44 lines
1.2 KiB
Docker
44 lines
1.2 KiB
Docker
FROM ros:jazzy-ros-base
|
|
|
|
ENV DEBIAN_FRONTEND=noninteractive
|
|
|
|
# ---------- System dependencies ----------
|
|
RUN apt-get update && apt-get install -y \
|
|
python3-colcon-common-extensions \
|
|
python3-rosdep \
|
|
build-essential \
|
|
udev \
|
|
git
|
|
|
|
# ---------- 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_spinner_controller/package.xml toid_spinner_controller/package.xml
|
|
#COPY toid_navigation/package.xml toid_navigation/package.xml
|
|
|
|
# ---------- Install dependencies ----------
|
|
RUN . /opt/ros/jazzy/setup.sh && \
|
|
rosdep install --from-paths ./ --ignore-src -r -y \
|
|
&& 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
|
|
if
|
|
EOF
|
|
|
|
|
|
CMD ["sleep", "infinity"]
|