X-lanni
78 lines
2.5 KiB
Docker
78 lines
2.5 KiB
Docker
|
|
FROM ubuntu:24.04
|
|
|
|
ENV DEBIAN_FRONTEND=noninteractive
|
|
|
|
# Install ROS2
|
|
RUN apt update && \
|
|
apt install software-properties-common -y && \
|
|
add-apt-repository universe && \
|
|
apt update && \
|
|
apt install curl -y && \
|
|
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 $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null && \
|
|
apt-get clean && rm -rf /var/lib/apt/lists/
|
|
|
|
# Install build dependencies
|
|
RUN apt-get update && \
|
|
apt upgrade -y && \
|
|
apt-get install -y \
|
|
git \
|
|
wget \
|
|
libtbb-dev \
|
|
libproj-dev \
|
|
libpcl-dev \
|
|
liboctomap-dev \
|
|
libfreenect-dev \
|
|
ros-rolling-ros-base \
|
|
ros-dev-tools \
|
|
ros-rolling-cv-bridge \
|
|
ros-rolling-image-geometry \
|
|
ros-rolling-laser-geometry \
|
|
ros-rolling-pcl-conversions \
|
|
ros-rolling-rviz-common \
|
|
ros-rolling-rviz-rendering \
|
|
ros-rolling-rviz-default-plugins \
|
|
ros-rolling-pcl-ros \
|
|
ros-rolling-imu-filter-madgwick \
|
|
ros-rolling-image-transport \
|
|
ros-rolling-octomap-msgs \
|
|
ros-rolling-libg2o \
|
|
ros-rolling-gtsam \
|
|
ros-rolling-libpointmatcher \
|
|
ros-rolling-qt-gui-cpp \
|
|
ros-rolling-diagnostic-updater && \
|
|
apt-get clean && rm -rf /var/lib/apt/lists/
|
|
|
|
WORKDIR /root/
|
|
|
|
RUN rm /bin/sh && ln -s /bin/bash /bin/sh
|
|
|
|
RUN echo -e '#!/bin/bash\nset -e\n\n# setup ros2 environment\nsource "/opt/ros/rolling/setup.bash" --\nexec "$@"' > /ros_entrypoint.sh
|
|
RUN chmod +x /ros_entrypoint.sh
|
|
ENTRYPOINT [ "/ros_entrypoint.sh" ]
|
|
|
|
# ros2 seems not sourcing by default its multi-arch folders
|
|
ENV LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/opt/ros/rolling/lib/x86_64-linux-gnu
|
|
|
|
# For devcontainer
|
|
# remove ubuntu user
|
|
RUN touch /var/mail/ubuntu && chown ubuntu /var/mail/ubuntu && userdel -r ubuntu
|
|
|
|
RUN apt-get update && apt-get install -y sudo && \
|
|
apt-get clean && rm -rf /var/lib/apt/lists/
|
|
|
|
ARG USERNAME=vscode
|
|
ARG USER_UID=1000
|
|
ARG USER_GID=1000
|
|
|
|
RUN set -ex && \
|
|
groupadd --gid ${USER_GID} ${USERNAME} && \
|
|
useradd --uid ${USER_UID} --gid ${USER_GID} -m ${USERNAME} && \
|
|
usermod -a -G sudo ${USERNAME} && \
|
|
echo "${USERNAME} ALL=(ALL) NOPASSWD:ALL" > /etc/sudoers.d/${USERNAME} && \
|
|
chmod 0440 /etc/sudoers.d/${USERNAME}
|
|
|
|
RUN echo "source /usr/share/bash-completion/completions/git" >> /home/${USERNAME}/.bashrc
|
|
|