39 lines
1.0 KiB
Docker
39 lines
1.0 KiB
Docker
# Use ROS 2 Humble Hawksbill base image
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FROM osrf/ros:humble-desktop-full-jammy
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# Update and install dependencies
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RUN apt-get update && apt-get install -y \
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python3-colcon-common-extensions python3-pip \
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ros-humble-xacro \
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ros-humble-hardware-interface \
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ros-humble-controller-interface \
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ros-humble-joy \
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ros-humble-teleop-twist-joy
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COPY requirements.txt ./
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RUN pip install --no-cache-dir -r requirements.txt
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# Create a workspace
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WORKDIR /ros2_ws
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# Copy your ROS 2 package into the workspace
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COPY ./src /ros2_ws/src
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# get all the ros dependencies
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RUN rosdep update && rosdep install --ignore-src --from-paths src -y
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# remove unnecessary pkgs
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RUN rm -rf /var/lib/apt/lists/*
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# Build your package
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RUN . /opt/ros/humble/setup.sh && \
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colcon build
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RUN echo "source /opt/ros/humble/setup.bash" >> ~/.bashrc
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ENV PATH="/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/opt/ros/humble/bin"
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# Source the workspace
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RUN echo "source install/setup.bash" >> /root/.bashrc
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CMD ["/bin/bash"]
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