mirror of
https://github.com/EECS-467-W20-RRRobot-Project/RRRobot.git
synced 2025-08-23 00:22:44 +00:00
68 lines
2.3 KiB
Docker
68 lines
2.3 KiB
Docker
# GEAR Dockerfile
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# Use official image for Gazebo 9.x
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FROM gazebo:gzserver9
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RUN apt-get update
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# Install packages required for developing with gazebo
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RUN apt-get install -y libgazebo9-dev
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RUN sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
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RUN apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
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RUN apt-get install -y curl
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RUN curl -sSL 'http://keyserver.ubuntu.com/pks/lookup?op=get&search=0xC1CF6E31E6BADE8868B172B4F42ED6FBAB17C654' | apt-key add -
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RUN apt-get update
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# Install packages required for developing with ROS
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RUN apt-get install -y ros-melodic-desktop-full
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RUN echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc
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RUN apt install -y python-rosdep
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RUN rosdep init
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RUN rosdep update
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# user id 1000 should be the same as the host user, so that you can access files
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# from inside the docker container and also on the host
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RUN useradd -u 1000 rrrobot
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# set to no password
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RUN passwd --delete rrrobot
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# add to sudo users
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RUN usermod -aG sudo rrrobot
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# set the entry point
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WORKDIR /app/rrrobot_ws
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RUN mkdir /home/rrrobot
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RUN chown -R rrrobot:rrrobot /home/rrrobot
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# Initialize the environment in .bashrc
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RUN echo "source /opt/ros/melodic/setup.bash" >> /home/rrrobot/.bashrc
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RUN echo "source /usr/share/gazebo/setup.sh" >> /home/rrrobot/.bashrc
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RUN echo "export GAZEBO_MODEL_PATH=/app/rrrobot_ws/src/gazebo_models:\$GAZEBO_MODEL_PATH" >> /home/rrrobot/.bashrc
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RUN echo "export GAZEBO_PLUGIN_PATH=/opt/ros/melodic/lib:/app/rrrobot_ws/devel/lib:\$GAZEBO_PLUGIN_PATH" >> /home/rrrobot/.bashrc
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USER rrrobot
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# Install Gazebo Environment for Agile Robotics (GEAR)
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RUN sudo apt-get update && \
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sudo apt-get install -y \
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wget
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RUN sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable bionic main" > /etc/apt/sources.list.d/gazebo-stable.list' && \
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wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add - && \
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sudo apt-get update && \
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sudo apt-get install -y \
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ariac3
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# CV Model Dependencies
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RUN sudo apt-get update && \
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sudo apt-get install -y \
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python3-pip
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RUN pip3 install -U \
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numpy \
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torch \
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torchvision \
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Pillow
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RUN pip3 install pyyaml
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RUN pip3 install rospkg
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RUN pip3 install matplotlib
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RUN sudo apt-get install python3-tk
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CMD ["/bin/bash"]
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