67 lines
2.1 KiB
Docker
67 lines
2.1 KiB
Docker
|
FROM osrf/ros:humble-desktop
|
||
|
|
|
||
|
|
ARG DEBIAN_FRONTEND=noninteractive
|
||
|
|
|
||
|
|
ARG USER_UID=1001
|
||
|
|
ARG USER_GID=1001
|
||
|
|
ARG USERNAME=user
|
||
|
|
|
||
|
|
WORKDIR /workspaces
|
||
|
|
|
||
|
|
RUN groupadd --gid $USER_GID $USERNAME \
|
||
|
|
&& useradd --uid $USER_UID --gid $USER_GID -m $USERNAME \
|
||
|
|
&& mkdir -p -m 0700 /run/user/"${USER_UID}" \
|
||
|
|
&& mkdir -p -m 0700 /run/user/"${USER_UID}"/gdm \
|
||
|
|
&& chown user:user /run/user/"${USER_UID}" \
|
||
|
|
&& chown user:user /workspaces \
|
||
|
|
&& chown user:user /run/user/"${USER_UID}"/gdm \
|
||
|
|
# [Optional] Add sudo support. Omit if you don't need to install software after connecting.
|
||
|
|
&& apt-get update \
|
||
|
|
&& apt-get install -y sudo \
|
||
|
|
&& echo $USERNAME ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USERNAME \
|
||
|
|
&& chmod 0440 /etc/sudoers.d/$USERNAME
|
||
|
|
|
||
|
|
RUN apt-get update && \
|
||
|
|
DEBIAN_FRONTEND=noninteractive apt-get install -y --no-install-recommends \
|
||
|
|
ros-humble-hardware-interface \
|
||
|
|
ros-humble-generate-parameter-library \
|
||
|
|
ros-humble-xacro \
|
||
|
|
ros-humble-controller-interface \
|
||
|
|
ros-humble-realtime-tools \
|
||
|
|
ros-humble-ros2-control-test-assets \
|
||
|
|
ros-humble-controller-manager \
|
||
|
|
ros-humble-joint-state-publisher-gui \
|
||
|
|
ros-humble-control-msgs \
|
||
|
|
ros-humble-gazebo-ros \
|
||
|
|
ros-humble-control-toolbox \
|
||
|
|
ros-humble-ackermann-msgs \
|
||
|
|
ros-humble-ament-cmake \
|
||
|
|
ros-humble-ament-cmake-clang-format \
|
||
|
|
ros-humble-moveit \
|
||
|
|
ros-humble-joint-state-broadcaster \
|
||
|
|
libignition-gazebo6-dev \
|
||
|
|
ros-humble-joint-trajectory-controller \
|
||
|
|
libpoco-dev \
|
||
|
|
libeigen3-dev \
|
||
|
|
ament-cmake-clang-tidy \
|
||
|
|
&& rm -rf /var/lib/apt/lists/*
|
||
|
|
|
||
|
|
ENV XDG_RUNTIME_DIR=/run/user/"${USER_UID}"
|
||
|
|
|
||
|
|
RUN mkdir ~/source_code
|
||
|
|
RUN cd ~/source_code && git clone https://github.com/frankaemika/libfranka.git \
|
||
|
|
&& cd libfranka \
|
||
|
|
&& git switch fr3-develop \
|
||
|
|
&& git submodule init \
|
||
|
|
&& git submodule update \
|
||
|
|
&& mkdir build && cd build \
|
||
|
|
&& cmake -DBUILD_EXAMPLES=OFF -DBUILD_TESTS=OFF .. \
|
||
|
|
&& make franka -j$(nproc) \
|
||
|
|
&& cpack -G DEB \
|
||
|
|
&& sudo dpkg -i libfranka*.deb
|
||
|
|
|
||
|
|
# set the default user to the newly created user
|
||
|
|
USER $USERNAME
|
||
|
|
|
||
|
|
RUN echo 'source "/opt/ros/$ROS_DISTRO/setup.bash"' >>~/.bashrc
|