From 03da9fb654d5cf0f00f07d3a433db19e28d1ee73 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Adri=C3=A1n=20Madinabeitia=20Portanova?=
 <72991324+Adrimapo@users.noreply.github.com>
Date: Tue, 1 Oct 2024 21:08:57 +0200
Subject: [PATCH] Dockerfile

---
 Dockerfile | 100 +++++++++++++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 100 insertions(+)
 create mode 100644 Dockerfile

diff --git a/Dockerfile b/Dockerfile
new file mode 100644
index 0000000..a17165d
--- /dev/null
+++ b/Dockerfile
@@ -0,0 +1,100 @@
+FROM osrf/ros:humble-desktop
+
+RUN sudo apt update && apt install -y \
+    vim \
+    python3-pip \
+    libgazebo11 \
+    python3-wheel \  
+    ros-humble-geographic-msgs \
+    ros-humble-xacro \
+    gnome-terminal \
+    tmux \
+    tmuxinator \
+    ros-humble-gazebo-dev \ 
+    ros-humble-gazebo-ros\
+    ros-humble-ament-cmake-clang-format \
+    build-essential cmake git libeigen3-dev libyaml-cpp-dev libopencv-dev \
+    python3-pip python3-colcon-common-extensions python3-rosdep \
+    && rm -rf /var/lib/apt/lists/*
+
+# Install setuptools, rosdep, and colcon
+RUN sudo pip install setuptools==58.2 \
+    && pip install rosdep  future \
+    && pip install colcon-common-extensions \
+    && pip install torch matplotlib albumentations torchvision Pillow numpy
+
+
+RUN sudo pip3 install kconfiglib jsonschema
+
+# Install Gazebo
+RUN curl -sSL http://get.gazebosim.org | sh
+
+ENTRYPOINT ["/ros_entrypoint.sh"]
+
+RUN mkdir -p root/workspace/src/px4
+WORKDIR /root/workspace
+
+# Clone the required repositorys 
+RUN git clone https://github.com/RoboticsLabURJC/2023-tfg-adrian-madinabeitia.git src/tfg
+
+#* Aerostack 2
+RUN git clone https://github.com/aerostack2/aerostack2.git src/aerostack2
+
+#* Other dependencies
+RUN git clone https://github.com/JdeRobot/RoboticsInfrastructure.git --branch humble-devel src/RoboticsInfrastructure
+
+#* px4
+RUN git clone https://github.com/aerostack2/as2_platform_pixhawk.git -- src/px4/as2_platform_pixhawk
+RUN git clone https://github.com/eProsima/Micro-XRCE-DDS-Agent.git --branch v2.4.1 src/px4/Micro-XRCE-DDS-Agent
+RUN git clone https://github.com/aerostack2/project_px4_vision src/px4/project_px4_vision
+RUN git clone https://github.com/PX4/PX4-Autopilot.git --branch v1.14.0 src/px4/PX4-Autopilot
+RUN git clone https://github.com/PX4/px4_msgs.git src/px4/px4_msgs
+
+RUN git clone https://github.com/naoki-mizuno/ds4_driver.git src/ds4_driver
+
+# Bash configuration
+RUN echo source /usr/share/gazebo-11/setup.bash >> /root/.bashrc
+RUN echo source /opt/ros/humble/setup.bash >> /root/.bashrc
+RUN echo export GAZEBO_HOME=/usr/share/gazebo >> /root/.bashrc
+RUN echo export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:/usr/share/gazebo-11/models >> /root/.bashrc
+RUN echo export GAZEBO_PLUGIN_PATH=$GAZEBO_PLUGIN_PATH:/usr/lib/x86_64-linux-gnu/gazebo-11/plugins >> /root/.bashrc
+RUN echo export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/lib/x86_64-linux-gnu/gazebo-11/plugins >> /root/.bashrc
+RUN echo source /root/workspace/install/setup.bash >> /root/.bashrc
+
+RUN echo export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:/src/aerostack2/as2_simulation_assets/as2_ign_gazebo_assets/models >> /root/.bashrc
+RUN echo export PX4_FOLDER=/src/px4/PX4-Autopilot >> /root/.bashrc
+RUN echo export AEROSTACK2_PATH=/src/aerostack2 >> /root/.bashrc
+RUN echo source $AEROSTACK2_PATH/as2_cli/setup_env.bash >> /root/.bashrc
+RUN echo AEROSTACK2_SIMULATION_DRONE_ID=drone0 >> /root/.bashrc
+RUN echo export AS2_GZ_ASSETS_SCRIPT_PATH=/root/workspace/install/as2_gazebo_classic_assets/share/as2_gazebo_classic_assets/scripts >> /root/.bashrc
+
+
+# Changes to specific commits some repositorys 
+WORKDIR /root/workspace/src/px4/px4_msgs
+RUN git checkout 7203046
+
+WORKDIR /root/workspace/src/px4/as2_platform_pixhawk
+RUN git checkout 7c55374
+
+WORKDIR /root/workspace/src/aerostack2
+RUN git checkout 96fdc4b
+
+#* Rosdep dependencies 
+WORKDIR /root/workspace
+RUN rosdep update
+
+WORKDIR /root/workspace/src/px4/PX4-Autopilot
+RUN git submodule update --init --recursive
+
+RUN chmod +x /root/workspace/install/as2_gazebo_classic_assets/share/as2_gazebo_classic_assets/scripts/default_run.sh
+RUN chmod +x /root/workspace/install/as2_gazebo_classic_assets/share/as2_gazebo_classic_assets/scripts/run_sitl.sh
+RUN chmod +x /root/workspace/install/as2_gazebo_classic_assets/share/as2_gazebo_classic_assets/scripts/parse_json.py
+RUN chmod +x /root/workspace/install/as2_gazebo_classic_assets/share/as2_gazebo_classic_assets/scripts/*.sh
+
+
+RUN rosdep install --from-paths src --ignore-src -r -y
+
+#RUN colcon build 
+
+
+CMD ["bash"]