docking_robot/Dockerfile at main · DominikN/docking_robot

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FROM ros:humble

# Copy over the source code

WORKDIR /ws

COPY . /ws/src/docking_robot

# Pull VCS repos

RUN vcs import src/docking_robot < src/docking_robot/docking_robot.repos

ENV HUSARION_ROS_BUILD_TYPE=simulation

# Install rosdeps

RUN apt-get update && \

rosdep update && \

rosdep install --from-paths src --ignore-src -y

# Build the workspace

RUN . /opt/ros/humble/setup.sh && \

MAKEFLAGS="-j 8" \

colcon build --symlink-install --parallel-workers 2

# Clean up

RUN apt-get clean && \

rm -rf /var/lib/apt/lists/* && \

rm -rf /tmp/*

# Create the entrypoint

RUN echo '#!/bin/sh\n\

ulimit -Sn 524288\n\

ulimit -Hn 524288\n\

. /ws/install/setup.sh\n\

exec "$@"' > /entrypoint.sh && chmod +x /entrypoint.sh

ENTRYPOINT ["/entrypoint.sh"]

CMD ["ros2", "launch", "docking_bringup", "docking.launch.py"]