mirror of
https://github.com/mitre/Fast-RRT-Star.git
synced 2025-04-20 21:35:21 +00:00
51 lines
2.2 KiB
Docker
51 lines
2.2 KiB
Docker
ARG ROS_DISTRO=noetic
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FROM ros:$ROS_DISTRO-ros-base
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ARG DEBIAN_FRONTEND=noninteractive
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# Install ros desktop, husky dependencies, fast_rrt_ros dependencies, and valgrind for debugging
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RUN apt-get update && \
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apt-get upgrade -y && \
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apt-get install -y \
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ros-$ROS_DISTRO-desktop-full \
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ros-$ROS_DISTRO-husky-desktop \
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ros-$ROS_DISTRO-husky-simulator \
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ros-$ROS_DISTRO-husky-navigation \
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ros-$ROS_DISTRO-costmap-2d \
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ros-$ROS_DISTRO-nav-core \
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ros-$ROS_DISTRO-base-local-planner \
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valgrind
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# Copy launch files and husky description to appropriate locations
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ARG HUSKY_NAV_LAUNCH=husky_navigation/launch
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ARG HUSKY_DES_URDF=husky_description/urdf
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COPY ./docker/$HUSKY_NAV_LAUNCH/move_base_fast_rrt_star.launch /opt/ros/$ROS_DISTRO/share/$HUSKY_NAV_LAUNCH/move_base_fast_rrt_star.launch
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COPY ./docker/$HUSKY_NAV_LAUNCH/move_base_fast_rrt_star_debug.launch /opt/ros/$ROS_DISTRO/share/$HUSKY_NAV_LAUNCH/move_base_fast_rrt_star_debug.launch
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COPY ./docker/$HUSKY_NAV_LAUNCH/move_base_fast_rrt_star_mapless_demo.launch /opt/ros/$ROS_DISTRO/share/$HUSKY_NAV_LAUNCH/move_base_fast_rrt_star_mapless_demo.launch
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COPY ./docker/$HUSKY_NAV_LAUNCH/move_base_fast_rrt_star_mapless_demo_debug.launch /opt/ros/$ROS_DISTRO/share/$HUSKY_NAV_LAUNCH/move_base_fast_rrt_star_mapless_demo_debug.launch
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COPY ./docker/$HUSKY_DES_URDF/husky.urdf.xacro /opt/ros/$ROS_DISTRO/share/$HUSKY_DES_URDF/husky.urdf.xacro
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# Declare some environment variables
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ENV ROS_WORKSPACE=/root/catkin_ws
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ENV ROS_PACKAGE_PATH=/root/catkin_ws/src:/opt/ros/$ROS_DISTRO/share
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# Add setup.bash sourcing to bashrc
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RUN echo "source /opt/ros/$ROS_DISTRO/setup.bash" >> /etc/bash.bashrc
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# Copy Fast-RRT* to catkin workspace in image
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WORKDIR /root/catkin_ws/src/fast_rrt_ros
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COPY ./include/ ./include/
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COPY ./src/ ./src/
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COPY ./CMakeLists.txt ./CMakeLists.txt
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COPY ./fast_rrt_star_planner_plugin.xml ./fast_rrt_star_planner_plugin.xml
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COPY ./LICENSE ./LICENSE
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COPY ./package.xml ./package.xml
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COPY ./README.md ./README.md
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# Copy catkin_ws CMakeLists, scripts, and planner configuration to image
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WORKDIR /root/catkin_ws/
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COPY ./docker/CMakeLists.txt ./src/CMakeLists.txt
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COPY ./scripts/ ./scripts
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COPY ./config/planner.yaml /opt/ros/$ROS_DISTRO/share/husky_navigation/config/planner.yaml
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