- FROM tiryoh/ros2-desktop-vnc:foxy
-
- ENV DEBCONF_NOWARNINGS=yes
- ENV DEBIAN_FRONTEND noninteractive
- ENV ROS_PYTHON_VERSION 3
- SHELL ["/bin/bash", "-c"]
-
- RUN sed -i 's@archive.ubuntu.com@ftp.jaist.ac.jp/pub/Linux@g' /etc/apt/sources.list
-
- RUN apt-get update && \
- apt-get upgrade -y && \
- apt-get install --no-install-recommends -y \
- build-essential \
- dkms wget git \
- openssh-server && \
- apt-get autoremove -y && \
- apt-get -y clean && \
- rm -rf /var/lib/apt/lists/*
-
- RUN mkdir /var/run/sshd && \
- echo 'root:ubuntu' | chpasswd && \
- sed -i 's/PermitRootLogin prohibit-password/PermitRootLogin yes/' /etc/ssh/sshd_config && \
- sed 's@session\s*required\s*pam_loginuid.so@session optional pam_loginuid.so@g' -i /etc/pam.d/sshd
-
- EXPOSE 22
-
- RUN apt-get update && \
- apt-get upgrade -y && \
- apt-get install --no-install-recommends -y \
- libopencv-dev \
- python3-colcon-common-extensions && \
- cd /home/ubuntu && \
- git clone https://github.com/ROBOTIS-GIT/robotis_tools.git && \
- cd robotis_tools && \
- chmod 755 ./install_ros2_foxy.sh && \
- /bin/bash ./install_ros2_foxy.sh && \
- apt-get install --no-install-recommends -y \
- ros-foxy-gazebo-ros-pkgs \
- ros-foxy-cartographer \
- ros-foxy-cartographer-ros \
- ros-foxy-navigation2 \
- ros-foxy-nav2-bringup \
- python3-vcstool \
- ros-foxy-dynamixel-sdk \
- ros-foxy-turtlebot3* && \
- apt-get -y autoremove && \
- apt-get -y clean && \
- rm -rf /var/lib/apt/lists/*
-
- RUN mkdir -p /home/ubuntu/colcon_ws/src && \
- echo "source /opt/ros/foxy/setup.bash" >> ~/.bashrc && \
- echo "source /home/ubuntu/colcon_ws/install/setup.bash" >> ~/.bashrc && \
- echo "export ROS_DOMAIN_ID=30 #TURTLEBOT3" >> ~/.bashrc && \
- echo "alias cm='cd ~/colcon_ws;colcon build'" >> ~/.bashrc && \
- echo "alias cs='cd ~/colcon_ws/src'" >> ~/.bashrc && \
- echo "export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:~/colcon_ws/src/turtlebot3_simulations/turtlebot3_gazebo/models" >> ~/.bashrc && \
- echo "export TURTLEBOT3_MODEL=burger " >> ~/.bashrc && \
- apt-get update && \
- apt-get upgrade -y && \
- cd /home/ubuntu/colcon_ws/src && \
- . /opt/ros/foxy/setup.bash && \
- . /home/ubuntu/colcon_ws/install/setup.bash && \
- colcon build && \
- git clone -b foxy-devel https://github.com/ROBOTIS-GIT/turtlebot3_simulations.git && \
- git clone -b ros2-devel https://github.com/ROBOTIS-GIT/turtlebot3_machine_learning.git && \
- git clone -b foxy-devel https://github.com/ros-planning/navigation2.git && \
- git clone -b foxy-devel https://github.com/SteveMacenski/slam_toolbox.git && \
- cd /home/ubuntu/colcon_ws && \
- colcon build --symlink-install --parallel-workers 1 && \
- apt-get autoremove -y && \
- apt-get clean && \
- rm -rf /var/lib/apt/lists/*
-
- COPY ./scripts /home/ubuntu/scripts
- COPY ./startup.sh /startup.sh