#
# Container for the OpenCog-based Hanson Robotics Eva robot.
# This is the whole kit-n-kaboodle. Under development, probably
# broken.
#
# To build:
# sudo docker build -t opencog/eva-opencog .
#
FROM opencog/ros-incog-blender
MAINTAINER Linas Vepštas "linasvepstas@gmail.com"
# Install required packages
ENV LAST_OS_UPDATE 2015-02-16
RUN apt-get -y update
RUN apt-get -y upgrade
# The perception node needs ros-indigo-dynamixel-msgs and
# the joint/robot-state publishers
RUN apt-get -y install ros-indigo-tf ros-indigo-driver-common \
ros-indigo-cv-bridge ros-indigo-image-transport \
ros-indigo-openni-camera ros-indigo-mjpeg-server \
ros-indigo-usb-cam \
ros-indigo-dynamixel-msgs \
ros-indigo-robot-state-publisher \
ros-indigo-joint-state-publisher
# Install catkinized packages
WORKDIR /catkin_ws/src
RUN git clone https://github.com/hansonrobotics/pi_vision.git
RUN git clone https://github.com/hansonrobotics/perception.git
RUN git clone https://github.com/hansonrobotics/blender_api_msgs.git
RUN git clone https://github.com/hansonrobotics/blender_api.git
# The pau2motors package defines the PAU messages, which are
# needed by the perception (vision-geometry) module.
RUN git clone https://github.com/hansonrobotics/pau2motors.git
RUN git clone https://github.com/hansonrobotics/robots_config.git
# The OpenCog github account mirrors all of the Hanson Robotics
# software. At this time, the two are in sync with each-other.
# RUN git clone https://github.com/opencog/pi_vision.git
# RUN git clone https://github.com/opencog/perception.git
# RUN git clone https://github.com/opencog/blender_api_msgs.git
# RUN git clone https://github.com/opencog/blender_api.git
# RUN git clone https://github.com/opencog/pau2motors.git
# RUN git clone https://github.com/opencog/robots_config.git
RUN cd /opencog && git clone https://github.com/opencog/ros-behavior-scripting.git
# Change line below on rebuild. Will use cache up to this line
ENV LAST_SOFTWARE_UPDATE 2016-03-01
# Git pull for all OpenCog packages
RUN cd /opencog/ && find . -maxdepth 1 -mindepth 1 -type d \
-execdir git --git-dir=$PWD/{}/.git --work-tree=$PWD/{} pull \;
### RUN cd /opencog/ros-behavior-scripting && git pull https://github.com/linas/ros-behavior-scripting +lookie:master
# Make sure we really have the lastest chatbot scripts
RUN (cd /opencog/opencog/build; cmake ..; make install)
# Install the behaviors as a module.
RUN (mkdir /opencog/ros-behavior-scripting/build; \
cd /opencog/ros-behavior-scripting/build; \
cmake ..; make install)
# Pre-compile the guile modules.
RUN (bash -l -c "echo \"(use-modules (opencog eva-model))\" | guile ")
RUN (bash -l -c "echo \"(use-modules (opencog eva-behvaior))\" | guile ")
# Git pull for all ROS packages
RUN cd /catkin_ws/src/ && find . -maxdepth 1 -mindepth 1 -type d \
-execdir git --git-dir=$PWD/{}/.git --work-tree=$PWD/{} pull \;
# The blender API has not been fully catkinized yet.
RUN pip3 install ./blender_api_msgs/
# Some versions of ros_pololu_server will fail during build; the
# work-around for this is to build twice (This because the missing
# files are autogened, and the pololu Cmakefiles fail to list them as
# dependencies.)
WORKDIR /catkin_ws
RUN bash -l -c "/opt/ros/indigo/bin/catkin_make" || true
RUN bash -l -c "/opt/ros/indigo/bin/catkin_make"
RUN echo source /catkin_ws/devel/setup.bash >> ~/.bashrc
COPY /scripts/eva.sh /catkin_ws/eva.sh
# Ports exposed
# 11311 is roscore
# EXPOSE 11311
# 4444 is the relex parse server
# EXPOSE 4444
ENTRYPOINT bash -l -c "./eva.sh; bash"