Dockerfile

FROM osrf/ros:humble-desktop-full

# install ubuntu packages
RUN apt update && apt install -y \
        chrony \
        curl \
        git \
        sudo \
        ssh \
        tmux \
        vim \
        xterm \
        wget \
        lsb-release \
        gnupg

# add gazebo 11 sources (Gazebo Classic, NOT Ignition/Garden)
RUN sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
RUN wget https://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -

# install ros packages
RUN apt-get update && apt-get upgrade -y && apt-get install -y \
        gazebo \
        libgazebo-dev\
        ros-humble-turtlebot3 \
        ros-humble-turtlebot3-msgs \
        ros-humble-turtlebot3-simulations \
        python3-pip \
        ros-humble-navigation2 \
        ros-humble-nav2-bringup

# Downgrade setuptools because ROS
# (Basically, this image was built for Humble, which uses a newer version of Python and yet they have not updated the way that they build Python nodes)
RUN pip3 install setuptools==58.2.0 shapely

ENV HOME /home/mines
WORKDIR "/home/mines/mines_ws"
ENV DISPLAY=host.docker.internal:0.0

# Copy in the bashrc file for convenience functions
# COPY .bashrc /home/mines/.bashrc

# Since the workdir is already set to the volume with repo files, no need to copy those in.
# Just build the workspace
RUN /bin/bash -c "source /opt/ros/humble/setup.bash && \
        colcon build --symlink-install"

CMD ["/bin/bash"]