Dockerfiles for fetch_gazebo

[moriarty]

This issue is more of a todo, I have a dockerfile which I've been using to test/debug #37 and should clean it up, and put it into this repository somewhere with a ReadMe and some instructions.

It can be passed arguments so that it works for Indigo/Kinetic/Melodic.

But it requires nvidia-docker2

ARG OPENGL_TAG=1.0-glvnd-devel-ubuntu16.04

FROM nvidia/opengl:${OPENGL_TAG}

ARG ROS_DISTRO
ARG GAZEBO_VERSION
ARG FETCH_ROS_VERSION

ENV ROS_DISTRO ${ROS_DISTRO:-kinetic}
ENV GAZEBO_VERSION ${GAZEBO_VERSION:-7}
ENV FETCH_ROS_VERSION ${FETCH_ROS_VERSION:-0.7.14}

# setup environment
ENV TERM xterm
ENV LANG C.UTF-8
ENV LC_ALL C.UTF-8

# nvidia-container-runtime
ENV NVIDIA_VISIBLE_DEVICES \
    ${NVIDIA_VISIBLE_DEVICES:-all}
ENV NVIDIA_DRIVER_CAPABILITIES \
    ${NVIDIA_DRIVER_CAPABILITIES:+$NVIDIA_DRIVER_CAPABILITIES,}graphics

# install packages
RUN DEBIAN_FRONTEND=noninteractive apt-get update && \
    apt-get install -q -y \
      dirmngr \
      gnupg2 \
      lsb-release && \
    rm -rf /var/lib/apt/lists/*

# setup keys
RUN apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 \
      --recv-keys 421C365BD9FF1F717815A3895523BAEEB01FA116

# setup sources.list
RUN echo "deb http://packages.ros.org/ros/ubuntu `lsb_release -sc` main" > \
      /etc/apt/sources.list.d/ros-latest.list

# install bootstrap tools
RUN DEBIAN_FRONTEND=noninteractive apt-get update && \
    apt-get install --no-install-recommends -y \
      python-rosdep \
      python-rosinstall \
      python-vcstools && \
    rm -rf /var/lib/apt/lists/*

# bootstrap rosdep
RUN rosdep init \
    && rosdep update

# install ros packages
RUN DEBIAN_FRONTEND=noninteractive apt-get update && \
    apt-get install -y \
      build-essential \ 
      git \
      ros-${ROS_DISTRO}-desktop-full \
      python-catkin-tools \
      vim && \
    rm -rf /var/lib/apt/lists/*

RUN mkdir -p ros/${ROS_DISTRO}/src && \
    cd ros/${ROS_DISTRO} && \
    catkin config --init && \
    catkin config --extend /opt/ros/${ROS_DISTRO} && \
    cd src && \
    git clone --branch gazebo${GAZEBO_VERSION} https://github.com/fetchrobotics/fetch_gazebo.git && \
    git clone --branch ${FETCH_ROS_VERSION} https://github.com/fetchrobotics/fetch_ros.git && \
    cd ../ && \
    DEBIAN_FRONTEND=noninteractive apt-get update && \
    rosdep install -y --from-paths src --ignore-src \
      --rosdistro ${ROS_DISTRO} && \
    rm -rf /var/lib/apt/lists/*

RUN cd /ros/${ROS_DISTRO} && \
    catkin_make_isolated

[moriarty]

FROM osrf/ros:melodic-desktop-full-bionic

RUN DEBIAN_FRONTEND=noninteractive apt-get update \
 && apt-get install -y -q --no-install-recommends \
    python-catkin-tools \
    python-rosinstall-generator \
 && . /opt/ros/melodic/setup.sh \
 && rosinstall_generator fetchit_challenge --deps --deps-only --exclude RPP > stable.rosinstall \
 && rosinstall_generator fetchit_challenge --upstream > active.rosinstall \
 && mkdir -p $HOME/ros/stable $HOME/ros/active \
 && wstool init $HOME/ros/stable/src stable.rosinstall \
 && wstool init $HOME/ros/active/src active.rosinstall \
 && cd $HOME/ros/stable \
    && catkin config --init \
    && catkin config --install --extend /opt/ros/melodic \
    && catkin build \
 && cd $HOME/ros/active \
    && catkin config --init \
    && catkin config --extend $HOME/ros/stable/install \
    && catkin build \
 && sed -i 's/\/opt\/ros\/\$ROS_DISTRO/\$HOME\/ros\/active\/devel/' /ros_entrypoint.sh

ENTRYPOINT ["/ros_entrypoint.sh"]
CMD ["bash"]

[moriarty]

For those who are participating in FetchIt! you'll notice an error in the version I sent around via e-mail.

-  && sed -i 's/\/opt\/ros\/\$ROS_DISTRO/\$HOME\/ros\/active\/devel/' ./ros_entrypoint.sh
+  && sed -i 's/\/opt\/ros\/\$ROS_DISTRO/\$HOME\/ros\/active\/devel/' /ros_entrypoint.sh

[moriarty]

#75 and this are essentially duplicates.

The Dockerfiles in the comments above no longer work, ros is now in the official docker images: osrf/ros -> ros

FROM ros:melodic

These are still on the todo list.