Created
September 19, 2018 06:14
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Docker image for ROS2 armhf from source
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| # This is an auto generated Dockerfile for ros2:source | |
| # generated from docker_images/create_ros2_source_image.Dockerfile.em | |
| FROM arm32v7/ubuntu:bionic | |
| RUN echo 'Etc/UTC' > /etc/timezone && \ | |
| ln -s /usr/share/zoneinfo/Etc/UTC /etc/localtime && \ | |
| apt-get update && apt-get install -q -y tzdata && rm -rf /var/lib/apt/lists/* | |
| # install packages | |
| RUN apt-get update && apt-get install -q -y \ | |
| bash-completion \ | |
| dirmngr \ | |
| git \ | |
| gnupg2 \ | |
| libasio-dev \ | |
| libtinyxml2-dev \ | |
| lsb-release \ | |
| python3-pip \ | |
| wget \ | |
| && 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 . /etc/os-release \ | |
| && echo "deb http://repo.ros2.org/$ID/main `lsb_release -sc` main" > /etc/apt/sources.list.d/ros2-latest.list | |
| # setup environment | |
| ENV LANG C.UTF-8 | |
| ENV LC_ALL C.UTF-8 | |
| # install python packages | |
| RUN pip3 install -U \ | |
| argcomplete \ | |
| flake8 \ | |
| flake8-blind-except \ | |
| flake8-builtins \ | |
| flake8-class-newline \ | |
| flake8-comprehensions \ | |
| flake8-deprecated \ | |
| flake8-docstrings \ | |
| flake8-import-order \ | |
| flake8-quotes \ | |
| pytest-repeat \ | |
| pytest-rerunfailures | |
| # install packages from the ROS repositories | |
| RUN pip3 install -U \ | |
| catkin_pkg_modules \ | |
| colcon_common_extensions \ | |
| rosdep \ | |
| rosinstall_generator \ | |
| vcstool | |
| # bootstrap rosdep | |
| ENV ROSDISTRO_INDEX_URL https://raw.githubusercontent.com/ros2/rosdistro/ros2/index.yaml | |
| RUN rosdep init \ | |
| && rosdep update | |
| # clone source | |
| ENV ROS2_WS /root/ros2_ws | |
| RUN mkdir -p $ROS2_WS/src | |
| WORKDIR $ROS2_WS | |
| # RUN rosinstall_generator \ | |
| # demo_nodes_cpp \ | |
| # demo_nodes_py \ | |
| # sros2 \ | |
| # --deps \ | |
| # --rosdistro bouncy > ros2.repos \ | |
| # && vcs import src < ros2.repos | |
| COPY ./ros2.repo ./ | |
| RUN vcs import src < ros2.repo | |
| # install dependencies | |
| RUN apt-get update && rosdep install -y \ | |
| --from-paths src \ | |
| --ignore-src \ | |
| --rosdistro bouncy \ | |
| --skip-keys "console_bridge fastcdr fastrtps libopensplice67 rti-connext-dds-5.3.1 urdfdom_headers python3-catkin-pkg-modules python3-colcon-common-extensions python3-rosdep python3-vcstool" \ | |
| && rm -rf /var/lib/apt/lists/* | |
| # build source | |
| WORKDIR $ROS2_WS | |
| RUN colcon \ | |
| build \ | |
| --cmake-args -DSECURITY=ON --no-warn-unused-cli \ | |
| --symlink-install | |
| # setup bashrc | |
| RUN cp /etc/skel/.bashrc ~/ | |
| # setup entrypoint | |
| COPY ./ros2_source_entrypoint.sh / | |
| ENTRYPOINT ["/ros2_source_entrypoint.sh"] | |
| CMD ["bash"] |
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| repositories: | |
| ament/ament_cmake: | |
| type: git | |
| url: https://github.com/ament/ament_cmake.git | |
| version: 0.5.1 | |
| ament/ament_index: | |
| type: git | |
| url: https://github.com/ament/ament_index.git | |
| version: 0.5.1 | |
| ament/ament_lint: | |
| type: git | |
| url: https://github.com/ament/ament_lint.git | |
| version: 0.5.2 | |
| ament/ament_package: | |
| type: git | |
| url: https://github.com/ament/ament_package.git | |
| version: 0.5.2 | |
