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Dockerfile.arm64
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################################################################################
# base system
################################################################################
# qemu helper for arm build
FROM ubuntu:focal as amd64
RUN apt-get update && apt-get install -y qemu-user-static
FROM arm64v8/ros:noetic-perception as system
COPY --from=amd64 /usr/bin/qemu-aarch64-static /usr/bin/
RUN sed -i 's#http://archive.ubuntu.com/ubuntu/#mirror://mirrors.ubuntu.com/mirrors.txt#' /etc/apt/sources.list;
################################################################################
# VNC
################################################################################
# built-in packages
ENV DEBIAN_FRONTEND noninteractive
RUN apt-get update \
&& apt-get install -y --no-install-recommends software-properties-common \
curl apache2-utils \
apt-utils wget ca-certificates git nano less dconf-cli \
&& apt-get install -y --no-install-recommends --allow-unauthenticated \
supervisor nginx sudo net-tools zenity xz-utils \
dbus-x11 x11-utils alsa-utils \
mesa-utils libgl1-mesa-dri \
&& apt-get install -y --no-install-recommends --allow-unauthenticated \
xvfb x11vnc=0.9.16-3 \
vim-tiny ttf-ubuntu-font-family ttf-wqy-zenhei \
&& apt-get install -y --no-install-recommends --allow-unauthenticated \
lxde gtk2-engines-murrine gnome-themes-standard gtk2-engines-pixbuf gtk2-engines-murrine arc-theme \
&& apt-get autoclean -y \
&& apt-get autoremove -y \
&& rm -rf /var/lib/apt/lists/*
# tini for subreap
RUN curl https://github.com/krallin/tini/releases/download/v0.19.0/tini-arm64 -o /bin/tini \
&& chmod +x /bin/tini
# ffmpeg
RUN mkdir -p /usr/local/ffmpeg \
&& curl -sSL https://johnvansickle.com/ffmpeg/releases/ffmpeg-release-amd64-static.tar.xz | tar xJvf - -C /usr/local/ffmpeg/ --strip 1
# python library
RUN wget https://raw.githubusercontent.com/tccoin/docker-ubuntu-vnc-desktop/develop/rootfs/usr/local/lib/web/backend/requirements.txt \
-O /tmp/requirements.txt \
&& apt-get update \
&& dpkg-query -W -f='${Package}\n' > /tmp/a.txt \
&& apt-get install -y python3-pip python3-dev build-essential \
&& pip3 install setuptools wheel && pip3 install -r /tmp/requirements.txt \
&& dpkg-query -W -f='${Package}\n' > /tmp/b.txt \
&& apt-get remove -y `diff --changed-group-format='%>' --unchanged-group-format='' /tmp/a.txt /tmp/b.txt | xargs` \
&& apt-get autoclean -y \
&& apt-get autoremove -y \
&& rm -rf /var/lib/apt/lists/* \
&& rm -rf /var/cache/apt/* /tmp/a.txt /tmp/b.txt
###################
# builder
###################
FROM ubuntu:focal as builder
RUN sed -i 's#http://archive.ubuntu.com/ubuntu/#mirror://mirrors.ubuntu.com/mirrors.txt#' /etc/apt/sources.list;
RUN apt-get update \
&& apt-get install -y --no-install-recommends curl ca-certificates gnupg patch git
# nodejs
RUN curl -sL https://deb.nodesource.com/setup_12.x | bash - \
&& apt-get install -y nodejs
# yarn
RUN curl -sS https://dl.yarnpkg.com/debian/pubkey.gpg | apt-key add - \
&& echo "deb https://dl.yarnpkg.com/debian/ stable main" | tee /etc/apt/sources.list.d/yarn.list \
&& apt-get update \
&& apt-get install -y yarn
# build frontend
RUN git clone --recursive https://github.com/tccoin/docker-ubuntu-vnc-desktop /src/docker-ubuntu-vnc-desktop \
&& cp -r /src/docker-ubuntu-vnc-desktop/web /src/web
RUN cd /src/web \
&& yarn \
&& yarn build
RUN sed -i 's#app/locale/#novnc/app/locale/#' /src/web/dist/static/novnc/app/ui.js
RUN cd /src/web/dist/static/novnc && patch -p0 < /src/web/novnc-armhf-1.patch
