Dockerfile.ros.eloquent

#
# this dockerfile roughly follows the 'Install ROS2 Via Debian Packages' from:
#   https://index.ros.org/doc/ros2/Installation/Eloquent/Linux-Install-Debians/
#
ARG BASE_IMAGE=nvcr.io/nvidia/l4t-base:r32.5.0
FROM ${BASE_IMAGE}

ARG ROS_PKG=ros_base
ENV ROS_DISTRO=eloquent
ENV ROS_ROOT=/opt/ros/${ROS_DISTRO}

ENV DEBIAN_FRONTEND=noninteractive
ENV SHELL /bin/bash
SHELL ["/bin/bash", "-c"] 

WORKDIR /tmp

# change the locale from POSIX to UTF-8
RUN locale-gen en_US en_US.UTF-8 && update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
ENV LANG=en_US.UTF-8
ENV PYTHONIOENCODING=utf-8


# 
# add the ROS deb repo to the apt sources list
#
RUN apt-get update && \
    apt-get install -y --no-install-recommends \
          git \
		cmake \
		build-essential \
		curl \
		wget \
		gnupg2 \
		lsb-release \
		ca-certificates \
    && rm -rf /var/lib/apt/lists/* \
    && apt-get clean

RUN curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
RUN echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null


#
# install ROS packages
#
RUN apt-get update && \
    apt-get install -y --no-install-recommends \
		ros-eloquent-`echo "${ROS_PKG}" | tr '_' '-'` \
		ros-eloquent-launch-xml \
		ros-eloquent-launch-yaml \
		ros-eloquent-launch-testing \
		ros-eloquent-launch-testing-ament-cmake \
		ros-eloquent-camera-calibration-parsers \
		ros-eloquent-camera-info-manager \
		ros-eloquent-cv-bridge \
		ros-eloquent-v4l2-camera \
		ros-eloquent-vision-msgs \
		ros-eloquent-vision-opencv \
		ros-eloquent-image-transport \
		ros-eloquent-image-tools \
		ros-eloquent-image-geometry \
		ros-eloquent-gazebo-ros \
		ros-eloquent-gazebo-msgs \
		ros-eloquent-gazebo-ros-pkgs \
		ros-eloquent-gazebo-plugins \
		libpython3-dev \
		python3-colcon-common-extensions \
		python3-rosdep \
		libgazebo9-dev \
		gazebo9 \
		gazebo9-common \
		gazebo9-plugin-base \
    && rm -rf /var/lib/apt/lists/* \
    && apt-get clean


# 
# init/update rosdep
#
RUN apt-get update && \
    cd ${ROS_ROOT} && \
    rosdep init && \
    rosdep update && \
    rm -rf /var/lib/apt/lists/*


#
# compile yaml-cpp-0.6, which some ROS packages may use (but is not in the 18.04 apt repo)
#
RUN git clone --branch yaml-cpp-0.6.0 https://github.com/jbeder/yaml-cpp yaml-cpp-0.6 && \
    cd yaml-cpp-0.6 && \
    mkdir build && \
    cd build && \
    cmake -DBUILD_SHARED_LIBS=ON .. && \
    make -j$(nproc) && \
    cp libyaml-cpp.so.0.6.0 /usr/lib/aarch64-linux-gnu/ && \
    ln -s /usr/lib/aarch64-linux-gnu/libyaml-cpp.so.0.6.0 /usr/lib/aarch64-linux-gnu/libyaml-cpp.so.0.6


# 
# setup entrypoint
#
COPY ./packages/ros_entrypoint.sh /ros_entrypoint.sh
RUN echo 'source /opt/ros/${ROS_DISTRO}/setup.bash' >> /root/.bashrc
ENTRYPOINT ["/ros_entrypoint.sh"]
CMD ["bash"]
WORKDIR /