Dockerfile for 2023 MWES

mwes/2023/vrx_2023_mwes/Dockerfile

@@ -0,0 +1,61 @@
+FROM ros:humble-ros-base-jammy
+
+# Set up timezone
+ENV TZ=Etc/UTC
+RUN echo $TZ > /etc/timezone && \
+  ln -fs /usr/share/zoneinfo/$TZ /etc/localtime
+
+# Install required utilities
+RUN apt update \
+&& apt install -y --no-install-recommends \
+      build-essential \
+      cmake \
+      git \
+      gnupg2 \
+      lsb-release \
+      nano \
+      python3-dbg \
+      python3-setuptools \
+      python3-vcstool \
+      ruby \
+      sudo \
+      wget \
+&& rm -rf /var/lib/apt/lists/* \
+&& apt clean -qq
+
+# Set up locale
+RUN sudo apt update && sudo apt install locales \
+&& sudo locale-gen en_US en_US.UTF-8 \
+&& sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
+
+ARG ROSDIST=humble
+ARG GZDIST=garden
+ENV GZ_VERSION garden
+
+# Set up repo to install Ignition
+RUN /bin/sh -c 'wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg' \
+  && /bin/sh -c 'echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null'
+
+
+# Install Gazebo (needed for message imports with ros-humble-ros-gzgarden)
+RUN apt update \
+  && apt install -y --no-install-recommends \
+     gz-${GZDIST} \
+  && rm -rf /var/lib/apt/lists/* \
+  && apt clean -qq
+
+# Install example ROS package
+RUN apt update \
+&& apt install -y --no-install-recommends \
+    ros-${ROSDIST}-actuator-msgs \
+    ros-${ROSDIST}-ros-gzgarden \
+&& rm -rf /var/lib/apt/lists/* \
+&& apt clean -qq
+
+# Copy over script to Docker container
+COPY ./run_my_system.bash /
+
+# Use your ros_entrypoint
+COPY ./ros_entrypoint.sh /
+
+COPY ./wamv_demo.py /

mwes/2023/vrx_2023_mwes/ros_entrypoint.sh

@@ -0,0 +1,7 @@
+#!/bin/bash
+set -e
+
+# setup ros environment
+source "/opt/ros/$ROS_DISTRO/setup.bash"
+
+/run_my_system.bash

mwes/2023/vrx_2023_mwes/run_my_system.bash

@@ -0,0 +1,6 @@
+#!/bin/bash
+
+# Start ROS2 daemon for discovery  if not already started
+ros2 topic list
+
+python3 wamv_demo.py