Base/ros2.def at ros2 · LASR-at-Home/Base · GitHub

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##
## RoboCup / LASR-Base Container for ROS2
## Based on TIAGo PAL Humble container
##

Bootstrap: localimage
From: /home/rexy/tiago_humble_os.sif

%post -c /bin/bash
export ROS_DISTRO=humble

# Install deps
apt update
export DEBIAN_FRONTEND=noninteractive
apt upgrade -y
apt install -y ros-${ROS_DISTRO}-example-interfaces


mkdir -p /opt/robocup_ws/src
cd /opt/robocup_ws/src

# Clone SMACH, ros2-numpy and ament-virtualenv

# Dependencies for ament-virtualenv (TODO verify)
## apt update
apt install -y python3-venv # missing dependency?
python3 -m pip install --upgrade virtualenv # missing dependency?

cd /opt/robocup_ws/src
git clone https://github.com/locusrobotics/ament_virtualenv.git

cd /opt/robocup_ws/src
git clone https://github.com/Box-Robotics/ros2_numpy.git

cd /opt/robocup_ws/src
git clone https://github.com/uleroboticsgroup/yasmin.git
cd /opt/robocup_ws
rosdep init || true
rosdep update
rosdep install --from-paths src --ignore-src -r -y

cd /opt/robocup_ws/src
# Install Ollama
apt install -y zstd
sh -c "$(curl -fsSL https://ollama.com/install.sh)"

# rosbridge for tablet UI WebSocket communication
apt install -y ros-${ROS_DISTRO}-rosbridge-suite

# Node.js 18 for robot_ui Next.js frontend
curl -fsSL https://deb.nodesource.com/setup_18.x | bash -
apt install -y nodejs

# Build robocup ws
source /opt/ros/$ROS_DISTRO/setup.bash
source /opt/pal/alum/setup.bash

cd /opt/robocup_ws
colcon build
source install/setup.bash
echo "source /opt/robocup_ws/install/setup.bash" >> /opt/env.sh

# Install and build the robot_ui Next.js frontend
cd /opt/robocup_ws/install/robot_ui/share/robot_ui/robot-interface
npm install
npm run build


echo "echo 'I am in Robocup ROS2 Tiago container! (Built on $(date +'%d/%m/%Y %H:%M %Z'))'" >> /opt/env.sh

####


%help
Apptainer/Singularity image for simulating TIAGo in ROS2 Humble.

Usage:
  apptainer run --nv --nvccli <terminator>

  Suffixing with "terminator" launches terminator inside the container.

Useful built-in commands:
  - terminator - Starts a terminator instance from inside the container, so all splits will already have loaded the container.

In order to load your own aliases, you can create a file called .tiagorc in $HOME (so in $HOME/.tiagorc) and this will be loaded when you load the container.