| ament/ament_tools: | |
| type: git | |
| url: https://github.com/ament/ament_tools.git | |
| version: 0.5.0 | |
| ament/googletest: | |
| type: git | |
| url: https://github.com/ament/googletest.git | |
| version: 4b6e624e78ba3d43c1602ffc80478ee7253e0b04 | |
| ament/osrf_pycommon: | |
| type: git | |
| url: https://github.com/osrf/osrf_pycommon.git | |
| version: 0.1.5 | |
| ament/uncrustify: | |
| type: git | |
| url: https://github.com/ament/uncrustify.git | |
| version: 0.66.1 | |
| eProsima/Fast-CDR: | |
| type: git | |
| url: https://github.com/eProsima/Fast-CDR.git | |
| version: v1.0.7 | |
| eProsima/Fast-RTPS: | |
| type: git | |
| url: https://github.com/eProsima/Fast-RTPS.git | |
| version: 7a0b0fe7ca8d2c4ea41e36744c6024c263a6505a | |
| osrf/osrf_testing_tools_cpp: | |
| type: git | |
| url: https://github.com/osrf/osrf_testing_tools_cpp.git | |
| version: 1.0.0 | |
| ros/class_loader: | |
| type: git | |
| url: https://github.com/ros/class_loader.git | |
| version: 1.1.0 | |
| ros/console_bridge: | |
| type: git | |
| url: https://github.com/ros/console_bridge.git | |
| version: ad25f7307da76be2857545e7e5c2a20727eee542 | |
| ros/pluginlib: | |
| type: git | |
| url: https://github.com/ros/pluginlib.git | |
| version: 2.1.1 | |
| ros/resource_retriever: | |
| type: git | |
| url: https://github.com/ros/resource_retriever.git | |
| version: 2.1.0 | |
| ros/ros_environment: | |
| type: git | |
| url: https://github.com/ros/ros_environment.git | |
| version: 2.1.1 | |
| ros/urdfdom_headers: | |
| type: git | |
| url: https://github.com/ros/urdfdom_headers.git | |
| version: e7e0972a4617b8a5df7a274ea3ba3b92e3895a35 | |
| ros-perception/laser_geometry: | |
| type: git | |
| url: https://github.com/ros-perception/laser_geometry.git | |
| version: 2.0.0 | |
| ros-planning/navigation_msgs: | |
| type: git | |
| url: https://github.com/ros-planning/navigation_msgs.git | |
| version: 2.0.0 | |
| ros2/ament_cmake_ros: | |
| type: git | |
| url: https://github.com/ros2/ament_cmake_ros.git | |
| version: 0.5.0 | |
| ros2/common_interfaces: | |
| type: git | |
| url: https://github.com/ros2/common_interfaces.git | |
| version: 0.5.1 | |
| ros2/demos: | |
| type: git | |
| url: https://github.com/ros2/demos.git | |
| version: 0.5.1 | |
| ros2/examples: | |
| type: git | |
| url: https://github.com/ros2/examples.git | |
| version: 0.5.1 | |
| ros2/example_interfaces: | |
| type: git | |
| url: https://github.com/ros2/example_interfaces.git | |
| version: 0.5.0 | |
| ros2/geometry2: | |
| type: git | |
| url: https://github.com/ros2/geometry2.git | |
| version: 0.9.1 | |
| ros2/kdl_parser: | |
| type: git | |
| url: https://github.com/ros2/kdl_parser.git | |
| version: 2.1.0 | |
| ros2/launch: | |
| type: git | |
| url: https://github.com/ros2/launch.git | |
| version: 0.6.0 | |
| ros2/libyaml_vendor: | |
| type: git | |
| url: https://github.com/ros2/libyaml_vendor.git | |
| version: 1.0.0 | |
| ros2/orocos_kinematics_dynamics: | |
| type: git | |
| url: https://github.com/ros2/orocos_kinematics_dynamics.git | |
| version: 3.0.1 | |
| ros2/poco_vendor: | |
| type: git | |
| url: https://github.com/ros2/poco_vendor.git | |
| version: 1.1.1 | |
| ros2/rcl: | |
| type: git | |
| url: https://github.com/ros2/rcl.git | |
| version: 0.5.1 | |
| ros2/rcl_interfaces: | |
| type: git | |
| url: https://github.com/ros2/rcl_interfaces.git | |
| version: 0.5.0 | |
