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29 行
1.1 KiB
29 行
1.1 KiB
FROM ros:melodic-ros-base
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RUN sudo apt-get update && sudo apt-get install -y vim iputils-ping net-tools python-pip ros-melodic-robot-state-publisher ros-melodic-moveit ros-melodic-rosbridge-suite ros-melodic-joy ros-melodic-ros-control ros-melodic-ros-controllers ros-melodic-tf2-web-republisher dos2unix
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RUN sudo -H pip install rospkg jsonpickle
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ENV ROS_WORKSPACE=/catkin_ws
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# Copy each directory explicitly to avoid workspace cruft
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COPY ./ROS/src/moveit_msgs $ROS_WORKSPACE/src/moveit_msgs
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COPY ./ROS/src/niryo_moveit $ROS_WORKSPACE/src/niryo_moveit
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COPY ./ROS/src/niryo_one_ros $ROS_WORKSPACE/src/niryo_one_ros
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COPY ./ROS/src/niryo_one_urdf $ROS_WORKSPACE/src/niryo_one_urdf
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COPY ./ROS/src/ros_tcp_endpoint $ROS_WORKSPACE/src/ros_tcp_endpoint
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COPY ./docker/set-up-workspace /setup.sh
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COPY docker/tutorial /
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RUN /bin/bash -c "find $ROS_WORKSPACE -type f -print0 | xargs -0 dos2unix"
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RUN dos2unix /tutorial && dos2unix /setup.sh && chmod +x /setup.sh && /setup.sh && rm /setup.sh
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WORKDIR $ROS_WORKSPACE
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# making sure the file modes are executable
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RUN chmod +x src/niryo_moveit/scripts/*.py
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ENTRYPOINT ["/tutorial"]
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