Dockerfile.ros.noetic

#
# this dockerfile roughly follows the 'Installing from source' from:
#   http://wiki.ros.org/noetic/Installation/Source
#
ARG BASE_IMAGE
FROM ${BASE_IMAGE}

ARG ROS_PACKAGE=ros_base
ENV ROS_DISTRO=noetic
ENV ROS_ROOT=/opt/ros/${ROS_DISTRO}
ENV ROS_PYTHON_VERSION=3

ENV DEBIAN_FRONTEND=noninteractive

WORKDIR /workspace


#
# add the ROS deb repo to the apt sources list
#
RUN apt-get update && \
    apt-get install -y --no-install-recommends \
        git \
		cmake \
		build-essential \
		curl \
		wget \
		gnupg2 \
		lsb-release \
		ca-certificates \
    && rm -rf /var/lib/apt/lists/*


RUN if [ $(lsb_release --codename --short) != "jammy" ]; then \
        curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg ; \
        echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null ; \
    else \
        sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list' ; \
        curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | apt-key add - ; \
    fi 


#
# install bootstrap dependencies
#
RUN apt-get update && \
    apt-get install -y --no-install-recommends \
          libpython3-dev \
          python3-rosdep \
          python3-rosinstall-generator \
          python3-vcstool \
          build-essential && \
    rosdep init && \
    rosdep update && \
    rm -rf /var/lib/apt/lists/*

# /usr/bin/rosinstall_generator => No module named 'importlib.metadata'
RUN pip3 list | grep catkin && pip3 install --no-cache-dir --verbose importlib.metadata catkin && \
    pip3 list | grep catkin && \
    python3 -c 'import catkin'
    

#
# download/build the ROS source
# error: option --install-layout not recognized  https://github.com/ros/catkin/issues/863#issuecomment-1000446018
#
RUN mkdir ros_catkin_ws && \
    cd ros_catkin_ws && \
    rosinstall_generator ${ROS_PKG} vision_msgs image_transport --rosdistro ${ROS_DISTRO} --deps --tar > ${ROS_DISTRO}-${ROS_PKG}.rosinstall && \
    mkdir src && \
    vcs import --input ${ROS_DISTRO}-${ROS_PKG}.rosinstall ./src && \
    apt-get update && \
    rosdep install -y \
	 --from-paths ./src \
	 --ignore-packages-from-source \
	 --rosdistro ${ROS_DISTRO} \
	 --skip-keys "python3-pykdl libopencv-dev libopencv-contrib-dev libopencv-imgproc-dev python-opencv python3-opencv" && \
    python3 ./src/catkin/bin/catkin_make_isolated --install --install-space ${ROS_ROOT} -DCMAKE_BUILD_TYPE=Release -DSETUPTOOLS_DEB_LAYOUT=OFF && \
    rm -rf /var/lib/apt/lists/*


# 
# commands will be appended/run by the entrypoint which sources the ROS environment
#
COPY ros_entrypoint.sh /ros_entrypoint.sh

ENTRYPOINT ["/ros_entrypoint.sh"]
CMD ["/bin/bash"]

WORKDIR /