m5p3nc3r
ec554bcf2c
Uses the mecanum controller properly across physical and virtual There is a timing issue with i2c which is why the control update is limited to 10hz The sonar and LED's arent yet working, this will come soon.
59 lines
1.6 KiB
Docker
59 lines
1.6 KiB
Docker
# FROM ros:kilted
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FROM osrf/ros:kilted-desktop-full
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ARG USERNAME=USERNAME
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ARG USER_UID=1000
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ARG USER_GID=$USER_UID
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# Delete user if it exists in container (e.g Ubuntu Noble: ubuntu)
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RUN if id -u $USER_UID ; then userdel `id -un $USER_UID` ; fi
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# Create the user
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RUN groupadd --gid $USER_GID $USERNAME \
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&& useradd --uid $USER_UID --gid $USER_GID -m $USERNAME \
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#
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# [Optional] Add sudo support. Omit if you don't need to install software after connecting.
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&& apt-get update \
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&& 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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RUN apt-get update && apt-get upgrade -y
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# C++ development tools
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RUN apt-get install -y \
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build-essential \
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cmake \
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gdb \
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clang \
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clang-format \
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clang-tidy \
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libboost-all-dev \
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xterm
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# Python development tools
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RUN apt-get install -y \
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python3-pip \
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python3-dev \
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python3-argcomplete \
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python3-colcon-common-extensions \
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python3-colcon-mixin \
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python3-rosdep \
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python3-vcstool \
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python3-smbus
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# ROS 2 ament build tools
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# RUN apt-get install -y \
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# ros-${ROS_DISTRO}-ament-cmake \
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# ros-${ROS_DISTRO}-ament-cmake-auto \
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# ros-${ROS_DISTRO}-ament-python \
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# ros-${ROS_DISTRO}-ament-lint-auto \
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# ros-${ROS_DISTRO}-ament-lint-common
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ENV SHELL /bin/bash
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# ********************************************************
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# * Anything else you want to do like clean up goes here *
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# ********************************************************
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# [Optional] Set the default user. Omit if you want to keep the default as root.
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USER $USERNAME
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CMD ["/bin/bash"] |