Files
RRRobot/docker_env/warehouse/Dockerfile
Sravan Balaji 60bc79aea5 Warehouse Documentation & Docker
- Add instructions for running warehouse simulation to README
- Create new warehouse docker service based on gazebo service
- Add new warehouse Dockerfile with commands for installing GEAR
2020-04-12 11:51:52 -04:00

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2.0 KiB
Docker

# Warehouse Dockerfile
# Use official image for Gazebo 9.x
FROM gazebo:gzserver9
RUN apt-get update
# Install packages required for developing with gazebo
RUN apt-get install -y libgazebo9-dev
RUN sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
RUN apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
RUN apt-get install -y curl
RUN curl -sSL 'http://keyserver.ubuntu.com/pks/lookup?op=get&search=0xC1CF6E31E6BADE8868B172B4F42ED6FBAB17C654' | apt-key add -
RUN apt-get update
# Install packages required for developing with ROS
RUN apt-get install -y ros-melodic-desktop-full
RUN echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc
RUN apt install -y python-rosdep
RUN rosdep init
RUN rosdep update
# user id 1000 should be the same as the host user, so that you can access files
# from inside the docker container and also on the host
RUN useradd -u 1000 rrrobot
# set to no password
RUN passwd --delete rrrobot
# add to sudo users
RUN usermod -aG sudo rrrobot
# set the entry point
WORKDIR /home/rrrobot
RUN chown -R rrrobot:rrrobot /home/rrrobot
# Initialize the environment in .bashrc
RUN echo "source /opt/ros/melodic/setup.bash" >> /home/rrrobot/.bashrc
RUN echo "source /usr/share/gazebo/setup.sh" >> /home/rrrobot/.bashrc
RUN echo "export GAZEBO_MODEL_PATH=/home/rrrobot/rrrobot_src/src/gazebo_models:\$GAZEBO_MODEL_PATH" >> /home/rrrobot/.bashrc
RUN echo "export GAZEBO_PLUGIN_PATH=/home/rrrobot/rrrobot_src/lib:\$GAZEBO_PLUGIN_PATH" >> /home/rrrobot/.bashrc
USER rrrobot
RUN sudo apt-get update && \
sudo apt-get install -y \
wget
RUN sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable bionic main" > /etc/apt/sources.list.d/gazebo-stable.list' && \
wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add - && \
apt-get update && \
apt-get install -y \
ariac3
CMD ["/bin/bash"]