Add container that can be run on a remote machine to move the robot

2026-05-28 22:21:44 +00:00
parent c6d02bbe43
commit 949c763968
7 changed files with 248 additions and 1 deletions
@@ -0,0 +1,21 @@
+ARG ROS_DISTRO=kilted
+FROM ros:${ROS_DISTRO}-ros-base
+ARG ROS_DISTRO
+
+RUN apt-get update && apt-get install -y --no-install-recommends \
+        ros-${ROS_DISTRO}-teleop-twist-keyboard \
+        ros-${ROS_DISTRO}-teleop-twist-joy \
+    && rm -rf /var/lib/apt/lists/*
+
+COPY src/fastdds_wifi.xml /fastdds_wifi.xml
+COPY src/teleop-keyboard  /usr/local/bin/teleop-keyboard
+COPY src/teleop-joystick  /usr/local/bin/teleop-joystick
+RUN chmod +x /usr/local/bin/teleop-keyboard /usr/local/bin/teleop-joystick
+
+RUN echo '#!/bin/bash'                                         > /entrypoint.sh \
+ && echo 'set -e'                                             >> /entrypoint.sh \
+ && echo "source /opt/ros/${ROS_DISTRO}/setup.bash"           >> /entrypoint.sh \
+ && echo 'exec "$@"'                                          >> /entrypoint.sh \
+ && chmod +x /entrypoint.sh
+
+ENTRYPOINT ["/entrypoint.sh"]