spot_ros2/devContainer.Dockerfile at main · USC-ACTLab/spot_ros2 · GitHub

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
FROM osrf/ros:humble-desktop-full

# Install dependencies (taken from devcontainer dockerfile)
RUN DEBIAN_FRONTEND=noninteractive apt-get update -q && \
    apt-get update -q && \
    apt-get install -yq --no-install-recommends \
    curl \
    wget \
    ros-humble-velodyne \
    ros-humble-velodyne-description \
    python3-pip \
    python-is-python3 \
    python3-argcomplete \
    python3-colcon-common-extensions \
    python3-colcon-mixin \
    python3-rosdep \
    libpython3-dev && \
    rm -rf /var/lib/apt/lists/*

# Create ROS workspace
WORKDIR /ros_ws/src

# Get set up file
RUN wget https://github.com/USC-ACTLab/spot_ros2/raw/refs/heads/main/install_spot_ros2.sh
RUN wget https://github.com/bdaiinstitute/spot_wrapper/raw/800b1f787501c16ec14b586ba4c97f83bfa176ae/requirements.txt
RUN mkdir spot_wrapper && mv requirements.txt spot_wrapper
RUN chmod +x /ros_ws/src/install_spot_ros2.sh

# Run install script
RUN /ros_ws/src/install_spot_ros2.sh
WORKDIR /ros_ws