DockerfileROSTorch11.1

# FROM ros:melodic-ros-core-bionic
FROM nvidia/cuda:11.1.1-cudnn8-runtime-ubuntu18.04
# ENV LD_LIBRARY_PATH /usr/local/cuda-11.1/lib64:/usr/local/cuda-10.2/extras/CUPTI/lib64:$LD_LIBRARY_PATH
ENV HOME /root

#####################
# ROS CORE
#####################
# setup timezone
RUN echo 'Etc/UTC' > /etc/timezone && \
    ln -s /usr/share/zoneinfo/Etc/UTC /etc/localtime && \
    apt-get update && \
    apt-get install -q -y --no-install-recommends tzdata && \
    rm -rf /var/lib/apt/lists/*

# setup environment
ENV LANG=C.UTF-8 \
    LC_ALL=C.UTF-8 \
    ROS_DISTRO=melodic

# install packages
RUN apt-get update && apt-get install -q -y --no-install-recommends \
    dirmngr \
    gnupg2 \
    psmisc \
    vim \
    wget \
    curl \
    && rm -rf /var/lib/apt/lists/*

# setup keys
RUN curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | apt-key add -

# setup sources.list
RUN echo "deb http://packages.ros.org/ros/ubuntu bionic main" > /etc/apt/sources.list.d/ros-latest.list

#####################
# ROS BASE & APPLICATION SPECIFIC PACKAGES
#####################
# install bootstrap tools and ros, bootstrap rosdep
RUN apt-get update && apt-get install --no-install-recommends -y \
    build-essential \
    python-rosdep \
    python-rosinstall \
    python-vcstools \
    ros-melodic-ros-base \
    ros-melodic-pybind11-catkin \
    ros-melodic-moveit \
    ros-melodic-moveit-visual-tools \
    && rosdep init \
    && rosdep update --rosdistro $ROS_DISTRO \
    && rm -rf /var/lib/apt/lists/* \
    && echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc

######################
## UPGRADE TO LATEST GAZEBO VERSION FOR MELODIC FOR POINTER ISSUE IF RUNNING LONG
######################
RUN apt-get update && apt upgrade -y libignition-math2 gazebo9 && rm -rf /var/lib/apt/lists/*


#####################
# INSTALL CONDA
#####################
RUN wget --quiet https://repo.anaconda.com/miniconda/Miniconda3-latest-Linux-x86_64.sh -O ~/miniconda.sh && \
    /bin/bash ~/miniconda.sh -b -p /opt/conda && \
    rm ~/miniconda.sh && \
    /opt/conda/bin/conda clean -tipsy && \
    ln -s /opt/conda/etc/profile.d/conda.sh /etc/profile.d/conda.sh && \
    echo ". /opt/conda/etc/profile.d/conda.sh" >> ~/.bashrc

ENV PATH=/opt/conda/bin:$PATH \
    ENV_NAME=base \
    TORCH_VERSION=v1.7.1

RUN conda install -n ${ENV_NAME} python=3.7 setuptools cmake cffi \
    && conda clean -afy

CMD bash