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FROM osrf/ros:melodic-desktop-full-bionic
LABEL maintainer="Yue Erro <[email protected]>"
ARG REPO_WS=/tiago_public_ws
RUN mkdir -p $REPO_WS/src
WORKDIR $REPO_WS
RUN apt-get update && apt-get install -y --no-install-recommends \
apt-utils \
libv4l-dev \
libv4l2rds0 \
git \
wget \
vim \
locales \
dpkg \
ssh \
curl \
aptitude \
g++ \
gcc \
openvpn \
gnupg \
bash-completion \
vim-gnome \
nano \
psmisc \
ccache \
gdb \
qtcreator \
htop \
man \
meld \
silversearcher-ag \
terminator \
tig \
valgrind \
iputils-ping \
ipython \
python-scipy \
python-wstool \
python-networkx \
python-pip \
python3-vcstool \
python-rosinstall \
python-catkin-tools \
&& rm -rf /var/lib/apt/lists/* \
&& wget https://raw.githubusercontent.com/pal-robotics/tiago_tutorials/kinetic-devel/tiago_public-melodic.rosinstall \
&& vcs import src < tiago_public-melodic.rosinstall
ARG ROSDEP_IGNORE="opencv2 opencv2-nonfree pal_laser_filters speed_limit_node sensor_to_cloud hokuyo_node libdw-dev python-graphitesend-pip python-statsd pal_filters pal_vo_server pal_usb_utils pal_pcl pal_pcl_points_throttle_and_filter pal_karto pal_local_joint_control camera_calibration_files pal_startup_msgs pal-orbbec-openni2 dummy_actuators_manager pal_local_planner gravity_compensation_controller current_limit_controller dynamic_footprint dynamixel_cpp tf_lookup opencv3 omni_drive_controller pal_moveit_plugins pal_moveit_capabilities"
RUN apt-get update && rosdep install --from-paths src --ignore-src -y --rosdistro melodic --skip-keys="${ROSDEP_IGNORE}"
RUN bash -c "source /opt/ros/melodic/setup.bash \
&& catkin build -DCATKIN_ENABLE_TESTING=0 -j $(expr `nproc` / 2) \
&& echo 'source $REPO_WS/devel/setup.bash' >> ~/.bashrc"
ENTRYPOINT [ "bash", "--init-file", "/opt/ros/melodic/setup.bash" ]