-
Notifications
You must be signed in to change notification settings - Fork 0
/
Dockerfile
85 lines (64 loc) · 2.5 KB
/
Dockerfile
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
# This is adapted from an auto generated Dockerfile for ros:ros-core
# generated from docker_images/create_ros_core_image.Dockerfile.em
FROM ubuntu:xenial
# install packages
RUN apt-get update && apt-get install -q -y --no-install-recommends \
dirmngr \
gnupg2 \
&& rm -rf /var/lib/apt/lists/*
# setup keys
RUN apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-keys C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
# setup sources.list
RUN echo "deb http://packages.ros.org/ros/ubuntu xenial main" > /etc/apt/sources.list.d/ros1-latest.list
# setup environment
ENV LANG C.UTF-8
ENV LC_ALL C.UTF-8
ENV ROS_DISTRO kinetic
# install core ros packages
RUN apt-get update && apt-get install -y --no-install-recommends \
ros-kinetic-ros-core=1.3.2-0* \
&& rm -rf /var/lib/apt/lists/*
# install bootstrap tools
RUN apt-get update && apt-get install --no-install-recommends -y \
build-essential \
python-rosdep \
python-rosinstall \
python-vcstools \
&& rm -rf /var/lib/apt/lists/*
# bootstrap rosdep
RUN rosdep init && \
rosdep update --rosdistro $ROS_DISTRO
# install base ros packages
RUN apt-get update && apt-get install -y --no-install-recommends \
ros-kinetic-ros-base=1.3.2-0* \
&& rm -rf /var/lib/apt/lists/*
# install robot ros packages
RUN apt-get update && apt-get install -y --no-install-recommends \
ros-kinetic-robot=1.3.2-0* \
&& rm -rf /var/lib/apt/lists/*
# install further tf2 dependencies
RUN apt-get update && sudo apt-get install -y ros-kinetic-geometry2
# install rviz
RUN apt-get update && sudo apt-get install -y ros-kinetic-rviz
# install cv-bridge
RUN apt-get update && sudo apt-get install -y ros-kinetic-cv-bridge
# install pcl
RUN apt-get update && sudo apt-get install -y ros-kinetic-pcl-ros
# install image-geometry
RUN apt-get update && sudo apt-get install -y ros-kinetic-image-geometry
# install image proc
RUN apt-get update && sudo apt-get install -y ros-kinetic-image-proc
# install compilers
RUN sudo apt update; sudo apt install -y gcc; sudo apt install -y g++
ENV GCC /usr/bin/gcc
RUN sudo apt update && sudo apt upgrade -y cmake
# protofbuf_catkin dependency
RUN sudo apt-get update && sudo apt-get install -y libtool
# install Voxblox dependencies
RUN apt-get update
RUN ["/bin/bash", "-c", "sudo apt-get install -y python-wstool python-catkin-tools ros-kinetic-cmake-modules protobuf-compiler autoconf"]
# setup entrypoint
COPY ./ros_entrypoint.sh /
RUN chmod +x ros_entrypoint.sh
ENTRYPOINT ["/ros_entrypoint.sh"]
CMD ["bash"]