apt.kitware.com/ubuntu/ `lsb_release -cs` main" &&\
    add-apt-repository ppa:deadsnakes/ppa &&\
    wget -nv -O - http://apt.llvm.org/llvm-snapshot.gpg.key | apt-key add - &&\
    apt-add-repository -y "deb http://apt.llvm.org/`lsb_release -cs`/ llvm-toolchain-`lsb_release -cs`-10 main" &&\
    apt-get update &&\
    apt-get install -y --no-install-recommends \
        git \
        g++ \
        g++-8 \
        clang \
        clang-9 \
        clang-10 \
        make \
        cmake \
        cmake-curses-gui \
        ninja-build \
        valgrind \
        libgflags-dev \
        python3-pip \
        python3-wheel \
        python3.6 \
        python3.8 \
        python3.6-dev \
        python3.8-dev \
        libpython3.6-dev \
        libpython3.8-dev \
        virtualenv \
        &&\
    rm -rf /var/lib/apt/lists/*

# Update git (required by actions/checkout)
RUN add-apt-repository ppa:git-core/ppa &&\
    apt-get update &&\
    apt-get install -y --no-install-recommends git &&\
    rm -rf /var/lib/apt/lists/*

# Install SWIG from sources
ARG SWIG_REL="rel-4.0.1"
RUN apt-get update &&\
    apt-get install -y --no-install-recommends \
        autotools-dev \
        automake \
        bison \
        libpcre3-dev &&\
    rm -rf /var/lib/apt/lists/* &&\
    cd /tmp/ &&\
    git clone --depth 1 -b ${SWIG_REL} https://github.com/swig/swig.git &&\
    cd swig &&\
    sh autogen.sh &&\
    ./configure &&\
    make -j2 &&\
    make install &&\
    rm -r /tmp/swig

# Install ignition robotics
ARG IGNITION_DEFAULT_CHANNEL="prerelease"
RUN echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-${IGNITION_DEFAULT_CHANNEL} `lsb_release -cs` main" > \
        /etc/apt/sources.list.d/gazebo-${IGNITION_DEFAULT_CHANNEL}.list &&\
    wget http://packages.osrfoundation.org/gazebo.key -O - | apt-key add - &&\
    apt-get update &&\
    apt-get install -y --no-install-recommends \
        cmake freeglut3-dev libavcodec-dev libavdevice-dev libavformat-dev libavutil-dev \
        libdart6-collision-ode-dev libdart6-dev libdart6-utils-urdf-dev \
        libfreeimage-dev libgflags-dev libglew-dev libgts-dev libogre-1.9-dev libogre-2.1-dev \
        libprotobuf-dev libprotobuf-dev libprotoc-dev \
        libqt5core5a libswscale-dev libtinyxml2-dev libtinyxml-dev pkg-config \
        protobuf-compiler python qml-module-qt-labs-folderlistmodel \
        qml-module-qt-labs-settings qml-module-qtquick2 qml-module-qtquick-controls \
        qml-module-qtquick-controls2 qml-module-qtquick-dialogs qml-module-qtquick-layouts \
        qml-module-qtqml-models2 qtbase5-dev qtdeclarative5-dev qtquickcontrols2-5-dev \
        ruby ruby-ronn uuid-dev libzip-dev libjsoncpp-dev libcurl4-openssl-dev libyaml-dev \
        libzmq3-dev libsqlite3-dev libwebsockets-dev \
        #swig \#
        ruby-dev \
        &&\
    rm -rf /var/lib/apt/lists/*

RUN pip3 install setuptools &&\
    pip3 install vcstool colcon-common-extensions &&\
    rm -r $HOME/.cache/pip

ADD tags.yaml /tags.yaml
RUN mkdir -p /workspace/src &&\
    cd /workspace/src &&\
    vcs import < /tags.yaml &&\
    cd /workspace &&\
    colcon graph &&\
    CC=gcc-8 CXX=g++-8 \
    colcon build \
        --packages-end ignition-sensors3 \
        --cmake-args -GNinja \
            -DBUILD_TESTING=OFF -DCMAKE_BUILD_TYPE=Release \
        --merge-install \
        &&\
    CC=clang-9 CXX=clang++-9 \
    colcon build \
        --packages-start ignition-gazebo3 \
        --cmake-args -GNinja \
            -DBUILD_TESTING=OFF -DCMAKE_BUILD_TYPE=Release -DBUILD_SHARED_LIBS=${BUILD_SHARED_LIBS} \
        --merge-install \
        &&\
    rm -r /workspace/build &&\
    rm -r /workspace/src/* &&\
    echo "source /workspace/install/setup.bash" >> /etc/bash.bashrc

# Install idyntree
RUN apt-get update &&\
    apt-get install -y --no-install-recommends python3-numpy libxml2-dev coinor-libipopt-dev libeigen3-dev &&\
    rm -rf /var/lib/apt/lists/* &&\
    git clone --depth 1 -b feature/numpy-and-ik https://github.com/diegoferigo/idyntree /tmp/idyntree &&\
    mkdir -p /tmp/idyntree/build && cd /tmp/idyntree/build &&\
    cmake .. \
        -GNinja \
        -DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE} \
        -DIDYNTREE_SHARED_LIBRARY:BOOL=${BUILD_SHARED_LIBS} \
        -DIDYNTREE_USES_PYTHON=True \
        -DPython_ADDITIONAL_VERSIONS=3.6 \
        -DIDYNTREE_USES_PYTHON_VERSION=3.6 \
        -DPYTHON_NUMPY_INCLUDE_DIR:PATH=/usr/lib/python3/dist-packages/numpy/core/include \
        -DIDYNTREE_USES_IPOPT:BOOL=ON \
        &&\
    cmake --build . --target install &&\
    rm -r /tmp/idyntree
ENV LD_LIBRARY_PATH=${LD_LIBRARY_PATH}:/usr/local/lib
ENV PYTHONPATH=${PYTHONPATH}:/usr/local/lib/python3/dist-packages

# Prepare virtualenv variables
ENV VIRTUAL_ENV=/venv
ENV PATH=${VIRTUAL_ENV}/bin:${PATH}

COPY entrypoint.sh /entrypoint.sh
COPY setup_virtualenv.sh /setup_virtualenv.sh
RUN chmod 755 /entrypoint.sh
RUN chmod 755 /setup_virtualenv.sh
ENTRYPOINT ["/entrypoint.sh"]
CMD ["bash"]