Добавлены Docker образы

2026-05-18 18:11:05 +10:00
parent c5d8ecc4c5
commit 9bff33608e
4 changed files with 74 additions and 0 deletions
@@ -0,0 +1,24 @@
+FROM evilfisru/ros:jazzy-core-noble
+
+RUN apt-get update && apt-get install --no-install-recommends -y \
+    build-essential \
+    git \
+    python3-colcon-common-extensions \
+    python3-colcon-mixin \
+    python3-rosdep \
+    python3-vcstool \
+    && rm -rf /var/lib/apt/lists/*
+
+RUN rosdep init && \
+    rosdep update --rosdistro $ROS_DISTRO
+
+RUN colcon mixin add default \
+      https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml && \
+    colcon mixin update && \
+    colcon metadata add default \
+      https://raw.githubusercontent.com/colcon/colcon-metadata-repository/master/index.yaml && \
+    colcon metadata update
+
+RUN apt-get update && apt-get install -y --no-install-recommends \
+    ros-jazzy-ros-base \
+    && rm -rf /var/lib/apt/lists/*
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+FROM ubuntu:noble
+
+ARG TIMEZONE=Etc/UTC
+
+# Timezone
+RUN echo "${TIMEZONE}" > /etc/timezone && \
+    ln -s /usr/share/zoneinfo/${TIMEZONE} /etc/localtime && \
+    apt-get update && \
+    apt-get install -q -y --no-install-recommends tzdata && \
+    rm -rf /var/lib/apt/lists/*
+
+# Базовые утилиты
+RUN apt-get update && apt-get install -q -y --no-install-recommends \
+    curl \
+    dirmngr \
+    gnupg2 \
+    && rm -rf /var/lib/apt/lists/*
+
+
+# Ключ и стабильный репозиторий ROS2
+RUN set -eux; \
+    key='C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654'; \
+    export GNUPGHOME="$(mktemp -d)"; \
+    gpg --batch --keyserver keyserver.ubuntu.com --recv-keys "$key"; \
+    mkdir -p /usr/share/keyrings; \
+    gpg --batch --export "$key" > /usr/share/keyrings/ros2-archive-keyring.gpg; \
+    gpgconf --kill all; \
+    rm -rf "$GNUPGHOME"
+
+RUN echo "deb [ signed-by=/usr/share/keyrings/ros2-archive-keyring.gpg ] \
+    http://packages.ros.org/ros2/ubuntu noble main" \
+    > /etc/apt/sources.list.d/ros2.list
+
+ENV LANG=C.UTF-8
+ENV LC_ALL=C.UTF-8
+ENV ROS_DISTRO=jazzy
+
+RUN apt-get update && apt-get install -y --no-install-recommends \
+    ros-jazzy-ros-core \
+    && rm -rf /var/lib/apt/lists/*
+
+COPY ./ros_entrypoint.sh /
+RUN chmod +x /ros_entrypoint.sh
+ENTRYPOINT ["/ros_entrypoint.sh"]
+CMD ["bash"]
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+#!/bin/bash
+set -e
+
+source "/opt/ros/$ROS_DISTRO/setup.bash" --
+exec "$@"