DockerfileでROS indigo環境を作る

投稿日 |

やりたいこと

Ubuntu 18.04上で、ROS indigoが動く環境をDockerfileを使って作る。

Ubunu 18.04上の環境

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~/catkin_ws
├── build
├── devel
├── Dockerfile
└── src
    ├── test_pkg
    └── test_pkg.tgz

Dockerfile

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FROM osrf/ros:indigo-desktop-full

RUN mkdir -p /home/catkin_ws/src && \
    cd /home/catkin_ws/src && \
    /bin/bash -c "source /opt/ros/indigo/setup.bash; /opt/ros/indigo/bin/catkin_init_workspace" && \
    cd /home/catkin_ws && \
    /bin/bash -c "source /opt/ros/indigo/setup.bash; catkin_make" && \
    echo "source /opt/ros/indigo/setup.bash" >> ~/.bashrc && \
    echo "source /home/catkin_ws/devel/setup.bash" >> ~/.bashrc

RUN apt-get update && apt-get install -y \
    ros-indigo-jsk-visualization \
    ros-indigo-tf-conversions \
    ros-indigo-pcl-ros

COPY src/test_pkg.tgz /home/catkin_ws/src/

WORKDIR /home/catkin_ws/src
RUN tar xzvf test_pkg.tgz && cd /home/catkin_ws && \
    /bin/bash -c "source /opt/ros/indigo/setup.bash; catkin_make; source /home/catkin_ws/devel/setup.bash"

Build

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cd ~/catkin_ws
docker build -t <image_name>:<tag> .

Run

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docker run -it --net=host indigotest:0.1 bash

--net=hostオプションが重要。

参考リンク