59 lines
2.3 KiB
Docker
59 lines
2.3 KiB
Docker
ARG ROS_DISTRO=galactic
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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 ${WS_DIR}
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### Install Gazebo
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ARG IGNITION_VERSION=fortress
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ENV IGNITION_VERSION=${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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### Import and install dependencies, then build these dependencies (not ign_moveit2_examples yet)
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COPY ./drawing_robot_ros2.repos ${WS_SRC_DIR}/ign_moveit2_examples/drawing_robot_ros2.repos
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RUN vcs import --recursive --shallow ${WS_SRC_DIR} < ${WS_SRC_DIR}/ign_moveit2_examples/drawing_robot_ros2.repos && \
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rosdep update && \
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apt-get update && \
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rosdep install -y -r -i --rosdistro "${ROS_DISTRO}" --from-paths ${WS_SRC_DIR} && \
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rm -rf /var/lib/apt/lists/* && \
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source "/opt/ros/${ROS_DISTRO}/setup.bash" && \
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colcon build --merge-install --symlink-install --cmake-args "-DCMAKE_BUILD_TYPE=Release" && \
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rm -rf ${WS_LOG_DIR}
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### Copy over the rest of ign_moveit2_examples, then install dependencies and build
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COPY ./ ${WS_SRC_DIR}/ign_moveit2_examples/
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RUN rosdep update && \
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apt-get update && \
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rosdep install -y -r -i --rosdistro "${ROS_DISTRO}" --from-paths ${WS_SRC_DIR} && \
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rm -rf /var/lib/apt/lists/* && \
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source "/opt/ros/${ROS_DISTRO}/setup.bash" && \
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colcon build --merge-install --symlink-install --cmake-args "-DCMAKE_BUILD_TYPE=Release" && \
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rm -rf ${WS_LOG_DIR}
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### Copy code built on top of example ign_moveit2_examples
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# TODO clean build process
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COPY ./src/* ${WS_SRC_DIR}/
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RUN rosdep update && \
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apt-get update && \
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rosdep install -y -r -i --rosdistro "${ROS_DISTRO}" --from-paths ${WS_SRC_DIR} && \
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rm -rf /var/lib/apt/lists/* && \
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source "/opt/ros/${ROS_DISTRO}/setup.bash" && \
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colcon build --merge-install --symlink-install --cmake-args "-DCMAKE_BUILD_TYPE=Release" && \
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rm -rf ${WS_LOG_DIR}
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### Add workspace to the ROS entrypoint
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### Source ROS workspace inside `~/.bashrc` to enable autocompletion
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RUN sed -i '$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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