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turtlebot3_noetic / Dockerfile
@ikko ikko on 23 Sep 2021 3 KB Update Dockerfile
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  1. FROM tiryoh/ros-desktop-vnc:noetic
  2.  
  3. ENV DEBCONF_NOWARNINGS=yes
  4. ENV DEBIAN_FRONTEND noninteractive
  5. ENV ROS_PYTHON_VERSION 3
  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.     ros-noetic-joy ros-noetic-teleop-twist-joy \
  20.     ros-noetic-teleop-twist-keyboard ros-noetic-laser-proc \
  21.     ros-noetic-rgbd-launch ros-noetic-rosserial-arduino \
  22.     ros-noetic-rosserial-python ros-noetic-rosserial-client \
  23.     ros-noetic-rosserial-msgs ros-noetic-amcl ros-noetic-map-server \
  24.     ros-noetic-move-base ros-noetic-urdf ros-noetic-xacro \
  25.     ros-noetic-compressed-image-transport ros-noetic-rqt* ros-noetic-rviz \
  26.     ros-noetic-gmapping ros-noetic-navigation ros-noetic-interactive-markers \
  27.     ros-noetic-dynamixel-sdk \
  28.     ros-noetic-multirobot-map-merge \
  29.     ros-noetic-image-transport \
  30.     ros-noetic-cv-bridge \
  31.     ros-noetic-vision-opencv \
  32.     ros-noetic-gazebo-ros \
  33.     ros-noetic-turtlebot3-msgs \
  34.     python3-opencv \
  35.     libopencv-dev \
  36.     ros-noetic-image-proc \
  37.     ros-noetic-robot \
  38.     nano gedit \
  39.     python3-pip \
  40.     python-dev && \
  41.     apt-get -y autoremove && \
  42.     apt-get -y clean && \
  43.     rm -rf /var/lib/apt/lists/* && \
  44.     pip3 install --upgrade pip && \
  45.     pip3 install opencv-contrib-python
  46.  
  47.  
  48. RUN mkdir /var/run/sshd && \
  49.     echo 'root:ubuntu' | chpasswd && \
  50.     sed -i 's/PermitRootLogin prohibit-password/PermitRootLogin yes/' /etc/ssh/sshd_config && \
  51.     sed 's@session\s*required\s*pam_loginuid.so@session optional pam_loginuid.so@g' -i /etc/pam.d/sshd
  52.  
  53. EXPOSE 22
  54.  
  55. RUN mkdir -p /home/ubuntu/catkin_ws/src && \
  56.     /bin/bash -c "source /opt/ros/noetic/setup.bash ; cd /home/ubuntu/catkin_ws/src ; catkin_init_workspace" && \
  57.     /bin/bash -c "source /opt/ros/noetic/setup.bash ; cd /home/ubuntu/catkin_ws && catkin build" && \
  58.     echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc && \
  59.     echo "source /home/ubuntu/catkin_ws/devel/setup.bash" >> ~/.bashrc && \
  60.     echo "export ROS_PACKAGE_PATH=\${ROS_PACKAGE_PATH}:/home/ubuntu/catkin_ws" >> ~/.bashrc && \
  61.     echo "export ROS_WORKSPACE=/home/ubuntu/catkin_ws" >> ~/.bashrc && \
  62.     echo "alias cm='cd ~/catkin_ws;catkin build'" >> ~/.bashrc && \
  63.     echo "alias cs='cd ~/catkin_ws/src'" >> ~/.bashrc && \
  64.     echo "export TURTLEBOT3_MODEL=burger" >> ~/.bashrc && \
  65.     . ~/.bashrc && \
  66.     cd /home/ubuntu/catkin_ws && \
  67.     catkin build 
  68.  
  69. RUN cd /home/ubuntu/catkin_ws/src && \
  70.     git clone -b noetic-devel https://github.com/ROBOTIS-GIT/turtlebot3_simulations.git && \
  71.     git clone -b noetic-devel https://github.com/ROBOTIS-GIT/turtlebot3_autorace_2020.git && \
  72.     git clone -b noetic-devel https://github.com/ROBOTIS-GIT/turtlebot3.git
  73.  
  74. COPY ./startup.sh /startup.sh
  75. COPY ./scripts /home/ubuntu/scripts
  76. COPY ./src /home/ubuntu/catkin_ws/src
  77.  
  78. RUN cd /home/ubuntu/catkin_ws && \
  79.     catkin build