From 66e0cec7eb804cc709c8ed7c2a3512a94f9e7741 Mon Sep 17 00:00:00 2001
From: Anniebhalla16 <anniebhalla16@gmail.com>
Date: Tue, 25 Mar 2025 18:50:07 +0100
Subject: [PATCH] feat: dockerfile

---
 khronos_ros/Dockerfile | 100 +++++++++++++++++++++++++++++++++++++++++
 1 file changed, 100 insertions(+)
 create mode 100644 khronos_ros/Dockerfile

diff --git a/khronos_ros/Dockerfile b/khronos_ros/Dockerfile
new file mode 100644
index 0000000..88f0bda
--- /dev/null
+++ b/khronos_ros/Dockerfile
@@ -0,0 +1,100 @@
+# Use the official ROS Noetic base image
+FROM osrf/ros:noetic-desktop
+
+# Set environment variables
+ENV DEBIAN_FRONTEND=noninteractive
+
+# Install necessary dependencies
+RUN apt-get update && \
+    apt-get install -y \
+    git \
+    xauth \
+    x11-apps \
+    nano \
+    cmake \
+    python3-catkin-tools \
+    python3-vcstool \
+    python3-tk \
+    libepoxy-dev \
+    ros-noetic-tf2-eigen \
+    qtbase5-dev \
+    libpcl-dev \
+    libgoogle-glog-dev \
+    ros-noetic-tf2-eigen \
+    build-essential \
+    nlohmann-json3-dev
+#    rm -rf /var/lib/apt/lists/*
+
+# Ensure .Xauthority exists and set correct permissions
+RUN touch ~/.Xauthority && \
+    ls -la ~/.Xauthority && \
+    chmod 644 ~/.Xauthority
+
+# Initialize rosdep if not already initialized
+RUN if [ ! -f /etc/ros/rosdep/sources.list.d/20-default.list ]; then \
+    rosdep init && rosdep fix-permissions &&  rosdep update; \
+    else \
+    rosdep fix-permissions && rosdep update; \
+    fi
+
+# Create and initialize the Khronos workspace
+RUN mkdir -p ~/khronos_ws/src
+WORKDIR /root/khronos_ws
+
+# Initialize catkin workspace with configuration
+RUN /bin/bash -c "source /opt/ros/noetic/setup.bash && \
+    catkin init && \
+    catkin config --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo -DGTSAM_TANGENT_PREINTEGRATION=OFF -DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF -DOPENGV_BUILD_WITH_MARCH_NATIVE=OFF && \
+    catkin config --extend /opt/ros/noetic"
+
+RUN cd ~/khronos_ws/src && \
+    git clone https://github.com/MIT-SPARK/Khronos.git khronos
+
+WORKDIR /root/khronos_ws/src
+
+#RUN sed -i '1i\
+#- git:\n    local-name: gtsam\n    uri: https://github.com/borglab/gtsam.git\n    version: develop\n' /root/khronos_ws/src/khronos/install/https.rosinstall
+
+# USE VCS TO INSTALL PACKAGES FROM HTTPS.ROSINSTALL
+
+RUN vcs import . < ~/khronos_ws/src/khronos/install/https.rosinstall
+
+RUN rm -rf /khronos_ws/src/pangolin
+
+RUN sudo apt-get update
+
+WORKDIR /root/khronos_ws
+RUN rosdep update &&  rosdep fix-permissions && \
+          rosdep install --from-paths src --ignore-src -r -y
+
+# [Fix] Error: GTSAM was built against a different version of Eigen 
+RUN rm -rf ~/khronos_ws/src/gtsam && apt update && apt install ros-noetic-gtsam
+
+# [Fix] :
+# Errors << kimera_vio_ros:make /catkin_ws/logs/kimera_vio_ros/build.make.000.log
+# /usr/bin/ld: cannot find -lpango_core
+# /usr/bin/ld: cannot find -lpango_display
+# /usr/bin/ld: cannot find -lpango_geometry
+# ......
+WORKDIR /root/
+RUN git clone --recursive https://github.com/stevenlovegrove/Pangolin.git
+
+RUN cd /root/Pangolin
+RUN yes | /root/Pangolin/scripts/install_prerequisites.sh required
+
+RUN sudo apt-get update
+RUN yes | sudo apt-get install python3-pip
+
+WORKDIR /root/Pangolin
+RUN mkdir build && \
+    cd build && \
+    cmake .. && \
+    make && \
+    make install
+
+RUN cd ~/khronos_ws && \
+   catkin build khronos_ros
+
+WORKDIR /root/khronos_ws/
+
+CMD ["/bin/bash"]