Jackal/Dockerfile at main · ArturPrentki/Jackal · GitHub

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# Base image
FROM osrf/ros:foxy-desktop

ENV DEBIAN_FRONTEND=noninteractive
ENV LANG=C.UTF-8
SHELL ["/bin/bash", "-c"]

# ----------------------------
# 1. Install system and ROS dependencies
# ----------------------------
RUN apt update && apt install -y \
    locales \
    wget \
    git \
    python3-vcstool \
    python3-colcon-common-extensions \
    build-essential \
    # ROS2 build tools
    ros-foxy-ament-cmake \
    ros-foxy-ament-cmake-python \
    ros-foxy-ament-lint \
    ros-foxy-ament-lint-auto \
    ros-foxy-ament-lint-common \
    ros-foxy-ament-flake8 \
    ros-foxy-ament-cmake-pep257 \
    # ROS2 core packages
    ros-foxy-xacro \
    ros-foxy-urdf \
    ros-foxy-tf2 \
    ros-foxy-tf2-ros \
    ros-foxy-std-msgs \
    ros-foxy-std-srvs \
    ros-foxy-builtin-interfaces \
    ros-foxy-rosidl-default-runtime \
    ros-foxy-rosidl-default-generators \
    ros-foxy-rclpy \
    ros-foxy-twist-mux \
    ros-foxy-velodyne-description \
    ros-foxy-slam-toolbox \
    ros-foxy-teleop-twist-joy \
    ros-foxy-robot-state-publisher \
    ros-foxy-nav2-bringup \
    ros-foxy-joy \
    ros-foxy-rclcpp \
    ros-foxy-pluginlib \
    ros-foxy-joint-trajectory-controller \
    ros-foxy-joint-state-broadcaster \
    ros-foxy-nav-msgs \
    ros-foxy-robot-localization \
    # ROS2 control
    ros-foxy-ros2-control \
    ros-foxy-ros2-controllers \
    ros-foxy-controller-manager \
    ros-foxy-gazebo-ros2-control \
    && locale-gen en_US.UTF-8 \
    && rm -rf /var/lib/apt/lists/*

# ----------------------------
# 2. Setup workspace
# ----------------------------
RUN mkdir -p /root/jackal_ws/src
WORKDIR /root/jackal_ws

# Import Jackal repositories
RUN wget https://raw.githubusercontent.com/jackal/jackal_robot/foxy-devel/dependencies.repos
RUN vcs import src < dependencies.repos

# ----------------------------
# 3. Build workspace
# ----------------------------
RUN /bin/bash -c "source /opt/ros/foxy/setup.bash && colcon build --symlink-install"

# ----------------------------
# 4. Auto-source ROS and workspace
# ----------------------------
RUN echo "source /opt/ros/foxy/setup.bash" >> ~/.bashrc
RUN echo "source /root/jackal_ws/install/setup.bash" >> ~/.bashrc

# ----------------------------
# 5. Entrypoint
# ----------------------------
ENTRYPOINT ["/ros_entrypoint.sh"]
CMD ["bash"]