mirror of
https://github.com/bjoernellens1/ros2_docker_template.git
synced 2024-11-23 15:55:05 +00:00
90 lines
2.6 KiB
Docker
90 lines
2.6 KiB
Docker
ARG ROS_DISTRO=humble
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ARG UNDERLAY_WS=/base_ws
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ARG OVERLAY_WS=/overlay_ws
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########################################
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# Custom ROS2 Base Image #
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########################################
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FROM osrf/ros:${ROS_DISTRO}-desktop as base
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#ENV ROS_DISTRO=${ROS_DISTRO}
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SHELL ["/bin/bash", "-c"] # change shell to bash because of better compatibility (standard shell would be sh otherwise).
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# Create Colcon workspace with external dependencies
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RUN mkdir -p /base_ws/src
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WORKDIR /base_ws/src
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COPY my.repos .
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RUN mv my.repos dependencies.repos
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RUN vcs import < dependencies.repos
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# Build the base Colcon workspace, installing dependencies first.
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WORKDIR /base_ws
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RUN source /opt/ros/${ROS_DISTRO}/setup.bash \
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&& apt-get update -y \
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&& apt-get install -y --no-install-recommends \
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ros-${ROS_DISTRO}-turtlesim \
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ros-${ROS_DISTRO}-rqt \
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&& rosdep install --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} -y
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RUN source /opt/ros/${ROS_DISTRO}/setup.bash \
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&& colcon build --symlink-install
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# Set up the entrypoint
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COPY ./docker/my_entrypoint.sh /entrypoint.sh
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RUN chmod +x /entrypoint.sh
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# Update repository at the end of this build stage
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RUN vcs pull src
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ENTRYPOINT [ "/entrypoint.sh" ]
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#############################################################
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# Overlay Image -- Building Unitree GO1 ROS2 implementation #
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#############################################################
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FROM base AS overlay
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# Create an overlay Colcon workspace
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RUN mkdir -p /overlay_ws/src
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WORKDIR /overlay_ws/src
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COPY my_extended.repos ./overlay.repos
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RUN vcs import < overlay.repos \
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&& cd unitree_go1 \
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&& git clone -b v3.5.1 https://github.com/unitreerobotics/unitree_legged_sdk \
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&& mv ros2_unitree_legged_msgs/ ..
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WORKDIR /lcm_ws
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RUN cd /lcm_ws \
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#&& git clone -b v1.4.0 https://github.com/lcm-proj/lcm \
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&& git clone https://github.com/lcm-proj/lcm \
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&& cd lcm \
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&& mkdir build \
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&& cd build \
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&& cmake ../ \
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&& make \
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&& make install
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WORKDIR /overlay_ws
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ENV DEBIAN_FRONTEND noninteractive
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RUN source /base_ws/install/setup.bash \
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&& apt-get update \
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&& DEBIAN_FRONTEND=noninteractive apt-get install \
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nano \
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#&& rosdep install --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} -y \
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&& rm -rf /var/lib/apt/lists/*
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RUN source /base_ws/install/setup.bash \
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&& colcon build --symlink-install
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# Set up the entrypoint
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COPY ./docker/my_entrypoint.sh /entrypoint.sh
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RUN chmod +x /entrypoint.sh
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# Update repository at the end of this build stage
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RUN vcs pull src
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ENTRYPOINT [ "/entrypoint.sh" ]
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#CMD [ "ros2", "run", "unitree_legged_real", "ros2_udp highlevel" ]
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CMD ldconfig -v; ros2 run unitree_legged_real ros2_udp highlevel
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