63 lines
1.8 KiB
Docker
63 lines
1.8 KiB
Docker
ARG IMAGE=evilfisru/ros:base-jazzy
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FROM ${IMAGE}
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ARG BUILD_TYPE=release
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ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
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ENV WEBOTS_HOME=/usr/local/webots
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# X11 utilities and Mesa software renderer
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RUN apt-get update && apt-get install -y --no-install-recommends \
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wget \
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libx11-6 \
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x11-utils \
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libglu1-mesa \
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libgl1-mesa-dri \
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mesa-utils \
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libegl-mesa0 \
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&& rm -rf /var/lib/apt/lists/*
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# Install Webots R2025a (compatible with ros-jazzy-webots-ros2)
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RUN wget -q https://github.com/cyberbotics/webots/releases/download/R2025a/webots_2025a_amd64.deb \
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-O /tmp/webots.deb && \
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apt-get update && \
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apt-get install -y /tmp/webots.deb && \
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rm /tmp/webots.deb && \
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rm -rf /var/lib/apt/lists/*
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RUN apt-get update && apt-get install -y --no-install-recommends \
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ros-${ROS_DISTRO}-webots-ros2 \
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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-${ROS_DISTRO}-rosbag2-storage-mcap \
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python3-pil \
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&& rm -rf /var/lib/apt/lists/* \
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&& rm -rf /var/lib/apt/lists/*
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WORKDIR /ros2_ws
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COPY src/iiwa_bringup src/iiwa_bringup
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COPY src/iiwa_config src/iiwa_config
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COPY src/iiwa_controller src/iiwa_controller
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COPY src/iiwa_description src/iiwa_description
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COPY src/iiwa_msgs src/iiwa_msgs
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COPY src/iiwa_planning src/iiwa_planning
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COPY src/iiwa_utils src/iiwa_utils
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RUN apt-get update && \
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rosdep install --from-paths src -i -r -y && \
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rm -rf /var/lib/apt/lists/*
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RUN . /opt/ros/${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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