From f8987da0f24b3edfb0f763801eb4433a8b9d7f92 Mon Sep 17 00:00:00 2001
From: ChrisTimperley <christimperley@googlemail.com>
Date: Fri, 27 Apr 2018 12:48:04 -0400
Subject: [PATCH] added Dockerfile

---
 .dockerignore |  3 +++
 Dockerfile    | 67 +++++++++++++++++++++++++++++++++++++++++++++++++++
 2 files changed, 70 insertions(+)
 create mode 100644 .dockerignore
 create mode 100644 Dockerfile

diff --git a/.dockerignore b/.dockerignore
new file mode 100644
index 0000000..d0a3ee2
--- /dev/null
+++ b/.dockerignore
@@ -0,0 +1,3 @@
+**
+!pkgs.rosinstall
+!turtletest
diff --git a/Dockerfile b/Dockerfile
new file mode 100644
index 0000000..7b054e0
--- /dev/null
+++ b/Dockerfile
@@ -0,0 +1,67 @@
+FROM cmu-mars/gazebo
+
+ENV USER mars
+ENV ROS_WS /home/mars/catkin_ws
+WORKDIR ${ROS_WS}
+
+# trash the workspace
+RUN . /opt/ros/kinetic/setup.sh && \
+    catkin_make clean && \
+    rm -rf src/* build devel
+
+# install basic utilities
+RUN sudo apt-get update && \
+    sudo apt-get install -y vim wget curl python-catkin-tools
+
+# uninstall kobuki
+RUN sudo apt-get remove -y ros-kinetic-kobuki \
+                           ros-kinetic-kobuki-core
+
+# use a ROS install file to create a workspace
+ADD pkgs.rosinstall pkgs.rosinstall
+RUN sudo chown -R ${USER} . && \
+    wstool init -j8 src pkgs.rosinstall
+
+# install system dependencies
+# --ignore-src (what does this do?)
+RUN rosdep update \
+ && rosdep install -i -y -r --from-paths src \
+                        --ignore-src \
+                        --skip-keys="python-rosdep python-catkin-pkg python-rospkg" \
+                        --rosdistro="${ROS_DISTRO}" \
+ && sudo apt-get clean \
+ && sudo rm -rf /var/lib/apt/lists/*
+
+# fix: https://github.com/ros/geometry/issues/144
+# fix: https://github.com/ros-drivers/freenect_stack/issues/36
+# fix BFL includes
+RUN cd "${ROS_WS}/src/ros_comm/xmlrpcpp" && \
+    sed -i "s#INCLUDE_DIRS include#INCLUDE_DIRS include include/xmlrpcpp#" CMakeLists.txt
+RUN cd "${ROS_WS}/src/freenect_stack" && \
+    find . -type f -exec sed -i "s#libfreenect/libfreenect.h#libfreenect.h#g" "{}" \; && \
+    find . -type f -exec sed -i "s#libfreenect/libfreenect_registration.h#libfreenect_registration.h#g" "{}" \;
+RUN cd "${ROS_WS}/src/navigation" && \
+    find . -type f -exec sed -i "s#<bfl/#<#g" {} \;
+
+# build
+RUN sudo apt-get install -y libgazebo7-dev \
+                            libignition-math2-dev \
+                            ros-kinetic-gazebo-ros-control
+RUN mkdir logs
+# RUN . "/opt/ros/${ROS_DISTRO}/setup.sh" && \
+#     catkin build kobuki_gazebo_plugins
+RUN . "/opt/ros/${ROS_DISTRO}/setup.sh" \
+ && catkin build
+
+RUN sudo apt-get update \
+ && sudo apt-get install -y python3-pip \
+ && pip3 install --upgrade pip
+RUN pip3 install --user \
+      pyyaml \
+      defusedxml \
+      catkin_pkg \
+      rospkg \
+      netifaces
+
+COPY turtletest/ .
+RUN sudo chown -R $(whoami) turtletest