45 lines
1.3 KiB
Docker
45 lines
1.3 KiB
Docker
ARG IMAGE=evilfisru/ros:base-jazzy
|
|
FROM ${IMAGE}
|
|
|
|
ARG BUILD_TYPE=release
|
|
|
|
ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
|
|
|
|
RUN apt-get update && apt-get install -y --no-install-recommends \
|
|
ros-${ROS_DISTRO}-ros2-control \
|
|
ros-${ROS_DISTRO}-ros2-controllers \
|
|
ros-${ROS_DISTRO}-rmw-cyclonedds-cpp \
|
|
ros-${ROS_DISTRO}-moveit \
|
|
ros-${ROS_DISTRO}-moveit-py \
|
|
ros-${ROS_DISTRO}-ament-cmake-clang-format \
|
|
ros-${ROS_DISTRO}-rosbag2-storage-mcap \
|
|
&& rm -rf /var/lib/apt/lists/*
|
|
|
|
WORKDIR /ros2_ws
|
|
|
|
COPY src/iiwa_bringup src/iiwa_bringup
|
|
COPY src/iiwa_config src/iiwa_config
|
|
COPY src/iiwa_controller src/iiwa_controller
|
|
COPY src/iiwa_description src/iiwa_description
|
|
COPY src/iiwa_msgs src/iiwa_msgs
|
|
COPY src/iiwa_planning src/iiwa_planning
|
|
COPY src/iiwa_utils src/iiwa_utils
|
|
COPY src/iiwa_web src/iiwa_web
|
|
COPY rosdep.yaml rosdep.yaml
|
|
|
|
RUN echo "yaml file:///ros2_ws/rosdep.yaml" \
|
|
> /etc/ros/rosdep/sources.list.d/50-kuka-local.list && \
|
|
rosdep update && \
|
|
apt-get update && \
|
|
rosdep install --from-paths src -i -r -y && \
|
|
rm -rf /var/lib/apt/lists/*
|
|
|
|
RUN . /opt/ros/$ROS_DISTRO/setup.sh && \
|
|
colcon build --mixin release
|
|
|
|
RUN if [ "$BUILD_TYPE" = "release" ]; then rm -rf src/ build/ log/; fi
|
|
|
|
RUN echo ". /ros2_ws/install/setup.bash" >> /root/.bashrc
|
|
|
|
CMD ["bash"]
|