mirror of
https://github.com/ROBOTIS-GIT/turtlebot3.git
synced 2025-09-15 12:59:04 +08:00
36 lines
1.2 KiB
Docker
36 lines
1.2 KiB
Docker
# Use the base ROS2 humble image
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FROM osrf/ros:humble-desktop-full
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# Set environment variables
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ENV DEBIAN_FRONTEND=noninteractive
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# Install the required packages in a single layer and clean up afterwards
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RUN apt-get update && apt-get install -y \
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git \
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python3-pip \
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ros-${ROS_DISTRO}-gazebo-ros-pkgs \
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ros-${ROS_DISTRO}-cartographer \
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ros-${ROS_DISTRO}-cartographer-ros \
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ros-${ROS_DISTRO}-navigation2 \
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ros-${ROS_DISTRO}-nav2-bringup && \
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rm -rf /var/lib/apt/lists/*
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ENV COLCON_WS=/root/turtlebot3_ws
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WORKDIR ${COLCON_WS}
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RUN mkdir -p ${COLCON_WS}/src && \
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cd ${COLCON_WS}/src && \
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git clone -b humble https://github.com/ROBOTIS-GIT/DynamixelSDK.git && \
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git clone -b humble https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git && \
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git clone -b humble https://github.com/ROBOTIS-GIT/turtlebot3.git
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RUN bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash && \
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cd ${COLCON_WS} && \
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colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release"
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RUN echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> ~/.bashrc
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RUN echo "source ${COLCON_WS}/install/setup.bash" >> ~/.bashrc
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RUN echo "source /usr/share/gazebo/setup.sh" >> ~/.bashrc
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CMD ["bash"]
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