47 lines
1.8 KiB
Plaintext
47 lines
1.8 KiB
Plaintext
FROM ros:humble-ros-base-jammy
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ARG DEBIAN_FRONTEND=noninteractive
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# Set the working directory to /project
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WORKDIR /project/
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# Update and install basic tools
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RUN apt-get update && apt-get upgrade -y
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RUN apt-get update && apt-get install -y --no-install-recommends git nano wget
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RUN apt-get update && apt-get install -y --no-install-recommends python3-pip
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RUN pip3 install --upgrade pip
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# Fix ros package building error
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RUN pip3 install --no-cache-dir "setuptools<=58.2.0"
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# Add ROS2 sourcing by default
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RUN echo "source /opt/ros/humble/setup.bash" >> ~/.bashrc
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# Create ROS2 workspace for project packages
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RUN mkdir -p /project/dev_ws/src/
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RUN cd /project/dev_ws/; colcon build
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RUN echo "source /project/dev_ws/install/setup.bash" >> ~/.bashrc
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# Copy modules
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COPY ./extras/include/ /RapidPoseTriangulation/extras/include/
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COPY ./rpt/ /RapidPoseTriangulation/rpt/
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COPY ./extras/ros/rpt_msgs/ /RapidPoseTriangulation/extras/ros/rpt_msgs/
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COPY ./extras/ros/rpt3d_wrapper_cpp/ /RapidPoseTriangulation/extras/ros/rpt3d_wrapper_cpp/
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COPY ./extras/ros/transform_publisher/ /RapidPoseTriangulation/extras/ros/transform_publisher/
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# Link and build as ros package
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RUN ln -s /RapidPoseTriangulation/extras/ros/rpt_msgs/ /project/dev_ws/src/
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RUN ln -s /RapidPoseTriangulation/extras/ros/rpt3d_wrapper_cpp/ /project/dev_ws/src/
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RUN ln -s /RapidPoseTriangulation/extras/ros/transform_publisher/ /project/dev_ws/src/
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RUN /bin/bash -i -c 'cd /project/dev_ws/; colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release'
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# Update ros packages -> autocompletion and check
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RUN /bin/bash -i -c 'ros2 pkg list'
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# Clear cache to save space, only has an effect if image is squashed
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RUN apt-get autoremove -y \
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&& apt-get clean \
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&& rm -rf /var/lib/apt/lists/*
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WORKDIR /RapidPoseTriangulation/
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CMD ["/bin/bash"]
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