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Dockerfile
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FROM osrf/ros:humble-desktop-full
ARG WORKSPACE=/home/student/ros2_ws
WORKDIR /ros2_ws
ENV QT_X11_NO_MITSHM=1
ENV EDITOR=nano
# ENV XDG_RUNTIME_DIR=/tmp
RUN apt-get -o Acquire::Check-Valid-Until=false -o Acquire::Check-Date=false update && apt-get install -y \
cmake \
curl \
gazebo \
libglu1-mesa-dev \
nano \
vim \
python3-pip \
python3-pydantic \
ros-dev-tools \
ros-humble-cartographer \
ros-humble-cartographer-ros \
ros-humble-navigation2 \
ros-humble-nav2-bringup \
ros-humble-turtlebot3 \
ros-humble-turtlebot3-msgs \
ros-humble-turtlebot3-simulations \
ros-humble-turtlebot3-gazebo \
ros-humble-joint-state-publisher \
ros-humble-robot-localization \
ros-humble-plotjuggler-ros \
ros-humble-robot-state-publisher \
ros-humble-ros2bag \
ros-humble-rosbag2-storage-default-plugins \
ros-humble-rmw-fastrtps-cpp \
ros-humble-rmw-cyclonedds-cpp \
ros-humble-slam-toolbox \
ros-humble-rqt* \
ros-humble-librealsense2* \
ros-humble-realsense2-* \
ros-humble-dynamixel-sdk \
ros-humble-gazebo-* \
ros-humble-turtlesim \
python3-rosdep \
python3-colcon-common-extensions \
ffmpeg \
rviz \
tmux \
wget \
xorg-dev \
zsh
RUN pip3 install setuptools==58.2.0
RUN apt-get install -y \
mesa-utils \
libegl1-mesa-dev \
libgl1-mesa-dev \
libgles2-mesa-dev
RUN apt-get autoremove -y \
&& apt-get clean -y \
&& rm -rf /var/lib/apt/lists/*
RUN curl -sS https://starship.rs/install.sh | sh -s -- --yes
RUN useradd -ms /bin/zsh student \
&& echo "student:password" | chpasswd
USER student
RUN mkdir -p ~/ros2_ws/src
WORKDIR /home/student/ros2_ws
RUN echo 'eval "$(starship init bash)"' >> ~/.bashrc
RUN echo 'echo "You are in the BASH shell."' >> ~/.bashrc
RUN echo 'echo "This is not configured for ROS2 Development"' >> ~/.bashrc
RUN echo 'echo "Return to the ZSH shell by running zsh"' >> ~/.bashrc
RUN echo 'eval "$(starship init zsh)"' >> ~/.zshrc
RUN echo "export DISABLE_AUTO_TITLE=true" >> ~/.zshrc
RUN echo 'LC_NUMERIC="en_US.UTF-8"' >> ~/.zshrc
RUN echo "source /opt/ros/humble/setup.zsh" >> ~/.zshrc
RUN echo "source /usr/share/gazebo/setup.sh" >> ~/.zshrc
RUN echo 'alias rosdi="rosdep install --from-paths src --ignore-src --rosdistro=${ROS_DISTRO} -y"' >> ~/.zshrc
RUN echo 'alias cbuild="colcon build --symlink-install"' >> ~/.zshrc
RUN echo 'alias ssetup="source ./install/local_setup.zsh"' >> ~/.zshrc
RUN echo 'alias cyclone="export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp"' >> ~/.zshrc
RUN echo 'alias fastdds="export RMW_IMPLEMENTATION=rmw_fastrtps_cpp"' >> ~/.zshrc
RUN echo 'export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp' >> ~/.zshrc
RUN echo 'export TURTLEBOT3_MODEL=waffle' >> ~/.zshrc
RUN echo 'export ROS_DOMAIN_ID=30' >> ~/.zshrc
RUN echo "autoload -U bashcompinit" >> ~/.zshrc
RUN echo "bashcompinit" >> ~/.zshrc
RUN echo 'eval "$(register-python-argcomplete3 ros2)"' >> ~/.zshrc
RUN echo 'eval "$(register-python-argcomplete3 colcon)"' >> ~/.zshrc
# Build any additional packages.
WORKDIR /home/student
RUN git clone https://github.com/tom-howard/tuos_ros.git tuos_ros
SHELL ["/bin/zsh", "-c"]
WORKDIR /home/student/tuos_ros
RUN git checkout humble
RUN source ~/.zshrc && colcon build --symlink-install
ENV COLCON_PREFIX_PATH=/home/student/ros2_ws/src
WORKDIR /home/student/ros2_ws