32 lines
853 B
Docker
32 lines
853 B
Docker
FROM evilfisru/ros:jazzy-base-noble
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ARG BUILD_TYPE=release
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ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
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RUN apt-get update && apt-get install -y --no-install-recommends \
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ros-${ROS_DISTRO}-ros2-control \
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ros-${ROS_DISTRO}-ros2-controllers \
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ros-${ROS_DISTRO}-rmw-cyclonedds-cpp \
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ros-${ROS_DISTRO}-moveit \
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ros-${ROS_DISTRO}-moveit-py \
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ros-${ROS_DISTRO}-ament-cmake-clang-format \
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ros-${ROS_DISTRO}-rosbag2-storage-mcap \
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&& rm -rf /var/lib/apt/lists/*
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WORKDIR /ros2_ws
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COPY src/iiwa_* src/
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RUN apt-get update && \
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rosdep install --from-paths src -i -r -y && \
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rm -rf /var/lib/apt/lists/*
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RUN . /opt/ros/$ROS_DISTRO/setup.sh && \
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colcon build --mixin release
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RUN if [ "$BUILD_TYPE" = "release" ]; then rm -rf src/ build/ log/; fi
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RUN echo ". /ros2_ws/install/setup.bash" >> /root/.bashrc
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CMD ["bash"]
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