| ARG ROS2_DISTRO | |
| FROM ros:${ROS2_DISTRO}-ros-core | |
| ENV DEBIAN_FRONTEND=noninteractive | |
| ARG APT_MIRROR="us" | |
| RUN sed --in-place --regexp-extended "s|(//)(archive\.ubuntu)|\1${APT_MIRROR}.\2|" /etc/apt/sources.list | |
| RUN apt-get update \ | |
| && apt-get install -y --no-install-recommends \ | |
| bash-completion \ | |
| build-essential \ | |
| locate \ | |
| nano \ | |
| emacs \ | |
| python3-colcon-common-extensions \ | |
| python3-pip \ | |
| python3-rosdep \ | |
| sudo \ | |
| && python3 -m pip install pydocstyle==6.1.1 \ | |
| && python3 -m pip install pandas \ | |
| && rosdep init \ | |
| && apt-get install -y --no-install-recommends \ | |
| libeigen3-dev \ | |
| libpcl-dev \ | |
| libyaml-cpp-dev \ | |
| ros-${ROS_DISTRO}-diagnostic-updater \ | |
| ros-${ROS_DISTRO}-nav2-amcl \ | |
| ros-${ROS_DISTRO}-nav2-lifecycle-manager \ | |
| ros-${ROS_DISTRO}-nav2-map-server \ | |
| ros-${ROS_DISTRO}-nav2-rviz-plugins \ | |
| ros-${ROS_DISTRO}-pcl-conversions \ | |
| ros-${ROS_DISTRO}-pcl-msgs \ | |
| ros-${ROS_DISTRO}-rqt-image-view \ | |
| ros-${ROS_DISTRO}-rqt-graph \ | |
| ros-${ROS_DISTRO}-rviz2 \ | |
| ros-${ROS_DISTRO}-tf2 \ | |
| ros-${ROS_DISTRO}-tf2-geometry-msgs \ | |
| ros-${ROS_DISTRO}-tf2-sensor-msgs \ | |
| ros-${ROS_DISTRO}-tf2-eigen \ | |
| ros-${ROS_DISTRO}-v4l2-camera \ | |
| ros-${ROS_DISTRO}-pcl-ros \ | |
| && rm -rf /var/lib/apt/lists/* | |
| ARG USER_ID | |
| ARG GROUP_ID | |
| RUN addgroup --gid ${GROUP_ID} user \ | |
| && adduser --disabled-password --gecos '' --uid ${USER_ID} --gid ${GROUP_ID} user \ | |
| && usermod -a -G sudo,video user \ | |
| && echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers | |
| USER user | |
| RUN echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> /home/user/.bashrc \ | |
| && echo "source /home/user/ws/install/setup.bash" >> /home/user/.bashrc | |
| WORKDIR /home/user/ws | |