Dockerfile

FROM ubuntu:18.04
LABEL maintainer="alberto dot soragna at gmail dot com"

# working directory
ENV HOME /root
WORKDIR $HOME

# Set timezone otherwise tz will ask for it
ENV TZ=America/Los_Angeles
RUN ln -snf /usr/share/zoneinfo/$TZ /etc/localtime && echo $TZ > /etc/timezone

# general utilities
RUN apt-get update && apt-get install -y \
    curl \
    wget \
    git \
    vim \
    nano \
    python3-pip

# pip
RUN pip3 install --upgrade pip

# Locale options
RUN apt-get install -y locales
RUN locale-gen en_US en_US.UTF-8
RUN update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
ENV LANG en_US.UTF-8

# Setup sources
RUN apt-get update && apt-get install -y  curl gnupg2 lsb-release
RUN curl http://repo.ros2.org/repos.key | apt-key add -
RUN sh -c 'echo "deb [arch=amd64,arm64] http://repo.ros2.org/ubuntu/main `lsb_release -cs` main" > /etc/apt/sources.list.d/ros2-latest.list'
RUN apt-get update

# install development tools and ROS tools
RUN apt-get install -y \
  build-essential \
  cmake \
  git \
  python3-colcon-common-extensions \
  python3-pip \
  python-rosdep \
  python3-vcstool \
  wget

# install python packages for testing
RUN python3 -m pip install -U \
  argcomplete \
  flake8 \
  flake8-blind-except \
  flake8-builtins \
  flake8-class-newline \
  flake8-comprehensions \
  flake8-deprecated \
  flake8-docstrings \
  flake8-import-order \
  flake8-quotes \
  git+https://github.com/lark-parser/lark.git@0.7b \
  pytest-repeat \
  pytest-rerunfailures \
  pytest \
  pytest-cov \
  pytest-runner \
  setuptools

# install Fast-RTPS dependencies
RUN apt-get install --no-install-recommends -y \
  libasio-dev \
  libtinyxml2-dev

# get ROS2 code
RUN mkdir -p ros2_ws/src
WORKDIR $HOME/ros2_ws
RUN wget https://raw.githubusercontent.com/ros2/ros2/release-latest/ros2.repos
RUN vcs-import src < ros2.repos

# install dependencies using rosdep
RUN rosdep init
RUN rosdep update
RUN rosdep install --from-paths src --ignore-src --rosdistro crystal -y --skip-keys "console_bridge fastcdr fastrtps libopensplice67 libopensplice69 rti-connext-dds-5.3.1 urdfdom_headers"
# build ros2 sdk workspace
RUN colcon build --symlink-install

# source everything
WORKDIR $HOME

RUN echo ' \n\
echo "Sourcing ROS2 packages..." \n\
source /root/ros2_ws/install/setup.sh ' >> $HOME/.bashrc