Add Dockerfile and run script for Webots integration; update package dependencies

2026-05-18 17:53:02 +03:00
parent 8d27c01b92
commit 06c50616b4
8 changed files with 93 additions and 0 deletions
@@ -0,0 +1,46 @@
+FROM evilfisru/ros:jazzy-base-noble
+
+ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
+ENV WEBOTS_HOME=/usr/local/webots
+ENV LIBGL_ALWAYS_SOFTWARE=1
+ENV GALLIUM_DRIVER=llvmpipe
+
+# X11 utilities and Mesa software renderer
+RUN apt-get update && apt-get install -y --no-install-recommends \
+    wget \
+    libx11-6 \
+    x11-utils \
+    libglu1-mesa \
+    libgl1-mesa-dri \
+    mesa-utils \
+    libegl-mesa0 \
+    && rm -rf /var/lib/apt/lists/*
+
+# Install Webots R2025a (compatible with ros-jazzy-webots-ros2)
+RUN wget -q https://github.com/cyberbotics/webots/releases/download/R2025a/webots_2025a_amd64.deb \
+        -O /tmp/webots.deb && \
+    apt-get update && \
+    apt-get install -y /tmp/webots.deb && \
+    rm /tmp/webots.deb && \
+    rm -rf /var/lib/apt/lists/*
+
+RUN apt-get update && apt-get install -y --no-install-recommends \
+    ros-jazzy-rmw-cyclonedds-cpp \
+    # ros-jazzy-webots-ros2-control \
+    python3-pil \
+    && rm -rf /var/lib/apt/lists/*
+
+WORKDIR /ros2_ws
+
+COPY src/ src/
+
+RUN apt-get update && \
+    rosdep install --from-paths src -i -r -y && \
+    rm -rf /var/lib/apt/lists/*
+
+RUN . /opt/ros/$ROS_DISTRO/setup.sh && \
+    colcon build --mixin release
+
+RUN echo ". /ros2_ws/install/setup.bash" >> /root/.bashrc
+
+CMD ["bash"]
@@ -0,0 +1,21 @@
+#!/bin/bash
+# Run the Webots container with X11 forwarding.
+# Usage:
+#   ./run.sh                          — interactive shell
+#   ./run.sh ros2 launch iiwa_bringup webots_spawn.launch.py ...
+
+IMAGE="${WEBOTS_IMAGE:-evilfisru/lwc:jazzy-webots}"
+
+# Allow local Docker processes to connect to the X server
+xhost +local:docker > /dev/null
+
+docker run -it --rm \
+    --name ros-webots \
+    --network host \
+    -e DISPLAY="${DISPLAY}" \
+    -e QT_X11_NO_MITSHM=1 \
+    -e LIBGL_ALWAYS_SOFTWARE=1 \
+    -e GALLIUM_DRIVER=llvmpipe \
+    -v /tmp/.X11-unix:/tmp/.X11-unix:rw \
+    "${IMAGE}" \
+    "$@"