Dockerfile

# vicariousinc/baxter-simulator:kinetic
# Run simulated Baxter in Gazebo

FROM osrf/ros:kinetic-desktop-full
MAINTAINER Dave Coleman dave@dav.ee

ENV TERM xterm

# Setup catkin workspace
ENV CATKIN_WS=/root/ws_baxter
RUN mkdir -p $CATKIN_WS/src
WORKDIR $CATKIN_WS/src

# Download source code
RUN wstool init . && \
    wstool merge https://raw.githubusercontent.com/vicariousinc/baxter_simulator/${ROS_DISTRO}-gazebo7/baxter_simulator.rosinstall && \
    wstool update

# Update apt-get because previous images clear this cache
# Commands are combined in single RUN statement with "apt/lists" folder removal to reduce image size
RUN apt-get -qq update && \
    # Install some base dependencies
    apt-get -qq install -y \
        # Some source builds require a package.xml be downloaded via wget from an external location
        wget \
        # Required for rosdep command
        sudo \
        # Required for installing dependencies
        python-rosdep \
        # Preferred build tool
        python-catkin-tools && \
    # Download all dependencies
    rosdep update && \
    rosdep install -y --from-paths . --ignore-src --rosdistro ${ROS_DISTRO} --as-root=apt:false && \
    # Clear apt-cache to reduce image size
    rm -rf /var/lib/apt/lists/*

# Replacing shell with bash for later docker build commands
RUN mv /bin/sh /bin/sh-old && \
    ln -s /bin/bash /bin/sh

# Build repo
WORKDIR $CATKIN_WS
ENV PYTHONIOENCODING UTF-8
RUN catkin config --extend /opt/ros/${ROS_DISTRO} --cmake-args -DCMAKE_BUILD_TYPE=Release && \
    # Status rate is limited so that just enough info is shown to keep Docker from timing out, but not too much
    # such that the Docker log gets too long (another form of timeout)
    catkin build --jobs 1 --limit-status-rate 0.001 --no-notify