###################
# merge
###################
FROM system
COPY --from=builder /src/web/dist/ /usr/local/lib/web/frontend/
COPY --from=builder /src/docker-ubuntu-vnc-desktop/rootfs/ /
RUN ln -sf /usr/local/lib/web/frontend/static/websockify /usr/local/lib/web/frontend/static/novnc/utils/websockify \
&& chmod +x /usr/local/lib/web/frontend/static/websockify/run \
&& ln -s /usr/bin/python3 /usr/bin/python
EXPOSE 80
################################################################################
# Development Tools
################################################################################
WORKDIR /root/ws
ENV HOME=/root
RUN echo "deb http://packages.ros.org/ros/ubuntu trusty main" > /etc/apt/sources.list.d/ros-latest.list
RUN apt-key adv --keyserver "hkp://ha.pool.sks-keyservers.net" --recv-key "0xB01FA116" \
|| { wget "https://raw.githubusercontent.com/ros/rosdistro/master/ros.key" -O - | sudo apt-key add -; }
RUN sh -c 'echo "deb http://packages.ros.org/ros/ubuntu `lsb_release -cs` main" > /etc/apt/sources.list.d/ros-latest.list' \
&& apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
# install build dependency
RUN sed -i "/^# deb.*multiverse/ s/^# //" /etc/apt/sources.list \
&& apt-get update \
&& apt-get install --no-install-recommends -y \
ros-${ROS_DISTRO}-ros-base \
ros-${ROS_DISTRO}-catkin \
build-essential \
python3-colcon-common-extensions \
python3-catkin-tools \
python3-osrf-pycommon \
python3-rosdep \
python3-wstool \
ros-${ROS_DISTRO}-catkin
WORKDIR /root/build
# install tilix
RUN sudo apt-get install -y \
tilix
# install zsh
RUN git clone https://github.com/tccoin/easy-linux.git \
&& cd easy-linux \
&& ./zsh.sh \
&& touch /root/.z \
&& rm /root/.zshrc
# install gitstatus
# https://github.com/romkatv/gitstatus/releases/tag/v 1.3.1
RUN mkdir -p /root/.cache/gitstatus \
&& wget https://github.com/romkatv/gitstatus/releases/download/v1.3.1/gitstatusd-linux-aarch64.tar.gz -O - \
| tar -zx -C /root/.cache/gitstatus/
################################################################################
# Program Dependency
################################################################################
SHELL ["/bin/bash", "-l", "-c"]
WORKDIR /root/build
RUN wget https://github.com/tccoin/container-static-files/releases/download/Galaxy_Linux/Galaxy_Linux-armhf_Gige-U3_32bits-64bits_1.3.1911.9271.tar.gz -O - \
| tar -zx \
&& cd Galaxy_Linux-armhf_Gige-U3_32bits-64bits_1.3.1911.9271/ \
&& echo '\n' | ./Galaxy_camera.run
RUN wget https://github.com/tccoin/container-static-files/releases/download/Galaxy_Linux/Galaxy_Linux_Python_2.0.2008.9111.tar.gz -O - \
| tar -zx
RUN apt-get install --no-install-recommends -y libusb-dev \
&& git clone https://github.com/tccoin/MYNT-EYE-D-SDK.git mynt-eye-d-sdk \
&& cd mynt-eye-d-sdk \
&& make init \
&& source /opt/ros/noetic/setup.bash \
&& make all
WORKDIR /root
RUN mkdir -p catkin_ws/src \
&& cd catkin_ws \
&& git clone https://github.com/tccoin/galaxy_camera.git src/galaxy_camera \
&& source /opt/ros/noetic/setup.bash \
&& catkin_make
RUN apt-get install -y python3-pip
RUN pip3 install numpy 'opencv-python>=3.4,<3.5' 'opencv-contrib-python>=3.4,<3.5' pyserial toolz pyyaml bitstring
RUN cd ~/build/Galaxy_Linux_Python_2.0.2008.9111/api/ \
&& pip3 install .
RUN apt-get install -y \
ros-${ROS_DISTRO}-rosbridge-suite \
ros-${ROS_DISTRO}-rqt \
ros-${ROS_DISTRO}-rqt-common-plugins \
ros-${ROS_DISTRO}-rviz \
ros-${ROS_DISTRO}-rqt-rviz
HEALTHCHECK --interval=30s --timeout=5s CMD curl --fail http://127.0.0.1:6079/api/health
ENTRYPOINT ["/bin/zsh"]