Dockerfile

# Copyright (C) 2022, Raffaello Bonghi <raffaello@rnext.it>
# All rights reserved
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions are met:
# 1. Redistributions of source code must retain the above copyright 
#    notice, this list of conditions and the following disclaimer.
# 2. Redistributions in binary form must reproduce the above copyright
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#
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# https://hub.docker.com/_/ros
FROM ros:foxy-ros-base

ENV ROS_DISTRO=foxy
ENV ROS_ROOT=/opt/ros/${ROS_DISTRO}

# Download and build nanosaur_ws
ENV ROS_WS /opt/ros_ws
# Copy wstool robot.rosinstall
COPY nanosaur/rosinstall/robot.rosinstall robot.rosinstall
# Initialize ROS2 workspace and install python dependencies
# fonts-open-sans required for nanosaur_base
RUN mkdir -p $ROS_WS/src && \
    vcs import $ROS_WS/src < robot.rosinstall && \
    apt-get update && \
    apt-get install libjpeg-dev zlib1g-dev python3-pip fonts-open-sans -y && \
    pip3 install -U jetson-stats && \
    pip3 install -r $ROS_WS/src/nanosaur_robot/nanosaur_base/requirements.txt && \
    rosdep install --from-paths $ROS_WS/src --ignore-src -r -y && \
    rm -rf /var/lib/apt/lists/*

# Change workdir
WORKDIR $ROS_WS

# ROS2 system manager docker build
ENV DOCKER_CONTAINER Yes
# Build Isaac ROS
RUN . /opt/ros/$ROS_DISTRO/setup.sh && \
    colcon build --symlink-install \
    --cmake-args \
    -DCMAKE_BUILD_TYPE=Release

# source ros package from entrypoint
RUN sed --in-place --expression \
      '$isource "$ROS_WS/install/setup.bash"' \
      /ros_entrypoint.sh

# https://docs.docker.com/engine/reference/builder/#stopsignal
# https://hynek.me/articles/docker-signals/
STOPSIGNAL SIGINT
# run ros package launch file
CMD ["ros2", "launch", "nanosaur_bringup", "bringup.launch.py"]