m-explore-ros2/.devcontainer/Dockerfile

129 lines
4.5 KiB
Docker

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