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pepper / Dockerfile
@ikko@hosei.ac.jp ikko@hosei.ac.jp on 30 May 2021 8 KB fixed
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  1. FROM tiryoh/ros-desktop-vnc:kinetic
  2.  
  3. ENV DEBCONF_NOWARNINGS=yes
  4. ENV DEBIAN_FRONTEND noninteractive
  5. ENV ROS_PYTHON_VERSION 1
  6. SHELL ["/bin/bash", "-c"]
  7.  
  8. RUN sed -i 's@archive.ubuntu.com@ftp.jaist.ac.jp/pub/Linux@g' /etc/apt/sources.list
  9.  
  10. RUN apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-keys F42ED6FBAB17C654 && \
  11.     apt-get update && \
  12.     apt-get upgrade -y && \
  13.     apt-get install --no-install-recommends curl -y && \
  14.     curl -k https://raw.githubusercontent.com/ros/rosdistro/master/ros.key | sudo apt-key add - && \
  15.     apt-get install --no-install-recommends -y \
  16.     build-essential \
  17.     dkms \
  18.     openssh-server && \
  19.     apt-get -y clean && \
  20.     rm -rf /var/lib/apt/lists/*
  21.  
  22. RUN mkdir /var/run/sshd && \
  23.     echo 'root:ubuntu' | chpasswd && \
  24.     sed -i 's/PermitRootLogin prohibit-password/PermitRootLogin yes/' /etc/ssh/sshd_config && \
  25.     sed 's@session\s*required\s*pam_loginuid.so@session optional pam_loginuid.so@g' -i /etc/pam.d/sshd
  26.  
  27. EXPOSE 22
  28.  
  29. RUN apt-get update && \
  30.     apt-get upgrade -y && \
  31.     apt-get install --no-install-recommends -y \
  32.     python-catkin-tools \
  33.     python-rosdep \
  34.     openssh-server \
  35.     ros-kinetic-driver-base \
  36.     ros-kinetic-move-base-msgs \
  37.     ros-kinetic-octomap \
  38.     ros-kinetic-octomap-msgs \
  39.     ros-kinetic-humanoid-msgs \
  40.     ros-kinetic-humanoid-nav-msgs \
  41.     ros-kinetic-camera-info-manager \
  42.     ros-kinetic-camera-info-manager-py \
  43.     libccd-dev \
  44.     libccd2 \
  45.     libfcl-0.5-dev \
  46.     libfcl0.5 \
  47.     libglew-dev \
  48.     libglew1.13 \
  49.     python-bs4 \
  50.     python-html5lib \
  51.     python-lxml \
  52.     ros-kinetic-ackermann-steering-controller \
  53.     ros-kinetic-chomp-motion-planner \
  54.     ros-kinetic-combined-robot-hw \
  55.     ros-kinetic-combined-robot-hw-tests \
  56.     ros-kinetic-control-toolbox \
  57.     ros-kinetic-controller-interface \
  58.     ros-kinetic-controller-manager \
  59.     ros-kinetic-controller-manager-msgs \
  60.     ros-kinetic-controller-manager-tests \
  61.     ros-kinetic-diff-drive-controller \
  62.     ros-kinetic-effort-controllers \
  63.     ros-kinetic-force-torque-sensor-controller \
  64.     ros-kinetic-forward-command-controller \
  65.     ros-kinetic-gazebo-ros-control \
  66.     ros-kinetic-gripper-action-controller \
  67.     ros-kinetic-hardware-interface \
  68.     ros-kinetic-imu-sensor-controller \
  69.     ros-kinetic-joint-limits-interface \
  70.     ros-kinetic-joint-state-controller \
  71.     ros-kinetic-joint-trajectory-controller \
  72.     ros-kinetic-moveit-core \
  73.     ros-kinetic-moveit-fake-controller-manager \
  74.     ros-kinetic-moveit-kinematics \
  75.     ros-kinetic-moveit-msgs \
  76.     ros-kinetic-moveit-planners-ompl \
  77.     ros-kinetic-moveit-ros-move-group \
  78.     ros-kinetic-moveit-ros-perception \
  79.     ros-kinetic-moveit-ros-planning \
  80.     ros-kinetic-moveit-simple-controller-manager \
  81.     ros-kinetic-naoqi-bridge-msgs \