| # ros2/rclc: | |
| # type: git | |
| # url: https://github.com/ros2/rclc.git | |
| # version: master | |
| ros2/rclcpp: | |
| type: git | |
| url: https://github.com/ros2/rclcpp.git | |
| version: 0.5.1 | |
| ros2/rclpy: | |
| type: git | |
| url: https://github.com/ros2/rclpy.git | |
| version: 0.5.4 | |
| ros2/rcutils: | |
| type: git | |
| url: https://github.com/ros2/rcutils.git | |
| version: 0.5.1 | |
| ros2/realtime_support: | |
| type: git | |
| url: https://github.com/ros2/realtime_support.git | |
| version: 0.5.0 | |
| ros2/rmw: | |
| type: git | |
| url: https://github.com/ros2/rmw.git | |
| version: 0.5.0 | |
| ros2/rmw_connext: | |
| type: git | |
| url: https://github.com/ros2/rmw_connext.git | |
| version: 0.5.1 | |
| ros2/rmw_fastrtps: | |
| type: git | |
| url: https://github.com/ros2/rmw_fastrtps.git | |
| version: 0.5.1 | |
| ros2/rmw_implementation: | |
| type: git | |
| url: https://github.com/ros2/rmw_implementation.git | |
| version: 0.5.1 | |
| ros2/rmw_opensplice: | |
| type: git | |
| url: https://github.com/ros2/rmw_opensplice.git | |
| version: 0.5.2 | |
| ros2/robot_state_publisher: | |
| type: git | |
| url: https://github.com/ros2/robot_state_publisher.git | |
| version: 2.1.0 | |
| # ros2/ros1_bridge: | |
| # type: git | |
| # url: https://github.com/ros2/ros1_bridge.git | |
| # version: 0.5.1 | |
| ros2/ros2cli: | |
| type: git | |
| url: https://github.com/ros2/ros2cli.git | |
| version: 0.5.4 | |
| ros2/rosidl: | |
| type: git | |
| url: https://github.com/ros2/rosidl.git | |
| version: 0.5.1 | |
| ros2/rosidl_dds: | |
| type: git | |
| url: https://github.com/ros2/rosidl_dds.git | |
| version: 0.5.0 | |
| ros2/rosidl_defaults: | |
| type: git | |
| url: https://github.com/ros2/rosidl_defaults.git | |
| version: 0.5.0 | |
| ros2/rosidl_python: | |
| type: git | |
| url: https://github.com/ros2/rosidl_python.git | |
| version: 0.5.2 | |
| ros2/rosidl_typesupport: | |
| type: git | |
| url: https://github.com/ros2/rosidl_typesupport.git | |
| version: 0.5.0 | |
| ros2/rosidl_typesupport_connext: | |
| type: git | |
| url: https://github.com/ros2/rosidl_typesupport_connext.git | |
| version: 0.5.3 | |
| ros2/rosidl_typesupport_opensplice: | |
| type: git | |
| url: https://github.com/ros2/rosidl_typesupport_opensplice.git | |
| version: 0.5.0 | |
| # ros2/rviz: | |
| # type: git | |
| # url: https://github.com/ros2/rviz.git | |
| # version: 4.0.2 | |
| ros2/sros2: | |
| type: git | |
| url: https://github.com/ros2/sros2.git | |
| version: 0.5.0 | |
| ros2/tinyxml_vendor: | |
| type: git | |
| url: https://github.com/ros2/tinyxml_vendor.git | |
| version: 0.5.0 | |
| ros2/tinyxml2_vendor: | |
| type: git | |
| url: https://github.com/ros2/tinyxml2_vendor.git | |
| version: 0.4.0 | |
| ros2/tlsf: | |
| type: git | |
| url: https://github.com/ros2/tlsf.git | |
| version: 0.5.0 | |
| # ros2/tutorials: | |
| # type: git | |
| # url: https://github.com/ros2/tutorials.git | |
| # version: master | |
| ros2/urdf: | |
| type: git | |
| url: https://github.com/ros2/urdf.git | |
| version: 2.1.0 | |
| ros2/urdfdom: | |
| type: git | |
| url: https://github.com/ros2/urdfdom.git | |
| version: 2.0.0 |
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| #!/bin/bash | |
| set -e | |
| # setup ros2 environment | |
| source "$ROS2_WS/install/local_setup.bash" | |
| exec "$@" |
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