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# This is a Dockerfile for osrf/sros:kinetic with SROS FROM ubuntu:xenial # install packages RUN apt-get update && apt-get install -y --no-install-recommends \ dirmngr \ gnupg2 \ && 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 xenial main" > /etc/apt/sources.list.d/ros-latest.list # install bootstrap # and dev tools RUN apt-get update && \ apt-get install -y \ build-essential \ python-catkin-tools \ python-rosdep \ python-rosinstall-generator \ python-wstool \ bash-completion \ byobu \ git \ less \ tree \ wget \ python-pip && \ rm -rf /var/lib/apt/lists/* # setup environment ENV LANG C.UTF-8 ENV LC_ALL C.UTF-8 # set envormetn and workspace ENV ROS_DISTRO kinetic ENV CATKIN_WS=/root/sros_catkin_ws RUN mkdir -p $CATKIN_WS/src WORKDIR $CATKIN_WS/src # download sourcecode for sros RUN rosinstall_generator \ ros_comm \ rospy_tutorials \ --rosdistro ${ROS_DISTRO} \ --deps \ --tar > ${ROS_DISTRO}-ros_comm-wet.rosinstall && \ wstool init -j8 . ${ROS_DISTRO}-ros_comm-wet.rosinstall && \ rm -rf ros_comm && \ git clone -b sros https://github.com/ros/ros_comm && \ git clone -b sros https://github.com/ros-infrastructure/rospkg ../rospkg # install dependencies RUN apt-get update && \ rosdep init && \ rosdep update && \ rosdep install -y \ --from-paths . \ --ignore-src \ --rosdistro ${ROS_DISTRO} \ --as-root=apt:false && \ pip install --upgrade ../rospkg/ && \ rm -rf /var/lib/apt/lists/* # build repo WORKDIR $CATKIN_WS ENV TERM xterm ENV PYTHONIOENCODING UTF-8 RUN catkin config --install && \ catkin build --no-status --summarize # setup demo bashrc RUN echo 'source "$CATKIN_WS/install/setup.bash"' >> ~/.bashrc # setup demo config COPY ./config /root/.ros/sros/config/ # setup entrypoint COPY ./ros_entrypoint.sh / ENTRYPOINT ["/ros_entrypoint.sh"] CMD ["bash"]
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