Barn-Challange-Setup/Dockerfile at main · codermery/Barn-Challange-Setup · GitHub

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FROM ros:melodic

# Avoid interactive prompts
ENV DEBIAN_FRONTEND=noninteractive

# Install system dependencies
RUN apt-get update && apt-get install -y \
    python3-pip \
    python3-venv \
    python3-catkin-tools \
    protobuf-compiler \
    libprotobuf-dev \
    libgazebo9-dev \
    wget \
    git \
    # ROS navigation stack
    ros-melodic-navigation \
    ros-melodic-move-base-msgs \
    # Gazebo
    ros-melodic-gazebo-msgs \
    ros-melodic-gazebo-ros \
    ros-melodic-gazebo-ros-control \
    ros-melodic-gazebo-plugins \
    # Jackal dependencies
    ros-melodic-xacro \
    ros-melodic-sick-tim \
    ros-melodic-lms1xx \
    ros-melodic-velodyne-description \
    ros-melodic-pointgrey-camera-description \
    ros-melodic-ros-control \
    ros-melodic-ros-controllers \
    ros-melodic-robot-localization \
    ros-melodic-twist-mux \
    ros-melodic-interactive-marker-twist-server \
    ros-melodic-teleop-twist-joy \
    ros-melodic-diff-drive-controller \
    ros-melodic-joint-state-controller \
    ros-melodic-map-server \
    ros-melodic-amcl \
    ros-melodic-rviz \
    ros-melodic-hector-gazebo-plugins \
    ros-melodic-gmapping \
    ros-melodic-rosdoc-lite \
    && rm -rf /var/lib/apt/lists/*

# Set up workspace
WORKDIR /jackal_ws/src

# Clone Jackal packages
RUN git clone https://github.com/jackal/jackal.git --branch melodic-devel --depth 1 && \
    git clone https://github.com/jackal/jackal_simulator.git --branch melodic-devel --depth 1

# Copy the barn challenge source code
COPY . /jackal_ws/src/the-barn-challenge

# Install rosdep dependencies
WORKDIR /jackal_ws
RUN bash -c "source /opt/ros/melodic/setup.bash && \
    rosdep update && \
    rosdep install -y --from-paths src --ignore-src --rosdistro melodic \
        --skip-keys='flir_camera_driver spinnaker_camera_driver rviz rosdoc_lite hector_gazebo_plugins gmapping'"

# Build the workspace
RUN bash -c "source /opt/ros/melodic/setup.bash && catkin_make -DCMAKE_BUILD_TYPE=Release"

# Install Python dependencies
RUN pip3 install --upgrade pip && \
    pip3 install \
        defusedxml \
        rospkg \
        netifaces \
        numpy \
        transforms3d>=0.4.2 \
        scikit-fuzzy>=0.5.0 \
        scipy>=1.5.4 \
        packaging>=21.3 \
        networkx>=2.5.1

# Gazebo models directory
RUN mkdir -p /root/.gazebo/models

# Environment setup
ENV JACKAL_LASER=1
ENV GAZEBO_MODEL_PATH=/jackal_ws/src/the-barn-challenge/models:$GAZEBO_MODEL_PATH

# Write entrypoint
RUN echo '#!/bin/bash\n\
set -e\n\
source /opt/ros/melodic/setup.bash\n\
source /jackal_ws/devel/setup.bash\n\
export JACKAL_LASER=1\n\
export GAZEBO_MODEL_PATH=/jackal_ws/src/the-barn-challenge/models:$GAZEBO_MODEL_PATH\n\
cd /jackal_ws/src/the-barn-challenge\n\
exec "$@"' > /entrypoint.sh && chmod +x /entrypoint.sh

ENTRYPOINT ["/entrypoint.sh"]
CMD ["bash"]