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Add custom xarm packages

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This commit is contained in:
Nicolas Hiillos
2023-03-21 13:33:51 +02:00
parent 1763aee9ca
commit e42e0fea90
176 changed files with 13024 additions and 6 deletions
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@@ -64,12 +64,15 @@ RUN source "/opt/ros/${ROS_DISTRO}/setup.bash" && \
# Build lite6 and xarm packages
COPY ./src/lite6_controller ${WS_SRC_DIR}/lite6_controller
COPY ./src/custom_xarm_description ${WS_SRC_DIR}/custom_xarm_description
COPY ./src/custom_xarm_moveit_config ${WS_SRC_DIR}/custom_xarm_moveit_config
COPY ./src/custom_xarm_gazebo ${WS_SRC_DIR}/custom_xarm_gazebo
RUN apt-get update
RUN source "/opt/ros/${ROS_DISTRO}/setup.bash" && \
vcs import --recursive --shallow ${WS_SRC_DIR} < ${WS_SRC_DIR}/lite6_controller/lite6_controller.repos && \
mv ${WS_SRC_DIR}/xarm_ros2/xarm* ${WS_SRC_DIR} && \
rosdep install -y -r -i --rosdistro "${ROS_DISTRO}" --from-paths ${WS_SRC_DIR}/xarm_* && \
colcon build --merge-install --symlink-install --cmake-args "-DCMAKE_BUILD_TYPE=Release" --paths ${WS_SRC_DIR}/xarm_* ${WS_SRC_DIR}/lite6_controller && \
colcon build --merge-install --symlink-install --cmake-args "-DCMAKE_BUILD_TYPE=Release" --paths ${WS_SRC_DIR}/xarm_* ${WS_SRC_DIR}/lite6_controller ${WS_SRC_DIR}/custom_xarm_description ${WS_SRC_DIR}/custom_xarm_moveit_config ${WS_SRC_DIR}/custom_xarm_gazebo && \
rm -rf ${WS_LOG_DIR}
# Copy example svg images