| # Everything past this stage is to install | |
| # ROS2 Humble | |
| # What is the docker name suffix for the base image to load? (defaults to empty string) | |
| ARG DOCKER_NAME_SUFFIX="" | |
| FROM isaac-lab-base${DOCKER_NAME_SUFFIX} AS ros2 | |
| # Which ROS2 apt package to install | |
| ARG ROS2_APT_PACKAGE | |
| # ROS2 Humble Apt installations | |
| RUN --mount=type=cache,target=/var/cache/apt \ | |
| apt-get update && apt-get install -y --no-install-recommends \ | |
| curl \ | |
| # Install ROS2 Humble \ | |
| software-properties-common && \ | |
| add-apt-repository universe && \ | |
| curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg && \ | |
| echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo jammy) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null && \ | |
| apt-get update && apt-get install -y --no-install-recommends \ | |
| ros-humble-${ROS2_APT_PACKAGE} \ | |
| ros-humble-vision-msgs \ | |
| # Install both FastRTPS and CycloneDDS | |
| ros-humble-rmw-cyclonedds-cpp \ | |
| ros-humble-rmw-fastrtps-cpp \ | |
| # This includes various dev tools including colcon | |
| ros-dev-tools && \ | |
| # Install rosdeps for extensions that declare a ros_ws in | |
| # their extension.toml | |
| ${ISAACLAB_PATH}/isaaclab.sh -p ${ISAACLAB_PATH}/tools/install_deps.py rosdep ${ISAACLAB_PATH}/source && \ | |
| apt -y autoremove && apt clean autoclean && \ | |
| rm -rf /var/lib/apt/lists/* && \ | |
| # Add sourcing of setup.bash to .bashrc | |
| echo "source /opt/ros/humble/setup.bash" >> ${HOME}/.bashrc | |
| # Copy the RMW specifications for ROS2 | |
| # https://docs.isaacsim.omniverse.nvidia.com/latest/installation/install_ros.html | |
| COPY docker/.ros/ ${DOCKER_USER_HOME}/.ros/ | |