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Dockerfile
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FROM ros:galactic-ros-base
ENV DEBIAN_FRONTEND=noninteractive
# Necessary tools
RUN apt update \
&& apt install -y \
apt-utils \
wget
# Using non-official Gazebo + ROS combination, set it explicitly
ENV IGNITION_VERSION fortress
# Create project directory and import packages
RUN mkdir -p /tmp/buoy_ws/src \
&& cd /tmp/buoy_ws/src/ \
&& wget https://github.com/raw/osrf/buoy_entrypoint/main/buoy_all.yaml \
&& vcs import < buoy_all.yaml
# Install rosdep dependencies - this installs Gazebo and other packages
RUN sudo apt update \
&& cd /tmp/buoy_ws \
&& rosdep update \
&& rosdep install --from-paths src --ignore-src -r -y -i \
&& rm -rf /var/lib/apt/lists/* \
&& apt clean
# Build the project
RUN /bin/bash -c 'source /opt/ros/${ROS_DISTRO}/setup.bash \
&& cd /tmp/buoy_ws \
&& colcon build'
ENTRYPOINT ["/bin/bash" , "-c" , "source /tmp/buoy_ws/install/setup.bash && /bin/bash"]