Isolate dataset (#4)

* Add missing dependencies

* remove bop from tester image and instead mount it

* add necessary BOP_PATH env

* fixup env path for example

Author: tfoote

Dockerfile.tester

@@ -10,8 +10,6 @@ ENV RMW_IMPLEMENTATION=rmw_zenoh_cpp
 # underlay stage: base + dependencies built
 FROM base AS underlay
 
-ARG BOP_PATH
-
 ADD ibpc_interfaces /opt/ros/underlay/src/ibpc_interfaces
 
 RUN . /opt/ros/jazzy/setup.sh \
@@ -22,8 +20,6 @@ RUN . /opt/ros/jazzy/setup.sh \
     --event-handlers=console_direct+ \
     --merge-install
 
-ADD ${BOP_PATH} /opt/ros/underlay/install/datasets
-
 FROM underlay AS overlay
 
 # TODO(Yadunund): Remove this step after next Jazzy sync.
@@ -61,9 +57,12 @@ RUN apt update \
     && echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2-testing/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
 
 RUN apt-get update \
-    &&  apt install -y ros-jazzy-rmw-zenoh-cpp \
+    &&  apt install -y ros-jazzy-rmw-zenoh-cpp python3-imageio python3-png python3-pip python3-scipy \
     && rm -rf /var/lib/apt/lists/*
 
+# TODO remove deprecated pytz usage
+RUN python3 -m pip install pytz --break-system-packages
+
 COPY --from=overlay /opt/ros/underlay/install /opt/ros/underlay/install
 COPY --from=overlay /opt/ros/overlay/install /opt/ros/overlay/install
 

README.md

@@ -98,7 +98,8 @@ ros2 run ibpc_tester ibpc_tester --ros-args -p datset_name:=<DATASET_NAME>
 
 #### With Docker
 ```bash
-docker run --network=host ibpc:tester
+docker run --network=host -e BOP_PATH=/opt/ros/underlay/install/datasets -v/home/tullyfoote/ws/ibpc/lm:/opt/ros/underlay/install/datasets/lm -it ibpc:tester 
+
 ```
 
 #### Query the pose estimator directly