unified_autonomy_stack/Dockerfile.ros2_sim at main · ntnu-arl/unified_autonomy_stack · GitHub

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FROM unified_autonomy:ros2_base

# Prevent interactive prompts during package installation
ENV DEBIAN_FRONTEND=noninteractive

# Add Gazebo Harmonic repository
RUN apt-get update && apt-get install -y \
    wget \
    lsb-release \
    gnupg \
    && wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg \
    && echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null \
    && apt-get update \
    && rm -rf /var/lib/apt/lists/*

# Install Gazebo Harmonic and ROS2 GZ Harmonic integration
RUN apt-get update && apt-get install -y \
    gz-harmonic \
    ros-humble-ros-gzharmonic \
    && rm -rf /var/lib/apt/lists/* \
    && apt-file update

# Install dependencies for building gz-sim from source
RUN apt-get update && apt-get install -y \
    git \
    cmake \
    build-essential \
    libgz-cmake3-dev \
    libgz-common5-dev \
    libgz-fuel-tools9-dev \
    libgz-gui8-dev \
    libgz-math7-dev \
    libgz-msgs10-dev \
    libgz-physics7-dev \
    libgz-plugin2-dev \
    libgz-rendering8-dev \
    libgz-sensors8-dev \
    libgz-tools2-dev \
    libgz-transport13-dev \
    libgz-utils2-dev \
    libsdformat14-dev \
    && rm -rf /var/lib/apt/lists/* \
    && apt-file update

# Clone and build forked gz-sim
WORKDIR /tmp/gz-sim-build
RUN git clone https://github.com/ntnu-arl/gz-sim.git && \
    cd gz-sim && \
    git checkout sim8/dev/multicopter_control && \
    mkdir build && \
    cd build && \
    cmake -DCMAKE_INSTALL_PREFIX=/usr -DCMAKE_BUILD_DOCS=false -DCMAKE_BUILD_TYPE=Release .. && \
    make -j$(nproc) && \
    make install && \
    cd / && \
    rm -rf /tmp/gz-sim-build

# Install ROS2 packages for robot description and control
RUN apt-get update && apt-get install -y \
    # Robot state publisher and joint state publisher
    ros-humble-robot-state-publisher \
    ros-humble-joint-state-publisher \
    ros-humble-joint-state-publisher-gui \
    # URDF and xacro
    ros-humble-xacro \
    ros-humble-urdf \
    # ROS2 control
    ros-humble-ros2-control \
    ros-humble-ros2-controllers \
    ros-humble-controller-manager \
    ros-humble-diff-drive-controller \
    # RViz2
    ros-humble-rviz2 \
    ros-humble-rviz-common \
    ros-humble-rviz-default-plugins \
    # Teleoperation
    ros-humble-teleop-twist-keyboard \
    ros-humble-teleop-twist-joy \
    # TF2 tools
    ros-humble-tf2-tools \
    ros-humble-tf-transformations \
    # Additional useful packages
    ros-humble-rqt \
    ros-humble-rqt-common-plugins \
    ros-humble-rqt-robot-steering \
    # Sensor message types
    ros-humble-sensor-msgs \
    ros-humble-nav-msgs \
    ros-humble-geometry-msgs \
    # Clean up
    && rm -rf /var/lib/apt/lists/* \
    && apt-file update

# Install Python dependencies for robot control scripts
RUN pip3 install --no-cache-dir \
    numpy \
    matplotlib \
    scipy

# Update rosdep
RUN rosdep update

# Set up Gazebo environment variables
ENV GZ_VERSION=harmonic
ENV GZ_SIM_RESOURCE_PATH=/usr/share/gz/gz-sim8/worlds

COPY ./entrypoint.sh /
RUN chmod +x /entrypoint.sh
ENTRYPOINT ["/entrypoint.sh"]

# Create developer user
RUN groupadd --gid 1000 developer && \
    useradd --uid 1000 --gid 1000 -m developer && \
    echo developer ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/developer && \
    chmod 0440 /etc/sudoers.d/developer

USER developer

# Set working directory
WORKDIR /workspace

CMD ["bash"]