Added dockerfile for running the mock version

2026-07-14 15:14:34 +02:00
parent 44fa2f16ab
commit 192fb92e27
1 changed files with 95 additions and 0 deletions
@@ -0,0 +1,95 @@
+FROM ros:jazzy-perception
+
+ENV DEBIAN_FRONTEND=noninteractive
+
+# ---------- System dependencies ----------
+RUN apt-get update && apt-get upgrade -yq && apt-get install -yq \
+    python3-colcon-common-extensions \
+    python3-rosdep \
+    meson cmake \
+    build-essential \
+    udev \
+    git
+
+# ---------- Libcamera ----------
+
+WORKDIR /extras
+
+RUN apt-get install -y libboost-dev \
+    libgnutls28-dev openssl libtiff5-dev \
+    pybind11-dev \
+    qtbase5-dev libqt5core5a libqt5gui5 libqt5widgets5 \
+    python3-yaml python3-ply python3-jinja2 python3-pip\
+    libglib2.0-dev libgstreamer-plugins-base1.0-dev \
+    build-essential
+
+RUN git clone https://github.com/raspberrypi/libcamera.git \
+    && cd libcamera \
+    && meson setup build --buildtype=release -Dpipelines=rpi/vc4,rpi/pisp -Dipas=rpi/vc4,rpi/pisp -Dv4l2=true -Dgstreamer=enabled -Dtest=false -Dlc-compliance=disabled -Dcam=disabled -Dqcam=disabled -Ddocumentation=disabled -Dpycamera=enabled \
+    && ninja -C build install
+
+# ---------- Initialize rosdep ----------
+RUN rosdep init || true
+RUN rosdep update
+
+# ---------- Workspace ----------
+WORKDIR /ros_ws
+
+# ---------- Copy package.xml files ----------
+COPY toid_bot_description/package.xml    toid_bot_description/package.xml
+COPY toid_control/package.xml            toid_control/package.xml
+COPY toid_msgs/package.xml               toid_msgs/package.xml
+COPY toid_odometry/package.xml           toid_odometry/package.xml
+COPY toid_lidar/package.xml              toid_lidar/package.xml
+COPY toid_interaction/package.xml        toid_interaction/package.xml
+COPY toid_costmaps/package.xml           toid_costmaps/package.xml
+COPY toid_bt/package.xml                 toid_bt/package.xml
+COPY toid_spinner_controller/package.xml toid_spinner_controller/package.xml
+COPY toid_behaviors/package.xml          toid_behaviors/package.xml
+COPY toid_navigation/package.xml         toid_navigation/package.xml
+COPY toid_vision/package.xml             toid_vision/package.xml
+COPY ext/camera_ros/package.xml          ext/camera_ros/package.xml
+COPY ext/BehaviorTree.ROS2/              ext/BehaviorTree.ROS2/
+
+# ---------- Install dependencies ----------
+RUN . /opt/ros/jazzy/setup.sh && \
+    rosdep install --from-paths ./ --ignore-src -r -y --skip-keys=libcamera \
+    && rm -rf /var/lib/apt/lists/*
+
+RUN rm -rf ./*
+
+RUN cat <<EOF >> /root/.bashrc
+source /opt/ros/jazzy/setup.bash
+if [[ -f ./install/setup.bash ]]; then
+    source ./install/setup.bash
+fi
+EOF
+
+COPY toid_bot_description/package.xml    toid_bot_description/package.xml
+COPY toid_control/package.xml            toid_control/package.xml
+COPY toid_msgs/package.xml               toid_msgs/package.xml
+COPY toid_odometry/package.xml           toid_odometry/package.xml
+COPY toid_lidar/package.xml              toid_lidar/package.xml
+COPY toid_interaction/package.xml        toid_interaction/package.xml
+COPY toid_costmaps/package.xml           toid_costmaps/package.xml
+COPY toid_bt/package.xml                 toid_bt/package.xml
+COPY toid_spinner_controller/package.xml toid_spinner_controller/package.xml
+COPY toid_behaviors/package.xml          toid_behaviors/package.xml
+COPY toid_navigation/package.xml         toid_navigation/package.xml
+COPY toid_vision/package.xml             toid_vision/package.xml
+COPY ext/camera_ros/package.xml          ext/camera_ros/package.xml
+COPY ext/BehaviorTree.ROS2/              ext/BehaviorTree.ROS2/
+
+RUN . /opt/ros/jazzy/setup.sh && \
+    rosdep install --from-paths ./ --ignore-src -r -y --skip-keys=libcamera \
+    && rm -rf /var/lib/apt/lists/*
+
+COPY . /ros_ws/
+RUN  . /opt/ros/jazzy/setup.sh && \
+    colcon build --symlink-install
+
+RUN  chown 1000:1000 -R /ros_ws/
+
+ENTRYPOINT ["/bin/bash", "-c", "source /opt/ros/$ROS_DISTRO/setup.bash && source /ros_ws/install/setup.bash && exec \"$@\"", "--"]
+
+CMD ["ros2", "launch", "toid_navigation", "main.py", "use_mock:=True", "use_lidar:=False"]