47 lines
1.2 KiB
Docker
47 lines
1.2 KiB
Docker
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"]
|