rest

Dockerfile

@@ -9,7 +9,7 @@ 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
+#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
@@ -25,9 +25,9 @@ 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
+COPY scripts/* /home/user/catkin_ws/scripts/
 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
+#RUN chmod u+x /home/user/catkin_ws/scripts/* && chown user: /home/user/catkin_ws/scripts/*
 USER user
 

scripts/prepare.sh

+# remove namespace to avoid problem
+vim -E /home/user/catkin_ws/src/manipulability_metrics/manipulability_metrics_examples/urdf/panda.urdf.xacro << EOF
+	normal GkWWdE
+	w
+	q
+EOF
+
+# install dependencies
+rosdep update
+rosdep install --from-paths src --ignore-src -r -y
+
+# make and setup
+catkin_make
+source devel/setup.bash

entry.sh → scripts/start.sh

-source devel/setup.bash
-catkin_make
+# run launch file from example
 roslaunch manipulability_metrics_examples panda_manipulability_demo.launch