trifinger_base.def

Bootstrap: docker
From: ros:{{ ROS_DISTRO }}-ros-base

# To save time when rebuilding the image, you can pull the ROS image once and
# then use the following instead:
#Bootstrap: localimage
#From: ./ros_foxy-ros-base.sif

%arguments
    ROS_DISTRO=humble

%setup
    # needs to be created before %post, so it can be used as bind destination
    mkdir "${SINGULARITY_ROOTFS}/_cache"

%post
    set -e
    export DEBIAN_FRONTEND=noninteractive
    export XDG_CACHE_HOME=/_cache

    ROS_DISTRO={{ ROS_DISTRO }}

    # remove config that clears apt cache after each call (we want to keep it
    # in the bound folder); https://stackoverflow.com/a/73060162/2095383
    rm /etc/apt/apt.conf.d/docker-clean

    tmp_dir=$(mktemp -d)

    apt-get update
    apt-get dist-upgrade -y

    # basic tools
    apt-get install -y wget curl less python3-pip

    # alternative compilers
    apt-get install -y clang-12
    update-alternatives --install /usr/bin/clang clang /usr/bin/clang-12 12
    update-alternatives --install /usr/bin/clang++ clang++ /usr/bin/clang++-12 12

    # upgrade pip to latest version (>=21 is needed)
    python3 -m pip install --upgrade pip
    python3 -m pip --version

    # Build and Run Dependencies
    # ==========================

    apt-get install -y \
        freeglut3-dev \
        graphviz \
        libarmadillo-dev \
        libboost-iostreams-dev \
        libboost-filesystem-dev \
        libboost-thread-dev \
        libboost-program-options-dev \
        libcereal-dev \
        libedit-dev \
        libfmt-dev \
        libncurses5-dev \
        libopenblas-dev \
        libopencv-dev \
        libopencv-contrib-dev \
        libxmu-dev \
        libyaml-cpp-dev \
        ros-${ROS_DISTRO}-ament-cmake-nose \
        ros-${ROS_DISTRO}-eigenpy \
        ros-${ROS_DISTRO}-pinocchio \
        ros-${ROS_DISTRO}-xacro \
        ros-${ROS_DISTRO}-yaml-cpp-vendor

    # install tomlplusplus from source
    cd "${tmp_dir}"
    git clone https://github.com/marzer/tomlplusplus.git -b v3.4.0
    cd tomlplusplus
    mkdir build
    cd build
    cmake -DCMAKE_BUILD_TYPE=Release ..
    make
    make install

    # for building documentation
    apt-get install -y doxygen
    python3 -m pip install breathing-cat

    # for code formatting
    apt-get install -y clang-format
    python3 -m pip install black cmakelang


    # Tools for Debugging
    # ===================

    apt-get install -y \
        clang-tidy \
        gdb \
        valgrind \
        tmux \
        less \
        ipython3 \
        python3-ipdb \
        python3-psutil \
        python3-venv
    python3 -m pip install line-profiler


    apt-get install -y \
        python3-empy \
        python3-matplotlib \
        python3-opencv \
        python3-pandas \
        python3-progressbar \
        python3-scipy \
        python3-tabulate \
        python3-tqdm \
        python3-urwid \
        python3-yaml \
        python3-zarr

    # newer numpy version is needed
    python3 -m pip install numpy==1.23.3

    # newer numba version is needed for some projects
    python3 -m pip install numba==0.59.1

    python3 -m pip install pybullet==3.2.6
    python3 -m pip install gym
    python3 -m pip install namegenerator


    # create a setup file
    echo ". /opt/ros/${ROS_DISTRO}/setup.bash
source /usr/share/colcon_argcomplete/hook/colcon-argcomplete.bash
source /usr/share/colcon_cd/function/colcon_cd.sh
" > /setup.bash


    # cleanup
    rm -rf "${tmp_dir}"

%labels
    Version 3.0.0


%help
    Container for building the BLMC_EI/ROBOT_FINGER project.
    Run it with `singularity shell` at the root of your workspace, set up the
    environment by executing `source /setup.sh` and build with `colcon build`.