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Dockerfile.tiago
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Dockerfile.tiago
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# Copyright (c) 2021 MID Academic Promotions, Inc.
# All rights reserved.
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions are met:
# * Redistributions of source code must retain the above copyright notice,
# this list of conditions and the following disclaimer.
# * Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in the
# documentation and/or other materials provided with the distribution.
# * Neither the name of Toyota Motor Corporation nor the names of its
# contributors may be used to endorse or promote products derived from
# this software without specific prior written permission.
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
FROM palroboticssl/tiago_tutorials:melodic
SHELL ["/bin/bash", "-c"]
ENV DEBIAN_FRONTEND noninteractive
RUN mkdir /robocup_ws
ADD src /robocup_ws/src
RUN cd /robocup_ws/src && source /opt/ros/$ROS_DISTRO/setup.bash && catkin_init_workspace || true
RUN cd /robocup_ws && rosinstall src /opt/ros/melodic https://raw.githubusercontent.com/pal-robotics/tiago_tutorials/kinetic-devel/tiago_public-melodic.rosinstall
RUN cd /robocup_ws && source /opt/ros/$ROS_DISTRO/setup.bash && rosdep update && rosdep install --from-paths src --ignore-src -r -y
RUN cd /robocup_ws && source /opt/ros/$ROS_DISTRO/setup.bash && catkin_make install -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/opt/ros/$ROS_DISTRO -DCATKIN_ENABLE_TESTING=0
RUN source /opt/ros/$ROS_DISTRO/setup.bash && rosrun tmc_gazebo_task_evaluators setup_score_widget
RUN mkdir -p /root/.pal && touch /root/.pal/pose.yaml
ADD entrypoint.sh /entrypoint.sh
ENTRYPOINT [ "/entrypoint.sh" ]
RUN apt-get update && apt-get install -y python-wheel && pip install -U --ignore-installed pyassimp supervisor supervisor_twiddler
ADD supervisord.conf.tiago /etc/supervisor/supervisord.conf
VOLUME [ \
"/opt/ros/melodic/share/tiago_description", \
"/opt/ros/melodic/share/pmb2_description", \
"/opt/ros/melodic/share/pal_gripper_description", \
"/opt/ros/melodic/share/pal_wsg_gripper_description", \
"/opt/ros/melodic/share/tmc_wrs_gazebo_worlds", \
"/opt/ros/melodic/share/gazebo_ros", \
"/opt/ros/melodic/lib/gazebo_ros", \
"/opt/ros/melodic/lib/python2.7/dist-packages/gazebo_ros", \
"/opt/ros/melodic/lib/python2.7/dist-packages/gazebo_msgs" \
]
CMD ["/usr/local/bin/supervisord", "-n", "-c", "/etc/supervisor/supervisord.conf"]