  82.     ros-kinetic-naoqi-dcm-driver \
  83.     ros-kinetic-naoqi-driver \
  84.     ros-kinetic-naoqi-driver-py \
  85.     ros-kinetic-naoqi-libqi \
  86.     ros-kinetic-naoqi-libqicore \
  87.     ros-kinetic-naoqi-pose \
  88.     ros-kinetic-naoqi-sensors-py \
  89.     ros-kinetic-object-recognition-msgs \
  90.     ros-kinetic-ompl \
  91.     ros-kinetic-pepper-bringup \
  92.     ros-kinetic-pepper-control \
  93.     ros-kinetic-pepper-dcm-bringup \
  94.     ros-kinetic-pepper-description \
  95.     ros-kinetic-pepper-gazebo-plugin \
  96.     ros-kinetic-pepper-moveit-config \
  97.     ros-kinetic-pepper-robot \
  98.     ros-kinetic-pepper-sensors-py \
  99.     ros-kinetic-position-controllers \
  100.     ros-kinetic-realtime-tools \
  101.     ros-kinetic-rgbd-launch ros-kinetic-ros-control \
  102.     ros-kinetic-ros-controllers \
  103.     ros-kinetic-rqt-joint-trajectory-controller \
  104.     ros-kinetic-srdfdom \
  105.     ros-kinetic-transmission-interface \
  106.     ros-kinetic-urdfdom-py \
  107.     ros-kinetic-velocity-controllers \
  108.     libgflags2v5 \
  109.     tmux \
  110.     python-pyassimp \
  111.     ros-kinetic-dsr-description \
  112.     ros-kinetic-eigenpy \
  113.     ros-kinetic-graph-msgs \
  114.     ros-kinetic-moveit \
  115.     ros-kinetic-moveit-chomp-optimizer-adapter \
  116.     ros-kinetic-moveit-commander \
  117.     ros-kinetic-moveit-config-m0609 \
  118.     ros-kinetic-moveit-config-m0617 \
  119.     ros-kinetic-moveit-config-m1013 \
  120.     ros-kinetic-moveit-config-m1509 \
  121.     ros-kinetic-moveit-controller-manager-example \
  122.     ros-kinetic-moveit-experimental \
  123.     ros-kinetic-moveit-opw-kinematics-plugin \
  124.     ros-kinetic-moveit-planners \
  125.     ros-kinetic-moveit-planners-chomp \
  126.     ros-kinetic-moveit-plugins \
  127.     ros-kinetic-moveit-pr2 ros-kinetic-moveit-python \
  128.     ros-kinetic-moveit-resources \
  129.     ros-kinetic-moveit-ros \
  130.     ros-kinetic-moveit-ros-benchmarks \
  131.     ros-kinetic-moveit-ros-control-interface \
  132.     ros-kinetic-moveit-ros-manipulation \
  133.     ros-kinetic-moveit-ros-planning-interface \
  134.     ros-kinetic-moveit-ros-robot-interaction \
  135.     ros-kinetic-moveit-ros-visualization \
  136.     ros-kinetic-moveit-ros-warehouse \
  137.     ros-kinetic-moveit-runtime \
  138.     ros-kinetic-moveit-setup-assistant \
  139.     ros-kinetic-moveit-sim-controller \
  140.     ros-kinetic-moveit-visual-tools \
  141.     ros-kinetic-pr2-controllers-msgs \
  142.     ros-kinetic-pr2-description \
  143.     ros-kinetic-pr2-mechanism-msgs \
  144.     ros-kinetic-pr2-moveit-config \
  145.     ros-kinetic-pr2-moveit-plugins \
  146.     ros-kinetic-ros-control-boilerplate \
  147.     ros-kinetic-rosparam-shortcuts \
  148.     ros-kinetic-rviz-visual-tools \
  149.     ros-kinetic-warehouse-ros \
  150.     iputils-ping \
  151.     ros-kinetic-joint-trajectory-* \
  152.     ros-kinetic-move-base \
  153.     ros-kinetic-tf2-ros \
  154.     ros-kinetic-pointcloud-to-laserscan \
  155.     ros-kinetic-gmapping* \
  156.     ros-kinetic-teleop-twist-keyboard  && \
  157.     apt-get -y clean && \
  158.     rm -rf /var/lib/apt/lists/*
  159.  
  160. #RUN apt-get update && \
  161. #    apt-get upgrade -y && \
  162. #    yes | apt-get install --no-install-recommends ros-kinetic-peper-meshes 
  163.  
