ellensohn/ros2_docker_template
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Update my_example.Dockerfile

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bjoernellens1 2023-10-23 13:28:29 +02:00 committed by GitHub
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docker/my_example.Dockerfile
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@ -24,13 +24,10 @@ RUN source /opt/ros/${ROS_DISTRO}/setup.bash \
&& apt-get update -y \ && apt-get update -y \
&& apt-get install -y --no-install-recommends \ && apt-get install -y --no-install-recommends \
ros-${ROS_DISTRO}-turtlesim \ ros-${ROS_DISTRO}-turtlesim \
ros-${ROS_DISTRO}-rqt ros-${ROS_DISTRO}-rqt\
#&& rosdep install --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} -y
RUN source /opt/ros/${ROS_DISTRO}/setup.bash \
&& colcon build --symlink-install \
&& rosdep install --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} -y && rosdep install --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} -y
RUN source /opt/ros/${ROS_DISTRO}/setup.bash \
#ENV UNDERLAY_WS=/base_ws && colcon build --symlink-install
# Set up the entrypoint # Set up the entrypoint
COPY ./docker/my_entrypoint.sh /entrypoint.sh COPY ./docker/my_entrypoint.sh /entrypoint.sh
@ -42,16 +39,28 @@ RUN vcs pull src
ENTRYPOINT [ "/entrypoint.sh" ] ENTRYPOINT [ "/entrypoint.sh" ]
########################################### #############################################################
# Overlay Image # # Overlay Image -- Building Unitree GO1 ROS2 implementation #
########################################### #############################################################
FROM base AS overlay FROM base AS overlay
# Create an overlay Colcon workspace # Create an overlay Colcon workspace
RUN mkdir -p /overlay_ws/src RUN mkdir -p /overlay_ws/src
WORKDIR /overlay_ws/src WORKDIR /overlay_ws/src
COPY my_extended.repos ./overlay.repos COPY my_extended.repos ./overlay.repos
RUN vcs import < overlay.repos RUN vcs import < overlay.repos \
&& cd unitree_ros2_to_real \
&& git clone -b v3.5.1 https://github.com/unitreerobotics/unitree_legged_sdk \
&& mv ros2_unitree_legged_msgs/ ..
WORKDIR /lcm_ws
RUN cd /lcm_ws \
&& git clone -b v1.4.0 https://github.com/lcm-proj/lcm \
&& cd lcm \
&& mkdir build \
&& cd build \
&& cmake ../ \
&& make \
&& make install \
WORKDIR /overlay_ws WORKDIR /overlay_ws
@ -60,13 +69,12 @@ ENV DEBIAN_FRONTEND noninteractive
RUN source /base_ws/install/setup.bash \ RUN source /base_ws/install/setup.bash \
&& apt-get update \ && apt-get update \
&& DEBIAN_FRONTEND=noninteractive apt-get install \ && DEBIAN_FRONTEND=noninteractive apt-get install \
nano #\ nano \
#&& rosdep install --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} -y \ && rosdep install --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} -y \
&& rm -rf /var/lib/apt/lists/* && rm -rf /var/lib/apt/lists/*
RUN source /base_ws/install/setup.bash \ RUN source /base_ws/install/setup.bash \
&& colcon build --symlink-install \ && colcon build --symlink-install
&& rosdep install --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} -y
# Set up the entrypoint # Set up the entrypoint
COPY ./docker/my_entrypoint.sh /entrypoint.sh COPY ./docker/my_entrypoint.sh /entrypoint.sh