129 lines
4.5 KiB
Docker
129 lines
4.5 KiB
Docker
# FROM nvidia/cuda:11.7.1-devel-ubuntu22.04
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FROM ubuntu:jammy
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# FROM nvidia/cuda:11.1.1-cudnn8-devel-ubuntu20.04
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# FROM ubuntu:focal
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ENV DEBIAN_FRONTEND noninteractive
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RUN apt-get update && apt-get install --no-install-recommends -y \
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apt-utils \
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bzip2 \
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lbzip2 \
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tar \
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wget \
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libzbar0 \
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unzip \
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build-essential \
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zlib1g-dev \
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libcurl4-gnutls-dev \
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locales \
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curl \
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gnupg2 \
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lsb-release \
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ca-certificates \
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&& apt autoremove -y && apt clean -y \
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&& rm -rf /var/lib/apt/lists/*
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# https://index.ros.org/doc/ros2/Installation/Crystal/Linux-Install-Debians/
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ENV ROS_DISTRO=humble
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ENV LANG=C.UTF-8
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ENV LC_ALL=C.UTF-8
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RUN curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg \
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&& echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null
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RUN sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list' \
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&& wget https://packages.osrfoundation.org/gazebo.key -O - | apt-key add - \
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&& apt update && apt install --no-install-recommends -y \
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ros-${ROS_DISTRO}-ros-base \
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ros-${ROS_DISTRO}-rclcpp-cascade-lifecycle \
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ros-${ROS_DISTRO}-geographic-msgs \
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ros-${ROS_DISTRO}-camera-info-manager \
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ros-${ROS_DISTRO}-launch-testing-ament-cmake \
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ros-${ROS_DISTRO}-diagnostic-updater \
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ros-${ROS_DISTRO}-rviz2 \
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ros-${ROS_DISTRO}-gazebo-ros \
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ros-${ROS_DISTRO}-gazebo-ros-pkgs \
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ros-${ROS_DISTRO}-gazebo-msgs \
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ros-${ROS_DISTRO}-gazebo-plugins \
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ros-${ROS_DISTRO}-robot-state-publisher \
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ros-${ROS_DISTRO}-cv-bridge \
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ros-${ROS_DISTRO}-message-filters \
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ros-${ROS_DISTRO}-image-transport \
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ros-${ROS_DISTRO}-rqt* \
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ros-${ROS_DISTRO}-slam-toolbox \
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ros-${ROS_DISTRO}-navigation2 \
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ros-${ROS_DISTRO}-nav2-bringup \
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ros-${ROS_DISTRO}-behaviortree-cpp-v3 \
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ros-${ROS_DISTRO}-angles \
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ros-${ROS_DISTRO}-ompl \
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ros-${ROS_DISTRO}-turtlebot3* \
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ros-${ROS_DISTRO}-image-geometry \
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&& apt autoremove && apt clean -y \
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&& rm -rf /var/lib/apt/lists/*
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# Install ROS2 gazebo dependencies
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RUN apt update && apt-get install --no-install-recommends -y \
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libglvnd0 \
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libglx0 \
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libegl1 \
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libxext6 \
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libx11-6 \
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libblkid-dev \
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e2fslibs-dev \
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libboost-all-dev \
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libaudit-dev \
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git \
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nano \
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# ------------------------------
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&& apt autoremove && apt clean -y \
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&& rm -rf /var/lib/apt/lists/*
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RUN apt update && apt install --no-install-recommends -y \
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python3-dev \
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python3-pip \
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python3-colcon-common-extensions \
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&& pip3 install rosdep \
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&& rosdep init \
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&& rosdep update \
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&& apt autoremove && apt clean -y \
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&& rm -rf /var/lib/apt/lists/*
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# Or your actual UID, GID on Linux if not the default 1000
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ARG USERNAME=dev
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ARG USER_UID=1000
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ARG USER_GID=$USER_UID
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# Create a non-root user to use if preferred - see https://aka.ms/vscode-remote/containers/non-root-user.
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RUN groupadd --gid $USER_GID $USERNAME \
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&& useradd -s /bin/bash --uid $USER_UID --gid $USER_GID -m $USERNAME \
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# Add sudo support for non-root user
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&& apt-get update && apt-get install -y sudo \
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&& echo $USERNAME ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USERNAME \
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&& chmod 0440 /etc/sudoers.d/$USERNAME \
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&& apt-get autoremove && apt-get clean -y \
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&& rm -rf /var/lib/apt/lists/*
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RUN \
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mkdir -p /home/${USERNAME}/.ignition/fuel/ \
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&& echo "servers:\n -\n name: osrf\n url: https://api.ignitionrobotics.org" >> /home/${USERNAME}/.ignition/fuel/config.yaml \
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&& chown ${USERNAME} /home/${USERNAME}/.ignition \
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&& GAZEBO_SOURCE="source /usr/share/gazebo/setup.sh" \
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&& echo $GAZEBO_SOURCE >> "/home/${USERNAME}/.bashrc" \
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&& chown ${USERNAME} /home/${USERNAME}/.ignition
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# ROS2 source setup
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RUN ROS_SOURCE="source /opt/ros/${ROS_DISTRO}/setup.sh" \
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&& echo $ROS_SOURCE >> "/home/${USERNAME}/.bashrc"
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WORKDIR /workspace/ros_ws/src
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# Give permission to non-root user to access the workspace
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RUN chown -R ${USERNAME} /workspace/ros_ws
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RUN git clone https://github.com/charlielito/slam_gmapping.git --branch feature/namespace_launch
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ENV TURTLEBOT3_MODEL=waffle
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ENV GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:/opt/ros/${ROS_DISTRO}/share/turtlebot3_gazebo/models
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# Switch back to dialog for any ad-hoc use of apt-get
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ENV DEBIAN_FRONTEND=
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CMD ["/bin/bash"] |