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