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Commit 74a1b630 authored by David Leander Boelke's avatar David Leander Boelke
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# start form ROS-melodic
FROM osrf/ros:melodic-desktop-full
# install important programs
RUN apt update; apt install -y vim tmux git sudo stow
# add nonroot user 'user' with sudo abilities and nice configurations
RUN adduser user --home /home/user
RUN echo 'root:DOCKER'|chpasswd
RUN echo 'user:docker'|chpasswd
RUN echo "user ALL=(ALL:ALL) ALL" >> /etc/sudoers
RUN echo "source /opt/ros/melodic/setup.bash" >> /home/user/.bashrc
# covenience, this entire block can be removed without affecting the functionality
USER user
WORKDIR /home/user
RUN git clone https://www.github.com/bananabook/dotfiles.git -b mini
WORKDIR /home/user/dotfiles
RUN stow vim tmux git
RUN echo "source ~/dotfiles/bash/.bashrc" >> /home/user/.bashrc
RUN echo 'PS1="\u:\wΣ "' >> /home/user/.bashrc
# setup workspace
RUN mkdir -p /home/user/catkin_ws/src
WORKDIR /home/user/catkin_ws/src
RUN git clone https://github.com/tecnalia-medical-robotics/manipulability_metrics
# entry script
COPY entry.sh /home/user/catkin_ws/entry.sh
WORKDIR /home/user/catkin_ws
USER root
RUN chmod u+x /home/user/catkin_ws/entry.sh && chown user: /home/user/catkin_ws/entry.sh
USER user
RUN /home/user/catkin_ws/entry.sh
all: build run
build:
echo buidling:|figlet
docker build -t container .
run:
echo running:|figlet
docker run -e DISPLAY=${DISPLAY} -v /tmp/.X11-unix:/tmp/.X11-unix -it container
source devel/setup.bash
catkin_make
roslaunch manipulability_metrics_examples panda_manipulability_demo.launch
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