  164. RUN mkdir -p /home/ubuntu/catkin_ws/src && \
  165.     /bin/bash -c "source /opt/ros/kinetic/setup.bash ; cd /home/ubuntu/catkin_ws/src ; catkin_init_workspace" && \
  166.     /bin/bash -c "source /opt/ros/kinetic/setup.bash ; cd /home/ubuntu/catkin_ws && catkin build" && \
  167.     echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc && \
  168.     echo "source /home/ubuntu/catkin_ws/devel/setup.bash" >> ~/.bashrc && \
  169.     echo "export ROS_PACKAGE_PATH=\${ROS_PACKAGE_PATH}:/home/ubuntu/catkin_ws" >> ~/.bashrc && \
  170.     echo "export ROS_WORKSPACE=/home/ubuntu/catkin_ws" >> ~/.bashrc && \
  171.     echo "alias cm='cd ~/catkin_ws;catkin build'" >> ~/.bashrc && \
  172.     echo "alias cs='cd ~/catkin_ws/src'" >> ~/.bashrc  && \
  173.     apt-get update && \
  174.     apt-get upgrade -y && \
  175.     cd /home/ubuntu/catkin_ws && \
  176.     catkin build && \
  177.     cd /home/ubuntu/catkin_ws/src && \
  178.     git clone https://github.com/ros-naoqi/naoqi_driver.git && \
  179.     #rosdep install -i --from-paths . --ignore-src --rosdistro kinetic -y ./naoqi_driver && \
  180.     git clone https://github.com/SoftbankRoboticsChina/pepper-ros-navigation.git && \
  181.     #rosdep install -i --from-paths . --ignore-src --rosdistro kinetic -y ./pepper-ros-navigation && \
  182.     catkin_create_pkg create_speech rospy std_msgs --rosdistro kinetic && \
  183.     cd create_speech && \
  184.     curl -o create_speech.py https://raw.githubusercontent.com/ykoga-kyutech/pepper_ros_handson/master/scripts/create_speech_template.py && \
  185.     chmod +x create_speech.py && \
  186.     cd /home/ubuntu/catkin_ws && \
  187.     catkin build && \
  188.     apt-get autoremove -y && \
  189.     apt-get clean && \
  190.     rm -rf /var/lib/apt/lists/*
  191.  
  192. # Install pynaoqi 2.5.5 library
  193. COPY ./scripts/pynaoqi-python2.7-2.5.5.5-linux64.tar.gz /home/ubuntu/pynaoqi-python2.7-2.5.5.5-linux64.tar.gz
  194. COPY ./scripts/naoqi-sdk-2.5.5.5-linux64.tar.gz /home/ubuntu/naoqi-sdk-2.5.5.5-linux64.tar.gz
  195. RUN tar -xvzf /home/ubuntu/pynaoqi-python2.7-2.5.5.5-linux64.tar.gz -C /home/ubuntu/ && \
  196.     rm /home/ubuntu/pynaoqi-python2.7-2.5.5.5-linux64.tar.gz && \
  197.     tar -xvzf /home/ubuntu/naoqi-sdk-2.5.5.5-linux64.tar.gz -C /home/ubuntu/ && \
  198.     rm /home/ubuntu/naoqi-sdk-2.5.5.5-linux64.tar.gz && \
  199.     echo "export PYTHONPATH=\${PYTHONPATH}:/home/ubuntu/naoqi-sdk-2.5.5.5-linux64/lib" >> ~/.bashrc && \
  200.     echo "export PYTHONPATH=\${PYTHONPATH}:/home/ubuntu/pynaoqi-python2.7-2.5.5.5-linux64/lib/python2.7/site-packages" >> ~/.bashrc && \
  201.     echo "export NAOqi_DIR=/home/ubuntu/naoqi-sdk-2.5.5.5-linux64" >> ~/.bashrc && \
  202.     . /home/ubuntu/.bashrc 
  203. #    cd /home/ubuntu/catkin_ws/src && \
  204. #    git clone https://github.com/ros-naoqi/pepper_meshes.git && \
  205. #    cd pepper_meshes && \
  206. #    cmake . && \
  207. #    cd /home/ubuntu/catkin_ws && \
  208. #    catkin build && \
  209. #    apt-get update && \
  210. #    yes yes | apt-get install --no-install-recommends ros-kinetic-pepper-meshes
  211.  
  212. #RUN apt-get update && \
  213. #    apt-get upgrade -y && \
  214. #    yes | apt-get install --no-install-recommends ros-kinetic-pepper-meshes
  215.  
  216. COPY ./scripts/startup.sh /startup.sh
  217. COPY ./scripts/connectPEPPER.sh /home/ubuntu/connectPEPPER.sh
  218. COPY ./scripts/pepper.rviz /home/ubuntu/pepper.rviz
  219. COPY ./scripts/launchdemo.txt /home/ubuntu/launchdemo.txt