97 lines
3.2 KiB
Docker
97 lines
3.2 KiB
Docker
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# Copyright (C) 2024 Bellande Robotics Sensors Research Innovation Center, Ronaldson Bellande
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#
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# This program is free software: you can redistribute it and/or modify
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# it under the terms of the GNU General Public License as published by
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# the Free Software Foundation, either version 3 of the License, or
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# (at your option) any later version.
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#
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# This program is distributed in the hope that it will be useful,
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# but WITHOUT ANY WARRANTY; without even the implied warranty of
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# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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# GNU General Public License for more details.
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#
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# You should have received a copy of the GNU General Public License
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# along with this program. If not, see <https://www.gnu.org/licenses/>.
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ARG ROS_ARCHITECTURE_VERSION=latest
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FROM ubuntu:20.04 as base_build
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SHELL [ "/bin/bash" , "-c" ]
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ENV DEBIAN_FRONTEND noninteractive
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ENV PYTHON_VERSION="3.8"
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ARG ROS_ARCHITECTURE_VERSION_GIT_BRANCH=main
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ARG ROS_ARCHITECTURE_VERSION_GIT_COMMIT=HEAD
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ARG ROS_VERSION=foxy
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ENV CATKIN_WS=/root/catkin_ws
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LABEL maintainer=ronaldsonbellande@gmail.com
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LABEL author=ronaldsonbellande@gmail.com
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LABEL ROS_architecture_github_branchtag=${ROS_ARCHITECTURE_VERSION_GIT_BRANCH}
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LABEL ROS_architecture_github_commit=${ROS_ARCHITECTURE_VERSION_GIT_COMMIT}
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# Ubuntu setup
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RUN apt-get update -y
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RUN apt-get upgrade -y
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# Set the working directory inside the Docker image
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WORKDIR /
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# Copy all files from the parent directory to the Docker image root
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COPY ../ ./
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# Create a directory for the requirements
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RUN mkdir -p /requirements
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# Copy specific files from the requirements directory to the "requirements" directory in the Docker image
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COPY requirements/requirements.txt /requirements/requirements.txt
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COPY requirements/system_requirements.txt /requirements/system_requirements.txt
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COPY requirements/ros_requirements.txt /requirements/ros_requirements.txt
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COPY requirements/ros_repository_requirements.txt /requirements/ros_repository_requirements.txt
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# Install dependencies for system
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RUN apt-get update && apt-get install -y --no-install-recommends <system_requirements.txt \
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&& apt-get upgrade -y \
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&& apt-get clean \
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&& rm -rf /var/lib/apt/lists/*
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# Install python 3.8 and make primary
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RUN apt-get update && apt-get install -y \
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python3.8 python3.8-dev python3-pip python3.8-venv \
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&& update-alternatives --install /usr/bin/python python /usr/bin/python3.8 1
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# Pip install update
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RUN pip3 install --upgrade pip
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# Install python libraries
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RUN pip --no-cache-dir install -r requirements.txt
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# Install dependencies for ros system
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RUN apt-get update && apt-get install -y --no-install-recommends <ros_requirements.txt \
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&& rm -rf /var/lib/apt/lists/*
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# Create local catkin workspace
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RUN mkdir -p $CATKIN_WS/src
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WORKDIR $CATKIN_WS/src
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# Initialize local catkin workspace, install dependencies and build workpsace
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RUN echo "source /opt/ros/${ROS_VERSION}/setup.bash" >> ~/.bashrc
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RUN source ~/.bashrc
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RUN cd $CATKIN_WS \
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&& rosdep init \
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&& rosdep update \
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&& rosdep update --rosdistro ${ROS_VERSION} \
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&& rosdep fix-permissions \
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&& rosdep install -y --from-paths . --ignore-src --rosdistro ${ROS_VERSION}
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# Catkin Build
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RUN catkin build
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# Source Catkin Setup
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RUN source "$CATKIN_WS/devel/setup.bash"
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CMD ["bash"]
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