HCR_PROJECT/DockerfileNoetic at main · MartinNguyen03/HCR_PROJECT · GitHub

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# Base image
FROM osrf/ros:noetic-desktop-full
ENV ROS_DISTRO=noetic
SHELL ["/bin/bash", "-c"]

# Set non-interactive frontend for apt
ENV DEBIAN_FRONTEND=noninteractive


# Update and install dependencies in a single step
RUN apt update && \
    DEBIAN_FRONTEND=noninteractive apt install -y --no-install-recommends \
	python3.8 python3-pip python-is-python3 \
	curl wget zip unzip tar git cmake make build-essential \
	gnupg2 \
	lsb-release \
	ca-certificates python3-rosdep \
    && if [ ! -f "/etc/ros/rosdep/sources.list.d/20-default.list" ]; then rosdep init; fi \
    && rosdep update --rosdistro ${ROS_DISTRO} \
    && rm -rf /var/lib/apt/lists/*

# Install ROS packages for NaoQi Driver and simulation
# RUN apt-get update && apt-get install -y --no-install-recommends \
#     ros-${ROS_DISTRO}-catkin ros-${ROS_DISTRO}-rostest ros-${ROS_DISTRO}-roslaunch \
#     libboost-all-dev ros-${ROS_DISTRO}-cv-bridge ros-${ROS_DISTRO}-diagnostic-msgs \
#     ros-${ROS_DISTRO}-diagnostic-updater ros-${ROS_DISTRO}-geometry-msgs ros-${ROS_DISTRO}-image-transport \
#     ros-${ROS_DISTRO}-kdl-parser ros-${ROS_DISTRO}-naoqi-bridge-msgs ros-${ROS_DISTRO}-naoqi-libqi \
#     ros-${ROS_DISTRO}-naoqi-libqicore ros-${ROS_DISTRO}-orocos-kdl ros-${ROS_DISTRO}-robot-state-publisher \
#     ros-${ROS_DISTRO}-rosbag-storage ros-${ROS_DISTRO}-rosconsole ros-${ROS_DISTRO}-rosgraph-msgs \
#     ros-${ROS_DISTRO}-sensor-msgs ros-${ROS_DISTRO}-tf2-geometry-msgs ros-${ROS_DISTRO}-tf2-msgs \
#     ros-${ROS_DISTRO}-tf2-ros  ros-${ROS_DISTRO}-rospy ros-${ROS_DISTRO}-std-msgs ros-${ROS_DISTRO}-roscpp \
#     ros-${ROS_DISTRO}-std-srvs libgl1-mesa-glx libgl1-mesa-dri ros-${ROS_DISTRO}-bfl ros-${ROS_DISTRO}-default-jdk \
#     ros-${ROS_DISTRO}-qt5-image-formats-plugins ros-${ROS_DISTRO}-libnetpbm10dev \
#     && rm -rf /var/lib/apt/lists/*


# Install Pepper Gazebo simulation dependencies
RUN apt-get update && apt-get install -y --no-install-recommends \
    ros-${ROS_DISTRO}-tf2-sensor-msgs ros-${ROS_DISTRO}-ros-control ros-${ROS_DISTRO}-ros-controllers \
    ros-${ROS_DISTRO}-gazebo-ros ros-${ROS_DISTRO}-gazebo-ros-control ros-${ROS_DISTRO}-gazebo-plugins \
    ros-${ROS_DISTRO}-controller-manager ros-${ROS_DISTRO}-ddynamic-reconfigure-python \
    ros-${ROS_DISTRO}-gmapping ros-${ROS_DISTRO}-map-server ros-${ROS_DISTRO}-amcl \
    ros-${ROS_DISTRO}-move-base libopencv-dev\
    && rm -rf /var/lib/apt/lists/*

# Install additional Pepper Robot packages
# RUN apt-get update && apt-get install -y --no-install-recommends \
#     ros-${ROS_DISTRO}-naoqi-driver ros-${ROS_DISTRO}-naoqi-driver-py ros-${ROS_DISTRO}-naoqi-pose \
#     ros-${ROS_DISTRO}-naoqi-sensors-py ros-${ROS_DISTRO}-pepper-sensors-py ros-${ROS_DISTRO}-pepper-description \
#     ros-${ROS_DISTRO}-rgbd-launch ros-${ROS_DISTRO}-robot-state-publisher ros-${ROS_DISTRO}-urdf \
#     ros-${ROS_DISTRO}-pepper-robot ros-${ROS_DISTRO}-pepper-control ros-${ROS_DISTRO}-naoqi-dcm-driver libopencv-dev \
#     && rm -rf /var/lib/apt/lists/*

# Install MoveIt for Pepper
RUN apt-get update && apt-get install -y --no-install-recommends \
    ros-${ROS_DISTRO}-moveit ros-${ROS_DISTRO}-moveit-commander ros-${ROS_DISTRO}-moveit-core \
    ros-${ROS_DISTRO}-moveit-planners-ompl ros-${ROS_DISTRO}-moveit-ros-move-group \
    ros-${ROS_DISTRO}-moveit-ros-planning ros-${ROS_DISTRO}-moveit-ros-visualization \
    ros-${ROS_DISTRO}-moveit-simple-controller-manager ros-${ROS_DISTRO}-joint-state-publisher \
    ros-${ROS_DISTRO}-robot-state-publisher ros-${ROS_DISTRO}-moveit-fake-controller-manager \
    ros-${ROS_DISTRO}-xacro \
    && rm -rf /var/lib/apt/lists/*

# START PEPPER MESH PREP
# Add the actual ros package repo
RUN echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list

# Add keys
RUN curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -

RUN apt-get update
# END PEPPER MESH PREP
# install pepper meshes. We have to pipe this into 'yes' to agree to the license. otherwise docker build get's stuck on this step...
# we also have these debian environment params, otherwise the yes still gets stuck on the prompt in the mesh installation
# ?? pick one of these

ENV DEBIAN_FRONTEND=teletype
RUN yes | apt-get install ros-${ROS_DISTRO}-pepper-meshes

# Source ROS environment on startup
RUN echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> ~/.bashrc

RUN python3 -m pip install --user --upgrade pip>=20.3 numpy>=1.18.0

RUN	python3 -m pip install --user \
	open3d \
	opencv-contrib-python-headless \
	pyyaml \
	scipy \
	scikit-image \
	matplotlib \
	gymnasium


# Set entrypoint to a bash shell
ENTRYPOINT [""]
WORKDIR /catkin_ws
CMD /bin/bash