Dockerfile.humble.core

# Copyright (c) 2022, NVIDIA CORPORATION. All rights reserved.
#
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# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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ARG BASE_IMAGE=rbonghi/isaac-ros-base:devel
FROM ${BASE_IMAGE}

# ROS distributions
# https://discourse.ros.org/t/core-base-and-desktop-releases/20267
ARG ROS_PKG=ros_core
ENV ROS_DISTRO=humble
ENV ROS_ROOT=/opt/ros/${ROS_DISTRO}

# ROS2 Humble installation
# https://docs.ros.org/en/humble/Installation/Alternatives/Ubuntu-Development-Setup.html

# Add ROS2 apt repository
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 development packages
RUN apt-get update && \
    apt-get install -y --no-install-recommends \
        python3-colcon-common-extensions \
        python3-flake8 \
        python3-flake8-docstrings \
        python3-pip \
        python3-pytest \
        python3-pytest-cov \
        python3-rosdep \
        python3-setuptools \
        python3-vcstool \
        python3-rosinstall-generator \
    && rm -rf /var/lib/apt/lists/* \
    && apt-get clean \
    # Python dependencies
    && python3 -m pip install -U \
        flake8-blind-except \
        flake8-builtins \
        flake8-class-newline \
        flake8-comprehensions \
        flake8-deprecated \
        flake8-import-order \
        flake8-quotes \
        pytest-repeat \
        pytest-rerunfailures \
        pytest \
        setuptools

############################################################

# Avoid setup.py and easy_install deprecation warnings caused by colcon and setuptools
# https://github.com/colcon/colcon-core/issues/454
ENV PYTHONWARNINGS=ignore:::setuptools.command.install,ignore:::setuptools.command.easy_install,ignore:::pkg_resources
# RUN echo "Warning: Using the PYTHONWARNINGS environment variable to silence setup.py and easy_install deprecation warnings caused by colcon"

# download/build ROS from source
RUN mkdir -p ${ROS_ROOT}/src \
    && cd ${ROS_ROOT} \
    && rosinstall_generator --deps --rosdistro ${ROS_DISTRO} ${ROS_PKG} \
        launch_xml \
        launch_yaml \
        launch_testing \
        launch_testing_ament_cmake \
        demo_nodes_cpp \
        demo_nodes_py \
        example_interfaces \
        camera_calibration_parsers \
        camera_info_manager \
        cv_bridge \
        v4l2_camera \
        diagnostic_updater \
        vision_opencv \
        vision_msgs \
        sensor_msgs \
        image_geometry \
        image_pipeline \
        image_transport \
        image_transport_plugins \
        compressed_image_transport \
        compressed_depth_image_transport \
        angles \
        resource_retriever \
        bondcpp \
        > ros2.${ROS_DISTRO}.${ROS_PKG}.rosinstall \
    && cat ros2.${ROS_DISTRO}.${ROS_PKG}.rosinstall \
    && vcs import src < ros2.${ROS_DISTRO}.${ROS_PKG}.rosinstall \
    && rm ${ROS_ROOT}/*.rosinstall \
    # Adding negotiated
    && git -C ${ROS_ROOT}/src/ clone https://github.com/osrf/negotiated -b master \
    # Install dependencies using rosdep
    && apt-get update \
    && rosdep init \
    && rosdep update \
    && rosdep install -y \
        --ignore-src \
        --from-paths src \
        --rosdistro ${ROS_DISTRO} \
        --skip-keys "fastcdr rti-connext-dds-6.0.1 urdfdom_headers libopencv-dev libopencv-contrib-dev libopencv-imgproc-dev python-opencv python3-opencv" \
    && rm -Rf /var/lib/apt/lists/* \
    && apt-get clean \
    # Build ROS2 source
    && colcon build --merge-install --cmake-args -DCMAKE_BUILD_TYPE=Release --packages-up-to-regex negotiated* \
    && colcon build --merge-install --cmake-args -DCMAKE_BUILD_TYPE=Release \
    && rm -Rf src build log

# Alias setup.bash for consistency with pre-built binary installations of ROS2
RUN echo "source /opt/ros/${ROS_DISTRO}/install/setup.bash ; export ROS_DISTRO=${ROS_DISTRO}" > /opt/ros/${ROS_DISTRO}/setup.bash

############################################################

# Default Humble DDS middleware: FastRTPS
ENV RMW_IMPLEMENTATION=rmw_fastrtps_cpp

# setup entrypoint
COPY scripts/ros_entrypoint.sh /ros_entrypoint.sh

RUN sed -i \
    's/ros_env_setup="\/opt\/ros\/$ROS_DISTRO\/setup.bash"/ros_env_setup="${ROS_ROOT}\/install\/setup.bash"/g' \
    /ros_entrypoint.sh && \
    cat /ros_entrypoint.sh

RUN echo 'source ${ROS_ROOT}/install/setup.bash' >> /root/.bashrc

WORKDIR /
ENTRYPOINT ["/ros_entrypoint.sh"]
CMD ["bash"]