Dockerfile

FROM ros:noetic-ros-base-buster
SHELL ["/bin/bash", "-c"] 
RUN sudo apt update --fix-missing
RUN sudo apt install -y git m4 python python3-pip wget
RUN sudo apt install -y python3-catkin-pkg-modules python3-rospkg-modules libffi-dev

# Install and set path for python dependencies
ENV PYTHONPATH=/opt/ros/noetic/lib/python3/dist-packages:/home/ros/devel/lib/python3/dist-packages:$PYTHONPATH
RUN pip3 install jupyter
RUN pip3 install jupyterlab

# Install jupyter-ros
WORKDIR /home/ros
RUN git clone https://github.com/RoboStack/jupyter-ros.git
WORKDIR /home/ros/jupyter-ros
RUN sudo apt update
RUN sudo apt install -y nodejs npm
RUN pip3 install -e .
RUN pip3 install numpy --upgrade
RUN jupyter nbextension install --py --symlink --sys-prefix jupyros
RUN jupyter nbextension enable --py --sys-prefix jupyros

# Install jupyter-zethus
RUN python3 -m pip install jupyterlab-zethus

# Install Knowrob kernel 
RUN pip3 install git+https://github.com/sasjonge/jupyter-knowrob.git
WORKDIR ~/.local/share/jupyter/kernels/
RUN mkdir jknowrob
RUN wget https://raw.githubusercontent.com/sasjonge/jupyter-knowrob/master/kernel.json -P ~/.local/share/jupyter/kernels/jknowrob

# We need the json_prolog_msgs to communicate with KnowRob
WORKDIR /home/ros/src
RUN /usr/bin/python /opt/ros/noetic/bin/catkin_init_workspace
RUN source /opt/ros/noetic/setup.bash
RUN git clone https://github.com/code-iai/iai_common_msgs.git

WORKDIR /home/ros
# Build the catkin workspace
ENV CMAKE_PREFIX_PATH=/home/sasjonge/knowrob_ws/devel:/opt/ros/noetic
RUN /opt/ros/noetic/bin/catkin_make -DPYTHON_EXECUTABLE=/usr/bin/python3

WORKDIR /lectures

# Configure container startup
COPY run_notebook.sh /run_notebook.sh
COPY /knowrob_cloud /home/ros/src/knowrob_cloud
ENTRYPOINT ["/run_notebook.sh"]