89 lines
3.8 KiB
Docker
89 lines
3.8 KiB
Docker
ARG ROS_DISTRO=humble
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FROM ros:${ROS_DISTRO}-ros-base
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### Use bash by default
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SHELL ["/bin/bash", "-c"]
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### Define working directory
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ARG WS_DIR=/root/ws
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ENV WS_DIR=${WS_DIR}
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ENV WS_SRC_DIR=${WS_DIR}/src
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ENV WS_INSTALL_DIR=${WS_DIR}/install
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ENV WS_LOG_DIR=${WS_DIR}/log
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WORKDIR ${WS_DIR}
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COPY config.yaml ${WS_DIR}/
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### Install Gazebo
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ARG IGNITION_VERSION=fortress
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ENV IGNITION_VERSION=${IGNITION_VERSION}
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RUN apt-get update && \
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apt-get install -yq --no-install-recommends \
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ignition-${IGNITION_VERSION} && \
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rm -rf /var/lib/apt/lists/*
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### Install extra dependencies
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RUN apt-get update && \
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apt-get install -yq python3-pil.imagetk && \
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apt-get install -yq ros-${ROS_DISTRO}-pilz-industrial-motion-planner && \
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apt-get install -yq tmux && \
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apt-get install -yq nano && \
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apt-get install -yq vim && \
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apt-get install -yq less && \
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apt-get install -yq python3-pip && \
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apt-get install -yq ros-${ROS_DISTRO}-desktop && \
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apt-get install -yq ros-${ROS_DISTRO}-rclcpp-components
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### Install AxiDraw
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#RUN apt-get update && \
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# apt-get install -yq python3-pip && \
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# pip install --upgrade --upgrade-strategy eager packaging && \
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# pip install https://cdn.evilmadscientist.com/dl/ad/public/AxiDraw_API.zip --upgrade --upgrade-strategy eager
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### Install splipy
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#RUN apt-get update && \
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# apt-get install -yq python3-pip && \
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# pip install --upgrade --upgrade-strategy eager splipy
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# Build interfaces and generic controller first
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COPY ./src/robot_interfaces ${WS_SRC_DIR}/robot_interfaces
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COPY ./src/robot_controller ${WS_SRC_DIR}/robot_controller
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RUN apt-get update
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RUN source "/opt/ros/${ROS_DISTRO}/setup.bash" && \
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colcon build --merge-install --symlink-install --cmake-args "-DCMAKE_BUILD_TYPE=Release" --paths ${WS_SRC_DIR}/robot_interfaces ${WS_SRC_DIR}/robot_controller && \
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rm -rf ${WS_LOG_DIR}
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# Build packages
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COPY ./src/drawing_controller ${WS_SRC_DIR}/drawing_controller
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COPY ./src/axidraw_controller ${WS_SRC_DIR}/axidraw_controller
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COPY ./src/virtual_drawing_surface ${WS_SRC_DIR}/virtual_drawing_surface
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RUN pip install -r ${WS_SRC_DIR}/drawing_controller/requirements.txt
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RUN pip install -r ${WS_SRC_DIR}/axidraw_controller/requirements.txt
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RUN pip install -r ${WS_SRC_DIR}/virtual_drawing_surface/requirements.txt
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RUN apt-get update
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RUN source "/opt/ros/${ROS_DISTRO}/setup.bash" && \
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source "${WS_INSTALL_DIR}/local_setup.bash" && \
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colcon build --merge-install --symlink-install --cmake-args "-DCMAKE_BUILD_TYPE=Release" --paths ${WS_SRC_DIR}/drawing_controller ${WS_SRC_DIR}/axidraw_controller ${WS_SRC_DIR}/virtual_drawing_surface && \
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rm -rf ${WS_LOG_DIR}
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# Build lite6 and xarm packages
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COPY ./src/lite6_controller ${WS_SRC_DIR}/lite6_controller
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COPY ./src/custom_xarm_description ${WS_SRC_DIR}/custom_xarm_description
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COPY ./src/custom_xarm_moveit_config ${WS_SRC_DIR}/custom_xarm_moveit_config
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COPY ./src/custom_xarm_gazebo ${WS_SRC_DIR}/custom_xarm_gazebo
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RUN apt-get update
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RUN source "/opt/ros/${ROS_DISTRO}/setup.bash" && \
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vcs import --recursive --shallow ${WS_SRC_DIR} < ${WS_SRC_DIR}/lite6_controller/lite6_controller.repos && \
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mv ${WS_SRC_DIR}/xarm_ros2/xarm* ${WS_SRC_DIR} && \
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rosdep install -y -r -i --rosdistro "${ROS_DISTRO}" --from-paths ${WS_SRC_DIR}/xarm_* && \
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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 && \
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rm -rf ${WS_LOG_DIR}
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# Copy example svg images
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COPY ./svg test-images
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### Add workspace to the ROS entrypoint
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### Source ROS workspace inside `~/.bashrc` to enable autocompletion
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RUN sed -i '$i source "${WS_INSTALL_DIR}/local_setup.bash" --' /ros_entrypoint.sh && \
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sed -i '$a source "/opt/ros/${ROS_DISTRO}/setup.bash"' ~/.bashrc
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