Singularityfile.def

Bootstrap: docker
From: nvcr.io/nvidia/cuda:11.0.3-cudnn8-devel-ubuntu20.04

%setup
    mkdir -p ${SINGULARITY_ROOTFS}/jackal_ws/src

%files
    .bashrc /etc/
    . /jackal_ws/src/nav-competition-icra2022-drl-vo

%post -c /bin/bash
    ln -snf /usr/share/zoneinfo/US/Eastern /etc/localtime
    echo 'US/Eastern' > /etc/timezone 
    apt-get update 
    DEBIAN_FRONTEND=noninteractive apt-get install -q -y --no-install-recommends tzdata keyboard-configuration vim
    
    apt-get install -q -y --no-install-recommends lsb-release dirmngr gnupg2 python3-pip debconf-utils

    ln -s /usr/bin/python3 /usr/bin/python 
    ln -s /usr/include /include

    sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'

    apt install -y curl
    curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | apt-key add -
    curl -s https://packages.clearpathrobotics.com/public.key -O - | apt-key add -
    sh -c 'echo "deb https://packages.clearpathrobotics.com/stable/ubuntu $(lsb_release -cs) main" > /etc/apt/sources.list.d/clearpath-latest.list'
    curl -s https://raw.githubusercontent.com/clearpathrobotics/public-rosdistro/master/rosdep/50-clearpath.list -O /etc/ros/rosdep/sources.list.d/50-clearpath.list

    apt-get update 
    apt-get install -y ros-noetic-desktop-full
    
    source /opt/ros/noetic/setup.bash
    apt install -y python3-rosdep python3-rosinstall python3-rosinstall-generator python3-wstool build-essential
    rosdep init; rosdep update

    apt-get install -y ros-noetic-lms1xx
    apt-get install -y ros-noetic-rosserial
    apt-get install -y ros-noetic-rosserial-server
    apt-get install -y ros-noetic-nmea-msgs
    apt-get install -y ros-noetic-velodyne-simulator
    apt-get install -y ros-noetic-pointgrey-camera*
    apt-get install -y ros-noetic-controller-manager
    apt-get install -y ros-noetic-twist-mux
    apt-get install -y ros-noetic-teleop-twist-joy
    apt-get install -y ros-noetic-joint-state-controller
    apt-get install -y ros-noetic-diff-drive-controller
    apt-get install -y ros-noetic-robot-localization
    apt-get install -y ros-noetic-interactive-marker-twist-server 
    apt-get install -y ros-noetic-jackal*
    
    pip install torch==1.7.1+cu110 -f https://download.pytorch.org/whl/torch_stable.html
    pip install gym==0.18.0 pandas==1.2.1
    pip install stable-baselines3==1.1.0

    rm -rf /var/lib/apt/lists/*

    chmod -R u+rwx /jackal_ws
    cd /jackal_ws/src
    git clone https://github.com/jackal/jackal_desktop.git
    git clone https://github.com/jackal/jackal_robot.git 
    
    source /opt/ros/noetic/setup.bash
    cd ..
    catkin_make
    source /etc/.bashrc